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NASA NTRS2010

The Impact of Ocean Data Assimilation on Seasonal-to-Interannual Forecasts: A Case Study of the 2006 El Nino Event

This study investigates the impact of four different ocean analyses on coupled forecasts of the 2006 El Nino event. Forecasts initialized in June 2006 using ocean analyses from an assimilation that uses flow-dependent background error covariances are compared with those using static error covariances that are not flow dependent. The flow-dependent error covariances reflect the error structures related to the background ENSO instability and are generated by the coupled breeding method. The ocean analyses used in this study result from the assimilation of temperature and salinity, with the salinity data available from Argo floats. Of the analyses, the one using information from the coupled bred vectors (BV) replicates the observed equatorial long wave propagation best and exhibits more warming features leading to the 2006 El Nino event. The forecasts initialized from the BV-based analysis agree best with the observations in terms of the growth of the warm anomaly through two warming phases. This better performance is related to the impact of the salinity analysis on the state evolution in the equatorial thermocline. The early warming is traced back to salinity differences in the upper ocean of the equatorial central Pacific, while the second warming, corresponding to the mature phase, is associated with the effect of the salinity assimilation on the depth of the thermocline in the western equatorial Pacific. The series of forecast experiments conducted here show that the structure of the salinity in the initial conditions is important to the forecasts of the extension of the warm pool and the evolution of the 2006 El Ni o event.

Yang, Shu-Chih↗

NASA NTRS2011

Lessons Learned from Assimilating Altimeter Data into a Coupled General Circulation Model with the GMAO Augmented Ensemble Kalman Filter

Satellite altimetry measurements have provided global, evenly distributed observations of the ocean surface since 1993. However, the difficulties introduced by the presence of model biases and the requirement that data assimilation systems extrapolate the sea surface height (SSH) information to the subsurface in order to estimate the temperature, salinity and currents make it difficult to optimally exploit these measurements. This talk investigates the potential of the altimetry data assimilation once the biases are accounted for with an ad hoc bias estimation scheme. Either steady-state or state-dependent multivariate background-error covariances from an ensemble of model integrations are used to address the problem of extrapolating the information to the sub-surface. The GMAO ocean data assimilation system applied to an ensemble of coupled model instances using the GEOS-5 AGCM coupled to MOM4 is used in the investigation. To model the background error covariances, the system relies on a hybrid ensemble approach in which a small number of dynamically evolved model trajectories is augmented on the one hand with past instances of the state vector along each trajectory and, on the other, with a steady state ensemble of error estimates from a time series of short-term model forecasts. A state-dependent adaptive error-covariance localization and inflation algorithm controls how the SSH information is extrapolated to the sub-surface. A two-step predictor corrector approach is used to assimilate future information. Independent (not-assimilated) temperature and salinity observations from Argo floats are used to validate the assimilation. A two-step projection method in which the system first calculates a SSH increment and then projects this increment vertically onto the temperature, salt and current fields is found to be most effective in reconstructing the sub-surface information. The performance of the system in reconstructing the sub-surface fields is particularly impressive for temperature, but not as satisfactory for salt.

Keppenne, Christian↗

NASA NTRS2010

Sea Surface Salinity Variability from Simulations and Observations: Preparing for Aquarius

Oceanic fresh water transport has been shown to play an important role in the global hydrological cycle. Sea surface salinity (SSS) is representative of the surface fresh water fluxes and the upcoming Aquarius mission scheduled to be launched in December 2010 will provide excellent spatial and temporal SSS coverage to better estimate the net exchange. In most ocean general circulation models, SSS is relaxed to climatology to prevent model drift. While SST remains a well observed variable, relaxing to SST reduces the range of SSS variability in the simulations (Fig.1). The main objective of the present study is to simulate surface tracers using a primitive equation ocean model for multiple forcing data sets to identify and establish a baseline SSS variability. The simulated variability scales are compared to those from near-surface argo salinity measurements.

Jacob, S. Daniel↗

NASA NTRS2011

Assessment of Current Global and Regional Mean Sea Level Estimates Based on the TOPEX/Poseidon Jason-1 and 2 Climate Data Record

Recent developments in Precise Orbit Determinations (POD) due to in particular to revisions to the terrestrial reference frame realization and the time variable gravity (TVG) continues to provide improvements to the accuracy and stability of the PO directly affecting mean sea level (MSL) estimates. Long-term credible MSL estimates require the development and continued maintenance of a stable reference frame, along with vigilant monitoring of the performance of the independent tracking systems used to calculate the orbits for altimeter spacecrafts. The stringent MSL accuracy requirements of a few tenths of an mm/yr are particularly essential for mass budget closure analysis over the relative short time period of Jason-l &2, GRACE, and Argo coincident measurements. In an effort to adhere to cross mission consistency, we have generated a full time series of experimental orbits (GSFC stdlllO) for TOPEX/Poseidon (TP), Jason-I, and OSTM based on an improved terrestrial reference frame (TRF) realization (ITRF2008), revised static (GGM03s), and time variable gravity field (Eigen6s). In this presentation we assess the impact of the revised precision orbits on inter-mission bias estimates, and resultant global and regional MSL trends. Tide gauge verification results are shown to assess the current stability of the Jason-2 sea surface height time series that suggests a possible discontinuity initiated in early 2010. Although the Jason-2 time series is relatively short (approximately 3 years), a thorough review of the entire suite of geophysical and environmental range corrections is warranted and is underway to maintain the fidelity of the record.

Beckley, B. D.↗

NASA NTRS2011

Active Response Gravity Offload System

The Active Response Gravity Offload System (ARGOS) provides the ability to simulate with one system the gravity effect of planets, moons, comets, asteroids, and microgravity, where the gravity is less than Earth fs gravity. The system works by providing a constant force offload through an overhead hoist system and horizontal motion through a rail and trolley system. The facility covers a 20 by 40-ft (approximately equals 6.1 by 12.2m) horizontal area with 15 ft (approximately equals4.6 m) of lifting vertical range.

Valle, Paul↗

NASA NTRS2012

Increased Accuracy in the Measurement of the Dielectric Constant of Seawater at 1.413 GHz

This paper describes the latest results for the measurements of the dielectric constant at 1.413 GHz by using a resonant cavity technique. The purpose of these measurements is to develop an accurate relationship for the dependence of the dielectric constant of sea water on temperature and salinity which is needed by the Aquarius inversion algorithm to retrieve salinity. Aquarius is the major instrument on the Aquarius/SAC-D observatory, a NASA/CONAE satellite mission launched in June of20ll with the primary mission of measuring global sea surface salinity to an accuracy of 0.2 psu. Aquarius measures salinity with a 1.413 GHz radiometer and uses a scatterometer to compensate for the effects of surface roughness. The core part of the seawater dielectric constant measurement system is a brass microwave cavity that is resonant at 1.413 GHz. The seawater is introduced into the cavity through a capillary glass tube having an inner diameter of 0.1 mm. The change of resonance frequency and the cavity Q value are used to determine the real and imaginary parts of the dielectric constant of seawater introduced into the thin tube. Measurements are automated with the help of software developed at the George Washington University. In this talk, new results from measurements made since September 2010 will be presented for salinities 30, 35 and 38 psu with a temperature range of O C to 350 C in intervals of 5 C. These measurements are more accurate than earlier measurements made in 2008 because of a new method for measuring the calibration constant using methanol. In addition, the variance of repeated seawater measurements has been reduced by letting the system stabilize overnight between temperature changes. The new results are compared to the Kline Swift and Meissner Wentz model functions. The importance of an accurate model function will be illustrated by using these model functions to invert the Aquarius brightness temperature to get the salinity values. The salinity values will be compared to co-located in situ data collected by Argo buoys.

Zhou, Y.↗

NASA NTRS2012

New Dielectric Measurement Data to Determine the Permittivity of Seawater at 1.4313 Hz

This paper describes the new measurements - made in 2010-2011 - of the dielectric constant of seawater at 1.413 GHz using a resonant cavity technique. The purpose of these measurements is to develop an accurate relationship concerning the dependence of the dielectric constant of seawater on temperature and salinity for use by the Aquarius inversion algorithm. Aquarius is a NASA/CONAE satellite mission launched in June of 2011 with the primary mission of measuring global sea surface salinity with a 1.413 GHz radiometer to an accuracy of 0.2 psu. A brass microwave cavity resonant at 1.413 GHz has been used to measure the dielectric constant of seawater. The seawater is introduced into the cavity through a capillary glass tube having an inner diameter of 0.1 mm. The change of resonant frequency and the cavity Q value are used to determine the real and imaginary parts of the dielectric constant of seawater. Measurements are automated with Visual Basic software developed at the George Washington University. In this paper, new results from measurements made since September 2010 will be presented for salinities of 30, 35 and 38 psu with a temperature range of 0 C to 35 C in intervals of 5 C. These measurements are more accurate than earlier measurements made in 2008. The new results will be compared to the Klein-Swift (KS) and Meissner-Wentz (MW) model functions. The importance of an accurate model function will be illustrated by using these model functions to invert the Aquarius brightness temperature to retrieve the salinity values. The salinity values will be compared to co-located in situ data collected by Argo buoys.

Lang, R.↗

NASA NTRS2013

Implementation of Headtracking and 3D Stereo with Unity and VRPN for Computer Simulations

This paper explores low-cost hardware and software methods to provide depth cues traditionally absent in monocular displays. The use of a VRPN server in conjunction with a Microsoft Kinect and/or Nintendo Wiimote to provide head tracking information to a Unity application, and NVIDIA 3D Vision for retinal disparity support, is discussed. Methods are suggested to implement this technology with NASA's EDGE simulation graphics package, along with potential caveats. Finally, future applications of this technology to astronaut crew training, particularly when combined with an omnidirectional treadmill for virtual locomotion and NASA's ARGOS system for reduced gravity simulation, are discussed.

Noyes, Matthew A.↗

NASA NTRS2013

Characterization and Correction of Aquarius Long Term Calibration Drift Using On-Earth Brightness Temperature Refernces

The Aquarius/SAC-D mission was launched on June 10, 2011 from Vandenberg Air Force Base. Aquarius consists of an L-band radiometer and scatterometer intended to provide global maps of sea surface salinity. One of the main mission objectives is to provide monthly global salinity maps for climate studies of ocean circulation, surface evaporation and precipitation, air/sea interactions and other processes. Therefore, it is critical that any spatial or temporal systematic biases be characterized and corrected. One of the main mission requirements is to measure salinity with an accuracy of 0.2 psu on montly time scales which requires a brightness temperature stability of about 0.1K, which is a challenging requirement for the radiometer. A secondary use of the Aquarius data is for soil moisture applications, which requires brightness temperature stability at the warmer end of the brightness temperature dynamic range. Soon after launch, time variable drifts were observed in the Aquarius data compared to in-situ data from ARGO and models for the ocean surface salinity. These drifts could arise from a number of sources, including the various components of the retrieval algorithm, such as the correction for direct and reflected galactic emission, or from the instrument brightness temperature calibration. If arising from the brightness temperature calibration, they could have gain and offset components. It is critical that the nature of the drifts be understood before a suitable correction can be implemented. This paper describes the approach that was used to detect and characterize the components of the drift that were in the brightness temperature calibration using on-Earth reference targets that were independent of the ocean model.

Aquarius↗

NASA NTRS2015

Nominal SARAL Transfer Function

This paper gives a calculation of the range correction and cross section of the SARAL (Satellite with Argos and ALtiKa) Indian/French ocean radar satellite retroreflector array assuming the cube corners are coated and have a dihedral angle offset of about 1.5 arcseconds to account for velocity aberration. The cubes are assumed to all have the same orientation within the mounting. The derived range correction may be applied in precise orbit determination analyses that use Satellite Laser Ranging (SLR) data to SARAL.

Precise orbit determination↗

NASA NTRS2014

Inter-Comparison of SMOS and Aquarius Sea Surface Salinity: Effects of the Dielectric Constant and Vicarious Calibration

Two spaceborne instruments share the scientific objective of mapping the global Sea Surface Salinity (SSS). ESA's Soil Moisture and Ocean Salinity (SMOS) and NASA's Aquarius use L-band (1.4 GHz) radiometry to retrieve SSS. We find that SSS retrieved by SMOS is generally lower than SSS retrieved by Aquarius, except for very cold waters where SMOS SSS is higher overall. The spatial distribution of the differences in SSS is similar to the distribution of sea surface temperature. There are several differences in the retrieval algorithm that could explain the observed SSS differences. We assess the impact of the dielectric constant model and the ancillary sea surface salinity used by both missions for calibrating the radiometers and retrieving SSS. The differences in dielectric constant model produce differences in SSS of the order of 0.3 psu and exhibit a dependence on latitude and temperature. We use comparisons with the Argo in situ data to assess the performances of the model in various regions of the globe. Finally, the differences in the ancillary sea surface salinity products used to perform the vicarious calibration of both instruments are relatively small (0.1 psu), but not negligible considering the requirements for spaceborne remote sensing of SSS.

radiometry↗

NASA NTRS2016

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗

NASA NTRS2015

Nominal SARAL Transfer Function

SARAL↗

NASA NTRS2016

Holodeck Testbed Project

The main objective of the Holodeck Testbed is to create a cost effective, realistic, and highly immersive environment that can be used to train astronauts, carry out engineering analysis, develop procedures, and support various operations tasks. Currently, the Holodeck testbed allows to step into a simulated ISS (International Space Station) and interact with objects; as well as, perform Extra Vehicular Activities (EVA) on the surface of the Moon or Mars. The Holodeck Testbed is using the products being developed in the Hybrid Reality Lab (HRL). The HRL is combining technologies related to merging physical models with photo-realistic visuals to create a realistic and highly immersive environment. The lab also investigates technologies and concepts that are needed to allow it to be integrated with other testbeds; such as, the gravity offload capability provided by the Active Response Gravity Offload System (ARGOS). My main two duties were to develop and animate models for use in the HRL environments and work on a new way to interface with computers using Brain Computer Interface (BCI) technology. On my first task, I was able to create precise computer virtual tool models (accurate down to the thousandths or hundredths of an inch). To make these tools even more realistic, I produced animations for these tools so they would have the same mechanical features as the tools in real life. The computer models were also used to create 3D printed replicas that will be outfitted with tracking sensors. The sensor will allow the 3D printed models to align precisely with the computer models in the physical world and provide people with haptic/tactile feedback while wearing a VR (Virtual Reality) headset and interacting with the tools. Getting close to the end of my internship the lab bought a professional grade 3D Scanner. With this, I was able to replicate more intricate tools at a much more time-effective rate. The second task was to investigate the use of BCI to control objects inside the hybrid reality ISS environment. This task looked at using an Electroencephalogram (EEG) headset to collect brain state data that could be mapped to commands that a computer could execute. On this Task, I had a setback with the hardware, which stopped working and was returned to the vendor for repair. However, I was still able to collect some data, was able to process it, and started to create correlation algorithms between the electrical patterns in the brain and the commands we wanted the computer to carry out. I also carried out a test to investigate the comfort of the headset if it is worn for a long time. The knowledge gained will benefit me in my future career. I learned how to use various modeling and programming tools that included Blender, Maya, Substance Painter, Artec Studio, Github, and Unreal Engine 4. I learned how to use a professional grade 3D scanner and 3D printer. On the BCI Project I learned about data mining and how to create correlation algorithms. I also supported various demos including a live demo of the hybrid reality lab capabilities at ComicPalooza. This internship has given me a good look into engineering at NASA. I developed a more thorough understanding of engineering and my overall confidence has grown. I have also realized that any problem can be fixed, if you try hard enough, and as an engineer it is your job to not only fix problems but to embrace coming up with solutions to those problems.

Arias, Adriel↗

NASA NTRS2016

Microarray Data Analysis of Space Grown Arabidopsis Leaves for Genes Important in Vascular Patterning

Venation patterning in leaves is a major determinant of photosynthesis efficiency because of its dependency on vascular transport of photo-assimilates, water, and minerals. Arabidopsis thaliana grown in microgravity show delayed growth and leaf maturation. Gene expression data from the roots, hypocotyl, and leaves of A. thaliana grown during spaceflight vs. ground control analyzed by Affymetrix microarray are available through NASA's GeneLab (GLDS-7). We analyzed the data for differential expression of genes in leaves resulting from the effects of spaceflight on vascular patterning. Two genes were found by preliminary analysis to be up-regulated during spaceflight that may be related to vascular formation. The genes are responsible for coding an ARGOS (Auxin-Regulated Gene Involved in Organ Size)-like protein (potentially affecting cell elongation in the leaves), and an F-box/kelch-repeat protein (possibly contributing to protoxylem specification). Further analysis that will focus on raw data quality assessment and a moderated t-test may further confirm up-regulation of the two genes and/or identify other gene candidates. Plants defective in these genes will then be assessed for phenotype by the mapping and quantification of leaf vascular patterning by NASA's VESsel GENeration (VESGEN) software to model specific vascular differences of plants grown in spaceflight.

venation↗

NASA NTRS2016

Microarray Data Analysis of Space Grown Arabidopsis Leaves for Genes Important in Vascular Patterning

Venation patterning in leaves is a major determinant of photosynthesis efficiency because of its dependency on vascular transport of photoassimilates, water, and minerals. Arabidopsis thaliana grown in microgravity show delayed growth and leaf maturation. Gene expression data from the roots, hypocotyl, and leaves of A. thaliana grown during spaceflight vs. ground control analyzed by Affymetrix microarray are available through NASAs GeneLab (GLDS-7). We analyzed the data for differential expression of genes in leaves resulting from the effects of spaceflight on vascular patterning. Two genes were found by preliminary analysis to be upregulated during spaceflight that may be related to vascular formation. The genes are responsible for coding an ARGOS like protein (potentially affecting cell elongation in the leaves), and an F-boxkelch-repeat protein (possibly contributing to protoxylem specification). Further analysis that will focus on raw data quality assessment and a moderated t-test may further confirm upregulation of the two genes and/or identify other gene candidates. Plants defective in these genes will then be assessed for phenotype by the mapping and quantification of leaf vascular patterning by NASAs VESsel GENeration (VESGEN) software to model specific vascular differences of plants grown in spaceflight.

Weitzeal, A. J.↗

NASA NTRS2016

Microarray Data Analysis of Space Grown Arabidopsis Leaves for Genes Important in Vascular Patterning

Venation patterning in leaves is a major determinant of photosynthesis efficiency because of its dependency on vascular transport of photoassimilates, water, and minerals. Arabidopsis thaliana grown in microgravity show delayed growth and leaf maturation. Gene expression data from the roots, hypocotyl, and leaves of A. thaliana grown during spaceflight vs. ground control analyzed by Affymetrix microarray are available through NASA's GeneLab (GLDS-7). We analyzed the data for differential expression of genes in leaves resulting from the effects of spaceflight on vascular patterning. Two genes were found by preliminary analysis to be upregulated during spaceflight that may be related to vascular formation. The genes are responsible for coding an ARGOS like protein (potentially affecting cell elongation in the leaves), and an F-box/kelch-repeat protein (possibly contributing to protoxylem specification). Further analysis that will focus on raw data quality assessment and a moderated t-test may further confirm upregulation of the two genes and/or identify other gene candidates. Plants defective in these genes will then be assessed for phenotype by the mapping and quantification of leaf vascular patterning by NASA's VESsel GENeration (VESGEN) software to model specific vascular differences of plants grown in spaceflight.

Weitzeal, A. J.↗

NASA NTRS2017

Conference Video for Booth at SAE World Congress Experience Conference

Contents: Publicly released videos on technology transfer items available for licensing from NASA. Includes; Powder Handling Device for Analytical Instruments (Ames); 2. Fiber Optic Shape Sensing (FOSS) (Armstrong); 3. Robo-Glove (Johnson); 4. Modular Robotic Vehicle (Johnson); 5. Battery Management System (Johnson); 6. Active Response Gravity Offload System (ARGOS) (Johnson); 7. Contaminant Resistant Coatings for Extreme Environments (Langley); 8. Molecular Adsorber Coating (MAC) (Goddard); 9. Ultrasonic Stir Welding (Marshall). Also includes scenes from the International Space Station.

Harkey, Ann Marie↗