Probabilistic Self-Localization for Mobile Robots
Localization is a critical issue in mobile robotics.
Mobile robot localization maximum-likelihood estim↗
SEARCH · Engineering Papers
Results for “maximum likelihood”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Cascade Helps JPL Explore the Solar System
At Jet Propulsion Laboratory (JPL), we are involved with the unmanned exploration of the solar system. Unmanned probes observe the planet surfaces using radar and optical cameras to take a variety of measurements.
maximum likelihood decoder mcd asic viterbi encodi↗
2-D Transform-Domain Extended-Image Acquisition and Tracking Technique for Optical Pointing
An extended-image acquisition and tracking technique developed to enable precision pointing to a moving target through an imaging device is described in this paper.
Optical Pointing Image Acquisition/Tracking Maximu↗
Self-Concatenated Codes with Self-Iterative Decoding for Power and Bandwidth Efficiency
Explore the source record for details and available documents.
Bandwidth Efficiency self concatenated code recurs↗
Recalibration of missing low-frequency variability and trends in the North Atlantic Oscillation
Abstract Multi-decadal trends in the wintertime North Atlantic Oscillation (NAO) are under-represented by coupled general circulation models (CGCMs), consistent with a lack of autocorrelation in their NAO index series. This study proposes and tests two simple “reddening” approaches for correcting this problem in simulated indices based on simple one parameter short-term (AR; Auto-Regressive order 1) and long-term (FD; Fractional-Difference) time series filters. Using CGCMs from the Coupled Model Intercomparison Project Phase 6 (CMIP6), the FD filter successfully improves the autocorrelation structure of the NAO, and in turn the simulation of extreme trends, while the AR filter is less successful. The 1963–1993 NAO trend is the maximum 31-year trend in the historical period. Raw CGCMs underestimate the likelihood of this trend by a factor of ten but this discrepancy is corrected after reddening. CMIP6 future projections show that long-term (2024–2094) NAO ensemble mean trends systematically increase with the magnitude of radiative forcing: -2.4 to 3.5 hPa/century for low-to-high forcing after reddening (more than double the range using raw output). The related likelihood of future maximum 31year trends comparable to 1963–1993 ranges from 3 to 7% whereas none of these CMIP6 projections simulate this without reddening. Near-term projections of the next 31 years (2024–2054) are less sensitive than long term trends to the future scenario, showing weak-to-no forced trend. However, reddening increases the ensemble range by 74% (to +/-1 standard deviation/decade), which could increase/decrease regional climate change signals in the Northern Hemisphere by magnitudes that are underestimated when using raw CGCM output.
Meteorology & Atmospheric Sciences↗
Extended experimental inferential structure determination method in determining the structural ensembles of disordered protein states
Proteins with intrinsic or unfolded state disorder comprise a new frontier in structural biology, requiring the characterization of diverse and dynamic structural ensembles. Here we introduce a comprehensive Bayesian framework, the Extended Experimental Inferential Structure Determination (X-EISD) method, which calculates the maximum log-likelihood of a disordered protein ensemble. X-EISD accounts for the uncertainties of a range of experimental data and back-calculation models from structures, including NMR chemical shifts, J-couplings, Nuclear Overhauser Effects (NOEs), paramagnetic relaxation enhancements (PREs), residual dipolar couplings (RDCs), hydrodynamic radii (R h ), single molecule fluorescence Förster resonance energy transfer (smFRET) and small angle X-ray scattering (SAXS). We apply X-EISD to the joint optimization against experimental data for the unfolded drkN SH3 domain and find that combining a local data type, such as chemical shifts or J-couplings, paired with long-ranged restraints such as NOEs, PREs or smFRET, yields structural ensembles in good agreement with all other data types if combined with representative IDP conformers.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
A dendritic strontium river isoscape for fisheries applications in the Sacramento River basin, California, USA
Objective Understanding the origins and movements of fish is fundamental to effective conservation and fisheries management. Strontium isotope ratios ( 87 Sr/ 86 Sr) in otoliths provide a powerful tracer of natal origin and migratory pathways. However, existing 87 Sr/ 86 Sr isoscapes for the Sacramento River basin, an ecosystem that supports ecologically and economically important salmon populations, rely on discrete classification approaches that overlook unsampled habitats and do not incorporate spatial uncertainty. Our objective was to develop a continuous, network-explicit 87 Sr/ 86 Sr isoscape with quantified uncertainty to fill in data gaps and enable probabilistic assignments of fish origin and movement. Methods We used river water 87 Sr/ 86 Sr data from 106 sites (1997–2021) to develop spatial stream network models that use dendritic connectivity and watershed characteristics (lithology, bedrock age, and land cover) to predict river water 87 Sr/ 86 Sr throughout the basin. Models were fitted using maximum and restricted likelihood and were evaluated via Akaike’s information criterion and leave-one-out cross validation. We produced both historical (pre-dam) and present-day (below-dam) isoscapes, delineated uncertainty-informed isotopic ranges using k -means clustering, and applied a proof-of-concept Bayesian assignment to estimate natal origins and early rearing habitats for two endangered winter-run Chinook Salmon Oncorhynchus tshawytscha. Results Cross validation indicated strong performance of the 87 Sr/ 86 Sr model (leave-one-out cross validation: R 2 = 0.91; root mean square error = 0.0005). Uncertainty-informed clustering identified 19 isotopic “suites” (reaches with indistinguishable 87 Sr/ 86 Sr values) in present-day anadromous habitats and 25 suites in the historical network. Example natal and early rearing assignments included predictions that challenged expectations for juvenile salmon migration based on predicted river 87 Sr/ 86 Sr compositions. Conclusions This study developed a continuous, network-explicit 87 Sr/ 86 Sr isoscape that integrates existing river data to predict 87 Sr/ 86 Sr in unsampled reaches and the likely achievable range and resolution of otolith-based origin and life history inference. The resulting river isoscape provides a valuable tool to predict salmon movements and identify habitats supporting their survival and growth that otherwise might remain undetected. Coupling these predictions with complementary approaches that ground-truth juvenile presence (e.g., targeted fish surveys) represents an important step toward science-informed restoration and management of critical habitats throughout the Sacramento River basin.
Environmental sciences↗
Search For Excited Cascade Hypersons (¿*-) Using the CLAS12 Spectrometer at Jefferson Laboratory
The number of experimentally observed doubly strange Cascade states to date is far fewer than has been predicted theoretically. The CLAS12 Very Strange physics program (E12- 11-005A) at the Thomas Jefferson National Accelerator Facility aims to study the electroproduction of these states using the newly upgraded CEBAF Large Acceptance Spectrometer for 12 GeV (CLAS12) in experimental Hall B. In this project, the reaction ep ! e0K+K+??? ! e0K+K+K?(?=?0) is studied using CLAS12 Run Group A (RG-A) data sets taken by impinging electron beams of 10:2 and 10:6 GeV energies on an LH2 target. Scattered electrons are detected with either the Forward Detector (FD), covering a polar angle range of 5? to 35? to study electroproduction, or with the Forward Tagger (FT), covering a polar angle range of 2:5? to 4:5?, to study quasi-real photoproduction. The CLAS12 detector with nearly a 4? solid angle coverage is used to detect scattered electrons and charged kaons in the ?final state. ?=?0 hyperons are reconstructed using the missing mass technique to explore intermediate doubly-strange hyperons (???) that decay to K? and ?=?0. No statistically significant ??? states other than the ???(1530) were found in the missing mass spectra based on the currently available statistics in the CLAS12-FD acceptance only. A maximum log-likelihood method is implemented to determine the statistical significance and the upper limits on the ???(1820) electroproduction cross section by constructing 95% confidence level boundaries on the ???(1820) yields. Additional research was conducted to investigate the upper limit electroproduction cross section of the reaction ep ! e0K+K+??? ! e0K+K+K?(?=?0) as a function of the electroproduced ??? mass and the differential cross section ( d?dMM(e0K+K+) ) as a function of missing mass MM(e0K+K+) for electroproduction and quasi-real photoproduction processes.
Khanal, Achyut↗
Warming Reduces the Efficacy of Wet Conditions to Moderate Extreme Heat and Atmospheric Aridity Across the Central Plains
In the literature, dry land surface conditions possess a well-established association with extreme heat and high atmospheric aridity, especially in regions that experience strong land-atmosphere feedbacks. However, few studies have examined whether global warming will impact the ability of wet conditions to constrain high temperatures and atmospheric aridity occurrences. Here we investigate how wet conditions, which we define using precipitation and soil moisture, constrain high temperature and high vapor pressure deficit during the warm season over the Central Plains in North America at different global warming levels (0-3 degrees K). Using a CMIP6 multi-model ensemble, we show that absolute changes in the maximum temperature distribution outweigh the historical cooling effect of high precipitation or soil moisture conditions, reducing the probability of non-extreme maximum temperatures under global warming. Strikingly, the conditional likelihood of non-extreme maximum temperatures falls from 97-98% at baseline conditions to 50-58% at 1 degree of global warming. Once 2 degrees of warming is reached, there is very little probability of constraining extreme maximum temperatures. On the other hand, high precipitation and high soil moisture are able to better retain the ability to constrain concurrent high vapor pressure deficit conditions – moving from 99% at baseline conditions to 81-91% at 1 degree of warming and 26-42% at 2 degrees of warming. With our results, we find that the extent of this retention is dependent on how individual models represent relative changes in the VPD distribution as temperatures warm. Overall, our results highlight the growing vulnerability of the Central North American region to warmer temperatures and drier atmospheric conditions, even during periods of high precipitation and soil moisture.
Extreme heat↗
Deducing neutron star equation of state from telescope spectra with machine-learning-derived likelihoods
The interiors of neutron stars reach densities and temperatures beyond the limits of terrestrial experiments, providing vital laboratories for probing nuclear physics. While the star's interior is not directly observable, its pressure and density determine the star's macroscopic structure which affects the spectra observed in telescopes. The relationship between the observations and the internal state is complex and partially intractable, presenting difficulties for inference. Previous work has focused on the regression from stellar spectra of parameters describing the internal state. We demonstrate a calculation of the full likelihood of the internal state parameters given observations, accomplished by replacing intractable elements with machine learning models trained on samples of simulated stars. Our machine-learning-derived likelihood allows us to perform maximum a posteriori estimation of the parameters of interest, as well as full scans. We demonstrate the technique by inferring stellar mass and radius from an individual stellar spectrum, as well as equation of state parameters from a set of spectra. Our results are more precise than pure regression models, reducing the width of the parameter residuals by 11.8% in the most realistic scenario. The neural networks will be released as a tool for fast simulation of neutron star properties and observed spectra.
79 ASTRONOMY AND ASTROPHYSICS↗
Spacecraft Charging and the Microwave Anisotropy Probe Spacecraft
The Microwave Anisotropy Probe (MAP), a MIDEX mission built in partnership between Princeton University and the NASA Goddard Space Flight Center (GSFC), will study the cosmic microwave background. It will be inserted into a highly elliptical earth orbit for several weeks and then use a lunar gravity assist to orbit around the second Lagrangian point (L2), 1.5 million kilometers, anti-sunward from the earth. The charging environment for the phasing loops and at L2 was evaluated. There is a limited set of data for L2; the GEOTAIL spacecraft measured relatively low spacecraft potentials (approx. 50 V maximum) near L2. The main area of concern for charging on the MAP spacecraft is the well-established threat posed by the "geosynchronous region" between 6-10 Re. The launch in the autumn of 2000 will coincide with the falling of the solar maximum, a period when the likelihood of a substorm is higher than usual. The likelihood of a substorm at that time has been roughly estimated to be on the order of 20% for a typical MAP mission profile. Because of the possibility of spacecraft charging, a requirement for conductive spacecraft surfaces was established early in the program. Subsequent NASCAP/GEO analyses for the MAP spacecraft demonstrated that a significant portion of the sunlit surface (solar cell cover glass and sunshade) could have nonconductive surfaces without significantly raising differential charging. The need for conductive materials on surfaces continually in eclipse has also been reinforced by NASCAP analyses.
Timothy, VanSant J.↗
Unified nonparametric equation-of-state inference from the neutron-star crust to perturbative-QCD densities
Perturbative quantum chromodynamics (pQCD), while valid only at densities exceeding those found in the cores of neutron stars, could provide constraints on the dense-matter equation of state (EOS). Here, in this work, we examine the impact of pQCD information on the inference of the EOS using a nonparametric framework based on Gaussian processes (GPs). We examine the application of pQCD constraints through a ``pQCD likelihood,'' and verify the findings of previous works; namely, a softening of the EOS at the central densities of the most massive neutron stars and a reduction in the maximum neutron-star mass. Although the pQCD likelihood can be easily integrated into existing EOS inference frameworks, this approach requires an arbitrary selection of the density at which the constraints are applied. The EOS behavior is also treated differently on either side of the chosen density. To mitigate these issues, we extend the EOS model to higher densities, thereby constructing a ``unified'' description of the EOS from the neutron-star crust to densities relevant for pQCD. In this approach the pQCD constraints effectively become part of the prior. Since the EOS is unconstrained by any calculation or data between the densities applicable to neutron stars and pQCD, we argue for maximum modeling flexibility in that regime. We compare the unified EOS with the traditional pQCD likelihood, and although we confirm the EOS softening, we do not see a reduction in the maximum neutron-star mass or any impact on macroscopic observables. Though residual model dependence cannot be ruled out, we find that pQCD suggests the speed of sound in the densest neutron-star cores has already started decreasing toward the asymptotic limit; we find that the speed of sound squared at the center of the most massive neutron star has an upper bound of $\sim 0.5$ at the 90% level.
equations of state of nuclear matter↗
Predicting Maximum Thermal Response in a Li-ion Cell as a Thermal Runaway Predictor for a UAV Fight
As the energy storage devices continue to "pack" more energy in a small space, any damage, battery component failure, manufacturing defect, or electrically abusing the battery can lead to catastrophic thermal runaway events. A catastrophic thermal event in a cell leads to high temperature, in some instances to spewing of battery materials due to gas development from side reactions initiated due to high internal temperatures. Moreover, a thermal runaway can propagate from a single "failed" cell to a whole battery pack, resulting in a more serious event. The commercial and automotive sectors need to mitigate thermal runaway events. An electric aircraft (or air taxi) has no alternative in the event of a failure, so preventing such events is paramount. Currently, battery prognostics algorithms only predict the state-of-charge (SOC) and end-of-life (EOL) of a Li-ion battery in a UAV (unmanned air vehicle), but do not predict the maximum temperature during a flight or the likelihood of thermal runaway. Our current work focuses on adding the thermal model (based on Birkl's OCV model, in Ref. [1]) to the existing hybrid electrochemical model (single-particle model with lumped parameters as in Ref. [2]) to determine end-of-discharge, end-of-life, and maximum temperature during discharge.
Thermal runaway↗
Neptune's inner magnetosphere and aurora: Energetic particle constraints
A dramatic and peculiar dropout of greater than 500-keV ions (but not electrons) was observed within Neptune's inner magnetosphere near 2 R(sub N) as the Voyager 2 spacecraft approached the planet. Unlike a number of other energetic particle features this feature could not be accounted for by known material bodies in the context of the most utilized magnetic field models (neither the offset tilted dipole models nor the spehrical harmonic model 'O8'). However, the configuration of Neptune's inner magnetosphere is highly uncertain. By applying a novel technique, utilizing energetic particle measurements, to constrain the magnetic field configuration of the inner regions, we show that appeals to unobserved materials within Neptune's system are unnecessary, and that the ion dropout feature was, in all likelihood, the result of ion interactions with maximum L excursions of the ring 1989N1R. The constraints also favor the se of the M2 magnetic field model (Selesnick, 1992) over the previous models. An electron feature was probably absent because the electron interactions with the ring occurred substantially before the ion interactions (about 2 hours for the electrons versus a few minutes for the ions). Pitch-angle scattering apparently eliminated the electron signature. Minimum scattering rates determined based on this premise yield enough electron precipitation power to explain the brightest component of Neptune's aurora. We propose that this bright component is analogous to the Earth's diffuse aurora.
Mauk, B. H.↗
A strategy for automated core design to increase economic viability and minimize fuel fragmentation, relocation, and dispersal susceptibility in high-burnup cores
The nuclear industry aims to increase the cycle length of pressurized water reactors from 18 to 24 months to increase power plant capacity factors and economic viability. These cycle length extensions will inherently require fuel rods to exceed the current peak rod average burnup limit of 62 GWd/MTU. A chief concern of operating beyond the current burnup limit is the fuel fragmentation, relocation, and dispersal (FFRD) phenomenon in which pulverized fuel fragments can axially relocate and escape through a burst in the cladding formed during a loss-of-coolant accident. In this work, we demonstrate an approach for automating core design employing an optimization tool based on a penalty-free, parallel simulated annealing algorithm to produce pressurized water reactor core designs with two different optimization objectives. The two objectives were to produce core designs with (1) mitigated FFRD susceptibility while achieving 24-month cycle lengths (2) maximum cycle length with no regard for the likelihood of FFRD. Batch size was considered in tandem with both cases to maximize economic viability. The PARCS nodal model was the primary reactor physics tool used in the optimizations and used nuclear cross sections calculated with 2D Polaris lattice physics models. Reactor performance and safety characteristics of the optimized cores were verified using high-fidelity Virtual Environment for Reactor Applications models. The core designs produced by the optimization tool are compared with each other and to a high-burnup core design produced and analyzed in previous works to highlight the fuel management strategies that may enhance high-burnup reactor safety and economic viability. The optimized cores satisfied their respective objective functions, producing a maximum cycle length of 720 effective full-power days in one core design and one that may reduce FFRD susceptibility by up to 50% based on the first-order approximation to FFRD risk formulated in this work. The optimized cores met most constraints but exceeded the hot channel factor limit, especially in FFRD cases where fresh fuel carried more power. Furthermore, this highlights the need for future lattice-level optimizations and broader assembly options.
Cycle length↗
A Climatology and Extreme Value Analysis of Large Hail in China
In this paper, hail size records are analyzed at 2254 stations in China and a hail size climatology is developed based on gridded hail observations for the period 1960–2015. It is found that the annual percentiles of hail size records changed sharply and national-wide after 1980, therefore two periods, 1960–79 and 1980–2015, are studied. There are some similarities between the two periods in terms of the characteristics of hail size such as the spatial distribution patterns of mean annual maximum hail size and occurrence week of annual maximum hail size. The 1980–2015 period had higher observation density than the 1960–79 period, but showed smaller mean annual maximum hail size, especially in northern China. In the majority of grid boxes, the annual maximum hail size experienced a decreasing trend during the 1980–2015 period. A Gumbel extreme value model is fitted to each grid box to estimate the return periods of maximum hail size. The scale and location parameter of the fitted Gumbel distributions are higher in eastern China than in western China, thereby reflecting a greater likelihood of large hail in eastern China. In southern China, the maximum hail size exceeds 127 mm for a 10-yr return period, whereas in northern China maximum hail size exceeds this threshold for a 50-yr return period. Furthermore, the Gumbel model is found to potentially underestimate the maximum hail size for certain return periods, but provides a more informed picture of the spatial distribution of extreme hail size and the regional differences.
54 ENVIRONMENTAL SCIENCES↗
Enhancing Gaussian Process Surrogates for Optimization and Posterior Approximation via Random Exploration
This paper proposes novel noise-free Bayesian optimization strategies that rely on a random exploration step to enhance the accuracy of Gaussian process surrogate models. The new algorithms retain the ease of implementation of the classical GP-UCB algorithm, but the additional random exploration step accelerates their convergence, nearly achieving the optimal convergence rate. Furthermore, to facilitate Bayesian inference with intractable likelihoods, we propose to utilize optimization iterates for maximum a posteriori estimation to build a Gaussian process surrogate model for the unnormalized log-posterior density. We provide bounds for the Hellinger distance between the true and the approximate posterior distributions in terms of the number of design points. We demonstrate the effectiveness of our Bayesian optimization algorithms in nonconvex benchmark objective functions, in a machine learning hyperparameter tuning problem, and in a black-box engineering design problem. The effectiveness of our posterior approximation approach is demonstrated in two Bayesian inference problems for parameters of dynamical systems.
Bayesian inference↗
Parametric Cost Modeling of Space Missions Using the Develop New Projects (DMP) Implementation Process
This paper presents an overview of a parametric cost model that has been built at JPL to estimate costs of future, deep space, robotic science missions. Due to the recent dramatic changes in JPL business practices brought about by an internal reengineering effort known as develop new products (DNP), high-level historic cost data is no longer considered analogous to future missions. Therefore, the historic data is of little value in forecasting costs for projects developed using the DNP process. This has lead to the development of an approach for obtaining expert opinion and also for combining actual data with expert opinion to provide a cost database for future missions. In addition, the DNP cost model has a maximum of objective cost drivers which reduces the likelihood of model input error. Version 2 is now under development which expands the model capabilities, links it more tightly with key design technical parameters, and is grounded in more rigorous statistical techniques. The challenges faced in building this model will be discussed, as well as it's background, development approach, status, validation, and future plans.
Rosenberg, Leigh↗