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At least 1,189 records · Page 66

Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data

Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.

computer vision↗

Comparison of Visual and LiDAR SLAM Algorithms using NASA Flight Test Data

Simultaneous Localization and Mapping (SLAM) is a promising technique that provides localization information and precise mapping of the physical environment without having much prior knowledge of the surroundings. SLAM may have a vital role in aeronautics and aerospace, where vehicles and aircraft must operate in complex environments with traditional localization services that may be degraded or unavailable. This paper compares several pre-canned 3D SLAM algorithms based on vision and LiDAR, namely ORB-SLAM, ORB-SLAM2, LOAM, A-LOAM, and F-LOAM on NASA UAS (Unmanned Aircraft System) flight test data. The NASA ARC UAS flight test demonstrates preliminary SLAM algorithm results, which serve as a stepping stone to simulated AAM (Advanced Air Mobility) concepts. Conducting AFRC UAS flight test for simulated AAM approach and landing with SLAM algorithms provides an Alternative Precision Navigation and Timing solution based on distributed landmarks and fiducials in the landing zone. These algorithms use the telemetry data as ground truth for a baseline comparison. The criteria of the performance comparison include robustness, accuracy, re-localization, response to environmental changes, and real-time effectiveness, which are currently qualitative but to be quantitative in the future.

computer vision↗

Employing Relaxed Smoothness Constraints on Imaginary Part of Refractive Index in AERONET Aerosol Retrieval Algorithm

In the Aerosol Robotic Network (AERONET) retrieval algorithm, smoothness constraints on the imaginary part of the refractive index provide control of retrieved spectral dependence of aerosol absorption by preventing the inversion code from fitting the noise in optical measurements and thus avoiding unrealistic oscillations of retrievals with wavelength. The history of implementation of the smoothness constraints in the AERONET retrieval algorithm is discussed. It is shown that the latest version of the smoothness constraints on the imaginary part of refractive index, termed standard and employed by Version 3 of the retrieval algorithm, should be modified to account for strong variability of light absorption by brown-carbon-containing aerosols in UV through mid-visible parts of the solar spectrum. In Version 3 strong spectral constraints were imposed at high values of the Ångström exponent (440–870 nm) since black carbon was assumed to be the primary absorber, while the constraints became increasingly relaxed as aerosol exponent deceased to allow for wavelength dependence of absorption for dust aerosols. The new version of the smoothness constraints on the imaginary part of the refractive index assigns different weights to different pairs of wavelengths, which are the same for all values of the Ångström exponent. For example, in the case of four-wavelength input, the weights assigned to short-wavelength pairs (440–675, 675–870 nm) are small so that smoothness constraints do not suppress natural spectral variability of the imaginary part of the refractive index. At longer wavelengths (870–1020 nm), however, the weight is 10 times higher to provide additional constraints on the imaginary part of refractive index retrievals of aerosols with a high Ångström exponent due to low sensitivity to aerosol absorption for longer channels at relatively low aerosol optical depths. The effect of applying the new version of smoothness constraints, termed relaxed, on retrievals of single-scattering albedo is analyzed for case studies of different aerosol types: black- and brown-carbon-containing fine mode aerosols, mineral dust coarse mode aerosols, and urban industrial fine mode aerosol. It is shown that for brown-carbon-containing aerosols employing the relaxed smoothness constraints resulted in significant reduction in retrieved single-scattering albedo and spectral residual errors (compared to standard) at the short wavelengths. For example, biomass burning smoke cases showed a reduction in single-scattering albedo and spectral residual error at 380 nm of ∼ 0.033 and ∼ 17 %, respectively, for the Rexburg site and ∼ 0.04 and ∼ 12.7 % for the Rimrock site, both AERONET sites in Idaho, USA. For a site with very high levels of black-carbon-containing aerosols (Mongu, Zambia), the effect of modification in the smoothness constraints was minor. For mineral dust aerosols at small Ångström exponent values (Mezaira site, UAE), the spectral constraint on the imaginary part of the refractive index was already relaxed in Version 3; therefore the new relaxed constraint results in minimal change. In the case of weakly absorbing urban industrial aerosols at the GSFC site, there are significant changes in retrieved single-scattering albedo using relaxed assumption, especially reductions at longer wavelengths: ∼ 0.016 and ∼ 0.02 at 875 and 1020 nm, respectively, for 440 nm aerosol optical depth (AOD) ∼ 0.3. The modification of smoothness constraints on the imaginary part of the refractive index has a minor effect on retrievals of other aerosol parameters such as the real part of the refractive index and parameters of the aerosol size distribution. The implementation of the relaxed smoothness constraints on the imaginary part of the refractive index in the next version of the AERONET inversion algorithm will produce significant impacts at some sites in short wavelength channels (380 and 440 nm) for some biomass burning smoke cases with significant brown carbon content and possibly in mid-visible channels (500 and 675 nm) to near-infrared channels (870 to 1020 nm) for some urban industrial aerosol types. However, most differences in single-scattering albedo retrievals between those applying the new relaxed constraint and the standard constraint will be within the uncertainty of the single-scattering albedo retrievals, depending on the level of aerosol optical depth, Ångström exponent, brown carbon content and wavelength.

Aliaksandr Siniuk↗

Algorithm Stability and the Long-Term Geospace Data Record from TIMED/SABER

The ability of satellite instruments to accurately observe long-term changes in atmospheric temperature depends on many factors including the absolute accuracy of the measurement, the stability of the calibration of the instrument, the stability of the satellite orbit, and the stability of the numerical algorithm that produces the temperature data. We present an example of algorithm instability recently discovered in the temperature dataset from the SABER instrument on the NASA TIMED satellite. The instability resulted in derived temperatures that were substantially colder than anticipated from mid-December 2019 to mid-2022. This algorithm-induced change in temperature over one to two years corresponded to the expected change over several decades from increasing anthropogenic CO2. This paper highlights the importance of algorithm stability in developing Geospace Data Records (GDRs) for Earth’s mesosphere and lower thermosphere. A corrected version (Version 2.08) of the temperatures from SABER is described.

M G Mlynczak↗

Path-Adaptive Guidance Algorithm Trades for a Two-Stage Lunar Descent Vehicle

For the next generation of NASA’s missions, the necessity for path-adaptive guidance algorithms has become clear in order to provide the stability and customizability required for a safe and efficient descent to the lunar surface, while meeting specified program and vehicle constraints. Several descent algorithms have been tested and flown for single-stage landers through the Apollo and Altair programs, but thus far little analysis has been conducted involving the application of these algorithms for a two-stage descent vehicle. Due to the limited payload mass constraints of the existing fleet of launch vehicles, multi-stage descent architectures have become a viable course of action. This paper seeks to compare the performance of guidance configurations for a lunar lander system consisting of two stages, one of which separates partway through descent. Through development of this paper, an optimization suite has been written that is specifically designed for optimizing planetary non-atmospheric two-stage descent trajectories, and is used as a comparison baseline for the guidance algorithms tested. Time-to -go computational methods and ignition logic routines that may be employed in a lunar environment are also discussed. Further work is to be completed on trajectory design trades as well as the effects of modifying guidance targets in simulation based on trajectories that are optimized for different performance indices.

Jason M Everett↗

A Trajectory Algorithm to Support En Route and Terminal Area Self-Spacing Concepts: Fifth Revision

This document describes an algorithm for the generation of a four dimensional trajectory. Input data for this algorithm are similar to an augmented Standard Terminal Arrival (STAR) with the augmentation in the form of altitude or speed crossing restrictions at waypoints on the route. The algorithm calculates the altitude, speed, along path distance, and along path time for each of these waypoints. Wind data at each of these waypoints are also used for the calculation of ground speed and turn radius. This revision of the algorithm now accommodates linear decelerations between two speed-constrained waypoints. While this modification may appear trivial, the calculation of the deceleration rate cannot be accomplished using a closed-form solution. An iterative solution was developed that allowed for the variability of path distance due to speed influence on turn radii, Mach-CAS transition altitude, and the impact of wind on ground speed in calculating an accurate deceleration value.

Aircraft Operations↗

TROPICS -Atmospheric Vertical Temperature and Moisture Profiles: Algorithm Theoretical Basis Document

This Algorithm Theoretical Basis Document (ATBD) describes the theoretical background of the TROPICS Atmospheric Vertical Temperature and Moisture Profile (AVTP/AVMP) retrieval algorithms. It also includes TROPICS payload characteristics and the algorithm’s ancillary data (i.e., data coming from sources other than the TROPICS Space Vehicle). Details of the AVTP and AVMP, data product format can be found in the TROPICS Data User’s Guide. This ATBD will also contain the pre-launch testing completed to verify the algorithm. The TROPICS Data User’s Guide will contain the post-launch validation.

TROPICS↗

Performance Analysis of A Dual Quaternion Guidance Algorithm Applicable During Lunar Approach With A Hazard Avoidance Maneuver

There is currently a need for advanced guidance and targeting algorithms that can provide real-time trajectories in the presence of state and vehicle constraints during powered descent. The Safe & Precise Landing Integrated Capabilities Evolution (SPLICE) program aims to mature Hazard Detection (HD) technology along with advanced navigation and guidance algorithms. This paper will report the overall performance of the SPLICE Dual Quaternion Guidance (DQG) algorithm which is a 6-Degree-of-Freedom (6-DOF) convex optimization-based guidance algorithm that can enforce multiple vehicle and state constraints required for Hazard Detection Lidar (HDL) scans during the approach phase. DQG was tested in a closed-loop lunar descent simulation with realistic HDL sensing constraints in a Monte Carlo assessment of 1000 dispersed runs.

Guidance↗

Formal Verification, Distributed Computing, and Path Planning Algorithms

The safety- and mission-critical nature of much of the work done at NASA requires algorithms and software to be exceedingly reliable. Formal methods techniques are one way of ensuring this high level of robustness. This talk will discuss the development and formal verification of autonomous aircraft path planning algorithms related to the Bellman-Ford shortest path algorithm, including consideration of distributed computation of the algorithm.

Formal Methods↗

Fast Radiative Transfer Model and Retrieval Algorithm Development for Satellite Remote Sensing Applications

The radiative transfer model (RTM) has a wide range of applications in satellite remote sensing and atmospheric radiation studies. For example, it can be used as a forward model for an inversion algorithm and a satellite data assimilation system, or as a L1 data simulator for pre-launch end-to-end satellite sensor performance studies. However, millions of line-by-line (LBL) radiative transfer calculations at fine monochromatic frequencies are needed in order to properly calculate spectral contributions of water vapor and trace gases in the atmosphere in infrared and solar spectral regions. Therefore, fast, and accurate radiative transfer models are needed. A Principal Component-based radiative transfer model (PCRTM) was developed at NASA Langley to fulfil this need. The PCRTM can simulate the top-of-atmosphere (TOA) radiance or reflectance spectra from 250 nm to 2000 micrometers with several orders of magnitude faster speed as compared to a LBL RTM. It is also extremely accurate compared to LBL RTM benchmarks. The PCRTM model has been developed for hyperspectral sensors such as AIRS, CrIS, IASI, NAST-I, SHIS, CPF, TEMPO, EMIT, OMI, and SCIAMACHY. By using the PCRTM as forward model for an inversion algorithm, one can reduce the data dimension significantly while maintaining original information content by compressing the TOA radiance spectrum into PC-scores. The PCRTM can directly compute the PC-scores and their derivatives with respect to retrieved parameters. Examples of using various PCRTM inversion algorithms to retrieve atmospheric temperature, water vapor, and trace gas profiles, as well as cloud and surface properties from satellite hyperspectral remote sensors will be given. Some of the algorithms have been transitioned to NASA's Goddard Earth Sciences Data and Information Services Center (GES DISC) for public access of high-quality L2 and L3 data.

Xu Liu↗

A 3-Channel Algorithm for Retrieving Spatially and Temporally Continuous Cloud Properties Across Different Geostationary Satellite Imagers

Cloud property retrieval algorithms for passive satellite imagers are generally designed to take advantage of all the useful spectral information available for a particular satellite. This strategy optimizes accuracy and reduces misidentification and retrieval biases, particularly for modern satellites with many spectral channels. However, the application of dissimilar algorithms tailored for different satellite sensor scan present a problem within the climate data record (CDR). Algorithm inconsistencies can introduce artificial trends in the CDR that are tied to instrument changes rather than physical changes, especially when older satellites with limited spectral information are included. The NASA CERES (Clouds and the Earth’s Radiant Energy System) data record provides global cloud property retrievals across 23 years and more than 25 satellites. With the goal of producing a spatially and temporally continuous record of cloud properties, the CERES cloud working group has developed algorithms that use only 3 channels that are common to most geostationary satellite imagers: 0.65, 3.9, and 10.8 μm.

Sarah Bedka↗

Machine Learning Based Aerosol and Ocean Color Joint Retrieval Algorithm for Multiangle Polarimeters over Coastal Waters

NASA’s Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission, recently launched in February 2024, carries two multiangle polarimeters (MAPs): the UMBC Hyper-Angular Rainbow Polarimeter (HARP2) and SRON Spectropolarimeter for Planetary Exploration One (SPEXone). Measurements from these MAPs will greatly advance ocean ecosystem and aerosol studies as their measurements contain rich information on microphysical properties of aerosols and hydrosols. The Multi-Angular Polarimetric Ocean coLor (MAPOL) joint retrieval algorithm has been developed to retrieve aerosol and ocean color information, which uses a vector radiative transfer (RT) model as the forward model. The RT model is computationally expensive, which makes processing a large amount of data challenging. FastMAPOL was developed to expedite retrieval using neural networks to replace the RT forward models. As a prototype study, FastMAPOL was initially limited to open ocean applications where the ocean Inherent Optical Properties (IOPs) were parameterized in terms of one parameter: chlorophyll-a concentration (Chla). In this study we further expand the FastMAPOL joint retrieval algorithm to incorporate NN based forward models for coastal waters, which use multi-parameter bio-optical models. In addition, aerosols are represented by six components, i.e., fine mode non absorbing insoluble (FNAI), brown carbon (BrC), black carbon (BC), fine mode non absorbing soluble (FNAS), sea salt (SS) and non-spherical dust (Dust). Sea salt and dust are coarse mode aerosols, while the other components are in the fine mode. The sizes and spectral refractive indices are fixed for each aerosol component, while their abundances are retrievable. The multi-parameter bio-optical model and aerosol components are chosen to represent the coastal marine environment. The retrieval algorithm is applied to synthetic measurements in three different configurations ofMAPs in the PACE mission: HARP2 observations only, SPEXone observations only and combined HARP2 and SPEXone observations. The retrieval results from synthetic measurements show that for aerosol retrieval the SPEXone-only configuration works equally well with the HAPR2-only configuration. On the other hand, for ocean color retrieval the SPEXone instrument provides better information due to its larger spectral coverage. For the surface parameters (wind speed), HARP2 measurements provide better information due to its wide field of view. Combined measurement configuration HARP2+SPEXone performed the best to retrieve all aerosol, ocean color and surface parameters. We also studied the impact of sun glint to aerosol and ocean color retrievals. The retrieval test revealed that wind speed and absorbing aerosol retrieval improves significantly when including measurements at glint geometries. Furthermore, the retrieval algorithm is equipped with modules for atmospheric correction and bidirectional reflectance distribution (BRDF) correction to obtain the remote sensing reflectance, which enables ocean biogeochemistry studies using the PACE polarimeter data.

PACE↗

Performance Evaluation of a Cartesian Move Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of cable-actuated cranes, designed for surface operations on the Moon and Mars. Its structural design focuses on three fundamental traits for space environments: a high payload-to-mass ratio to reduce launch costs, compactness for space travel in reduced cargo bays, and self-erecting capabilities for operations before astronauts arrive. The resulting design confers nonlinear and switched dynamics to the LSMS, making these cranes an interesting challenge for autonomous and teleoperated applications. One of the protocols required for these applications is a Cartesian move algorithm. This algorithm is responsible for placing the end effector of the crane at a desired location, specified in Cartesian coordinates. This paper evaluates the performance of a Cartesian move algorithm developed for the LSMS at the NASA Langley Research Center. To this end, several payload manipulation tasks were performed with LSMS-L35, the smallest version within the LSMS family. The evaluated algorithm can place the end effector with accuracy, as shown in the hardware and simulation tests.

cable-actuated↗

An Integrated High-performance Computing and Digital Real-time Simulation Testbed to Benchmark Closed-loop Load Shedding Algorithms in Power Systems

An integrated testbed using digital real-time simulator (DRTS) and a high-performance computing (HPC) cluster is presented here to compare speed and performance of computational schemes to mitigate time-critical issues in electric power systems. The first approach in this testbed validation is taken by running a set of closed-loop load shedding algorithms to compare and contrast two paradigms of arresting cascading failure propagation. Two algorithms involve solving DC and AC power flow model-based optimization problems to compute load shedding at different buses, while a model-based stochastic search using parallel computing provides a viable alternative. The algorithms are implemented in the DRTS-HPC testbed for the IEEE 14-bus benchmark transmission system. As a proof of the concept, simulation results are presented for implementation of closed-loop load-shedding algorithms for cascading failures in the DRTS-HPC testbed

24 POWER TRANSMISSION AND DISTRIBUTION↗

An Orthogonal Recursive Bisection (ORB) Based Time Advancement Algorithm for CFD-DEM Solvers

The time integration of the granular phase in coupled computational fluid dynamics (CFD) – discrete element method (DEM) simulations presents a unique computational challenge brought about by the large variations in particle collisional time scales. Particles in the dilute regions of the computational domain can be advanced with large time steps while dense regions require much smaller time increments. However, the time step size in most solvers is globally set as the limit for accuracy and stability imposed by the collisions and is typically orders of magnitude less than that required away from collisions. This work addresses this precise issue and provides a strategy to avoid the use of a global conservative small time step size for the entire set of particles.A novel time stepping algorithm for CFD-DEM solvers using a partitioning approach using orthogonal recursive bisection (ORB) that allows for variable time steps among particles is described and its computational performance is compared against baseline explicit methods, typically used in several CFD-DEM solvers. ORB has advantages of being relatively quick and easy to update incrementally and has the required heuristic behavior (i.e., it will split the region in half with a cluster on each side) when groups of particles are well separated (clustered). The algorithm presented in this work uses a local time stepping approach to resolve collisional time scales for subsets of particles that are present at the leaves of the ORB, thereby resulting in substantial reduction of computational cost. The parallel implementation of this method where a ``knapsack” algorithm is used in tandem with ORB for effective load-balancing is also presented, where a best possible partitioning is obtained based on number of particles and local time-stepping costs. The algorithm is tested against benchmark problems with varying particle distributions that include fluidized bed and riser flow scenarios. Preliminary results indicate that the approach is 2-3X faster than traditional explicit methods for problems that involve both dense and dilute regions, while maintaining the same level of accuracy.

adaptive timestepping↗

Advances in Structure Prediction of Lanthanides and Actinides with Genetic Algorithms

Computationally guided materials discovery has advanced significantly in the past two decades. Recent developments of widely available genetic algorithm-based structure prediction software in the past 10+ years has led to increased use of this methodology in the discovery and design of new materials. Owing to the computational challenges of treating f-block elements and computationally expensive methods for structure prediction, the discovery of new phases of lanthanide and actinide materials has been particularly challenging. With advancements in the development of genetic algorithms for structure prediction and the continuing improvement of high-performance computing resources, genetic algorithms provide a tractable method to find new stable phases of materials at high pressure or to search a large phase space for unknown compounds. Genetic algorithms have already been applied to the successful identification of novel lanthanide and actinide materials, as well as the prediction of unusual material properties in new phases that make promising synthetic targets.

Shields, Ashley↗

Quantum computing hardware for HEP algorithms and sensing

Quantum information science harnesses the principles of quantum mechanics to realize computational algorithms with complexities vastly intractable by current computer platforms. Typical applications range from quantum chemistry to optimization problems and also include simulations for high energy physics. The recent maturing of quantum hardware has triggered preliminary explorations by several institutions (including Fermilab) of quantum hardware capable of demonstrating quantum advantage in multiple domains, from quantum computing to communications, to sensing. The Superconducting Quantum Materials and Systems (SQMS) Center, led by Fermilab, is dedicated to providing breakthroughs in quantum computing and sensing, mediating quantum engineering and HEP based material science. The main goal of the Center is to deploy quantum systems with superior performance tailored to the algorithms used in high energy physics. In this Snowmass paper, we discuss the two most promising superconducting quantum architectures for HEP algorithms, i.e. three-level systems (qutrits) supported by transmon devices coupled to planar devices and multi-level systems (qudits with arbitrary N energy levels) supported by superconducting 3D cavities. For each architecture, we demonstrate exemplary HEP algorithms and identify the current challenges, ongoing work and future opportunities. Furthermore, we discuss the prospects and complexities of interconnecting the different architectures and individual computational nodes. Finally, we review several different strategies of error protection and correction and discuss their potential to improve the performance of the two architectures. This whitepaper seeks to reach out to the HEP community and drive progress in both HEP research and QIS hardware.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Hybrid Particle Swarm-Interpolation Algorithm for Improved Critical Experiment Design

The typical goal of designing a critical experiment is twofold: a system that is both critical and optimized for some other value. This value could be an energy-integrated sensitivity, percent fissions in a certain energy range, or some other value that can be calculated by a transport code. By simulating different combinations of reflector, moderator, and fuel thicknesses a designer can identify such a desirable configuration. The domain of all possible combinations of these thicknesses is referred to as the experiment search space. As more dimensions are added, the search space increases in size exponentially. For a three-dimensional case, which includes three thickness values between zero and ten centimeters to the nearest tenth of a millimeter, a total of 1,000 3 , configurations exists. Rather than check each configuration individually, which would be extremely computationally expensive, it has been shown to be more efficient to use a conventional particle swarm optimization (PSO) algorithm to identify critical and optimal configurations. This work presents the theory and implementation of a novel hybrid PSO interpolation algorithm to perform these optimizations faster than a conventional PSO algorithm. To demonstrate this, an example optimization will be carried out by the conventional and hybrid PSO algorithms and their performances will be compared.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗