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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
DOE OSTI2021

Integrating continuous atmospheric boundary layer and tower-based flux measurements to advance understanding of land-atmosphere interactions

The atmospheric boundary layer mediates the exchange of energy, matter, and momentum between the land surface and the free troposphere, integrating a range of physical, chemical, and biological processes and is defined as the lowest layer of the atmosphere (ranging from a few meters to 3 km). In this review, we investigate how continuous, automated observations of the atmospheric boundary layer can enhance the scientific value of co-located eddy covariance measurements of land-atmosphere fluxes of carbon, water, and energy, as are being made at FLUXNET sites worldwide. We highlight four key opportunities to integrate tower-based flux measurements with continuous, long-term atmospheric boundary layer measurements: (1) to interpret surface flux and atmospheric boundary layer exchange dynamics and feedbacks at flux tower sites, (2) to support flux footprint modelling, the interpretation of surface fluxes in heterogeneous terrain, and quality control of eddy covariance flux measurements, (3) to support regional-scale modeling and upscaling of surface fluxes to continental scales, and (4) to quantify land-atmosphere coupling and validate its representation in Earth system models. Adding a suite of atmospheric boundary layer measurements to eddy covariance flux tower sites, and supporting the sharing of these data to tower networks, would allow the Earth science community to address new emerging research questions, better interpret ongoing flux tower measurements, and would present novel opportunities for collaborations between FLUXNET scientists and atmospheric and remote sensing scientists.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

The AWAKEN wind farm benchmark, Part 2: Modeling results

Accurately modeling wind farm performance in complex atmospheric flows remains a challenge. This paper presents the modeling results of the American WAKE experimeNt (AWAKEN) wind farm benchmark, a collaborative effort involving 16 research groups from academia and industry within the International Energy Agency Wind Technology Collaboration Programme Task 57. The study evaluates a diverse suite of simulation tools, ranging from fast-running engineering wake models to high-fidelity large-eddy simulations, against a diurnal case study observed during the AWAKEN campaign. The benchmark utilized a three-phase structure to progressively assess model performance as observational data availability increased. Initial blind predictions showed that higher-fidelity models did not uniformly outperform simpler simulation tools. A distinct spatial bias was observed where models struggled to resolve the interplay between a low-level jet, wakes, and terrain-induced flow acceleration. In subsequent phases, leveraging additional measurements for model improvement led to a reduction in mean absolute error across the model ensemble; however, this effect was most pronounced in engineering wake models, where targeted calibration reduced error by up to 40~\%. Overall, the study demonstrates that inflow characterization remains a primary prerequisite for accuracy, particularly for models relying on coarse forcing datasets. While the limited ability to resolve local terrain-flow interactions under single-day conditions represent a recognized constraint, the overall findings on wake modeling and real-world validation still provide valuable guidance for model application and for mitigating this limitation.

Bodini, Nicola↗
DOE OSTI2023

LES ARM Symbiotic Simulation and Observation Scenario for CACTI

The Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI scenario consists of a library of mesoscale and LES simulations spanning grid spacings from 7.5 km to 100 m for convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. Supporting skill scores and observation comparisons complement the simulations in addition to subsets of the model output for various categories of model output variables. More information can be found at https://www.arm.gov/capabilities/modeling/lasso.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

WRF restart files for a LASSO-CACTI simulation

The restart files from a Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m through the use of four nested domains, labeled d1 through d4. Restarts are available for the LES domains, i.e., d3 and d4. The simulations are of convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. The restart files are output every 30 minutes in netCDF format as output by the WRF model, i.e., the “wrfrst” files, with the files renamed for archival purposes.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2022

Limitations of reanalysis data for wind power applications

Wind energy resource estimates commonly depend on simulated wind speed profiles generated by reanalysis or weather models due to the lack of long time series measurements with sufficient coverage at relevant heights (roughly 90 m above ground). However, modeled data, including reanalyses, can be noisy and display a wide range of biases and errors, variously attributed to terrain effects, poor coverage of assimilated inputs, and model resolution. Wind generation records, if available at high temporal and geographical resolution, can provide a proxy for wind measurements and allow for evaluation of reanalyses and weather model wind time series. We use a 7-year-long data set of hourly, plant-level generation records from over 100 wind plants across Texas to evaluate two commonly used reanalysis data sets (MERRA2 and ERA5). Additionally, we use 1-year of records (2019) to evaluate an operational, high-resolution regional weather modeling product (HRRR v3). We find that across the region, and across all modeling products, the modeled representation of wind generation (i.e., wind speeds at hub heights passed through a power curve) has relatively small mean errors when aggregated daily, but that accuracy and hourly correlation have a strong diurnal sensitivity. Accuracy and correlation systematically decline through the evening and markedly improve after sunrise. These diurnal patterns persist even in the highest resolution model tested (HRRR v3). We hypothesize the nighttime decline in accuracy is mostly due to poorly represented boundary layer conditions, perhaps related to model representation of stability, while other uncertainties (such as wake effects) play a secondary role.

17 WIND ENERGY↗
DOE OSTI2023

Evaluating wind profiles in a numerical weather prediction model with Doppler lidar

We use Doppler lidar wind profiles from six locations around the globe to evaluate the wind profile forecasts in the boundary layer generated by the operational global Integrated Forecast System (IFS) from the European Centre for Medium-range Weather Forecasts (ECMWF). The six locations selected cover a variety of surfaces with different characteristics (rural, marine, mountainous urban, and coastal urban). We first validated the Doppler lidar observations at four locations by comparison with co-located radiosonde profiles to ensure that the Doppler lidar observations were of sufficient quality. The two observation types agree well, with the mean absolute error (MAE) in wind speed almost always less than 1 m s –1 . Large deviations in the wind direction were usually only seen for low wind speeds and are due to the wind direction uncertainty increasing rapidly as the wind speed tends to zero. Time–height composites of the wind evaluation with 1 h resolution were generated, and evaluation of the model winds showed that the IFS model performs best over marine and coastal locations, where the mean absolute wind vector error was usually less than 3 m s –1 at all heights within the boundary layer. Larger errors were seen in locations where the surface was more complex, especially in the wind direction. For example, in Granada, which is near a high mountain range, the IFS model failed to capture a commonly occurring mountain breeze, which is highly dependent on the sub-grid-size terrain features that are not resolved by the model. The uncertainty in the wind forecasts increased with forecast lead time, but no increase in the bias was seen. At one location, we conditionally performed the wind evaluation based on the presence or absence of a low-level jet diagnosed from the Doppler lidar observations. The model was able to reproduce the presence of the low-level jet, but the wind speed maximum was about 2 m s –1 lower than observed. This is attributed to the effective vertical resolution of the model being too coarse to create the strong gradients in wind speed observed. Our results show that Doppler lidar is a suitable instrument for evaluating the boundary layer wind profiles in atmospheric models.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Input files and WRF run directory for a LASSO-CACTI simulation

Tar file containing files necessary for reproducing a given Weather Research and Forecasting (WRF) simulation from the Large-Eddy Simulation (LES) Atmospheric Radiation Measurement (ARM) Symbiotic Simulation and Observation (LASSO) deep-convection scenario for the Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign. The LASSO-CACTI simulations span grid spacings from 7.5 km to 100 m for convection near the Sierras de Córdoba mountain range, roughly centered on the ARM Mobile Facility. More information can be found at https://www.arm.gov/capabilities/modeling/lasso. Types of files in this tar include the initial and boundary conditions, WRF namelist, and other files present in a WRF run directory.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Department of Energy’s Atmospheric System Research (ASR) Program’s Workshop on the Future of Atmospheric Large Eddy Simulation (LES): Workshop Report

Large-eddy simulation (LES) is used as a tool to understand physical processes such as turbulence, aerosols, clouds, precipitation, radiation, the interactions among all these, and their interactions with the underlying surface. Over the next 10 years, LES will drive fundamental progress in open scientific questions in these areas as LES is increasingly used to gain understanding of complex interacting physical processes involving atmospheric turbulence. This growth will be driven both by scientific demand and the expansion of computational resources needed to conduct LES, and the form that the growth takes will largely be determined by how computational resources are leveraged for scientific gain. In particular, we suggest that computational resources are likely to be leveraged in two separate but not necessarily distinct ways. On one hand, growth in computational resources will allow LES to be made more routine, that is, performed more frequently, while on the other hand, the computational expense (measured in total floating point operations) afforded to individual LES will expand dramatically, allowing simulations to increase in both domain size and resolution as well as physical detail. Current U.S. Department of Energy (DOE) projects such as LES ARM Symbiotic Simulation and Observation Activity (LASSO) are leading the way in conducting routine LES, building large, public databases that are accessible for data science, sensitivity studies, and training for machine learning. LES will also become more routine as it becomes more accessible for individual researchers to address their scientific questions of interest. Scientific questions addressed by LES over the next 10 years are likely to include cloud organization and aggregation; aerosol cloud interactions and atmospheric chemistry (including geo-engineering); urban-scale LES; atmospheric extreme events, ranging from small-scale severe weather to wildfires; and ocean-wave-atmosphere interactions. Further LES-related research will likely grow significantly in areas related to societal impact studies of air quality and extreme weather events, applications to renewable energy forecasting and resource assessment, and aid in decision-making processes. The growth in the use of LES in atmospheric science research will drive the need for better physical process representations (e.g., cloud aerosol microphysics, radiation, and atmospheric chemistry) at the scales resolved by LES. To date, many of the process representations used by LES have been taken directly from coarser-resolution models. Promising methods for LES process representations include superdroplet and quadrature methods for microphysics, 3D approaches for radiation, and better representation of chemistry and aerosol processes. At LES resolution, land-atmosphere interactions for complex terrains, land cover/types, biogeochemistry, and plant canopy models are needed as an improvement beyond traditional and widely used Monin-Obuhkov similarity theory.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Combined effects of horizontal and vertical resolution on reliable turbulence prediction at tidal energy sites: A systematic study in the Salish Sea, WA

Predicting turbulence characteristics with coastal ocean models is essential for tidal energy converter deployment. While large eddy simulation provides a detailed turbulence representation, computational limitations restrict its use to smaller domains. We systematically evaluate whether well-configured coastal models can provide reliable turbulence prediction through progressive refinement of 3D model representation. We implemented four model configurations (Levels 1–4) using terrain-following coordinates, isolating the impacts of horizontal resolution, vertical resolution, and layer distribution. We validated all configurations against field measurements from the Salish Sea, WA. Results show that tidal current velocity predictions remain unchanged regarding model configuration, but turbulence properties are sensitive to resolution refinement. Increasing vertical resolution alone proved insufficient; even with vertical sigma-levels rising from 11 to 41, significant underprediction persisted until finer horizontal resolution better captured bathymetric variations. The Level 4 configuration, incorporating geometric sigma-levels distribution, achieved turbulence prediction skill scores exceeding 0.90. Turbulence closure comparison revealed Mellor- Yamada 2.5 outperformed k-epsilon in TKE prediction (skill scores 0.84–0.94 versus 0.72–0.81) due to better boundary layer parameterization. This study shows that well-configured coastal models effectively bridge the gap between simplified tools and costly high-fidelity modeling, offering the tidal energy industry practical and cost-effective turbulence data at commercially relevant scales.

Marine Energy↗
DOE OSTI2023

The Surface Atmosphere Integrated Field Laboratory (SAIL) Campaign

The science of mountainous hydrology spans the atmosphere through the bedrock and inherently crosses physical and disciplinary boundaries: land-atmosphere interactions in complex terrain enhance clouds and precipitation, while watersheds retain and release water over a large range of spatial and temporal scales. Limited observations in complex terrain challenge efforts to improve predictive models of the hydrology in the face of rapid changes. The Upper Colorado River exemplifies these challenges, especially with ongoing mismatches between precipitation, snowpack, and discharge. Consequently, the U.S. Department of Energy’s (DOE) Atmospheric Radiation Measurement (ARM) user facility has deployed an observatory to the East River Watershed near Crested Butte, Colorado between September 2021 and June 2023 to measure the main atmospheric drivers of water resources, including precipitation, clouds, winds, aerosols, radiation, temperature and humidity. This effort, called the Surface Atmosphere Integrated Field Laboratory (SAIL), is also working in tandem with DOE-sponsored surface and subsurface hydrologists and other federal, state, and local partners. SAIL data can be benchmarks for model development by producing a wide range of observational information on precipitation and its associated processes, including those processes that impact snowpack sublimation and redistribution, aerosol direct radiative effects in the atmosphere and in the snowpack, aerosol impacts on clouds and precipitation, and processes controlling surface fluxes of energy and mass. Preliminary data from SAIL’s first year showcase the rich information content in SAIL’s many data-streams and support testing hypotheses that will ultimately improve scientific understanding and predictability of Upper Colorado River hydrology in 2023 and beyond.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

The first ensemble of kilometer-scale simulations of a hydrological year over the third pole

An accurate understanding of the current and future water cycle over the Third Pole is of great societal importance, given the role this region plays as a water tower for densely populated areas downstream. An emerging and promising approach for skillful climate assessments over regions of complex terrain is kilometer-scale climate modeling. As a foundational step towards such simulations over the Third Pole, we present a multi-model and multi-physics ensemble of kilometer-scale regional simulations for the hydrological year of October 2019 to September 2020. The ensemble consists of 13 simulations performed by an international consortium of 10 research groups, configured with a horizontal grid spacing ranging from 2.2 to 4 km covering all of the Third Pole region. These simulations are driven by ERA5 and are part of a Coordinated Regional Climate Downscaling EXperiment Flagship Pilot Study on Convection-Permitting Third Pole. The simulations are compared against available gridded and in-situ observations and remote-sensing data, to assess the performance and spread of the model ensemble compared to the driving reanalysis during the cold and warm seasons. Although ensemble evaluation is hindered by large differences between the gridded precipitation datasets used as a reference over this region, we show that the ensemble improves on many warm-season precipitation metrics compared with ERA5, including most wet-day and hour statistics, and also adds value in the representation of wet spells in both seasons. As such, the ensemble will provide an invaluable resource for future improvements in the process understanding of the hydroclimate of this remote but important region.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

Characterizing Turbulence at a Forest Edge: Comparing Sub-Filter Scale Turbulence Models in Simulations of Flow over a Canopy

In wildfires, atmospheric turbulence plays a major role in the transfer of turbulent kinetic energy. Understanding how turbulence feeds back into a dynamical system is important, down to the varying small scales of fuel structures (i.e. pine needles, grass). Large eddy simulations (LES) are a common way of numerically representing turbulence. The Smagorinsky model (1963) serves as one of the most studied sub-grid scale representations in LES. In this investigation, the Smagorinsky model was implemented in HIGRAD/FIRETEC, LANL’s coupled fire-atmosphere model. This study was motivated by the need to quantitatively investigate the vorticity budget equation in HIGRAD/FIRETEC. The Smagorinsky turbulent kinetic energy (TKE) was compared to FIRETEC’s 1.5-order TKE eddy-viscosity subgrid-scale model, known as the Linn turbulence model. This was done in simulations of flow over flat terrain with a homogeneous, cuboidal canopy in the center of the domain. Examinations of the modeled vertical TKE profile and turbulent statistics at the leading edge, and throughout the canopy, show that the Smagorinsky model provides comparable results to that of the original closure model posed in FIRETEC.

58 GEOSCIENCES↗
DOE OSTI2023

Back-Azimuth Estimation of Air-to-Ground Coupled Infrasound from Transverse Coherence Minimization

We present the transverse coherence minimization method (TCM)—an approach to estimate the back–azimuth of infrasound signals that are recorded on an infrasound microphone and a colocated three–component seismometer. Accurate back–azimuth information is important for a variety of monitoring efforts, but it is currently only available for infrasound arrays and for seismoacoustic sensor pairs separated by 10 s of meters. Our TCM method allows for the analysis of colocated sensor pairs, sensors located within a few meters of each other, which may extend the capabilities of existing seismoacoustic networks and supplement operating infrasound arrays. This approach minimizes the coherence of the transverse component of seismic displacement with the infrasound wave to estimate the infrasound back–azimuth. After developing an analytical model, we investigate seismoacoustic signals from the August 2012 Humming Roadrunner experiment and the 26 May 2021 eruption of Great Sitkin Volcano, Alaska, U.S.A., at the ranges of 6.5–185 km from the source. We discuss back–azimuth estimates and potential sources of deviation (1°–15°), such as local terrain effects or deviation from common analytical models. This practical method complements existing seismoacoustic tools and may be suitable for routine application to signals of interest.

58 GEOSCIENCES↗
DOE OSTI2022

Improved Representation of Horizontal Variability and Turbulence in Mesoscale Simulations of an Extended Cold-Air Pool Event

Abstract Cold-air pools (CAPs), or stable atmospheric boundary layers that form within topographic basins, are associated with poor air quality, hazardous weather, and low wind energy output. Accurate prediction of CAP dynamics presents a challenge for mesoscale forecast models in part because CAPs occur in regions of complex terrain, where traditional turbulence parameterizations may not be appropriate. This study examines the effects of the planetary boundary layer (PBL) scheme and horizontal diffusion treatment on CAP prediction in the Weather Research and Forecasting (WRF) Model. Model runs with a one-dimensional (1D) PBL scheme and Smagorinsky-like horizontal diffusion are compared with runs that use a new three-dimensional (3D) PBL scheme to calculate turbulent fluxes. Simulations are completed in a nested configuration with 3-km/750-m horizontal grid spacing over a 10-day case study in the Columbia River basin, and results are compared with observations from the Second Wind Forecast Improvement Project. Using event-averaged error metrics, potential temperature and wind speed errors are shown to decrease both with increased horizontal grid resolution and with improved treatment of horizontal diffusion over steep terrain. The 3D PBL scheme further reduces errors relative to a standard 1D PBL approach. Error reduction is accentuated during CAP erosion, when turbulent mixing plays a more dominant role in the dynamics. Last, the 3D PBL scheme is shown to reduce near-surface overestimates of turbulence kinetic energy during the CAP event. The sensitivity of turbulence predictions to the master length-scale formulation in the 3D PBL parameterization is also explored. Significance Statement In this article, we demonstrate how a new framework for modeling atmospheric turbulence improves cold pool predictions, using a case study from January 2017 in the Columbia River basin (U.S. Pacific Northwest). Cold pools are regions of cold, stagnant air that form within valleys or basins, and improved forecasts could help to mitigate the risks they pose to air quality, transportation, and wind energy production. For the chosen case study, our tests show a reduction in temperature and wind speed errors by up to a factor of 2–3 relative to standard model options. These results strongly motivate continued development of the framework as well as its application to other complex weather events.

17 WIND ENERGY↗
DOE OSTI2026

Zooming in: SCREAM at 100 m using regional refinement over the San Francisco Bay Area

Pushing global climate models to large-eddy simulation (LES) scales over complex terrain has remained a major challenge. This study presents the first known implementation of a global model – SCREAM (Simple Cloud-Resolving E3SM Atmosphere Model) – at 100 m horizontal resolution using a regionally refined mesh (RRM) over the San Francisco Bay Area. Two hindcast simulations were conducted to test performance under both strong synoptic forcing and weak, boundary-layer-driven conditions. We demonstrate that SCREAM can stably run at LES scales while realistically capturing topography, surface heterogeneity, and coastal processes. The 100 m SCREAM-RRM substantially improves near-surface wind speed, temperature, humidity, and pressure biases compared to the baseline 3.25 km simulation, and better reproduces fine-scale wind oscillations and boundary-layer structures. These advances leverage SCREAM's scale-aware SHOC turbulence parameterization, which transitions smoothly across scales without tuning. Performance tests show that while CPU-only simulations remain costly, GPU acceleration with SCREAMv1 on NERSC's Perlmutter system enables two-day hindcasts to complete in under two wall-clock days. Our results open the door to LES-scale studies of orographic flows, boundary-layer turbulence, and coastal clouds within a fully comprehensive global modeling framework.

Geosciences↗
DOE OSTI2023

National Center for Airborne Laser Mapping (NCALM) LiDAR, Imagery, and DEM data from five NGEE Arctic Sites, Seward Peninsula, Alaska, August 2021

From August 8 through August 16 of 2021, airborne remote sensing data was collected by the National Center for Airborne Laser Mapping (NCALM) in collaboration with NGEE Arctic scientists. Data was collected around five NGEE Arctic study sites on the Seward Peninsula of Alaska: Teller mm 27, Teller mm 47, Kougarok mm 64, Kougarok mm 86, and Council mm 71. A Robinson R44 II helicopter with a RIEGL VQ-580 II airborne laser scanner was used to collect the LiDAR point cloud data for each study site. A Phase One iXM-RS100F camera was integrated with the Riegl sensor to collect RGB imagery. This data package contains LiDAR point clouds (.las), RGB imagery (tif), 1 m or 50 cm Digital Elevation Models (.tif) generated from the LiDAR data, and shapefiles of the .las tiling system for each site (.shp). Two supplemental documents are also included in the package: 1) a report describing data collection details, GNSS corrections, and processing steps and 2) a document describing the LiDAR Classification used (.pdf). This survey was conducted towards the end of the summer on the Seward Peninsula, and can be paired with data collected in April of 2022 during the snow-on campaign "National Center for Airborne Laser Mapping (NCALM) LiDAR and DEM data from two NGEE Arctic Sites, Seward Peninsula, Alaska, Winter 2022" (Singhania et.al, 2023) (NGA314). The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was 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↗
DOE OSTI2024

Editorial: Resolving atmospheric flow in complex environments: recent experiments in terrain and forest canopies

The characterization of atmospheric flows in complex environments, which may include steep terrain slopes and heterogeneous vegetation and/or forest cover, is a long-standing challenge in boundary-layer meteorology. Atmospheric observations are complicated by the presence of transient, terrain-induced flow features, forest-canopy-atmosphere interactions, and atmospheric stability effects, not to mention the logistical hurdles involved with instrument deployment, data analysis, and quality control. Furthermore, challenges in atmospheric modeling arise due to numerical errors associated with complex terrain flows, as well as reliance on simplified parameterizations for unresolved processes such as turbulent mixing and land-surface or forest-canopy-atmosphere interactions. These modeling challenges are exacerbated in the so-called “gray zone,” wherein features of interest have length scales that are similar to the model grid spacing, or when the principal flow layer is smaller than the grid spacing (e.g., slope flows).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

High precision control and deep learning-based corn stand counting algorithms for agricultural robot

This paper presents high precision control and deep learning-based corn stand counting algorithms for a low-cost, ultra-compact 3D printed and autonomous field robot for agricultural operations. Currently, plant traits, such as emergence rate, biomass, vigor, and stand counting, are measured manually. This is highly labor-intensive and prone to errors. The robot, termed TerraSentia, is designed to automate the measurement of plant traits for efficient phenotyping as an alternative to manual measurements. In this paper, we formulate a Nonlinear Moving Horizon Estimator that identifies key terrain parameters using onboard robot sensors and a learning-based Nonlinear Model Predictive Control that ensures high precision path tracking in the presence of unknown wheel-terrain interaction. Moreover, we develop a machine vision algorithm designed to enable an ultra-compact ground robot to count corn stands by driving through the fields autonomously. The algorithm leverages a deep network to detect corn plants in images, and a visual tracking model to re-identify detected objects at different time steps. We collected data from 53 corn plots in various fields for corn plants around 14 days after emergence (stage V3 - V4). The robot predictions have agreed well with the ground truth with C robot =1.02×C human -0.86 and a correlation coefficient R=0.96. The mean relative error given by the algorithm is -3.78%, and the standard deviation is 6.76%. These results indicate a first and significant step towards autonomous robot-based real-time phenotyping using low-cost, ultra-compact ground robots for corn and potentially other crops.

97 MATHEMATICS AND COMPUTING↗