Robot Calibration with Planar Constraints
This paper investigates issues related to robot calibration with planar constraints and, in particular observability conditions for the parameters of the kinematic model of the robot.
Calibration↗
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Reduced Complexity Model Intercomparison Project Phase 2: Synthesizing Earth System Knowledge for Probabilistic Climate Projections
Over the last decades, climate science has evolved rapidly across multiple expert domains. Our best tools to capture state-of-the-art knowledge in an internally self-consistent modelling framework are the increasingly complex fully coupled Earth System Models (ESMs). However, computational limitations and the structural rigidity of ESMs mean that the full range of uncertainties across multiple domains are difficult to capture with ESMs alone. The tools of choice are instead more computationally efficient reduced complexity models (RCMs), which are structurally flexible and can span the response dynamics across a range of domain-specific models and ESM experiments. Here we present Phase 2 of the Reduced Complexity Model Intercomparison Project (RCMIP Phase 2), the first comprehensive intercomparison of RCMs that are probabilistically calibrated with key benchmark ranges from specialized research communities. Unsurprisingly, but crucially, we find that models which have been constrained to reflect the key benchmarks better reflect the key benchmarks. Under the low-emissions SSP1-1.9 scenario, across the RCMs, median peak warming projections range from 1.3 to 1.7°C (relative to 1850-1900, using an observationally-based historical warming estimate of 0.8°C between 1850-1900 and 1995-2014). Further developing methodologies to constrain these projection uncertainties seems paramount given the international community's goal to contain warming to below 1.5°C above pre-industrial in the long-term. Our findings suggest that users of RCMs should carefully evaluate their RCM, specifically its skill against key benchmarks and consider the need to include projections benchmarks either from ESM results or other assessments to reduce divergence in future projections.
Climate↗
The Low Energy Effective Area of the Chandra Low Energy Transmission Grating Spectrograph
The Chandra X-ray Observatory was successfully launched on July 23, 1999, and subsequently began an intensive calibration phase. We present the preliminary results from the in-flight calibration of the low energy response of the High Resolution Camera spectroscopic readout (HRC-S) combined with the Low Energy Transmission Grating (LETG) aboard Chandra. These instruments comprise the Low Energy Transmission Grating Spectrograph (LETGS). For this calibration study, we employ a pure hydrogen non-LTE white dwarf emission model (T = 25000 K and log g = 9.0) for comparison with the Chandra observations of Sirius B. The pre-flight calibration of the LETGS effective area only covered wavelengths shortward of 44 A (E less than 277 eV). Our Sirius B analysis shows that the HRC-S quantum efficiency (QE) model assumed for longer wavelengths leads to an overestimate of the effective area by an average factor of about 1.6. We derive a correction to the low energy HRC-S QE model to match the predicted and observed Sirius B spectra over the wavelength range of 44-185 A. We make an independent test of our results by the comparison of a Chandra LETGS observation of HZ 43 with pure hydrogen model atmosphere predictions and find good agreement.
Pease, D.↗
Ionospheric calibration for single frequency altimeter measurements
This report investigates the potential of using Global Positioning System (GPS) data and a model of the ionosphere to supply a measure of the sub-satellite Total Electron Current (TEC) of the required accuracy (10 TECU rms) for the purpose of calibrating single frequency radar altimeter measurements. Since climatological (monthly mean) models are known to be in error by as much as 50 percent, this work focused on the Parameterized Real-Time Ionospheric Specification Model (PRISM) which has the capability to improve model accuracy by ingesting (adjusting to) in situ ionospheric measurements. A set of globally distributed TEC measurements were generated using GPS data and were used as input to improve the accuracy of the PRISM model. The adjusted PRISM TEC values were compared to TOPEX dual frequency TEC measurements (which are considered truth) for a number of TOPEX sub-satellite tracks. The adjusted PRISM values generally compared to the TOPEX measurements within the 10 TECU accuracy requirements when the sub-satellite track passed within 300 to 400 km of the GPS TEC data or when the track passed through a night time ionosphere. However, when the sub-satellite points were greater than 300 to 400 km away from the GPS TEC data or when a local noon ionosphere was sampled, the adjusted PRISM values generally differed by greater than 10 TECU rms with data excursions from the TOPEX TEC measurements of as much as 40 TECU (an 8 cm path delay error at K band). Therefore, it can be concluded from this analysis that an unrealistically large number of GPS stations would be needed to predict sub-satellite TEC at the 10 TECU level in the day time ionosphere using a model such as PRISM. However, a technique currently being studied at the Jet Propulsion Laboratory (JPL) may provide a means of supplying adequate TEC data to meet the 10 TECU ionospheric correction accuracy when using a realistic number of ionospheric stations. This method involves using global GPS TEC data to estimate a global grid of vertical ionospheric TEC as a function of time (i.e. every one half hour) in a sun-fixed longitude frame. Working in a sun-fixed longitude frame, one is not limited by the spatial decorrelation distance of the ionosphere, but instead is limited more by the temporal correlations of the ionosphere in the sun-fixed frame which are a smaller effect. It is the opinion of the authors that using the global sun-fixed TEC grid data, in particular, ingesting it into PRISM, offers the best possibility of meeting the 10 TECU ionospheric correction accuracy requirement, and should be the subject of further study.
Schreiner, William S.↗
Incorporation of an evaporative cooling scheme into a dynamic model of orographic precipitation
A simple evaporative cooling scheme was incorporated into a dynamic model to estimate orographic precipitation in mountainous regions. The orographic precipitation model is based on the transport of atmospheric moisture and the quantification of preciptable water across a 3D representation of the terrain from the surface up to 250 hPa. Advective wind fields are computed independently and boundary conditions are extracted from radiosonde data. Precipitation rates are obtained through calibration of a spatially distributed precipitation efficiency parameter. The model was applied to the central Sierra Nevada. Results show a gain of the order of 20% in threat-score coefficients designed to measure the forecast ability of the model. Accuracy gains are largest at high elevations and during intense storms associated with warm air masses.
Barros, Ana Paula↗
Aspects of investigating STOL noise using large scale wind tunnel models
The applicability of the NASA Ames 40- by 80-ft wind tunnel for acoustic research on STOL concepts has been investigated. The acoustic characteristics of the wind tunnel test section has been studied with calibrated acoustic sources. Acoustic characteristics of several large-scale STOL models have been studied both in the free-field and wind tunnel acoustic environments. The results indicate that the acoustic characteristics of large-scale STOL models can be measured in the wind tunnel if the test section acoustic environment and model acoustic similitude are taken into consideration. The reverberant field of the test section must be determined with an acoustically similar noise source. Directional microphone and extrapolation of near-field data to far-field are some of the techniques being explored as possible solutions to the directivity loss in a reverberant field. The model sound pressure levels must be of sufficient magnitude to be discernable from the wind tunnel background noise.
Falarski, M. D.↗
Stirling engine: Available tools for long-life assessment
A review is presented for the durability approaches applicable to long-time life assessment of Stirling engine hot-section components. The crucial elements are experimental techniques for generating long-time materials property data (both monotonic and cyclic flow and failure properties); analytic representations of slow strain rate material stress-strain response characteristics (monotonic and cyclic constitutive relations) at high temperatures and low stresses and strains; analytic creep-fatigue-environmental interaction life prediction methods applicable to long lifetimes at high temperatures and small stresses and strains; and experimental verification of life predictions. Long-lifetime design criteria for materials of interest are woefully lacking. Designing against failures due to creep, creep-rupture, fatigue, environmental attack, and creep-fatigue-environmental interaction will require considerable extrapolation. Viscoplastic constitutive models and time-temperature parameters will have to be calibrated for the hot-section materials of interest. Analysis combined with limited verification testing in a short-time regime will be required to build confidence in long-lifetime durability models.
Halford, Gary R.↗
Stirling engine - Available tools for long-life assessment
A review is presented for the durability approaches applicable to long-time life assessment of Stirling engine hot-section components. The crucial elements are experimental techniques for generating long-time materials property data (both monotonic and cyclic flow and failure properties); analytic representations of slow strain rate material stress-strain response characteristics (monotonic and cyclic constitutive relations) at high temperatures and low stresses and strains; analytic creep-fatigue-environmental interaction life prediction methods applicable to long lifetimes at high temperatures and small stresses and strains; and experimental verification of life predictions. Long-lifetime design criteria for materials of interest are woefully lacking. Designing against failures due to creep, creep-rupture, fatigue, environmental attack, and creep-failure-environmental interaction will require considerable extrapolation. Viscoplastic constitutive models and time-temperature parameters will have to be calibrated for the hot-section materials of interest. Analysis combined with limited verification testing in a short-time regime will be required to build confidence in long-lifetime durability models.
Halford, Gary R.↗
Experimental and Numerical Characterization of High Heat Fluxes During Transient Blackbody Calibrations
High heat fluxes are encountered in numerous applications, such as hypersonic vehicles in flight, fires, and engines, Calibration of heat flux gages may be performed in a dual cavity cylindrical blackbody resulting in a transient calibration environment. To characterize the transient heat fluxes. experiments were performed on a dual cavity cylindrical blackbody at nominal temperatures varying from 800 C to 1900 C in increments of 100 C. Based on experiments, the optimum heat flux sensor insertion location as measured from the center partition was determined. The pre-insertion steady state axial temperature profile is compared experimentally, numerically, and analytically. The effect of convection in the blackbody cavity during the insertion is calculated and found to be less than 2 per cent. Also, an empirical correlation for predicting the emissivity of the blackbody is included. Detailed transient thermal models have been developed to simulate the heat flux calibration process at two extreme fluxes. The high (1MW/sq m) and relatively low (70 kw/sq m) fluxes are reported in this article. The transient models show the effect of inserting a heat flux gage at room temperature on the thermal equilibrium of the blackbody at 1800 C and 800 C nominal temperatures, respectively. Also, heat flux sensor outputs are derived from computed sensor temperature distributions and compared to experimental results.
Abdelmessih, Amanie N.↗
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↗
Aspects of investigating STOL noise using large-scale wind-tunnel models.
The applicability of the NASA Ames 40- by 80-foot wind tunnel for acoustic research on STOL concepts has been investigated. The acoustic characteristics of the wind-tunnel test section have been studied with calibrated acoustic sources. Acoustic characteristics of several large-scale STOL models have been studied in both the free-field and wind-tunnel acoustic environments. The results of these studies indicate that the acoustic characteristics of large-scale STOL models can be measured in the wind tunnel if the test section acoustic environment and model acoustic similitude are taken into consideration. The reverberant field of the test section must be determined with an acoustically similar noise source. A directional microphone, a phased array of microphones, and extrapolation of near-field data to far-field are some of the techniques being explored as possible solutions to the directivity loss in a reverberant field. The model sound pressure levels must be of sufficient magnitude to be distinguishible from the wind-tunnel background noise.
Falarski, M. D.↗
Laboratory Astrophysics Needs of the Herschel Space Observatory
The science teams of the Herschel Space Observatory have identified a number of areas where laboratory study is required for proper interpretation of Herschel observational data. The most critical is the collection and compilation of laboratory data on spectral line frequencies, transition probabilities and energy levels for the known astrophysical atomic and molecular species in 670 to 57 micron wavelength range of Herschel. The second most critical need is the compilation of collisional excitation cross sections for the species known to dominate the energy balance in the ISM and the temperature dependent chemical reaction rates. On the theoretical front, chemical and radiative transfer models need to be prepared in advance to assess calibration and identify instrument anomalies. In the next few years there will be a need to incorporate spectroscopists and theoretical chemists into teams of astronomers so that the spectroscopic surveys planned can he properly calibrated and rapidly interpreted once the data becomes available. The science teams have also noted that the enormous prospects for molecular discovery will be greatly handicapped by the nearly complete lack of spectroscopic data for anything not already well known in the ISM. As a minimum, molecular species predicted to exist by chemical models should be subjected to detailed laboratory study to ensure conclusive detections. This has the greatest impact on any astrobiology program that might be proposed for Herschel. Without a significant amount of laboratory work in the very near future Herschel will not be prepared for many planned observations, much less addressing the open questions in molecular astrophysics.
Pearson, J. C.↗
Digital cartography of the planets - New methods, its status, and its future
A system has been developed that establishes a standardized cartographic database for each of the 19 planets and major satellites that have been explored to date. Compilation of the databases involves both traditional and newly developed digital image processing and mosaicking techniques, including radiometric and geometric corrections of the images. Each database, or digital image model (DIM), is a digital mosaic of spacecraft images that have been radiometrically and geometrically corrected and photometrically modeled. During compilation, ancillary data files such as radiometric calibrations and refined photometric values for all camera lens and filter combinations and refined camera-orientation matrices for all images used in the mapping are produced. The system is designed to aid in the following: access to and utilization of spatial data returned by planetary spacecraft; coregistration of cartographic image and topographic elevation models with geological, geophysical, and geochemical databases; and the design and preparation of both standard and custom map products. A major goal of the project is to publish the DIMs on compact computer-compatible media such as digital-optical (CD-ROM) disks.
Batson, R. M.↗
Calibration experiments with DC-8 SAR data
This paper is a summary of some research activities in calibrating DC-8 SAR data conducted in 1989/90 by the author and others. Firstly, by examining the process of 'symmetrization' in the production of DC-8 Stokes' matrix data, it is shown that an exact solution to the problem of calibrating this data exists, given certain assumptions. Secondly a new, more general, system model for radar polarimeters is proposed, together with a simple approach for verifying the model's validity. The importance of the orientation angle about the radar line of sight for some types of calibration devices is discussed and some results of an experiment to cross-calibrate the C-Band VV data from the DC-8 and DLR E-SAR sensors are presented.
Freeman, Anthony↗
Optimization of a Remote Sensing Energy Balance Method over Different Canopy Applied at Global Scale
Parameterization methods which calculate turbulent heat and water fluxes with thermal remote sensing data were evaluated in the revised remote sensing surface energy balance system (SEBS) model (Chen et al., 2013). The model calculates sensible heat (H) based on the Monin-Obukhov similarity theory (MOST) and determines latent heat (LE) as the residual of energy balance. We examined the uncertainties of H and LE in the SEBS model due to five key parameters at the local station point scale. Observations at 27 flux towers located in seven land cover types (needle-leaf forest, broad leaf forest, shrub, savanna, grassland, cropland, and sparsely vegetated land) and an artificial intelligence particle swarm optimization (PSO) algorithm was combined to calibrate the five parameters (leaf drag coefficient, leaf heat transfer coefficients, roughness length for soil, and two parameters for ground heat calculation) in the SEBS model. The root-mean-square error at the site scale was reduced by 9 W/sq.m for H, and 92 W/sq.m for LE, and their correlation coefficients were increased by 0.07 (H) and 0.11 (LE) after using the calibrated parameters. The updated model validation was further conducted globally for the remotely sensed evapotranspiration (ET) calculations. Overestimation of SEBS global ET was significantly improved by using the optimized values of the parameters. The results suggested PSO was able to consistently locate the global optimum of the SEBS model, and appears to be capable of solving the ET model optimization problem.
Chen, Xuelong↗
Calibration of a polarimetric imaging SAR
Calibration of polarimetric imaging Synthetic Aperture Radars (SAR's) using point calibration targets is discussed. The four-port network calibration technique is used to describe the radar error model. The polarimetric ambiguity function of the SAR is then found using a single point target, namely a trihedral corner reflector. Based on this, an estimate for the backscattering coefficient of the terrain is found by a deconvolution process. A radar image taken by the JPL Airborne SAR (AIRSAR) is used for verification of the deconvolution calibration method. The calibrated responses of point targets in the image are compared both with theory and the POLCAL technique. Also, response of a distributed target are compared using the deconvolution and POLCAL techniques.
Sarabandi, K.↗
Calibration of a polarimetric imaging SAR
Calibration of polarimetric imaging Synthetic Aperture Radars (SAR's) using point calibration targets is discussed. The four-port network calibration techniques is used to describe the radar error model. The polarimetric ambiguity function of the SAR is then found using a single point target, namely a trihedral corner reflector. Based on this, an estimate for the backscattering coefficient of the terrain is found by a deconvolution process. A radar image taken by the JPL Airborne SAR (AIRSAR) is used for verification of the deconvolution calibration method. The calibrated responses of point targets in the image are compared both with theory and the POLCAL technique. Also, response of a distributed target are compared using the deconvolution and POLCAL techniques.
Sarabandi, Kamal↗
Uncertainty in cloud optical depth estimates made from satellite radiance measurements
The uncertainty in optical depths retrieved from satellite measurements of visible wavelength radiance at the top of the atmosphere is quantified. Techniques are briefly reviewed for the estimation of optical depth from measurements of radiance, and it is noted that these estimates are always more uncertain at greater optical depths and larger solar zenith angles. The lack of radiometric calibration for visible wavelength imagers on operational satellites dominates the uncertainty retrievals of optical depth. This is true for both single-pixel retrievals and for statistics calculated from a population of individual retrievals. For individual estimates or small samples, sensor discretization can also be significant, but the sensitivity of the retrieval to the specification of the model atmosphere is less important. The relative uncertainty in calibration affects the accuracy with which optical depth distributions measured by different sensors may be quantitatively compared, while the absolute calibration uncertainty, acting through the nonlinear mapping of radiance to optical depth, limits the degree to which distributions measured by the same sensor may be distinguished.
Pincus, Robert↗