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All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Mars rover concept development

A structured study effort to develop an extensive, innovative set of mobility and navigation concepts for a planetary exploration vehicle along with the concomitant value system and evaluation tools is presented. A further objective is to submit these concepts to a rigorous, structured evaluation process to derive the most promising candidate systems. To support the evaluation process, a three-layer computer model of the Martian surface was developed, based on the 1/64 deg Digital Elevation Model (DEM) of Mars. Local surface roughness based on measured Martian slope distribution and power spectral density was superimposed on the DEM, and rocks based on Moore's distribution model were added. To assess performance, selected concepts were modeled using DADS, and simulations were run with the vehicle traversing the Martian surface model, including one-meter-high vertical steps and one-meter-wide crevasses. The design details of three promising candidate systems are presented, along with the discussion of their evolution with some recommendations.

Mctamaney, Louis S.↗
DOE OSTI2023

Topological Relationship-Based Flow Direction Modeling: Stream Burning and Depression Filling

Flow direction modeling consists of (a) an accurate representation of the river network and (b) digital elevation model (DEM) processing to preserve characteristics with hydrological significance. In part 1 of our study, we presented a mesh-independent approach to representing river networks on different types of meshes. This follow-up part 2 study presents a novel DEM processing approach for flow direction modeling. This approach consists of (a) a topological relationship-based hybrid breaching-filling method to conduct stream burning for the river network and (b) a modified depression removal method for rivers and hillslopes. Our methods reduce modifications to surface elevations and provide a robust two-step procedure to remove local depressions in DEM. They are mesh-independent and can be applied to both structured and unstructured meshes. We applied our new methods with different model configurations to the Susquehanna River Basin. The results show that topological relationship-based stream burning, and depression-filling methods can reproduce the correct river networks, providing high-quality flow direction and other characteristics for hydrologic and Earth system models.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2011

Image Segmentation, Registration, Compression, and Matching

A novel computational framework was developed of a 2D affine invariant matching exploiting a parameter space. Named as affine invariant parameter space (AIPS), the technique can be applied to many image-processing and computer-vision problems, including image registration, template matching, and object tracking from image sequence. The AIPS is formed by the parameters in an affine combination of a set of feature points in the image plane. In cases where the entire image can be assumed to have undergone a single affine transformation, the new AIPS match metric and matching framework becomes very effective (compared with the state-of-the-art methods at the time of this reporting). No knowledge about scaling or any other transformation parameters need to be known a priori to apply the AIPS framework. An automated suite of software tools has been created to provide accurate image segmentation (for data cleaning) and high-quality 2D image and 3D surface registration (for fusing multi-resolution terrain, image, and map data). These tools are capable of supporting existing GIS toolkits already in the marketplace, and will also be usable in a stand-alone fashion. The toolkit applies novel algorithmic approaches for image segmentation, feature extraction, and registration of 2D imagery and 3D surface data, which supports first-pass, batched, fully automatic feature extraction (for segmentation), and registration. A hierarchical and adaptive approach is taken for achieving automatic feature extraction, segmentation, and registration. Surface registration is the process of aligning two (or more) data sets to a common coordinate system, during which the transformation between their different coordinate systems is determined. Also developed here are a novel, volumetric surface modeling and compression technique that provide both quality-guaranteed mesh surface approximations and compaction of the model sizes by efficiently coding the geometry and connectivity/topology components of the generated models. The highly efficient triangular mesh compression compacts the connectivity information at the rate of 1.5-4 bits per vertex (on average for triangle meshes), while reducing the 3D geometry by 40-50 percent. Finally, taking into consideration the characteristics of 3D terrain data, and using the innovative, regularized binary decomposition mesh modeling, a multistage, pattern-drive modeling, and compression technique has been developed to provide an effective framework for compressing digital elevation model (DEM) surfaces, high-resolution aerial imagery, and other types of NASA data.

Yadegar, Jacob↗
NASA NTRS2019

Utilizing Satellite Based Observations and Physical Hydrological Modeling for Freshwater Ecosystem Health in the Lower Mekong River Basin

Freshwater availability is necessary to promote economic growth through agriculture, fisheries, transport, environmental health, and social equity.The National Aeronautics and Space Administration (NASA) and the Conservation International (CI) are partnering to use remote sensing Earth observations to improve regional efforts that assess natural resources for conservation and sustainable management. (Vollmer et al.,2018) have presented the social-ecological framework named the Freshwater Health Index (FHI), which takes account of the interplay between governance, stakeholders, freshwater ecosystems and the ecosystem services they provide.In this work, we develop decision support and making tools for natural resources conservation in the Lower Mekong by leveraging the FHI framework, multiple data products, and hydrological modeling capabilities (Mohammed et al., 2018). Modeling capabilities enable the integration of satellite-based daily gridded precipitation, air temperature, digital elevation model, soil characteristics, and land cover and land use information to simulate water flux framework.

Mohammed, Ibrahim N.↗
NASA NTRS2011

Orthographic Stereo Correlator on the Terrain Model for Apollo Metric Images

A stereo correlation method on the object domain is proposed to generate the accurate and dense Digital Elevation Models (DEMs) from lunar orbital imagery. The NASA Ames Intelligent Robotics Group (IRG) aims to produce high-quality terrain reconstructions of the Moon from Apollo Metric Camera (AMC) data. In particular, IRG makes use of a stereo vision process, the Ames Stereo Pipeline (ASP), to automatically generate DEMs from consecutive AMC image pairs. Given camera parameters of an image pair from bundle adjustment in ASP, a correlation window is defined on the terrain with the predefined surface normal of a post rather than image domain. The squared error of back-projected images on the local terrain is minimized with respect to the post elevation. This single dimensional optimization is solved efficiently and improves the accuracy of the elevation estimate.

Terrain Model↗
NASA NTRS1990

Hierarchical approach to reconstruct surfaces by using iteratively rectified imagery

A new approach to reconstruct the 3D surface of the object space from digital images is described. All the object points obtained by an automatic orientation procedure lead to a first approximation of the surface. Edges are computed for one image and matched to the other image by grey level correlation or least-squares matching through the scale space. To every discrete step in the scale space there exists the digital stereopair (image pyramid), the corresponding surface digital elevation model (DEM), and the warped images. The warped images in this discrete scale space representation correspond to digital orthophotos obtained from the DEMs that result from matching the image pyramid. The warped images will be used on every successive level in the image pyramid in order to reduce the foreshortening problems associated with any area-based matching method.

Schenk, Toni↗
DOE OSTI2025

Assessing Heterogeneity of Surface Water Temperature Following Stream Restoration and a High-Intensity Fire from Thermal Imagery

Thermal heterogeneity of rivers is essential to support freshwater biodiversity. Salmon behaviorally thermoregulate by moving from patches of warm water to cold water. When implementing river restoration projects, it is essential to monitor changes in temperature and thermal heterogeneity through time to assess the impacts to a river’s thermal regime. Lightweight sensors that record both thermal infrared (TIR) and multispectral data carried via unoccupied aircraft systems (UASs) present an opportunity to monitor temperature variations at high spatial (<0.5 m) and temporal resolution, facilitating the detection of the small patches of varying temperatures salmon require. Here, we present methods to classify and filter visible wetted area, including a novel procedure to measure canopy cover, and extract and correct radiant surface water temperature to evaluate changes in the variability of stream temperature pre- and post-restoration followed by a high-intensity fire in a section of the river corridor of the South Fork McKenzie River, Oregon. We used a simple linear model to correct the TIR data by imaging a water bath where the temperature increased from 9.5 to 33.4 °C. The resulting model reduced the mean absolute error from 1.62 to 0.35 °C. We applied this correction to TIR-measured temperatures of wetted cells classified using NDWI imagery acquired in the field. We found warmer conditions (+2.6 °C) after restoration (p < 0.001) and median absolute deviation for pre-restoration (0.30) to be less than both that of post-restoration (0.85) and post-fire (0.79) orthomosaics. In addition, there was statistically significant evidence to support the hypothesis of shifts in temperature distributions pre- and post-restoration (KS test 2009 vs. 2019, p < 0.001, D = 0.99; KS test 2019 vs. 2021, p < 0.001, D = 0.10). Moreover, we used a Generalized Additive Model (GAM) that included spatial and environmental predictors (i.e., canopy cover calculated from multispectral NDVI and photogrammetrically derived digital elevation model) to model TIR temperature from a transect along the main river channel. This model explained 89% of the deviance, and the predictor variables showed statistical significance. Collectively, our study underscored the potential of a multispectral/TIR sensor to assess thermal heterogeneity in large and complex river systems.

Barker, Matthew I. (ORCID:0000000252864930)↗
NASA NTRS2014

Peru Water Resources: Integrating NASA Earth Observations into Water Resource Planning and Management in Perus La Libertad Region

Developing countries often struggle with providing water security and sanitation services to their populations. An important aspect of improving security and sanitation is developing a comprehensive understanding of the country's water budget. Water For People, a non-profit organization dedicated to providing clean drinking water, is working with the Peruvian government to develop a water budget for the La Libertad region of Peru which includes the creation of an extensive watershed management plan. Currently, the data archive of the necessary variables to create the water management plan is extremely limited. Implementing NASA Earth observations has bolstered the dataset being used by Water For People, and the METRIC (Mapping EvapoTranspiration at High Resolution and Internalized Calibration) model has allowed for the estimation of the evapotranspiration values for the region. Landsat 8 imagery and the DEM (Digital Elevation Model) from the Advanced Spaceborne Thermal Emission and Reflection Radiometer (ASTER) sensor onboard Terra were used to derive the land cover information, and were used in conjunction with local weather data of Cascas from Peru's National Meteorological and Hydrological Service (SENAMHI). Python was used to combine input variables and METRIC model calculations to approximate the evapotranspiration values for the Ochape sub-basin of the Chicama River watershed. Once calculated, the evapotranspiration values and methodology were shared Water For People to help supplement their decision support tools in the La Libertad region of Peru and potentially apply the methodology in other areas of need.

Padgett-Vasquez, Steve↗
DOE OSTI2024

Snow distribution patterns revisited: A physics-based and machine learning hybrid approach to snow distribution mapping in the sub-Arctic Supporting Data

Snow in the Arctic and sub-Arctic is highly variable at fine scales, with deep drifts and shallow scoured areas creating a complex pattern of snow on the landscape. This fine-scale variation in snow is driven primarily by landscape and vegetation properties. Some landscape features, such as river beds, will rapidly fill in with snow during the wintertime due to high winds, while shrubs will trap blowing snow, resulting in drifts. Meanwhile, snow will blow off of exposed areas, resulting in abnormally shallow snow. These complex interactions between wind, vegetation, and terrain are difficult to represent well with physically-based models, but machine learning techniques have shown promise in the past. Here, we propose a hybrid modeling approach, where we use machine learning derived snow pattern maps to inform SnowModel, a physically-based snow process model. We develop and test this technique at the Teller 27 Seward Peninsula NGEE-Arctic study site. This dataset includes 5 *.nc files of model inputs and outputs plus one user guide (*.pdf). We present the data we use to drive SnowModel (vegetation type, digital elevation model), the snow pattern maps used to inform SnowModel (Standardized Depth Values maps, Machine Learning Snow Distribution Pattern), and our machine learning, SnowModel, and Hybrid snow depth and snow water equivalent results. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2020

Improved LOLA Elevation Maps for South Pole Landing Sites: Error Estimates and Their Impact on Illumination Conditions

We present new high-resolution topographic models of 4 high-priority lunar south pole landing sites based exclusively on the laser altimetry data acquired by the Lunar Orbiter Laser Altimeter (LOLA) onboard the Lunar Reconnaissance Orbiter. By iteratively adjusting the LOLA tracks to the LOLA-based digital elevation model (LDEM) in a self-consistent fashion, we reduce the orbital geolocation errors by over a factor of 10 such that the new ground track geolocation uncertainty is ~10–20 ​cm horizontally and ~2–4 ​cm vertically over each 16 ​× ​16 km region. These new and improved 5 ​m/pix LDEMs will be useful to constrain higher-resolution topographic models derived from imagery, which are not as well controlled geodetically and which can be hindered by shadows. We developed a method to estimate surface height uncertainty in the new LDEMs, which accounts for the reduced orbital errors and interpolation errors by assuming a fractal behavior for the short-scale topography. The LDEM surface height and slope uncertainties have typical RMS values of ~0.30–0.50 ​m and ~1.5–2.5°, respectively. Finally, we examine how height uncertainties propagate to variations in horizon elevation and thus the predicted illumination conditions at these polar latitudes, and we show how this error characterization can inform landing site studies.

Michael K Barker↗
NASA NTRS2001

Flight Test Results of a Synthetic Vision Elevation Database Integrity Monitor

This paper discusses the flight test results of a real-time Digital Elevation Model (DEM) integrity monitor for Civil Aviation applications. Providing pilots with Synthetic Vision (SV) displays containing terrain information has the potential to improve flight safety by improving situational awareness and thereby reducing the likelihood of Controlled Flight Into Terrain (CFIT). Utilization of DEMs, such as the digital terrain elevation data (DTED), requires a DEM integrity check and timely integrity alerts to the pilots when used for flight-critical terrain-displays, otherwise the DEM may provide hazardous misleading terrain information. The discussed integrity monitor checks the consistency between a terrain elevation profile synthesized from sensor information, and the profile given in the DEM. The synthesized profile is derived from DGPS and radar altimeter measurements. DEMs of various spatial resolutions are used to illustrate the dependency of the integrity monitor s performance on the DEMs spatial resolution. The paper will give a description of proposed integrity algorithms, the flight test setup, and the results of a flight test performed at the Ohio University airport and in the vicinity of Asheville, NC.

deHaag, Maarten Uijt↗
NASA NTRS1980

Application of digital terrain data to quantify and reduce the topographic effect on LANDSAT data

Integration of LANDSAT multispectral scanner (MSS) data with 30 m U.S. Geological Survey (USGS) digital terrain data was undertaken to quantify and reduce the topographic effect on imagery of a forested mountain ridge test site in central Pennsylvania. High Sun angle imagery revealed variation of as much as 21 pixel values in data for slopes of different angles and aspects with uniform surface cover. Large topographic effects were apparent in MSS 4 and 5 was due to a combination of high absorption by the forest cover and the MSS quantization. Four methods for reducing the topographic effect were compared. Band ratioing of MSS 6/5 and MSS 7/5 did not eliminate the topographic effect because of the lack of variation in MSS 4 and 5 radiances. The three radiance models examined to reduce the topographic effect required integration of the digital terrain data. Two Lambertian models increased the variation in the LANDSAT radiances. The nonLambertian model considerably reduced (86 per cent) the topographic effect in the LANDSAT data. The study demonstrates that high quality digital terrain data, as provided by the USGS digital elevation model data, can be used to enhance the utility of multispectral satellite data.

Justice, C. O.↗
DOE OSTI2025

Applying Transfer Learning for Street-Scale Nuisance Flood Forecasting in Coastal-Urban Cities

An important challenge with Machine Learning (ML) is its transferability; that is, whether a ML model trained on one set of data can be applied to a second set of data without requiring a full re-training of the model. Transfer Learning (TL) addresses this challenge by transferring knowledge learned in the source domain (the data it was trained on) to the target domain (a second set of data that is statistically different but related, which the model was not trained on). This study investigates the use of TL for street-scale nuisance flood forecasting by exploring whether a ML model trained on data collected for one set of streets can effectively forecast flooding for another set of streets in the same city using TL. The envisioned use case is a city deploying a new flood depth monitoring sensor on a street and using TL to apply a ML model, trained on sensor data from an existing flood depth sensor network, to this new street. Eventually, the new flood depth sensor will have a sufficient dataset for training its own ML model, but TL can be used to fill the gap in time while this new dataset is being generated. This method is explored using a Long Short-Term Memory (LSTM) model trained on data for the flood-prone streets of Norfolk City, Virginia. The data used for training includes environmental time series (rainfall, tide), topographic features (Digital Elevation Model (DEM), Topographic Wetness Index (TWI), Depth To Water (DTW)), and street-scale flood depth time series obtained from a high-fidelity physics-based model, acting as a synthetic street-scale stream depth sensor dataset since actual stream depth sensor data is generally unavailable for most cities. A set of 180 flood-prone streets was used to train a base model, while another set of 180 flood-prone streets was used to re-train that model using different TL strategies. The results show that full-weight re-training proved most effective and minimal re-training of only the output layer was insufficient. The advantage of TL was most pronounced when target data was limited, meaning data collected at the new water depth sensor location included generally less than 18 flood events. As target data increased beyond 18 flood events, the benefit of TL diminished relative to training a ML model directly on the local flood events. These findings can assist cities as they implement street-scale flood sensing systems to create accurate forecasts for new sensing locations that do not yet have sufficient data records to train a local ML model.

Roy, Binata [Univ. of Virginia, Charlottesville, V↗
NASA NTRS1992

The topographic distribution of annual incoming solar radiation in the Rio Grande River basin

We model the annual incoming solar radiation topoclimatology for the Rio Grande River basin in Colorado, U.S.A. Hourly pyranometer measurements are combined with satellite reflectance data and 30-m digital elevation models within a topographic solar radiation algorithm. Our results show that there is large spatial variability within the basin, even at an annual integration length, but the annual, basin-wide mean is close to that measured by the pyranometers. The variance within 16 sq km and 100 sq km regions is a linear function of the average slope in the region, suggesting a possible parameterization for sub-grid-cell variability.

Dubayah, R.↗
NASA NTRS1988

Extraction of topography from side-looking satellite systems - A case study with SPOT simulation data

A simulated data set was used to evaluate techniques for extracting topography from side-looking satellite systems for an area of northwest Washington state. A negative transparency orthophotoquad was digitized at a spacing of 85 microns, resulting in an equivalent ground distance of 9.86 m between pixels and a radiometric resolution of 256 levels. A bilinear interpolation was performed on digital elevation model data to generate elevation data at a 9.86-m resolution. The nominal orbital characteristics and geometry of the SPOT satellite were convoluted with the data to produce simulated panchromatic HRV digital stereo imagery for three different orbital paths and techniques for reconstructing topographic data were developed. Analyses with the simulated HRV data and other data sets show that the method is effective.

Ungar, Stephen G.↗
NASA NTRS2006

Forecasting of Storm-Surge Floods Using ADCIRC and Optimized DEMs

Increasing the accuracy of storm-surge flood forecasts is essential for improving preparedness for hurricanes and other severe storms and, in particular, for optimizing evacuation scenarios. An interactive database, developed by WorldWinds, Inc., contains atlases of storm-surge flood levels for the Louisiana/Mississippi gulf coast region. These atlases were developed to improve forecasting of flooding along the coastline and estuaries and in adjacent inland areas. Storm-surge heights depend on a complex interaction of several factors, including: storm size, central minimum pressure, forward speed of motion, bottom topography near the point of landfall, astronomical tides, and, most importantly, maximum wind speed. The information in the atlases was generated in over 100 computational simulations, partly by use of a parallel-processing version of the ADvanced CIRCulation (ADCIRC) model. ADCIRC is a nonlinear computational model of hydrodynamics, developed by the U.S. Army Corps of Engineers and the US Navy, as a family of two- and three-dimensional finite-element-based codes. It affords a capability for simulating tidal circulation and storm-surge propagation over very large computational domains, while simultaneously providing high-resolution output in areas of complex shoreline and bathymetry. The ADCIRC finite-element grid for this project covered the Gulf of Mexico and contiguous basins, extending into the deep Atlantic Ocean with progressively higher resolution approaching the study area. The advantage of using ADCIRC over other storm-surge models, such as SLOSH, is that input conditions can include all or part of wind stress, tides, wave stress, and river discharge, which serve to make the model output more accurate. To keep the computational load manageable, this work was conducted using only the wind stress, calculated by using historical data from Hurricane Camille, as the input condition for the model. Hurricane storm-surge simulations were performed on an eight-node Linux computer cluster. Each node contained dual 2-GHz processors, 2GB of memory, and a 40GB hard drive. The digital elevation model (DEM) for this region was specified using a combination of Navy data (over water), NOAA data (for the coastline), and optimized Interferometric Synthetic Aperture Radar data (over land). This high-resolution topographical data of the Mississippi coastal region provided the ADCIRC model with improved input with which to calculate improved storm-surge forecasts.

Valenti, Elizabeth↗
DOE OSTI2023

Reducing impacts of artificial ponding in modeling salt marshes using a conductivity-formulated subgrid model

The landforms of salt marsh systems are rather complex, with meandering channel networks cutting through low-lying, extensive marsh platforms. Some small-scale topographic details are critical to flooding and draining processes but cannot be reflected in the Digital Elevation Model (DEM) due to limited measurement resolution and vegetation bias. Numerical models need a grid with high enough resolution to capture the small-scale connectivity to correctly model the small-scale flow processes, making the model computationally unaffordable. Here, in this study, we derived a subgrid model, which couples two flow components, one is the regular subgrid model for simulating the subgrid-resolved flows, and the other is a conductivity-formulated porous flow model for modeling small-scale gut flows unresolved at the subgrid level. The model validation was performed using an idealized case with a narrow slot that was unresolved in the coupled flow model. Model results were compared with a slot-resolved regular subgrid model where only surface flows are solved and suggested that, with a proper model parameterization, the coupled flow model is capable of reproducing flooding and draining processes similar to the slot-resolved subgrid model of surface flow. The model was applied to simulating flooding and draining processes in a meso-tidal salt marsh. The model results demonstrate that the coupled subgrid model can be used to reduce the impacts of artificial ponding that usually occur in numerical simulations of salt marshes with numerous narrow gullies and creeks.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2010

Quantitative Measures of Immersion in Cloud and the Biogeography of Cloud Forests

Sites described as tropical montane cloud forests differ greatly, in part because observers tend to differ in their opinion as to what constitutes frequent and prolonged immersion in cloud. This definitional difficulty interferes with hydrologic analyses, assessments of environmental impacts on ecosystems, and biogeographical analyses of cloud forest communities and species. Quantitative measurements of cloud immersion can be obtained on site, but the observations are necessarily spatially limited, although well-placed observers can examine 10 50 km of a mountain range under rainless conditions. Regional analyses, however, require observations at a broader scale. This chapter discusses remote sensing and modeling approaches that can provide quantitative measures of the spatiotemporal patterns of cloud cover and cloud immersion in tropical mountain ranges. These approaches integrate remote sensing tools of various spatial resolutions and frequencies of observation, digital elevation models, regional atmospheric models, and ground-based observations to provide measures of cloud cover, cloud base height, and the intersection of cloud and terrain. This combined approach was applied to the Monteverde region of northern Costa Rica to illustrate how the proportion of time the forest is immersed in cloud may vary spatially and temporally. The observed spatial variation was largely due to patterns of airflow over the mountains. The temporal variation reflected the diurnal rise and fall of the orographic cloud base, which was influenced in turn by synoptic weather conditions, the seasonal movement of the Intertropical Convergence Zone and the north-easterly trade winds. Knowledge of the proportion of the time that sites are immersed in clouds should facilitate ecological comparisons and biogeographical analyses, as well as land use planning and hydrologic assessments in areas where intensive on-site work is not feasible.

Lawton, R. O.↗