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At least 1,171 records · Page 65

Trend Detection of Atmospheric Time Series: Incorporating Appropriate Uncertainty Estimates and Handling Extreme Events

This paper is aimed at atmospheric scientists without formal training in statistical theory. Its goal is to, 1) provide a critical review of the rationale for trend analysis of the time series typically encountered in the field of atmospheric chemistry; 2) describe a range of trend-detection methods; and 3) demonstrate effective means of conveying the results to a general audience. Trend detections in atmospheric chemical composition data are often challenged by a variety of sources of uncertainty, which often behave differently to other environmental phenomena such as temperature, precipitation rate, or stream flow, and may require specific methods depending on the science questions to be addressed. Some sources of uncertainty can be explicitly included in the model specification, such as autocorrelation and seasonality, but some inherent uncertainties are difficult to quantify, such as data heterogeneity and measurement uncertainty due to the combined effect of short- and long-term natural variability, instrumental stability, and aggregation of data from sparse sampling frequency. Failure to account for these uncertainties might result in an inappropriate inference of the trends and their estimation errors. On the other hand, the variation in extreme events might be interesting for different scientific questions, for example, the frequency of extremely high surface ozone events and their relevance to human health. In this study we aim to, 1) review trend detection methods for addressing different levels of data complexity in different chemical species; 2) demonstrate that the incorporation of scientifically interpretable covariates can outperform pure numerical curve fitting techniques in terms of uncertainty reduction and improved predictability; 3) illustrate the study of trends based on extreme quantiles that can provide insight beyond standard mean or median based trend estimates; and 4) present an advanced method of quantifying regional trends based on the inter-site correlations of multi-site data. All demonstrations are based on time series of observed trace gases relevant to atmospheric chemistry, but the methods can be applied to other environmental data sets.

Trace gas↗

Decoupling of Iron and Phosphate in the Global Ocean

Iron is an essential micronutrient for marine phytoplankton, limiting their growth in high nutrient, low chlorophyll regions of the ocean. I use a hierarchy of ocean circulation and biogeochemistry models to understand controls on global iron distribution. I formulate a mechanistic model of iron cycling which includes scavenging onto sinking particles and complexation with an organic ligand. The iron cycle is coupled to a phosphorus cycling model. Iron's aeolian source is prescribed. In the context of a highly idealized multi-box model scheme, the model can be brought into consistency with the relatively sparse ocean observations of iron in the oceans. This biogeochemical scheme is also implemented in a coarse resolution ocean general circulation model. This model also successfully reproduces the broad regional patterns of iron and phosphorus. In particular, the high macronutrient concentrations of the Southern Ocean result from iron limitation in the model. Due to the potential ability of iron to change the efficiency of the carbon pump in the remote Southern Ocean, I study Southern Ocean surface phosphate response to increased aeolian dust flux. My box model and GCM results suggest that a global ten fold increase in dust flux can support a phosphate drawdown of 0.25-0.5 micromolar.

GLOBAL OCEAN MODEL↗

Influence of Aerosols on Monsoon Circulation and Hydroclimate

Long recognized as a major environmental hazard, aerosol is now known to have strong impacts on both regional and global water cycles and climate change. In the Asian monsoon regions, the response of the regional water cycle and climate to aerosol forcing is very complex, not only because of presence of diverse mix of aerosol species with vastly different radiative properties, but also because the monsoon is strongly influenced by ocean and land surface processes, land use, land change, as well as regional and global greenhouse warming effects. Thus, sorting out the impacts of aerosol forcing, and interaction with the monsoon water cycle is a very challenging problem. Up to now, besides the general notion that aerosols may significantly impact monsoon through altering large scale radiative heating gradients, there has been very little information regarding the specific signatures, and mechanisms of aerosol-monsoon water cycle interaction. In this talk, based on preliminary results from observations and climate model experiments, I will offer some insights into how aerosols may impact the Asian monsoon water cycle, in particular the effects of absorbing aerosols (dust and black carbon), and the role of the Tibetan Plateau. The influence of aerosol forcing relative to those due to sea surface temperature and land surface processes, and impact on potential predictability of the monsoon climate system will also be discussed.

Lau, William K.↗

Influence of Aerosols on Monsoon Circulation and Hydroclimate

Long recognized as a major environmental hazard, aerosol is now known to have strong impacts on both regional and global water cycles and climate change. In the Asian monsoon regions, the response of the regional water cycle and climate to aerosol forcing is very complex, not only because of presence of diverse mix of aerosol species with vastly different radiative properties, but also because the monsoon is strongly influenced by ocean and land surface processes, land use, land change, as well as regional and global greenhouse warming effects. Thus, sorting out the impacts of aerosol forcing, and interaction with the monsoon water cycle is a very challenging problem. Up to now, besides the general notion that aerosols may significantly impact monsoon through altering large scale radiative heating gradients, there has been very little information regarding the specific signatures, and mechanisms of aerosol-monsoon water cycle interaction. In this talk, based on preliminary results from observations and climate model experiments, I will offer some insights into how aerosols may impact the Asian monsoon water cycle, in particular the effects of absorbing aerosols (dust and black carbon), and the role of the Tibetan Plateau. The influence of aerosol forcing relative to those due to sea surface temperature and land surface processes, and impact on potential predictability of the monsoon climate system will also be discussed.

Lau, William K.M.↗

An Approach to Solving Enclosure Radiation Problems in A Multi-Physics Context

Thermal protection system analysis of complex features or damage sites can sometimes require modeling of high temperature enclosures. Implementing efficient and accurate view-factor algorithms required to model such problems is complex. The current work leverages the Non-equilibrium Radiation (NERO) software, which solves the radiation transport equation in a finite-volume scheme, to alleviating challenges often faced with view-factor calculations. By assuming heat transfer occurs only between grey bodies and that the medium is non-participating, computational cost of the method is significantly reduced. The enclosure physics are modeled through emitting and reflecting boundary conditions in NERO. The emitted radiative flux is dependent on the wall temperature which is a solution to the material response, obtained from Icarus, in this context. The Ares framework manages the time-advancement and exchange of the necessary data between the solvers. The surface energy balance is modified to account for the enclosure terms within the material response boundary condition. The methodology was verified against analytical solutions including radiating parallel plates, a hollow cylinder (shown in Fig. 1), and a hemisphere. Application of the methodology to inform the design of components of the Dragonfly system will be shown.

Ablation↗

Using a commercial CAD system for simultaneous input to theoretical aerodynamic programs and wind-tunnel model construction

The Computer Aided Design (CAD) system's common geometry database was used to generate input for theoretical programs and numerically controlled (NC) tool paths for wind tunnel part fabrication. This eliminates the duplication of work in generating separate geometry databases for each type of analysis. Another advantage is that it reduces the uncertainty due to geometric differences when comparing theoretical aerodynamic data with wind tunnel data. The system was adapted to aerodynamic research by developing programs written in Design Analysis Language (DAL). These programs reduced the amount of time required to construct complex geometries and to generate input for theoretical programs. Certain shortcomings of the Design, Drafting, and Manufacturing (DDM) software limited the effectiveness of these programs and some of the Calma NC software. The complexity of aircraft configurations suggests that more types of surface and curve geometry should be added to the system. Some of these shortcomings may be eliminated as improved versions of DDM are made available.

Enomoto, F.↗

Dust extinction and molecular gas in the dark cloud IC 5146

In this paper we describe a powerful method for mapping the distribution of dust through a molecular cloud using data obtained in large-scale, multiwavelength, infrared imaging surveys. This method combines direct measurements of near-infrared color excess and certain techniques of star counting to derive mean extinctions and map the dust column density distribution through a cloud at higher angular resolutions and greater optical depths than those achieved previously by optical star counting. We report the initial results of the application of this method to a dark cloud complex near the cluster IC 5146, where we have performed coordinated, near-infrared, JHK imaging and (13)CO, C(18)O, and CS millimeter-wave, molecular-line surveys of a large portion of the complex. More than 4000 stars were detected in our JHK survey of the cloud. Of these, all but about a dozen appear to be field stars not associated with the cloud. Star count maps at J band show a striking and detailed anticorrelation between the surface density of J-band sources and CO and CS molecular-line emission. We used the (H-K) colors and positions of nearly 1300 sources to directly measure and map the extinction and thus trace the dust column density through the cloud at an effective angular resolution of 1 min .5. We report an interesting correlation between the measured dispersion in our extinction determinations and the extinction. Modeling this relation indicates that effects of small-scale cloud structure dominate the uncertainties in our measurements. Moreover, we demonstrate that such observations can be used to place constraints on the nature of the spatial distribution of extinction on scales smaller than our resolution. In particular, we show that models in which the dust is distributed uniformly or in discrete high-extinction clumps on scales smaller than (1 min .5) are inconsistent with the observations. We have derived extinctions at the same positions and at the same angular resolution (1 min .7) as our molecular-line observations. This enabled a direct comparison of (13)CO, C(18)O, and CS integrated intensities and column densities with A(sub V) for more than 500 positions in the cloud, corresponding to a range in A(sub V) between 0 to 32 mag of extinction. We found the integrated intensities of (13)CO, C(18)O, and CS to be roughly linearly correlated with extinction over different ranges of extinction. However, for all three molecules we find the scatter in the observed relations to be larger than can be accounted for by instrumental error, suggesting that there are large intrinsic variations in the abundances or excitation of the molecules through the cloud. Mean abundances for all the molecules relative to hydrogen were directly derived from the data. The ratio of (13)CO to C(18)O abundances was found to be significantly higher than the terrestrial ratio in regions where extinction is less than 10 mag. In the same region, the dispersion in the abundance ratio is also found to be very large, suggesting that the abundances of one or both molecules are very unstable even at relatively large cloud optical depths. Beyond 10 mag of extinction the abundances of both species appear very stable with their ratio close to the terrestrial value.

Lada, Charles J.↗

The 3D Structure of Eta Carinae's Nebula: A Definitive Picture from High-Dispersion Near-IR Spectra

High resolution long-slit spectra obtained with the Phoenix spectrograph on Gemini South provide our most accurate probe of the 3D structure of the Homunculus Nebula around Eta Carinae. Emission from molecular hydrogen at 2.122 microns traces a very thin outer skin, which contains the vast majority of the more than 10 solar masses of material in the nebula. This emission, in turn, yields our first definitive picture of the exact shape of the nebula, plus the latitude dependence of the mass-loss rate, speed, kinetic energy, shell thickness, and other properties associated with Eta Car's 19th century explosion. This will be critical for testing any models for the outburst mechanism. A preliminary analysis suggests that explosion from a critically rotating star was the dominant mechanism that gave rise to both the bipolar shape of the nebula and the production of its equatorial disk. [Fe II] emission in the near IR traces a geometrically thicker but less massive shell found on the inner surface of the H2 skin --- this is either a reverse shock that decelerates Eta Car's wind or a warm PDR. [Fe Ill emission also clarifies the structure of an inner "Little Homunculus" seen previously in HST/STlS spectra. Comparing these two tracers of cool molecular gas and warm partially-ionized gas resolves some significant confusion about the complex structure noted in previous studies.

Smith, N.↗

Observed Scaling Behavior of Snow and Soil Moisture Signatures from the CLPX and NAFE Campaigns

Seasonal snow and soil moisture (SM) are important elements of the Earth's water cycle, acting as storage elements and by modulating water and energy exchanges between the land surface and the atmosphere and space. Accurate estimates of snow water equivalent (SWE) and SM also play an important role in weather and climate models over a range of scales. There are many advantages for the retrieval of snow parameters using passive microwave sensors. However, the current scale mismatch between many high-resolution applications and available satellite snow sensor footprints (approx.25km) presents challenges. There is also a scale mismatch for planned L-band soil moisture satellite measurements with their large (50-100 km) passive microwave footprints. Combined radiometer-radar schemes are being explored as possible aids, but this is still an area of ongoing research. Retrieval accuracies are limited in part by complex, and potentially nonlinear relationships between SWE or SM and microwave emission signatures. We will use airborne and satellite observations from two field campaigns to examine the scaling behavior of brightness temperatures and SWE and SM across scales from 100 meters to 10's of kilometers. The results will provide examples of the appropriate spatial sampling scales for new sensors, and guidance for downscaling schemes. The two campaigns are NASA's Cold Land Processes Experiment- 1 (CLPX- 1 : Colorado, 2002 & 2003), and the Australian National Airborne Field Experiment (NAFE, Nov, 2005). The analyses will also illustrate the roles and spatial scales of the underlying phenomena (e.g., vegetation, topography) that control subpixel heterogeneity.

Kim, Edward J.↗

Spectroscopic Characterization of Mineralogy Across Vesta: Evidence of Different Lithologies

The average spectrum of Vesta, obtained by VIR in the range 0.25-5.1 microns, shows clear evidence of absorption bands due to pyroxenes and thermal emissions beyond 3.5 11m. Vesta shows considerable variability across its surface in terms of spectral reflectance and emission, band depths, bands widths and bands centers, reflecting a complex geological history. Vesta's average spectrum and inferred mineralogy resemble those of howardite meteorites. On a regional scale, significant deviations are seen: the south polar 500km Rheasilvia impact crater has a higher diogenitic component, and equatorial regions show a higher eucritic component. This lithologic distribution, with a concentration of Mg-pyroxenes in the Rheasilvia area, reinforces the hypothesis of a deeper diogenitic crust excavated by the impact that formed the Rheasilvia crater, and an upper eucritic crust, whose remnants are seen in the equatorial region. This scenario has implications for Vesta differentiation, consistent with magma ocean models. However, serial magmatism models could also have concentrated pyroxene cumulates in plutons emplaced within the lower crust,

De Sanotis, M. C.↗

Earth System Model Parameter Adjustment Using a Green's Functions Approach

We demonstrate the practicality and effectiveness of using a Green's functions estimation approach for adjusting uncertain parameters in an Earth system model (ESM). This estimation approach has previously been applied to an intermediate-complexity climate model and to individual ESM components, e.g., ocean, sea ice, or carbon cycle components. Here, the Green's functions approach is applied to a state-of-the-art ESM that comprises a global atmosphere/land configuration of the Goddard Earth Observing System (GEOS) coupled to an ocean and sea ice configuration of the Massachusetts Institute of Technology general circulation model (MITgcm). Horizontal grid spacing is approximately 110 km for GEOS and 37–110 km for MITgcm. In addition to the reference GEOS-MITgcm simulation, we carried out a series of model sensitivity experiments, in which 20 uncertain parameters are perturbed. These “control” parameters can be used to adjust sea ice, microphysics, turbulence, radiation, and surface schemes in the coupled simulation. We defined eight observational targets: sea ice fraction, net surface shortwave radiation, downward longwave radiation, near-surface temperature, sea surface temperature, sea surface salinity, and ocean temperature and salinity at 300 m. We applied the Green's functions approach to optimize the values of the 20 control parameters so as to minimize a weighted least-squares distance between the model and the eight observational targets. The new experiment with the optimized parameters resulted in a total cost reduction of 9 % relative to a simulation that had already been adjusted using other methods. The optimized experiment attained a balanced cost reduction over most of the observational targets. We also report on results from a set of sensitivity experiments that are not used in the final optimized simulation but helped explore options and guided the optimization process. These experiments include an assessment of sensitivity to the number of control parameters and to the selection of observational targets and weights in the cost function. Based on these sensitivity experiments, we selected a specific definition for the cost function. The sensitivity experiments also revealed a decreasing overall cost as the number of control variables was increased. In summary, we recommend using the Green's functions estimation approach as an additional fine-tuning step in the model development process. The method is not a replacement for modelers' experience in choosing and adjusting sensitive model parameters. Instead, it is an additional practical and effective tool for carrying out final adjustments of uncertain ESM parameters.

Green's Function↗

Mini-Channel Flow Boiling in 1g and μg

Subcooled flow boiling combines complex processes governed by a strong coupling of heat and mass transfer, hydrodynamics, and liquid-vapor transitions. The gravitational body force plays an important role in these processes. By exploiting the latent heat of vaporization, subcooled flow boiling can transfer up to several orders-of-magnitude more heat compared to forced liquid flow. It is widely used in Earth-based thermal equipment to reduce the cost, size, and power required to move heat. Subcooled flow boiling is now considered a promising technology for space applications since it offers a means to control the motion of bubbles near the heated surface and thereby enhance nucleate boiling. However, a lack of data and predictive models on the role that gravity plays in these phenomena hinders the use of flow boiling in a microgravity environment. We will present results of experiments on transients in nucleate boiling that were carried out in the Flow Boiling Module (FBM) on the International Space Station (ISS). The unique ISS FBM ability is to couple large heat loads with flow visualization in testing flow boiling under strict control of experimental conditions in long-duration microgravity. Comparison of results of microgravity experiments with data obtained in a similar setup on the NASA GRC demonstrates the role of gravity in nucleate boiling. The work is supported by the NASA Flight Opportunities program (grant 80NSSC21K0501) and NSF/CASIS program (NSF CBET grants 1832260, 2126461, 2126462).

Two-phase flow and phase transition↗

Hypersonic flows as related to the National Aerospace Plane

The object of Cooperative Agreement NCC2-452 was to identify, develop, and document reliable turbulence models for incorporation into CFD codes, which would then subsequently be incorporated into numerical design procedures for the NASP and any other hypersonic vehicles. In a two-pronged effort, consisting of an experimental and a theoretical approach, several key features of flows over complex vehicles were identified, and test bodies were designed which were composed of simple geometric shapes over which these flow features were measured. The experiments were conducted in the 3.5' Hypersonic Wind Tunnel at NASA Ames Research Center, at nominal Mach numbers from 7 to 8.3 and Re/m from 4.9 x 10(exp 6) to 5.8 x 10(exp 6). Boundary layers approaching the interaction region were 2.5 to 3.7 cm thick. Surface and flow field measurements were conducted, and the initial boundary conditions were experimentally documented.

Kussoy, Marvin↗

Particle Interaction Physics Model Formulation for Plume-Surface Interaction Erosion and Cratering

As part of the Game Changing Development (GCD) Program, funded by NASA’s Space Technology Mission Directorate (STMD), the development of simulation capability for the prediction of extra-terrestrial Plume Surface Interaction (PSI) environments has been undertaken by the Fluid Dynamics Branch at NASA/MSFC. The Predictive Simulation Capability (PSC) Element is focused on creating simulation capability for the reliable and accurate prediction of PSI in Martian (~650 Pa) and Lunar (vacuum) ambient environments. In addition to the predictive simulation capability, the GCD Program also contains a companion Ground Testing Element for development of focused datasets for validation of predictive capability as well as a Flight-focused Instrumentation Element. This paper will present the status of implementing and maturing particle-particle interaction constituent physics models essential in simulating the landing surface granular material flow under PSI effects. This gas-particle multi-phase interaction modeling of plume impingement flow on the extra-terrestrial soil material is performed with the Gas-Granular Flow Solver (GGFS) addressed in a companion paper. The response of regolith particle flow induced by lander PSI requires accurate representation of the regolith granular material fluidic behavior and gas-granular interactions. The lunar regolith, as the extreme example, is poorly sorted with broad particle size distributions and large fines content. It has significant cohesion, due to interlocking particle shapes for the very jagged particles. The combination of particle shape and size distribution has been identified as major drivers in the complex particle flow response and resulting crater shape characteristics of extraterrestrial granular material. Constituent models for spherical particles can be formulated directly from particle kinetics theory. Complex particle shapes can be modeled by gluing together elemental spherical shapes into composite particles, requiring a Discrete Element Model (DEM) particle kinetics modeling approach to extract data and formulate constituent models. Mixture constituent models for poly-disperse mixtures (i.e, containing distribution of particle sizes) have recently been developed. The required non-spherical particle mixture granular material response closure models are then obtained through small-scale unit physics DEM simulations for the range of particle shapes, mixtures and packing densities. The granular material response closure models are then implemented in the Eulerian granular flow formulation. This DEM-based constituent model extraction process and formulation of poly-disperse particle mixtures has been successfully developed by small business and academic partners in the development of the Gas-Granular Flow Solver (GGFS) simulation program simulation framework. The currently implemented capabilities have reached the capability level of modeling bi-disperse, non-spherical particle mixtures is being continuously extended towards computational modeling of full range irregular particle mixtures. Under the GCD project, this technology is being further developed, transferred to NASA analysts, and matured towards application readiness. The predictive simulation capability team under the GCD project has acquired the modeling tools and processes of the DEM based constituent model formulation from the GGFS development team and is developing the capability to replicate the existing process. This is the first important step towards the ability of the NASA team to independently perform such model development in a production setting. Further efforts are underway to migrate the DEM based model simulation process performed with the academic based tools to more capable Open Source, highly parallelized simulation tools for efficient operation on NASA HPC assets. Evaluation of the currently implemented (such as mono-disperse and bi-disperse spherical and irregular shape particle constituent model applications) and continuously evolving full-range particle physics models in the GGFS tool is performed by the NASA team to advance application readiness of the simulations. Application testing for complex PSI erosions and cratering scenarios such as the Apollo LM is performed for axi-symmetric and full 3D simulations to aid the tool developers in achieving practical application readiness for NASA projects. Important validation and application testing will further be performed against experimental data generated under the GCD PSI project experimental component.

Peter A Liever↗

Liquid phase sintered compacts in space

A model that will explain the effect of gravity on liquid phase sintering was developed. Wetting characteristics and density segregation which are the two important phenomena in liquid phase sintering are considered in the model development. Experiments were conducted on some selected material combinations to study the gravity effects on liquid phase sintering, and to verify the validity of the model. It is concluded that: (1) The surface tension forces acting on solid particles in a one-g environment are not appreciably different from those anticipated in a 0.00001g/g sub 0 (or lower) environment. (2) The capillary forces are dependent on the contact angle, the quantity of the liquid phase, and the distance between solid particles. (3) The pores (i.e., bubbles) do not appear to be driven to the surface by gravity-produced buoyancy forces. (4) The length of time to produce the same degree of settling in a low-gravity environment will be increased significantly. (5) A low gravity environment would appear to offer a unique means of satisfactorily infiltrating a larger and/or complex shaped compact.

Mookherji, T. K.↗

Calculations of molecular ionization energies using a self-consistent-charge Hartree-Fock-Slater method

A numerical-variational method for performing self-consistent molecular calculations in the Hartree-Fock-Slater (HFS) model is presented. Molecular wavefunctions are expanded in terms of basis sets constructed from numerical HFS solutions of selected one-center atomlike problems. Binding energies and wavefunctions for the molecules are generated using a discrete variational method for a given molecular potential. In the self-consistent-charge (SCC) approximation to the complete self-consistent-field (SCF) method, results of a Mulliken population analysis of the molecular eigenfunctions are used in each iteration to produce 'atomic' occupation numbers. The simplest SCC potential is then obtained from overlapping spherical atomlike charge distributions. Molecular ionization energies are calculated using the transition-state procedure; results are given for CO, H2O, H2S, AlCl, InCl, and the Ni5O surface complex. Agreement between experimental and theoretical ionization energies for the free-molecule valence levels is generally within 1 eV. The simple SCC procedure gives a reasonably good approximation to the molecular potential, as shown by comparison with experiment, and with complete SCF calculations for CO, H2O, and H2S.

Rosen, A.↗

Actuator and aerodynamic modeling for high-angle-of-attack aeroservoelasticity

Accurate prediction of airframe/actuation coupling is required by the imposing demands of modern flight control systems. In particular, for agility enhancement at high angle of attack and low dynamic pressure, structural integration characteristics such as hinge moments, effective actuator stiffness, and airframe/control surface damping can have a significant effect on stability predictions. Actuator responses are customarily represented with low-order transfer functions matched to actuator test data, and control surface stiffness is often modeled as a linear spring. The inclusion of the physical properties of actuation and its installation on the airframe is therefore addressed using detailed actuator models which consider the physical, electrical, and mechanical elements of actuation. The aeroservoelastic analysis procedure is described in which the actuators are modeled as detailed high-order transfer functions and as approximate low-order transfer functions. The impacts of unsteady aerodynamic modeling on aeroservoelastic stability are also investigated by varying the order of approximation, or number of aerodynamic lag states, in the analysis. Test data from a thrust-vectoring configuration of an F/A-l8 aircraft are compared to predictions to determine the effects on accuracy as a function of modeling complexity.

Brenner, Martin J.↗

The Robotic All-Terrain Lunar Exploration Rover (RATLER): Increased mobility through simplicity

A new concept mobility chassis for a robotic rover is described which is inherently simple with few moving parts or complex linkages. The RATLER design utilizes a four-wheel drive, skid steered propulsion system in conjunction with passive articulation of the dual body vehicle. This uniquely simple method of chassis articulation allows all four wheels to remain in contact with the ground even while climbing obstacles as large as 1.3 wheel diameters. A prototype mobility platform was built which is approximately 1 m(sup 2) with 0.5 m diameter wheels and all-wheel electric drive. The theoretical mobility limitations are discussed and compared with the results of field trials of the prototype platform. The theoretical model contrasted with measured performance is then used to predict the expected mobility of the RATLER design on the Lunar surface.

Pletta, J. Bryan↗