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DOE OSTI2023

Cutting-Edge Operations Concepts: Intelligent Infrastructure, Cooperative Driving, Signal Control, and Curbside Management

The objective of this breakout session at the NREL Mobility workshop was to examine emerging traffic operations concepts built on key detection technology such as radars, lidars, and imaging recognition - and identify challenges and paths forward to integrate into our current roadway system. The key objective were to identify the opportunities for intelligent infrastructure to support near-term safety, equity, energy, and congestion mitigation goals, while supporting longer term connected-automated vehicle objectives. In the plenary session, Eric Raamot, from the USDOT Highly Automated Safety Systems Office challenged the participants to think broadly about the roll of standards and reference architecture to provide both an accelerated rollout of intelligent infrastructure, but also a repeatable and supportable framework upon which many infrastructure owners and operators (IOOs) could utilize for their implementation purposes.

ADVANCED PROPULSION SYSTEMS↗

NASA NTRS1992

Fluorescence lidar multi-color imaging of vegetation

Multi-color imaging of vegetation fluorescence following laser excitation is reported for distances of 50 m. A mobile laser radar system equipped with a Nd:YAG laser transmitter and a 40 cm diameter telescope was used. Image processing allows extraction of information related to the physiological status of the vegetation and might prove useful in forest decline research.

Johansson, J.↗

NASA NTRS2010

Doppler Lidar for Wind Measurements on Venus

NASA Langley Research Center has a long history of developing 2-micron laser transmitter for wind sensing. With support from NASA Laser Risk Reduction Program (LRRP) and Instrument Incubator Program (IIP), NASA Langley Research Center has developed a state-of-the-art compact lidar transceiver for a pulsed coherent Doppler lidar system for wind measurement. The transmitter portion of the transceiver employs the high-pulse-energy, Ho:Tm:LuLiF, partially conductively cooled laser technology developed at NASA Langley. The transceiver is capable of 250 mJ pulses at 10 Hz. It is very similar to the technology envisioned for coherent Doppler lidar wind measurements from Earth and Mars orbit. The transceiver is coupled to the large optics and data acquisition system in the NASA Langley VALIDAR mobile trailer. The large optics consists of a 15-cm off-axis beam expanding telescope, and a full-hemispheric scanner. Vertical and horizontal vector winds are measured, as well as relative backscatter. The data acquisition system employs frequency domain velocity estimation and pulse accumulation. It permits real-time display of the processed winds and archival of all data. This lidar system was recently deployed at Howard University facility in Beltsville, Mary-land, along with other wind lidar systems. Coherent Doppler wind lidar ground-based wind measurements and comparisons with other sensors will be presented. A simulation and data product for wind measurement at Venus will be presented.

Singh, Upendra N.↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

Relevant environment testing↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

Relevant environment testing↗

NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

LiDAR↗

NASA NTRS2011

Ground-Based Network and Supersite Observations to Complement and Enrich EOS Research

Since 1997 NASA has been successfully launching a series of satellites - the Earth Observing System (EOS) - to intensively study, and gain a better understanding of, the Earth as an integrated system. Space-borne remote sensing observations, however, are often plagued by contamination of surface signatures. Thus, ground-based in-situ and remote-sensing measurements, where signals come directly from atmospheric constituents, the sun, and/or the Earth-atmosphere interactions, provide additional information content for comparisons that confirm quantitatively the usefulness of the integrated surface, aircraft, and satellite datasets. Through numerous participations, particularly but not limited to the EOS remote-sensing/retrieval and validation projects over the years, NASA/GSFC has developed and continuously refined ground-based networks and mobile observatories that proved to be vital in providing high temporal measurements, which complement and enrich the satellite observations. These are: the AERO NET (AErosol RObotic NETwork) a federation of ground-based globally distributed network of spectral sun-sky photometers; the MPLNET (Micro-Pulse Lidar NETwork, a similarly organized network of micro-pulse lidar systems measuring aerosol and cloud vertical structure continuously; and the SMART-COMMIT (Surface-sensing Measurements for Atmospheric Radiative Transfer - Chemical, Optical & Microphysical Measurements of In-situ Troposphere, mobile observatories, a suite of spectral radiometers and in-situ probes acquiring supersite measurements. Most MPLNET sites are collocated with those of AERONET, and both networks always support the deployment of SMART-COMMIT worldwide. These data products follow the data structure of EOS conventions: Level-0, instrument archived raw data; Level-1 (or 1.5), real-time data with no (or limited) quality assurance; Level-2, not real high temporal and spectral resolutions. In this talk, we will present NASA/GSFC groundbased facilities, serving as network or supersite observations, which have been playing key roles in major international research projects over diverse aerosol regimes to complement and enrich the EOS scientific research.

Tsay, Si-Chee↗

NASA NTRSDate not supplied

The Gandalf Staff: A Mobile Tool for Lunar Exploration (2nd year of development)

The Gandalf Staff is a mobile tool designed to be a flexible device supporting crewed and uncrewed operations on the lunar surface. The core of the device is a 24v battery with communications and data storage systems. Initial optional components supporting crewed Extra-Vehicular Activity (EVA) include a LiDAR and 360˚ camera. These provide 3D mapping of the traverse for documentation, and to aid future planning. The mapping also creates outreach opportunities for the public to “stand beside” the astronaut in Virtual Reality (VR). The staff provides external lighting for field site illumination in the south polar region low sun angle environment. Navigation instruments for crew position determination with Lunar Search and Rescue (LunaSAR) are also included. The staff itself can be used as a walking aid or as a splint for Incapacitated Crew Rescue (ICR). As a stand-alone device, the staff operates as a long duration untended science platform collecting environmental data and sending it to a lunar base station. The stand-alone mode requires connection to an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could become an electrical recharging station. To make rapid progress in the 1st year, and also to demonstrate innovative project management techniques, NASA guided a private industry partner, T STAR, in leading Capstone Engineering student teams at Texas A&M University (TAMU) for proof-of-concept development and testing. These teams developed the power system and demonstrated successful integration of LiDAR, WiFi communications, and external lighting subsystems. Another industry team at Jacobs Technology prototyped a tripod to hold the staff upright. For the 2nd year (FY’22), NASA will again collaborate with partners to prototype enhanced power and lighting concepts. Year 2 will also add new capability for LunaSAR and geophysical science instrumentation using a heat probe. The heat probe is based upon Apollo heritage but modified to measure subsurface volatile ice regimes at the Artemis landing site. Components of the Gandalf Staff can be developed, tested, and deployed independently, or on the integrated staff, rovers, or utility trailers. The project supports crew safety, lunar sample curation, mission science, and public outreach goals of NASA. PLAIN TEST SUMMARY: Gandalf Staff is a 24v battery powered mobile tool for the lunar surface supporting crewed geologic field site exploration, or as a stand-alone science platform. As a tool assisting astronauts conducting field geology, the Gandalf Staff provides external lighting to illuminate shadowed regions on the surface. It also documents the process of collecting rocks and dust samples using a LiDAR (laser range instrument) and cameras. The staff provides a beacon for emergency location of astronauts and augments communications when the astronauts are blocked by large boulders. As a standalone science platform, the Gandalf Staff provides a power system for instruments and sensors to measure the lunar environment over long periods of time. The staff gathers data and sends the results to a lunar base station for analysis.

External Lighting↗

NASA NTRS2012

Correction Technique for Raman Water Vapor Lidar Signal-Dependent Bias and Suitability for Water Wapor Trend Monitoring in the Upper Troposphere

The MOHAVE-2009 campaign brought together diverse instrumentation for measuring atmospheric water vapor. We report on the participation of the ALVICE (Atmospheric Laboratory for Validation, Interagency Collaboration and Education) mobile laboratory in the MOHAVE-2009 campaign. In appendices we also report on the performance of the corrected Vaisala RS92 radiosonde measurements during the campaign, on a new radiosonde based calibration algorithm that reduces the influence of atmospheric variability on the derived calibration constant, and on other results of the ALVICE deployment. The MOHAVE-2009 campaign permitted the Raman lidar systems participating to discover and address measurement biases in the upper troposphere and lower stratosphere. The ALVICE lidar system was found to possess a wet bias which was attributed to fluorescence of insect material that was deposited on the telescope early in the mission. Other sources of wet biases are discussed and data from other Raman lidar systems are investigated, revealing that wet biases in upper tropospheric (UT) and lower stratospheric (LS) water vapor measurements appear to be quite common in Raman lidar systems. Lower stratospheric climatology of water vapor is investigated both as a means to check for the existence of these wet biases in Raman lidar data and as a source of correction for the bias. A correction technique is derived and applied to the ALVICE lidar water vapor profiles. Good agreement is found between corrected ALVICE lidar measurments and those of RS92, frost point hygrometer and total column water. The correction is offered as a general method to both quality control Raman water vapor lidar data and to correct those data that have signal-dependent bias. The influence of the correction is shown to be small at regions in the upper troposphere where recent work indicates detection of trends in atmospheric water vapor may be most robust. The correction shown here holds promise for permitting useful upper tropospheric water vapor profiles to be consistently measured by Raman lidar within NDACC (Network for the Detection of Atmospheric Composition Change) and elsewhere, despite the prevalence of instrumental and atmospheric effects that can contaminate the very low signal to noise measurements in the UT.

MOHAVE-2009↗

DOE OSTI2026

Dataset for "A primer on forest structure measurement with lidar for ecologists"

This repository includes data and code accompanying the case study included in the manuscript "A primer on forest structure measurement with lidar for ecologists" (submitted to Ecosphere). We compiled lidar datasets from multiple platforms in a common area to: 1. Demonstrate how differences in sensor characteristics influence density and resolution of lidar data. 2. Provide open-source, co-located datasets for users to further inspect differences in lidar data. 3. Provide example code to perform basic lidar analysis. This case study is meant to allow readers to get hands-on experience with real-world data from different platforms. This case study is not meant to be a rigorous comparison of derived ecological metrics among all sensors; such comparisons can be found throughout other publications referenced throughout the main manuscript. Code includes basic functions in R commonly used to visualize and manipulate lidar data accessible with a normal laptop computer; more sophisticated algorithms for advanced users are also referenced throughout the main manuscript. Terrestrial laser scanning (TLS), mobile laser scanning (MLS), UAS laser scanning (ULS), airborne laser scanning (ALS), and spaceborne laser scanning (SLS) data were collected within the Smithsonian Environmental Research Center (SERC) forest dynamics plot in Maryland, USA. TLS, MLS, and ALS data were collected within 1 month of the 2021 growing season; ULS data were collected in November 2020 (“leaf-off” data) and July 2022 (“leaf-on” data).

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2004

Vertical Profiling of Air Pollution at RAPCD

The interaction between local and regional pollution levels occurs at the interface of the Planetary Boundary Layer and the Free Troposphere. Measuring the vertical distribution of ozone, aerosols, and winds with high temporal and vertical resolution is essential to diagnose the nature of this interchange and ultimately for accurately forecasting ozone and aerosol pollution levels. The Regional Atmospheric Profiling Center for Discovery, RAPCD, was built and instrumented to address this critical issue. The ozone W DIAL lidar, Nd:YAG aerosol lidar, and 2.1 micron Doppler wind lidar, along with balloon- borne ECC ozonesondes form the core of the W C D instrumentation for addressing this problem. Instrumentation in the associated Mobile Integrated Profiling (MIPS) laboratory includes 91 5Mhz profiler, sodar, and ceilometer. The collocated Applied particle Optics and Radiometry (ApOR) laboratory hosts an FTIR along with MOUDI and optical particle counters. With MODELS-3 analysis by colleagues in the National Space Science and Technology Center on the UAH campus and the co- located National Weather Service Forecasting Office in Huntsville, AL we are developing a unique facility for advancing the state of the science of pollution forecasting.

Newchurch, Michael J.↗

NASA NTRS2014

NASA Tech Briefs, March 2014

Topics include: Data Fusion for Global Estimation of Forest Characteristics From Sparse Lidar Data; Debris and Ice Mapping Analysis Tool - Database; Data Acquisition and Processing Software - DAPS; Metal-Assisted Fabrication of Biodegradable Porous Silicon Nanostructures; Post-Growth, In Situ Adhesion of Carbon Nanotubes to a Substrate for Robust CNT Cathodes; Integrated PEMFC Flow Field Design for Gravity-Independent Passive Water Removal; Thermal Mechanical Preparation of Glass Spheres; Mechanistic-Based Multiaxial-Stochastic-Strength Model for Transversely-Isotropic Brittle Materials; Methods for Mitigating Space Radiation Effects, Fault Detection and Correction, and Processing Sensor Data; Compact Ka-Band Antenna Feed with Double Circularly Polarized Capability; Dual-Leadframe Transient Liquid Phase Bonded Power Semiconductor Module Assembly and Bonding Process; Quad First Stage Processor: A Four-Channel Digitizer and Digital Beam-Forming Processor; Protective Sleeve for a Pyrotechnic Reefing Line Cutter; Metabolic Heat Regenerated Temperature Swing Adsorption; CubeSat Deployable Log Periodic Dipole Array; Re-entry Vehicle Shape for Enhanced Performance; NanoRacks-Scale MEMS Gas Chromatograph System; Variable Camber Aerodynamic Control Surfaces and Active Wing Shaping Control; Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature; Technique for Finding Retro-Reflectors in Flash LIDAR Imagery; Novel Hemispherical Dynamic Camera for EVAs; 360 deg Visual Detection and Object Tracking on an Autonomous Surface Vehicle; Simulation of Charge Carrier Mobility in Conducting Polymers; Observational Data Formatter Using CMOR for CMIP5; Propellant Loading Physics Model for Fault Detection Isolation and Recovery; Probabilistic Guidance for Swarms of Autonomous Agents; Reducing Drift in Stereo Visual Odometry; Future Air-Traffic Management Concepts Evaluation Tool; Examination and A Priori Analysis of a Direct Numerical Simulation Database for High-Pressure Turbulent Flows; and Resource-Constrained Application of Support Vector Machines to Imagery.

Source record↗

DOE OSTI2024

Observations of airflow around a supertall curved building and its impact on temperature and humidity in Houston's urban center

Characterization of realistically shaped skyscrapers embedded in non-uniform neighbourhoods experiencing intricate weather patterns remains inadequately investigated. Aiming to close this gap, the Center for Multiscale Applied Sensing team deployed its mobile observatory in the street canyons around the curved Wells Fargo Plaza skyscraper in downtown Houston, TX. Three deployments allowed airflow observations under different inflow wind and thermodynamic stability conditions. Doppler lidar measurements reveal that when inflow hits the curved wall of the skyscraper, perpendicular canyons experience similar vortex configurations creating two windward and two leeward circulations. Windsond measurements support that buoyancy within the deep street canyons can generate thermal updrafts as strong as 2 m s -1 which is sufficient to overturn the mechanical downwash under gentle wind conditions. Canyons experiencing venting during the daytime were observed to be more thermodynamically stable at night while thermodynamically stable canyons during the day were observed to be more thermodynamically unstable at night owing to the accumulation of heat near street-level. Fourier decomposition of the vertical velocity measurements shows that in all cases flow exhibited high Reynolds numbers and was composed of turbulent eddies of predominantly 6 and 15 min periods. Here, this observational dataset provides insights to assess wind load, pedestrian comfort, urban air mobility, and natural ventilation and may be used as a benchmark for numerical model and wind tunnel studies attempting to represent realistically complex urban conditions.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2010

Airborne and Ground-Based Measurements Using a High-Performance Raman Lidar

A high-performance Raman lidar operating in the UV portion of the spectrum has been used to acquire, for the first time using a single lidar, simultaneous airborne profiles of the water vapor mixing ratio, aerosol backscatter, aerosol extinction, aerosol depolarization and research mode measurements of cloud liquid water, cloud droplet radius, and number density. The Raman Airborne Spectroscopic Lidar (RASL) system was installed in a Beechcraft King Air B200 aircraft and was flown over the mid-Atlantic United States during July August 2007 at altitudes ranging between 5 and 8 km. During these flights, despite suboptimal laser performance and subaperture use of the telescope, all RASL measurement expectations were met, except that of aerosol extinction. Following the Water Vapor Validation Experiment Satellite/Sondes (WAVES_2007) field campaign in the summer of 2007, RASL was installed in a mobile trailer for groundbased use during the Measurements of Humidity and Validation Experiment (MOHAVE-II) field campaign held during October 2007 at the Jet Propulsion Laboratory s Table Mountain Facility in southern California. This ground-based configuration of the lidar hardware is called Atmospheric Lidar for Validation, Interagency Collaboration and Education (ALVICE). During theMOHAVE-II field campaign, during which only nighttime measurements were made, ALVICE demonstrated significant sensitivity to lower-stratospheric water vapor. Numerical simulation and comparisons with a cryogenic frost-point hygrometer are used to demonstrate that a system with the performance characteristics of RASL ALVICE should indeed be able to quantify water vapor well into the lower stratosphere with extended averaging from an elevated location like Table Mountain. The same design considerations that optimize Raman lidar for airborne use on a small research aircraft are, therefore, shown to yield significant dividends in the quantification of lower-stratospheric water vapor. The MOHAVE-II measurements, along with numerical simulation, were used to determine that the likely reason for the suboptimal airborne aerosol extinction performance during theWAVES_2007 campaign was amisaligned interference filter. With full laser power and a properly tuned interference filter,RASL is shown to be capable ofmeasuring themain water vapor and aerosol parameters with temporal resolutions of between 2 and 45 s and spatial resolutions ranging from 30 to 330 m from a flight altitude of 8 km with precision of generally less than 10%, providing performance that is competitive with some airborne Differential Absorption Lidar (DIAL) water vapor and High Spectral Resolution Lidar (HSRL) aerosol instruments. The use of diode-pumped laser technology would improve the performance of an airborne Raman lidar and permit additional instrumentation to be carried on board a small research aircraft. The combined airborne and ground-based measurements presented here demonstrate a level of versatility in Raman lidar that may be impossible to duplicate with any other single lidar technique.

Whiteman, David N.↗

NASA NTRS1986

Chemical contamination remote sensing

A ground mobile laser test bed system was assembled to assess the feasibility of detection of various types of chemical contamination using Differential Scattering (DISC) and Differential Absorption (DIAL) Lidar techniques. Field experiments with the test bed system using chemical simulants were performed. Topographic reflection and range resolved DIAL detection of vapors as well as DISC detection of aerosols and surface contamination were achieved. Review of detection principles, design of the test bed system, and results of the experiments are discussed.

Carrico, J. P.↗

NASA NTRS2000

Clear-Sky Closure Studies of Tropospheric Aerosol and Water Vapor During ACE-2 Using Airborne Sunphotometer, Airborne In-Situ, Space-Borne, and Ground-Based Measurements

We report on clear-sky column closure experiments (CLEARCOLUMN) performed in the Canary Islands during the second Aerosol Characterization Experiment (ACE-2) in June/July 1997. We present CLEARCOLUMN results obtained by combining airborne sunphotometer and in-situ (a differential mobility analyzer, three optical particle counters, three nephelometers, and one absorption photometer) measurements taken aboard the Pelican aircraft, space-borne NOAA/AVHRR data and ground-based lidars. A wide range of aerosol types was encountered throughout the ACE-2 area, including background Atlantic marine, European pollution-derived, and (although less frequently than expected) African mineral dust. During the two days discussed here, vertical profiles flown in cloud free air masses revealed three distinctly different layers: a marine boundary layer (MBL) with varying pollution levels, an elevated dust layer, and a very clean layer between the MBL and the dust layer. Based on size-resolved composition information we have established an aerosol model that allows us to compute optical properties of the ambient aerosol using the optical particle counter results. In the dust, the agreement in layer AOD (lambda=380-1060 nm) is 3-8%. In the MBL there is a tendency for the in-situ results to be slightly lower than the sunphotometer measurements (10-17% at lambda=525 nm), but these differences are within the combined error bars of the measurements and computations. Aerosol size-distribudon closure based on in-situ size distributions and inverted sunphotometer extinction spectra has been achieved in the MBL (total surface area and volume agree within 0.2, and 7%, respectively) but not in the dust layer. The fact that the three nephelometers operated at three different relative humidities (RH) allowed to parameterize hygroscopic growth and to therefore estimate optical properties at ambient RH. The parameters derived for different aerosol types are themselves useful for the aerosol modeling community. The fact that the nephelometers and the absorption photometer sampled the aerosol through a cyclone make those measurements less useful for thee closure study carried out here. Large corrections (especially in the dust) had to be applied. Therefore, it is not surprising that closure with the sunphotometer was not always achieved. Agreement within 0.02 in AOD was achieved in the dust layer when the airorne sunphotometer extinction or AOD was compared to ground-based lidar measurements. We found that the presence of the elevated dust layers removes the good agreement between satellite and sunphotometer AOD usually found in the absence of the dust layer. We still compare the scattering phase functions used in the satellite retrieval with those obtained from the aerosol or the sunphotometer measurements.

Schmid, Beat↗

DOE OSTI2021

Development of a Miniaturized Mobile Mapping System for In-Row, Under-Canopy Phenotyping

This paper focuses on the development of a miniaturized mobile mapping platform with advantages over current agricultural phenotyping systems in terms of acquiring data that facilitate under-canopy plant trait extraction. The system is based on an unmanned ground vehicle (UGV) for in-row, under-canopy data acquisition to deliver accurately georeferenced 2D and 3D products. The paper addresses three main aspects pertaining to the UGV development: (a) architecture of the UGV mobile mapping system (MMS), (b) quality assessment of acquired data in terms of georeferencing information as well as derived 3D point cloud, and (c) ability to derive phenotypic plant traits using data acquired by the UGV MMS. The experimental results from this study demonstrate the ability of the UGV MMS to acquire dense and accurate data over agricultural fields that would facilitate highly accurate plant phenotyping (better than above-canopy platforms such as unmanned aerial systems and high-clearance tractors). Plant centers and plant count with an accuracy in the 90% range have been achieved.

54 ENVIRONMENTAL SCIENCES↗