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At least 1,171 records · Page 65

Attitude Determination and Control Systems

In the year 1900, Galveston, Texas, was a bustling community of approximately 40,000 people. The former capital of the Republic of Texas remained a trade center for the state and was one of the largest cotton ports in the United States. On September 8 of that year, however, a powerful hurricane struck Galveston island, tearing the Weather Bureau wind gauge away as the winds exceeded 100 mph and bringing a storm surge that flooded the entire city. The worst natural disaster in United States history even today the hurricane caused the deaths of between 6000 and 8000 people. Critical in the events that led to such a terrible loss of life was the lack of precise knowledge of the strength of the storm before it hit. In 2008, Hurricane Ike, the third costliest hurricane ever to hit the United States coast, traveled through the Gulf of Mexico. Ike was gigantic, and the devastation in its path included the Turk and Caicos Islands, Haiti, and huge swaths of the coast of the Gulf of Mexico. Once again, Galveston, now a city of nearly 60,000, took the direct hit as Ike came ashore. Almost 200 people in the Caribbean and the United States lost their lives; a tragedy to be sure, but far less deadly than the 1900 storm. This time, people were prepared, having received excellent warning from the GOES satellite network. The Geostationary Operational Environmental Satellites have been a continuous monitor of the world's weather since 1975, and they have since been joined by other Earth-observing satellites. This weather surveillance to which so many now owe their lives is possible in part because of the ability to point accurately and steadily at the Earth below. The importance of accurately pointing spacecraft to our daily lives is pervasive, yet somehow escapes the notice of most people. But the example of the lives saved from Hurricane Ike as compared to the 1900 storm is something no one should ignore. In this section, we will summarize the processes and technologies used in designing and operating spacecraft pointing (i.e. attitude) systems.

Starin, Scott R.↗

Preliminary Investigation of Civil Tiltrotor in NextGen Airspace

Presentation intro: Tiltrotor aircraft have long been envisioned as being a potentially viable means of commercial aviation transport. Preliminary results from an ongoing study into the operational and technological considerations of Civil Tiltrotor (CTR) operation in the Next Generation airspace, circa the 2025 time-frame, are presented and discussed. In particular, a fleet of CTR aircraft has been conceptually designed. The performance characteristics of this CTR fleet was subsequently translated into BADA (Base of Aircraft DAta) models that could be used as input to emulate CTR aircraft operations in the ACES and AvTerminal airspace and terminal area simulation tools. A network of nine North-Eastern corridor airports is the focus of the airspace simulation effort; the results from this airport network viII then be extrapolated to provide insights into systemic impact of CTRs on the National Airspace System (NAS). Future work will also be detailed as to attempts to model the systemic effects of noise and emissions from this fleet of new aircraft as well as assess their leveraged impact on public service missions, in time of need, such as major regional/national disaster relief efforts. The ideal outcome of this study is a set of results whereby Next Gen airspace CONOPs can be refined to reflect potential CTR capabilities and, conversely, CTR technology development efforts can be better informed as to key performance requirement thresholds needed to be met in order to successfully introduce these aircraft into civilian aviation operation.

Young, Larry A.↗

The Era of International Space Station Research: Discoveries and Potential of an Unprecedented Laboratory in Space

The assembly of the International Space Station was completed in early 2011. Its largest research instrument, the Alpha Magnetic Spectrometer is planned for launch in late April. Unlike any previous laboratory in space, the ISS offers a long term platform where scientists can operate experiments rapidly after developing a new research question, and extend their experiments based on early results. This presentation will explain why having a laboratory in orbit is important for a wide variety of experiments that cannot be done on Earth. Some of the most important results from early experiments are already having impacts in areas such as health care, telemedicine, and disaster response. The coming decade of full utilization offers the promise of new understanding of the nature of physical and biological processes and even of matter itself.

Robinson, Julie A.↗

Rotorcraft and Enabling Robotic Rescue

This paper examines some of the issues underlying potential robotic rescue devices (RRD) in the context where autonomous or manned rotorcraft deployment of such robotic systems is a crucial attribute for their success in supporting future disaster relief and emergency response (DRER) missions. As a part of this discussion, work related to proof-of-concept prototyping of two notional RRD systems is summarized.

Young, Larry A.↗

People, Places and Pixels: Remote Sensing in the Service of Society

What is the role of Earth remote sensing and other geospatial technologies in our society? Recent global events have brought into focus the role of geospatial science and technology such as remote sensing, GIS, GPS in assisting the professionals who are responsible for operations such as rescue and recovery of sites after a disaster or a terrorist act. This paper reviews the use of recent remote sensing products from satellites such as IKONOS in these efforts. Aerial and satellite imagery used in land mine detection has been evaluated and the results of this evaluation will be discussed. Synopsis of current and future ISS Earth Remote Sensing capabilities will be provided. The role of future missions in humanitarian use of remote sensing will be explored.

Lulla, Kamlesh↗

Hazards Induced by Breach of Liquid Rocket Fuel Tanks: Conditions and Risks of Cryogenic Liquid Hydrogen-Oxygen Mixture Explosions

We analyze the data of purposeful rupture experiments with LOx and LH2 tanks, the Hydrogen-Oxygen Vertical Impact (HOVI) tests that were performed to clarify the ignition mechanisms, the explosive power of cryogenic H2/Ox mixtures under different conditions, and to elucidate the puzzling source of the initial formation of flames near the intertank section during the Challenger disaster. We carry out a physics-based analysis of general explosions scenarios for cryogenic gaseous H2/Ox mixtures and determine their realizability conditions, using the well-established simplified models from the detonation and deflagration theory. We study the features of aerosol H2/Ox mixture combustion and show, in particular, that aerosols intensify the deflagration flames and can induce detonation for any ignition mechanism. We propose a cavitation-induced mechanism of self-ignition of cryogenic H2/Ox mixtures that may be realized when gaseous H2 and Ox flows are mixed with a liquid Ox turbulent stream, as occurred in all HOVI tests. We present an overview of the HOVI tests to make conclusion on the risk of strong explosions in possible liquid rocket incidents and provide a semi-quantitative interpretation of the HOVI data based on aerosol combustion. We uncover the most dangerous situations and discuss the foreseeable risks which can arise in space missions and lead to tragic outcomes. Our analysis relates to only unconfined mixtures that are likely to arise as a result of liquid propellant space vehicle incidents.

Osipov, Viatcheslav↗

Langley's DEVELOP Team Applies NASA's Earth Observations to Address Environmental Issues Across the Country and Around the Globe

The DEVELOP National Program was established over a decade ago to provide students with experience in the practical application of NASA Earth science research results. As part of NASA's Applied Sciences Program, DEVELOP focuses on bridging the gap between NASA technology and the public through projects that innovatively use NASA Earth science resources to address environmental issues. Cultivating a diverse and dynamic group of students and young professionals, the program conducts applied science research projects during three terms each year (spring, summer, and fall) that focus on topics ranging from water resource management to natural disasters.

Childs, Lauren M.↗

Analysing the Advantages of High Temporal Resolution Geostationary MSG SEVIRI Data Compared to Polar Operational Environmental Satellite Data for Land Surface Monitoring in Africa

Since 1972, satellite remote sensing of the environment has been dominated by polar-orbiting sensors providing useful data for monitoring the earth s natural resources. However their observation and monitoring capacity are inhibited by daily to monthly looks for any given ground surface which often is obscured by frequent and persistent cloud cover creating large gaps in time series measurements. The launch of the Meteosat Second Generation (MSG) satellite into geostationary orbit has opened new opportunities for land surface monitoring. The Spinning Enhanced Visible and Infrared Imager (SEVIRI) instrument on-board MSG with an imaging capability every 15 minutes which is substantially greater than any temporal resolution that can be obtained from existing polar operational environmental satellites (POES) systems currently in use for environmental monitoring. Different areas of the African continent were affected by droughts and floods in 2008 caused by periods of abnormally low and high rainfall, respectively. Based on the effectiveness of monitoring these events from Earth Observation (EO) data the current analyses show that the new generation of geostationary remote sensing data can provide higher temporal resolution cloud-free (less than 5 days) measurements of the environment as compared to existing POES systems. SEVIRI MSG 5-day continental scale composites will enable rapid assessment of environmental conditions and improved early warning of disasters for the African continent such as flooding or droughts. The high temporal resolution geostationary data will complement existing higher spatial resolution polar-orbiting satellite data for various dynamic environmental and natural resource applications of terrestrial ecosystems.

Fensholt, R.↗

The Evolution of Utilizing Manual Throttles to Avoid Excessively Low LH2 NPSP at the SSME Inlet

In the late 1970s, years before the Space Shuttle flew its maiden voyage, it was understood low liquid hydrogen (LH2) Net Positive Suction Pressure (NPSP) at the inlet to the Space Shuttle Main Engine (SSME) could have adverse effects on engine operation. A number of failures within both the External Tank (ET) and the Orbiter Main Propulsion System (MPS) could result in a low LH2 NPSP condition, which at extremely low levels can result in cavitation of SSME turbomachinery. Operational workarounds were developed to take advantage of the onboard crew s ability to manually throttle down the SSMEs (via the Pilot s Speedbrake/Throttle Controller), which alleviated the low LH2 NPSP condition. Manually throttling the SSME to a lower power level resulted in an increase in NPSP, mainly due to the reduction in frictional flow losses while at the lower throttle setting. Early in the Space Shuttle Program s history, the relevant Flight Rule for the Booster flight controllers in Mission Control did not distinguish between ET and Orbiter MPS failures and the same crew action was taken for both. However, after a review of all Booster operational techniques following the Challenger disaster in the late 1980s, it was determined manually throttling the SSME to a lower power was only effective for Orbiter MPS failures and the Flight Rule was updated to reflect this change. The Flight Rule and associated crew actions initially called for a single throttle step to minimum power level when a low threshold for NPSP was met. As engineers refined their understanding of the NPSP requirements for the SSME (through a robust testing program), the operational techniques evolved to take advantage of the additional capabilities. This paper will examine the evolution of the Flight rule and associated procedure and how increases in knowledge about the SSME and the Space Shuttle vehicle as a whole have helped shape their development. What once was a single throttle step when NPSP decreased to a certain threshold has now become three throttle steps, each occurring at a lower NPSP threshold. Additionally the procedure, which for early Space Shuttle missions required a Return-to-Launch-Site abort, now results in a nominal Main Engine Cut Off and no loss of mission objectives.

Henfling, Rick↗

Multi-Scale Hydrometeorological Modeling, Land Data Assimilation and Parameter Estimation with the Land Information System

The Land Information System (LIS; http://lis.gsfc.nasa.gov) is a flexible land surface modeling framework that has been developed with the goal of integrating satellite-and ground-based observational data products and advanced land surface modeling techniques to produce optimal fields of land surface states and fluxes. As such, LIS represents a step towards the next generation land component of an integrated Earth system model. In recognition of LIS object-oriented software design, use and impact in the land surface and hydrometeorological modeling community, the LIS software was selected as a co-winner of NASA?s 2005 Software of the Year award.LIS facilitates the integration of observations from Earth-observing systems and predictions and forecasts from Earth System and Earth science models into the decision-making processes of partnering agency and national organizations. Due to its flexible software design, LIS can serve both as a Problem Solving Environment (PSE) for hydrologic research to enable accurate global water and energy cycle predictions, and as a Decision Support System (DSS) to generate useful information for application areas including disaster management, water resources management, agricultural management, numerical weather prediction, air quality and military mobility assessment. LIS has e volved from two earlier efforts -- North American Land Data Assimilation System (NLDAS) and Global Land Data Assimilation System (GLDAS) that focused primarily on improving numerical weather prediction skills by improving the characterization of the land surface conditions. Both of GLDAS and NLDAS now use specific configurations of the LIS software in their current implementations.In addition, LIS was recently transitioned into operations at the US Air Force Weather Agency (AFWA) to ultimately replace their Agricultural Meteorology (AGRMET) system, and is also used routinely by NOAA's National Centers for Environmental Prediction (NCEP)/Environmental Modeling Center (EMC) for their land data assimilation systems to support weather and climate modeling. LIS not only consolidates the capabilities of these two systems, but also enables a much larger variety of configurations with respect to horizontal spatial resolution, input datasets and choice of land surface model through "plugins". LIS has been coupled to the Weather Research and Forecasting (WRF) model to support studies of land-atmosphere coupling be enabling ensembles of land surface states to be tested against multiple representations of the atmospheric boundary layer. LIS has also been demonstrated for parameter estimation, who showed that the use of sequential remotely sensed soil moisture products can be used to derive soil hydraulic and texture properties given a sufficient dynamic range in the soil moisture retrievals and accurate precipitation inputs.LIS has also recently been demonstrated for multi-model data assimilation using an Ensemble Kalman Filter for sequential assimilation of soil moisture, snow, and temperature.Ongoing work has demonstrated the value of bias correction as part of the filter, and also that of joint calibration and assimilation.Examples and case studies demonstrating the capabilities and impacts of LIS for hydrometeorological modeling, assimilation and parameter estimation will be presented as advancements towards the next generation of integrated observation and modeling systems

Peters-Lidard, Christa D.↗

Implementation of the Land, Atmosphere Near Real-Time Capability for EOS (LANCE)

The past decade has seen a rapid increase in availability and usage of near real-time data from satellite sensors. Applications have demonstrated the utility of timely data in a number of areas ranging from numerical weather prediction and forecasting, to monitoring of natural hazards, disaster relief, agriculture and homeland security. As applications mature, the need to transition from prototypes to operational capabilities presents an opportunity to improve current near real-time systems and inform future capabilities. This paper presents NASA s effort to implement a near real-time capability for land and atmosphere data acquired by the Moderate Resolution Imaging Spectroradiometer (MODIS), Atmospheric Infrared Sounder (AIRS), Advanced Microwave Scanning Radiometer - Earth Observing System (AMSR-E), Microwave Limb Sounder (MLS) and Ozone Monitoring Instrument (OMI) instruments on the Terra, Aqua, and Aura satellites. Index Terms- Real time systems, Satellite applications

Michael, Karen↗

Using EO-1 Hyperion Images to Prototype Environmental Products for Hyspiri

In November 2010, the Earth Observing One (EO-1) Satellite Mission will successfully complete a decade of Earth imaging by its two unique instruments, the Hyperion and the Advanced Land Imager (ALI). Both instruments are serving as prototypes for new orbital sensors, and the EO-1 is a heritage platform for the upcoming German mission, EnMAP. We provide an overview of the mission's lifetime. We briefly describe calibration & validation activities and overview the technical and scientific accomplishments of this mission. Some examples of the Mission Science Office (MSO) products are provided, as is an example of a image collected for disaster monitoring.

Middleton, Elizabeth M.↗

Experience with Delay-Tolerant Networking from Orbit

We describe the first use from space of the Bundle Protocol for Delay-Tolerant Networking (DTN) and lessons learned from experiments made and experience gained with this protocol. The Disaster Monitoring Constellation (DMC), constructed by Surrey Satellite Technology Ltd (SSTL), is a multiple-satellite Earth-imaging low-Earth-orbit sensor network in which recorded image swaths are stored onboard each satellite and later downloaded from the satellite payloads to a ground station. Store-and-forward of images with capture and later download gives each satellite the characteristics of a node in a disruption-tolerant network. Originally developed for the Interplanetary Internet, DTNs are now under investigation in an Internet Research Task Force (IRTF) DTN research group (RG), which has developed a bundle architecture and protocol. The DMC is technically advanced in its adoption of the Internet Protocol (IP) for its imaging payloads and for satellite command and control, based around reuse of commercial networking and link protocols. These satellites use of IP has enabled earlier experiments with the Cisco router in Low Earth Orbit (CLEO) onboard the constellation s UK-DMC satellite. Earth images are downloaded from the satellites using a custom IP-based high-speed transfer protocol developed by SSTL, Saratoga, which tolerates unusual link environments. Saratoga has been documented in the Internet Engineering Task Force (IETF) for wider adoption. We experiment with the use of DTNRG bundle concepts onboard the UK-DMC satellite, by examining how Saratoga can be used as a DTN convergence layer to carry the DTNRG Bundle Protocol, so that sensor images can be delivered to ground stations and beyond as bundles. Our practical experience with the first successful use of the DTNRG Bundle Protocol in a space environment gives us insights into the design of the Bundle Protocol and enables us to identify issues that must be addressed before wider deployment of the Bundle Protocol. Published in 2010 by John Wiley & Sons, Ltd. KEY WORDS: Internet; UK-DMC; satellite; Delay-Tolerant Networking (DTN); Bundle Protocol

Ivancic, W.↗

Behavioral Health and Performance Operations During the Space Shuttle Program

Prior to the Columbia STS 107 disaster in 2003, the Johnson Space Center s Behavioral Health and Performance Group (BHP) became involved in Space Shuttle Operations on an as needed basis, occasionally acting as a consultant and primarily addressing crew-crew personality conflicts. The BHP group also assisted with astronaut selection at every selection cycle beginning in 1991. Following STS 107, an event that spawned an increased need of behavioral health support to STS crew members and their dependents, BHP services to the Space Shuttle Program were enhanced beginning with the STS 114 Return to Flight mission in 2005. These services included the presence of BHP personnel at STS launches and landings for contingency support, a BHP briefing to the entire STS crew at L-11 months, a private preflight meeting with the STS Commander at L-9 months, and the presence of a BHP consultant at the L-1.5 month Family Support Office briefing to crew and family members. The later development of an annual behavioral health assessment of all active astronauts also augmented BHP s Space Shuttle Program specific services, allowing for private meetings with all STS crew members before and after each mission. The components of each facet of these BHP Space Shuttle Program support services will be presented, along with valuable lessons learned, and with recommendations for BHP involvement in future short duration space missions

Beven, G.↗

Inflatable Emergency Atmospheric-Entry Vehicles

In response to the loss of seven astronauts in the Space Shuttle Columbia disaster, large, lightweight, inflatable atmospheric- entry vehicles have been proposed as means of emergency descent and landing for persons who must abandon a spacecraft that is about to reenter the atmosphere and has been determined to be unable to land safely. Such a vehicle would act as an atmospheric decelerator at supersonic speed in the upper atmosphere, and a smaller, central astronaut pod could then separate at lower altitudes and parachute separately to Earth. Astronaut-rescue systems that have been considered previously have been massive, and the cost of designing them has exceeded the cost of fabrication of a space shuttle. In contrast, an inflatable emergency-landing vehicle according to the proposal would have a mass between 100 and 200 kg, could be stored in a volume of approximately 0.2 to 0.4 cu m, and could likely be designed and built much less expensively. When fully inflated, the escape vehicle behaves as a large balloon parachute, or ballute. Due to very low mass-per-surface area, a large radius, and a large coefficient of drag, ballutes decelerate at much higher altitudes and with much lower heating rates than the space shuttle. Although the space shuttle atmospheric reentry results in surface temperatures of about 1,600 C, ballutes can be designed for maximum temperatures below 600 C. This allows ballutes to be fabricated with lightweight ZYLON(Registered TradeMark) or polybenzoxazole (PBO), or equivalent.

Jones, Jack↗

Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures

A platform has been developed for two or more vehicles with one or more residing within the other (a marsupial pair). This configuration consists of a large, versatile robot that is carrying a smaller, more specialized autonomous operating robot(s) and/or mobile repeaters for extended transmission. The larger vehicle, which is equipped with a ramp and/or a robotic arm, is used to operate over a more challenging topography than the smaller one(s) that may have a more limited inspection area to traverse. The intended use of this concept is to facilitate the insertion of a small video camera and sensor platform into a difficult entry area. In a terrestrial application, this may be a bus or a subway car with narrow aisles or steep stairs. The first field-tested configuration is a tracked vehicle bearing a rigid ramp of fixed length and width. A smaller six-wheeled vehicle approximately 10 in. (25 cm) wide by 12 in. (30 cm) long resides at the end of the ramp within the larger vehicle. The ramp extends from the larger vehicle and is tipped up into the air. Using video feedback from a camera atop the larger robot, the operator at a remote location can steer the larger vehicle to the bus door. Once positioned at the door, the operator can switch video feedback to a camera at the end of the ramp to facilitate the mating of the end of the ramp to the top landing at the upper terminus of the steps. The ramp can be lowered by remote control until its end is in contact with the top landing. At the same time, the end of the ramp bearing the smaller vehicle is raised to minimize the angle of the slope the smaller vehicle has to climb, and further gives the operator a better view of the entry to the bus from the smaller vehicle. Control is passed over to the smaller vehicle and, using video feedback from the camera, it is driven up the ramp, turned oblique into the bus, and then sent down the aisle for surveillance. The demonstrated vehicle was used to scale the steps leading to the interior of a bus whose landing is 44 in. (.1.1 m) from the road surface. This vehicle can position the end of its ramp to a surface over 50 in. (.1.3 m) above ground level and can drive over rail heights exceeding 6 in. (.15 cm). Thus configured, this vehicle can conceivably deliver the smaller robot to the end platform of New York City subway cars from between the rails. This innovation is scalable to other formulations for size, mobility, and surveillance functions. Conceivably the larger vehicle can be configured to traverse unstable rubble and debris to transport a smaller search and rescue vehicle as close as possible to the scene of a disaster such as a collapsed building. The smaller vehicle, tethered or otherwise, and capable of penetrating and traversing within the confined spaces in the collapsed structure, can transport imaging and other sensors to look for victims or other targets.

Krasowski, Michael J.↗

External Tank Program - Legacy of Success

The largest single element of Space Shuttle is the External Tank (ET), which serves as the structural backbone of the vehicle during ascent and provides liquid propellants to the Orbiter s three Main Engines. The ET absorbs most of the seven million pounds of thrust exerted by the Solid Rocket Boosters and Main Engines. The design evolved through several block changes, reducing weight each time. Because the tank flies to orbital velocity with the Space Shuttle Orbiter, minimization of weight is mandatory, to maximize payload performance. The initial configuration, the standard weight tank, weighed 76,000 pounds and was an aluminum 2219 structure. The light weight tank weighed 66,000 pounds and flew 86 missions. The super light weight tank weighed 58,500 pounds and was primarily an aluminum-lithium structure. The final configuration and low weight enabled system level performance sufficient for assembly of the International Space Station in a high inclination orbit, vital for international cooperation. Another significant challenge was the minimization of ice formation on the cryogenic tanks. This was essential due to the system configuration and the choice of ceramic thermal protection system materials on the Orbiter. Ice would have been a major debris hazard. Spray on foam insulation materials served multiple functions including thermal insulation, conditioning of cryogenic propellants, and thermal protection for the tank structure during ascent and entry. The tank is large, and unique manufacturing facilities, tooling, and handling, and transportation operations were developed. Weld processes and tooling evolved with the design as it matured through several block changes. Non Destructive Evaluation methods were used to assure integrity of welds and thermal protection system materials. The aluminum-lithium alloy was used near the end of the program and weld processes and weld repair techniques had to be refined. Development and implementation of friction stir welding was a substantial technology development incorporated during the Program. Automated thermal protection system application processes were developed for the majority of the tank surface. Material obsolescence was an issue throughout the multi-decade program. Process controls were implemented to assure cleanliness in the production environment, to control contaminants, and to preclude corrosion. Each tank was accepted via rigorous inspections, including non-destructive evaluation techniques, proof testing, and all systems testing. In the post STS-107 era, the project focused on ascent debris risk reduction. This was accomplished via stringent process controls, post flight assessment using substantially improved imagery, and selective redesigns. These efforts were supported with a number of test programs to simulate combined environments. The debris risk was reduced by two orders of magnitude. During this time a major natural disaster was overcome when hurricane Katrina damaged the manufacturing facility. Numerous lessons from these efforts, the manufacturing and material processing issues, the key design features, and evolution of the design will be discussed.

Pilet, Jeffery C.↗

Imaging Systems Provide Maps for U.S. Soldiers

Spanning nearly four decades, the remarkable Landsat program has continuously provided data about the Earth s surface, including detailed maps of vegetation, land use, forest extent and health, surface water, population distribution, as well as how these features have changed over time. Managed by NASA and the U.S. Geological Survey, Landsat s series of satellites obtain data through passive remote sensing, or the use of sensors to read the energy reflected or emitted from the Earth s surface. After the data from the sensors is processed and analyzed, it can be applied to create information-rich images of the planet. While the Landsat program has launched seven satellites since 1972, only Landsat 5 and 7 are currently operating. The next spacecraft in line to ensure continuity of data for years to come is the Landsat Data Continuity Mission (LDCM). Planned for launch in 2012, LDCM will take measurements of the Earth in visible, nearinfrared, shortwave infrared, and thermal infrared bands. In addition to widespread use for land use planning and monitoring on local to regional scales, support for disaster response and evaluations, as well as water use monitoring, LDCM measurements will directly serve NASA s research in the areas of climate, the carbon cycle, ecosystems, the water cycle, biogeochemistry, and Earth s surface and interior.

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