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At least 127 records · Page 7

Toward extracting $$\gamma $$ from $$B\rightarrow DK$$ without binning

Abstract $$B^\pm \rightarrow DK^\pm $$ B ± → D K ± transitions are known to provide theoretically clean information about the CKM angle $$\gamma $$ γ , with the most precise available methods exploiting the cascade decay of the neutral D into CP self-conjugate states. Such analyses currently require binning in the D decay Dalitz plot, while a recently proposed method replaces this binning with the truncation of a Fourier series expansion. In this paper, we present a proof of principle of a novel alternative to these two methods, in which no approximations at the level of the data representation are required. In particular, our new strategy makes no assumptions about the amplitude and strong phase variation over the Dalitz plot. This comes at the cost of a degree of ambiguity in the choice of test statistic quantifying the compatibility of the data with a given value of $$\gamma $$ γ , with improved choices of test statistic yielding higher sensitivity. While our current proof-of-principle implementation does not demonstrate optimal sensitivity to $$\gamma $$ γ , its conceptually novel approach opens the door to new strategies for $$\gamma $$ γ extraction. More studies are required to see if these can be competitive with the existing methods.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Comparison of sleep parameters from wrist-worn ActiGraph and Actiwatch devices

Abstract Sleep and physical activity, two important health behaviors, are often studied independently using different accelerometer types and body locations. Understanding whether accelerometers designed for monitoring each behavior can provide similar sleep parameter estimates may help determine whether one device can be used to measure both behaviors. Three hundred and thirty one adults (70.7 ± 13.7 years) from the Baltimore Longitudinal Study of Aging wore the ActiGraph GT9X Link and the Actiwatch 2 simultaneously on the non-dominant wrist for 7.0 ± 1.6 nights. Total sleep time (TST), wake after sleep onset (WASO), sleep efficiency, number of wake bouts, mean wake bout length, and sleep fragmentation index (SFI) were extracted from ActiGraph using the Cole–Kripke algorithm and from Actiwatch using the software default algorithm. These parameters were compared using paired t-tests, Bland–Altman plots, and Deming regression models. Stratified analyses were performed by age, sex, and body mass index (BMI). Compared to the Actiwatch, the ActiGraph estimated comparable TST and sleep efficiency, but fewer wake bouts, longer WASO, longer wake bout length, and higher SFI (all p < .001). Both devices estimated similar 1-min and 1% differences between participants for TST and SFI (β = 0.99, 95% CI: 0.95, 1.03, and 0.91, 1.13, respectively), but not for other parameters. These differences varied by age, sex, and/or BMI. The ActiGraph and the Actiwatch provide comparable absolute and relative estimates of TST, but not other parameters. The discrepancies could result from device differences in movement collection and/or sleep scoring algorithms. Further comparison and calibration is required before these devices can be used interchangeably.

Liu, Fangyu (ORCID:0000000315541478)↗

A Real Time Differential GPS Tracking System for NASA Sounding Rockets

Sounding rockets are suborbital launch vehicles capable of carrying scientific payloads to several hundred miles in altitude. These missions return a variety of scientific data including: chemical makeup and physical processes taking place in the atmosphere, natural radiation surrounding the Earth, data on the Sun, stars, galaxies and many other phenomena. In addition, sounding rockets provide a reasonably economical means of conducting engineering tests for instruments and devices to be used on satellites and other spacecraft prior to their use in these more expensive missions. Typically around thirty of these rockets are launched each year, from established ranges at Wallops Island, Virginia; Poker Flat Research Range, Alaska; White Sands Missile Range, New Mexico and from a number of ranges outside the United States. Many times launches are conducted from temporary launch ranges in remote parts of the world requiring considerable expense to transport and operate tracking radars. In order to support these missions, an inverse differential GPS system has been developed. The flight system consists of a small, inexpensive receiver, a preamplifier and a wrap-around antenna. A rugged, compact, portable ground station extracts GPS data from the raw payload telemetry stream, performs a real time differential solution and graphically displays the rocket's path relative to a predicted trajectory plot. In addition to generating a real time navigation solution, the system has been used for payload recovery, timing, data timetagging, precise tracking of multiple payloads and slaving of optical tracking systems for over the horizon acquisition. This paper discusses, in detail, the flight and ground hardware, as well as data processing and operational aspects of the system, and provides evidence of the system accuracy.

Bull, Barton↗

Diurnal and Seasonal Cold Lands Signatures in SSM/I-scale Microwave Radiometry of the North Slope of Alaska

In this paper, we explore scaling and data assimilation-related issues associated with utilizing passive microwave satellite observations of Cold Lands-in this case, the climatologically and ecologically sensitive arctic tundra. Our approach expands on our earlier work using a one-year dataset from the Radiobrightness Energy Balance Experiment-3 (REBEX-3). REBEX-3 featured a tower-based SSM/I (Special Sensor Microwave/Imager) simulator deployed on the North Slope of Alaska in 1994-95. Two findings are significant here. First, a comparison of tower and satellite signatures at 19 and 37 GHz strongly suggested that the North Slope is radiometrically homogeneous for spatial scales up to SSM/I footprints (approximately 25 km), an unusual and valuable characteristic for monitoring and retrieving land surface conditions. And second, at the plot scale, signatures of snow/no-snow and freeze/thaw transitions were identifiable for tussock tundra land cover, so that even snow-free frozen tundra could be unambiguously distinguished from tundra covered with dry snow, another unusual and valuable characteristic. We present results from analyzing satellite brightness signatures of selected North Slope pixels corresponding to instrumented sites along a transect from the Brooks Range to the Arctic Ocean. A custom EASE (Equal Area Scalable Earth)-Grid processor was used to extract SSMJI data for every orbit with observations of this region during the 1994-95 year. The resulting high temporal-resolution (4-8 points/day), gridded data were then analyzed for evidence of the same diurnal and seasonal signatures seen at the plot scale (through micrometeorological and/or brightness data). Differences between satellite and tower brightness observations are quantified for various conditions at the REBEX-3 site. Such differences from the less-frequent and/or larger-scale satellite observations represent a form of input 'noise' in data assimilation applications. For the other sites, the performance of snow/no-snow and freeze/thaw discriminators vs. ground truth represents an opportunity to gauge the homogeneity of other pixels.

Kim, Edward J.↗

Data for Intra- and inter-annual variability of nitrification in the rhizosphere of field-grown bioenergy sorghum

These data were collected in 2018 and 2019 at the University of Illinois Energy Farm (N 40.063607, W 88.206926). During each growing season, bulk and rhizosphere soil were collected from replicate Sorghum bicolor nitrogen use efficiency trial plots at three separate time points (approximately July 1, August 1, and September 1). We measured soil moisture, pH, soil nitrate and ammonium, potential nitrification, potential denitrification, and extracted and sequenced the V4 region of the 16S rRNA gene for microbial community analysis. All microbial sequence data is archived in the National Center for Biotechnology Information’s (NCBI) Sequence Read Archive (accession number SRP326979, project number PRJNA741261).

bioenergy↗

The use of multidate multichannel radiance data in urban feature analysis

Two images were obtained from thematic mappers on Landsats 4 and 5 over the Washington, DC area during November 1982 and March 1984. Selected training areas containing different types of urban land use were examined,one area consisting entirely of forest. Mean digital radiance values for each bandpass in each image were examined, and variances, standard deviations, and covariances between bandpasses were calculated. It has been found that two bandpasses caused forested areas to stand out from other land use types, especially for the November 1982 image. In order to evaluate quantitatively the possible utility of the principal components analysis in selected feature extraction, the eigenvectors were evaluated for principal axes rotations which rendered each selected land use type most separable from all other land use types. The evaluated eigenvectors were plotted as a function of land use type, whose order was decided by considering anticipated shadow component and by examining the relative loadings indicative of vegetation for each of the principal components for the different features considered. The analysis was performed for each seven-band image separately and for the two combined images. It was found that by combining the two images, more dramatic land use type separation could be obtained.

Duggin, M. J.↗

Estimating Switchgrass Biomass Yield and Lignocellulose Composition from UAV-Based Indices

Innovative methods for estimating commercial-scale switchgrass yields and feedstock quality are essential to optimize harvest logistics and biorefinery efficiency for sustainable aviation fuel production. This study utilized vegetation indices (VIs) derived from multispectral images to predict biomass yield and lignocellulose concentrations of advanced bioenergy-type switchgrass cultivars (“Liberty” and “Independence”) under two N rates (28 and 56 kg N ha –1 ). Field-scale plots were arranged in a randomized complete block design (RCBD) and replicated three times at Urbana, IL. Multispectral images captured during the 2021–2023 growing seasons were used to extract VIs. The results show that linear and exponential models outperformed partial least square and random forest models, with mid-August imagery providing the best predictions for biomass, cellulose, and hemicellulose. The green normalized difference vegetation index (GNDVI) was the best univariate predictor for biomass yield (R 2 = 0.86), while a multivariate combination of the GNDVI and normalized difference red-edge index (NDRE) enhanced prediction accuracy (R 2 = 0.88). Cellulose was best predicted using the NDRE (R 2 = 0.53), whereas hemicellulose prediction was most effective with a multivariate model combining the GNDVI, NDRE, NDVI, and green ratio vegetation index (GRVI) (R 2 = 0.44). These findings demonstrate the potential of UAV-based VIs for the in-season estimation of biomass yield and cellulose concentration.

09 BIOMASS FUELS↗

A Solid State Zwitterionic Plastic Crystal with High Static Dielectric Constant

The dielectric data in Figure 3, Figure 4, Figure S6 of the published paper was extracted from 2EOIMTSA-BDS-DATA .txt file. This file can be directly opened using a text file editor. It can also be imported to Excel/ Origin for further plotting and analysis. The G' and G'' in Figure 3 of the publihsed paper was plotted from data in file 2EOImTSA-temperature-sweep.xlsx. This file can be directly opend using Excel. The details of DFT simulations mentioned in Figure 2, Figure 7, and Figure S9 of the published paper are included in the DFT.zip file.

Huang, Zitan [Pennsylvania State University]↗

The distinction of rock types on the basis of their mass spectra, with special reference to lunar-surface applications

It is shown that the rock types most commonly expected to be encountered on the lunar surface can for the most part be readily distinguished, chemically, by plotting their relative concentrations of Fe, Mg, and Al on a ternary variation diagram. The necessary data for characterizing as unknown as to rock type can be quite easily extracted from complete or partial mass spectra such as may be obtained by means of a robot mass spectrometer on the lunar surface. For most compositions, determination of only two nuclide or element rations will characterize the sample. Fo others, the determination of one additional ratio or comparison with a few standard spectra previously obtained in the laboratory may be necessary to clarify the unknown in terms of the chemistry of the terrestrial or meteoritic equivalents. No quantitative assay of element concentrations is necessary for such a first classification.

LUNAR SURFACE↗

Photoelectronic Monitor of Motion Sickness

Instrument includes gallium arsenide light-emitting diode (LED) and silicon phototransistor with infrared filter, all cast in single plastic housing. Housing attached to subject's face with transparent doublesided adhesive tape. LED directs pulses of infrared light to skin, which reflects them to phototransistor. Phototransistor produces signal that is processed by external circuits to yield plot of infrared reflectance with time. External circuits temperature-compensated and respond only to pulsed component of detector output, rejecting those components caused by stray light. Circuits also extract blood-volume pulse amplitude and heart rate.

Oman, C. M.↗

Bacterial diversity dynamics in microbial consortia selected for lignin utilization

Lignin is nature’s largest source of phenolic compounds. Its recalcitrance to enzymatic conversion is still a limiting step to increase the value of lignin. Although bacteria are able to degrade lignin in nature, most studies have focused on lignin degradation by fungi. To understand which bacteria are able to use lignin as the sole carbon source, natural selection over time was used to obtain enriched microbial consortia over a 12-week period. The source of microorganisms to establish these microbial consortia were commercial and backyard compost soils. Cultivation occurred at two different temperatures, 30°C and 37°C, in defined culture media containing either Kraft lignin or alkaline-extracted lignin as carbon source. iTag DNA sequencing of bacterial 16S rDNA gene was performed for each of the consortia at six timepoints (passages). The initial bacterial richness and diversity of backyard compost soil consortia was greater than that of commercial soil consortia, and both parameters decreased after the enrichment protocol, corroborating that selection was occurring. Bacterial consortia composition tended to stabilize from the fourth passage on. After the enrichment protocol, Firmicutes phylum bacteria were predominant when lignin extracted by alkaline method was used as a carbon source, whereas Proteobacteria were predominant when Kraft lignin was used. Bray-Curtis dissimilarity calculations at genus level, visualized using NMDS plots, showed that the type of lignin used as a carbon source contributed more to differentiate the bacterial consortia than the variable temperature. The main known bacterial genera selected to use lignin as a carbon source were Altererythrobacter , Aminobacter , Bacillus , Burkholderia , Lysinibacillus , Microvirga , Mycobacterium , Ochrobactrum , Paenibacillus , Pseudomonas , Pseudoxanthomonas , Rhizobiales and Sphingobium . These selected bacterial genera can be of particular interest for studying lignin degradation and utilization, as well as for lignin-related biotechnology applications.

59 BASIC BIOLOGICAL SCIENCES↗

Interpretation of Fracture Initiation Points by In-Well Low-Frequency Distributed Acoustic Sensing in Horizontal Wells

Summary Low-frequency distributed acoustic sensing (LF-DAS) exploits the optical phase shift of Rayleigh backscatter in fiber-optic cables to obtain distributed measurements of changes in strain and temperature. Fiber-optic cables are often installed for multistage hydraulic fracture diagnostics in horizontal wells. LF-DAS in an untreated well provides far-field strain measurements, while offset wells are hydraulically fractured. Such a configuration is called crosswell LF-DAS sensing. Crosswell LF-DAS measurements have proved useful in diagnosing fracture hits, fracture azimuth, planarity, cluster efficiency, fracture propagation rates, and the dynamic distance to the fracture front. In contrast, in-well LF-DAS is conducted on the actively fractured well. Due to cool fracture fluid being injected at high injection rates, the strain component of the LF-DAS response is largely obscured by temperature changes. In permanent fiber-optic cable installations, distributed temperature sensing (DTS) is often conducted simultaneously with LF-DAS. An opportunity exists to decouple the temperature and strain components of LF-DAS sensors to observe strain changes on in-well LF-DAS. The LF-DAS response is modeled as linearly dependent on strain and temperature changes. Theoretical LF-DAS temperature and strain sensitivity coefficients are derived based on the changes to the index of refraction and length of the fiber. Using the DTS measurements, temperature changes are computed, smoothed, filtered, and compared to the LF-DAS response. Crossplots of the in-well LF-DAS measurements and temperature changes from DTS measurements far from the actively fractured region are used to validate the theoretical sensitivity coefficients. Uncertainty in the temperature component of the LF-DAS response is quantified. The difficulty in corresponding the different spatial and temporal resolutions of the DTS and LF-DAS measurements is overcome by comparing the responses over a moving temporal and spatial window. If the LF-DAS response at the center of the window agrees with the DTS response within uncertainty, the measurement is filtered out. After filtering, the remaining nonzero in-well LF-DAS measurements are due to changes in strain. The data are then visualized in waterfall plots. The results indicate that the theoretical and observed strain and temperature coefficients agree within 10%. After the temperature component of the in-well LF-DAS response is extracted, the remaining nonzero measurements are located primarily within the actively treated region. Locations with peaks in the strain response are interpreted to indicate fracture initiation points. These fracture initiation points are compared with in-well DTS and high-frequency DAS noise measurements across multiple stages to better understand fracture initiation along the horizontal well.

Engineering↗

Coronal gas in the Galaxy. I - A new survey of interstellar O VI

Ultraviolet spectra of 40 O- and B-type stars have been intensively scanned in the vicinity of the O VI transitions at 1032 and 1038 A with the Copernicus satellite. This survey of the high-temperature (log T about 5.5) phase of interstellar gas is an extension of the earlier observations of interstellar O VI by Jenkins and Meloy (1974), bringing the total coverage up to 72 stars. Except for a few distant stars, the overall quality of the present data surpasses that of the earlier work. Plots of absorption optical depths versus radial velocity are presented for both transitions in each star. Total column densities (or their upper limits), velocity centroids, and velocity widths have been extracted from the profiles and tabulated, with the results of Jenkins and Meloy (1974) included. Qualitatively, the highly variable O VI densities and velocities seem to exhibit no systematic patterns or regional trends; there is no recognizable correlation in the behavior of coronal gas with pronounced features of galactic structure.

Jenkins, E. B.↗

Automated Extraction of Flow Features

Computational Fluid Dynamics (CFD) simulations are routinely performed as part of the design process of most fluid handling devices. In order to efficiently and effectively use the results of a CFD simulation, visualization tools are often used. These tools are used in all stages of the CFD simulation including pre-processing, interim-processing, and post-processing, to interpret the results. Each of these stages requires visualization tools that allow one to examine the geometry of the device, as well as the partial or final results of the simulation. An engineer will typically generate a series of contour and vector plots to better understand the physics of how the fluid is interacting with the physical device. Of particular interest are detecting features such as shocks, recirculation zones, and vortices (which will highlight areas of stress and loss). As the demand for CFD analyses continues to increase the need for automated feature extraction capabilities has become vital. In the past, feature extraction and identification were interesting concepts, but not required in understanding the physics of a steady flow field. This is because the results of the more traditional tools like; iso-surface, cuts and streamlines, were more interactive and easily abstracted so they could be represented to the investigator. These tools worked and properly conveyed the collected information at the expense of a great deal of interaction. For unsteady flow-fields, the investigator does not have the luxury of spending time scanning only one "snapshot" of the simulation. Automated assistance is required in pointing out areas of potential interest contained within the flow. This must not require a heavy compute burden (the visualization should not significantly slow down the solution procedure for (co-processing environments). Methods must be developed to abstract the feature of interest and display it in a manner that physically makes sense.

Dorney, Suzanne↗

Automated Extraction of Flow Features

Computational Fluid Dynamics (CFD) simulations are routinely performed as part of the design process of most fluid handling devices. In order to efficiently and effectively use the results of a CFD simulation, visualization tools are often used. These tools are used in all stages of the CFD simulation including pre-processing, interim-processing, and post-processing, to interpret the results. Each of these stages requires visualization tools that allow one to examine the geometry of the device, as well as the partial or final results of the simulation. An engineer will typically generate a series of contour and vector plots to better understand the physics of how the fluid is interacting with the physical device. Of particular interest are detecting features such as shocks, re-circulation zones, and vortices (which will highlight areas of stress and loss). As the demand for CFD analyses continues to increase the need for automated feature extraction capabilities has become vital. In the past, feature extraction and identification were interesting concepts, but not required in understanding the physics of a steady flow field. This is because the results of the more traditional tools like; isc-surface, cuts and streamlines, were more interactive and easily abstracted so they could be represented to the investigator. These tools worked and properly conveyed the collected information at the expense of a great deal of interaction. For unsteady flow-fields, the investigator does not have the luxury of spending time scanning only one "snapshot" of the simulation. Automated assistance is required in pointing out areas of potential interest contained within the flow. This must not require a heavy compute burden (the visualization should not significantly slow down the solution procedure for co-processing environments). Methods must be developed to abstract the feature of interest and display it in a manner that physically makes sense.

Dorney, Suzanne↗

Reaction Wheel Disturbance Model Extraction Software - RWDMES

The RWDMES is a tool for modeling the disturbances imparted on spacecraft by spinning reaction wheels. Reaction wheels are usually the largest disturbance source on a precision pointing spacecraft, and can be the dominating source of pointing error. Accurate knowledge of the disturbance environment is critical to accurate prediction of the pointing performance. In the past, it has been difficult to extract an accurate wheel disturbance model since the forcing mechanisms are difficult to model physically, and the forcing amplitudes are filtered by the dynamics of the reaction wheel. RWDMES captures the wheel-induced disturbances using a hybrid physical/empirical model that is extracted directly from measured forcing data. The empirical models capture the tonal forces that occur at harmonics of the spin rate, and the broadband forces that arise from random effects. The empirical forcing functions are filtered by a physical model of the wheel structure that includes spin-rate-dependent moments (gyroscopic terms). The resulting hybrid model creates a highly accurate prediction of wheel-induced forces. It accounts for variation in disturbance frequency, as well as the shifts in structural amplification by the whirl modes, as the spin rate changes. This software provides a point-and-click environment for producing accurate models with minimal user effort. Where conventional approaches may take weeks to produce a model of variable quality, RWDMES can create a demonstrably high accuracy model in two hours. The software consists of a graphical user interface (GUI) that enables the user to specify all analysis parameters, to evaluate analysis results and to iteratively refine the model. Underlying algorithms automatically extract disturbance harmonics, initialize and tune harmonic models, and initialize and tune broadband noise models. The component steps are described in the RWDMES user s guide and include: converting time domain data to waterfall PSDs (power spectral densities); converting PSDs to order analysis data; extracting harmonics; initializing and simultaneously tuning a harmonic model and a wheel structural model; initializing and tuning a broadband model; and verifying the harmonic/broadband/structural model against the measurement data. Functional operation is through a MATLAB GUI that loads test data, performs the various analyses, plots evaluation data for assessment and refinement of analysis parameters, and exports the data to documentation or downstream analysis code. The harmonic models are defined as specified functions of frequency, typically speed-squared. The reaction wheel structural model is realized as mass, damping, and stiffness matrices (typically from a finite element analysis package) with the addition of a gyroscopic forcing matrix. The broadband noise model is realized as a set of speed-dependent filters. The tuning of the combined model is performed using nonlinear least squares techniques. RWDMES is implemented as a MATLAB toolbox comprising the Fit Manager for performing the model extraction, Data Manager for managing input data and output models, the Gyro Manager for modifying wheel structural models, and the Harmonic Editor for evaluating and tuning harmonic models. This software was validated using data from Goodrich E wheels, and from GSFC Lunar Reconnaissance Orbiter (LRO) wheels. The validation testing proved that RWDMES has the capability to extract accurate disturbance models from flight reaction wheels with minimal user effort.

Blaurock, Carl↗

Data driven discovery and quantification of hyperspectral leaf reflectance phenotypes across a maize diversity panel

Abstract Estimates of plant traits derived from hyperspectral reflectance data have the potential to efficiently substitute for traits, which are time or labor intensive to manually score. Typical workflows for estimating plant traits from hyperspectral reflectance data employ supervised classification models that can require substantial ground truth datasets for training. We explore the potential of an unsupervised approach, autoencoders, to extract meaningful traits from plant hyperspectral reflectance data using measurements of the reflectance of 2151 individual wavelengths of light from the leaves of maize ( Zea mays ) plants harvested from 1658 field plots in a replicated field trial. A subset of autoencoder‐derived variables exhibited significant repeatability, indicating that a substantial proportion of the total variance in these variables was explained by difference between maize genotypes, while other autoencoder variables appear to capture variation resulting from changes in leaf reflectance between different batches of data collection. Several of the repeatable latent variables were significantly correlated with other traits scored from the same maize field experiment, including one autoencoder‐derived latent variable (LV8) that predicted plant chlorophyll content modestly better than a supervised model trained on the same data. In at least one case, genome‐wide association study hits for variation in autoencoder‐derived variables were proximal to genes with known or plausible links to leaf phenotypes expected to alter hyperspectral reflectance. In aggregate, these results suggest that an unsupervised, autoencoder‐based approach can identify meaningful and genetically controlled variation in high‐dimensional, high‐throughput phenotyping data and link identified variables back to known plant traits of interest.

Tross, Michael C.↗

Predictive Sea State Estimation for Automated Ride Control and Handling - PSSEARCH

PSSEARCH provides predictive sea state estimation, coupled with closed-loop feedback control for automated ride control. It enables a manned or unmanned watercraft to determine the 3D map and sea state conditions in its vicinity in real time. Adaptive path-planning/ replanning software and a control surface management system will then use this information to choose the best settings and heading relative to the seas for the watercraft. PSSEARCH looks ahead and anticipates potential impact of waves on the boat and is used in a tight control loop to adjust trim tabs, course, and throttle settings. The software uses sensory inputs including IMU (Inertial Measurement Unit), stereo, radar, etc. to determine the sea state and wave conditions (wave height, frequency, wave direction) in the vicinity of a rapidly moving boat. This information can then be used to plot a safe path through the oncoming waves. The main issues in determining a safe path for sea surface navigation are: (1) deriving a 3D map of the surrounding environment, (2) extracting hazards and sea state surface state from the imaging sensors/map, and (3) planning a path and control surface settings that avoid the hazards, accomplish the mission navigation goals, and mitigate crew injuries from excessive heave, pitch, and roll accelerations while taking into account the dynamics of the sea surface state. The first part is solved using a wide baseline stereo system, where 3D structure is determined from two calibrated pairs of visual imagers. Once the 3D map is derived, anything above the sea surface is classified as a potential hazard and a surface analysis gives a static snapshot of the waves. Dynamics of the wave features are obtained from a frequency analysis of motion vectors derived from the orientation of the waves during a sequence of inputs. Fusion of the dynamic wave patterns with the 3D maps and the IMU outputs is used for efficient safe path planning.

Huntsberger, Terrance L.↗