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All sourcesNASA NTRSDOE OSTI
NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗
NASA NTRS2024

Integrating State Data Assimilation and Innovative Model Parameterization Reduces Simulated Carbon Uptake in the Arctic and Boreal Region

Model representation of carbon uptake and storage is essential for accurate projection of the response of the arctic‐boreal zone to a rapidly changing climate. Land model estimates of LAI and aboveground biomass that can have a marked influence on model projections of carbon uptake and storage vary substantially in the arctic and boreal zone, making it challenging to correctly evaluate model estimates of Gross Primary Productivity (GPP). To understand and correct bias of LAI and aboveground biomass in the Community Land Model (CLM), we assimilated the 8‐day Moderate Resolution Imaging Spectroradiometer (MODIS) LAI observation and a machine learning product of annual aboveground biomass into CLM using an Ensemble Adjustment Kalman Filter (EAKF) in an experimental region including Alaska and Western Canada. Assimilating LAI and aboveground biomass reduced these model estimates by 58% and 72%, respectively. The change of aboveground biomass was consistent with independent estimates of canopy top height at both regional and site levels. The International Land Model Benchmarking system assessment showed that data assimilation significantly improved CLM's performance in simulating the carbon and hydrological cycles, as well as in representing the functional relationships between LAI and other variables. To further reduce the remaining bias in GPP after LAI bias correction, we re‐parameterized CLM to account for low temperature suppression of photosynthesis. The LAI bias corrected model that included the new parameterization showed the best agreement with model benchmarks. Combining data assimilation with model parameterization provides a useful framework to assess photosynthetic processes in LSMs.

land data assimilation↗
NASA NTRS2019

Ongoing Breakthroughs in Convective Parameterization

While the increase of computer power mobilizes a part of the community towards models with explicit convection or based on machine learning, we review the part of the literature dedicated to convective parameterization development for large-scale forecast and climate models. Recent findings: Many developments are underway to overcome endemic limitations of traditional convective parameterizations, either in unified or multi-object frameworks: scale-aware and stochastic approaches, new prognostic equations or representations of new components such as cold pools. Understanding their impact on the emergent properties of a model remains challenging, due to subsequent tuning of parameters and the limited understanding given by traditional metrics. Summary: Further effort still needs to be dedicated to the representation of the life cycle of convective systems, in particular their mesoscale organization and associated cloud cover. The development of more process-oriented metrics based on new observations is also needed to help quantify model improvement and better understand the mechanisms of climate change.

parameterizations for large-scale models↗
NASA NTRS2021

Improved Convective Ice Microphysics Parameterization in the NCAR CAM Model

Partitioning deep convective cloud condensates into components that sediment and detrain, known to be a challenge for global climate models, is important for cloud vertical distribution and anvil cloud formation. In this study, we address this issue by improving the convective microphysics scheme in the National Center for Atmospheric Research Community Atmosphere Model version 5.3 (CAM5.3). The improvements include: (1) considering sedimentation for cloud ice crystals that do not fall in the original scheme, (2) applying a new terminal velocity parameterization that depends on the environmental conditions for convective snow, (3) adding a new hydrometeor category, “rimed ice,” to the original four-class (cloud liquid, cloud ice, rain, and snow) scheme, and (4) allowing convective clouds to detrain snow particles into stratiform clouds. Results from the default and modified CAM5.3 models were evaluated against observations from the U.S. Department of Energy Tropical Warm Pool-International Cloud Experiment (TWP-ICE) field campaign. The default model overestimates ice amount, which is largely attributed to the underestimation of convective ice particle sedimentation. By considering cloud ice sedimentation and rimed ice particles and applying a new convective snow terminal velocity parameterization, the vertical distribution of ice amount is much improved in the midtroposphere and upper troposphere when compared to observations. The vertical distribution of ice condensate also agrees well with observational best estimates upon considering snow detrainment. Comparison with observed convective updrafts reveals that current bulk model fails to reproduce the observed updraft magnitude and occurrence frequency, suggesting spectral distributions be required to simulate the subgrid updraft heterogeneity.

terminal velocity↗
NASA NTRS2022

Limitations of Separate Cloud and Rain Categories in Parameterizing Collision-Coalescence for Bulk Microphysics Schemes

Warm rain collision-coalescence has been persistently difficult to parameterize in bulk microphysics schemes. We use a flexible bulk microphysics scheme with bin scheme process parameterizations, called AMP, to investigate reasons for the difficulty. AMP is configured in a variety of ways to mimic bulk schemes and is compared to simulations with the bin scheme upon which AMP is built. We find that an important limitation in traditional bulk schemes is the use of separate cloud and rain categories. When the drop size distribution is instead represented by a continuous distribution, the simulation of cloud-to-rain conversion is substantially improved. We also find large sensitivity to the threshold size to distinguish cloud and rain in traditional schemes; substantial improvement is found by decreasing the threshold from 40 to 25 μm. Neither the use of an assumed functional form for the size distribution nor the choice of predicted distribution moments has a large impact on the ability of AMP to simulate rain production. When predicting four total moments of the liquid drop size distribution, either with a traditional two-category, two-moment scheme with a reduced size threshold, or a four-moment single-category scheme, errors in the evolution of mass and the cloud size distribution are similar, but the single-category scheme has a substantially better representation of the rain size distribution. Optimal moment combinations for the single-category approach are investigated and appear to be linked more to the information content they provide for constraining the size distributions than to their correlation with collision-coalescence rates.

autoconversion↗
NASA NTRS2023

Importance of Ice Nucleation and Precipitation on Climate With the Parameterization of Unified Microphysics Across Scales Version 1 (PUMASv1)

Cloud microphysics is critical for weather and climate prediction. In this work, we document updates and corrections to the cloud microphysical scheme used in the Community Earth System Model (CESM) and other models. These updates include a new nomenclature for the scheme, now called Parameterization of Unified Microphysics Across Scales (PUMAS), and the ability to run the scheme on graphics processing units (GPUs). The main science changes include refactoring an ice number limiter and associated changes to ice nucleation, adding vapor deposition onto snow, and introducing an implicit numerical treatment for sedimentation. We also detail the improvements in computational performance that can be achieved with GPU acceleration. We then show the impact of these scheme changes on the (a) mean state climate, (b) cloud feedback response to warming, and (c) aerosol forcing. We find that corrections are needed to the immersion freezing parameterization and that ice nucleation has important impacts on climate. We also find that the revised scheme produces less cloud liquid and ice but that this can be adjusted by changing the loss process for cloud liquid (autoconversion). Furthermore, there are few discernible effects of the PUMAS changes on cloud feedbacks but some reductions in the magnitude of aerosol–cloud interactions (ACIs). Small cloud feedback changes appear to be related to the implicit sedimentation scheme, with a number of factors affecting ACIs.

Clouds↗
NASA NTRS2022

LGM Paleoclimate Constraints Inform Cloud Parameterizations and Equilibrium Climate Sensitivity in CESM2

The Community Earth System Model version 2 (CESM2) simulates a high equilibrium climate sensitivity (ECS > 5°C) and a Last Glacial Maximum (LGM) that is substantially colder than proxy temperatures. In this study, we examine the role of cloud parameterizations in simulating the LGM cooling in CESM2. Through substituting different versions of cloud schemes in the atmosphere model, we attribute the excessive LGM cooling to the new CESM2 schemes of cloud microphysics and ice nucleation. Further exploration suggests that removing an inappropriate limiter on cloud ice number (NoNimax) and decreasing the time-step size (substepping) in cloud microphysics largely eliminate the excessive LGM cooling. NoNimax produces a more physically consistent treatment of mixed-phase clouds, which leads to an increase in cloud ice content and a weaker shortwave cloud feedback over mid-to-high latitudes and the Southern Hemisphere subtropics. Microphysical substepping further weakens the shortwave cloud feedback. Based on NoNimax and microphysical substepping, we have developed a paleoclimate-calibrated CESM2 (PaleoCalibr), which simulates well the observed twentieth century warming and spatial characteristics of key cloud and climate variables. PaleoCalibr has a lower ECS (∼4°C) and a 20% weaker aerosol-cloud interaction than CESM2. PaleoCalibr represents a physically more consistent treatment of cloud microphysics than CESM2 and is a valuable tool in climate change studies, especially when a large climate forcing is involved. Our study highlights the unique value of paleoclimate constraints in informing the cloud parameterizations and ultimately the future climate projection.

equilibrium climate sensitivity↗
DOE OSTI2026

ECLEIRS: Exact conservation law embedded identification of reduced states for parameterized nonlinear conservation laws from sparse and noisy data

Multi-query applications such as parameter estimation, uncertainty quantification and design optimization for parameterized partial differential equation (PDE) systems are expensive. While reduced/latent state dynamics approaches for parameterized PDEs offer a viable alternative, these approaches rely on high-quality data and struggle with highly sparse spatiotemporal noisy measurements typically obtained from experiments. Furthermore, there is no guarantee that these models satisfy governing physical conservation laws. In this article, we propose a reduced state dynamics approach, referred to as ECLEIRS, that embeds exact conservation in the solution and flux representation by utilizing a space-time divergence-free neural network formulation. We compare ECLEIRS with other reduced state dynamics approaches, those that do not enforce any physical constraints and those with physics-informed loss functions, for three shock-propagation problems: 1-D advection, 1-D Burgers and 2-D Euler equations. In conclusion, the numerical experiments conducted in this study demonstrate that ECLEIRS provides the most accurate prediction of dynamics for unseen parameters even in the presence of highly sparse and noisy data.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Parameterization of vacancy production rate in phase-field models of fission gas bubble evolution in nuclear fuel

Phase-field modeling has increasingly been used to study microstructural evolution in fission gas bubbles in nuclear fuel to improve understanding of fission gas release. To improve computational efficiency, often only vacancies and gas atoms are included as defect species. In this case, the net effects of vacancy and interstitial production, recombination, and biased sink absorption are included as a net vacancy source, or net vacancy source combined with an effective sink. However, there has been a lack of clarity on what parameter values should be used for these approaches to best match the more complete physical picture that includes interstitials and vacancies. Here, we compare a phase-field model of void growth to analytical models for the source-only and source plus sink approach to gain insight into how the phase-field models can be parameterized effectively. The source-only approach provides greater flexibility to match growth rates determined from the full vacancy-interstitial picture. A strategy was developed for determining the value of the net vacancy source term by comparing to an analytical model that includes vacancy and interstitial production, recombination, and biased sink absorption. Finally, this strategy can be used to parameterize phase-field models of fission gas bubble growth.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2024

Implementation and Exploration of Parameterizations of Large-Scale Dynamics in NCAR's Single Column Atmosphere Model SCAM6

A single column model with parameterized large-scale (LS) dynamics is used to better understand the response of steady-state tropical precipitation to relative sea surface temperature under various representations of radiation, convection, and circulation. The large-scale dynamics are parametrized via the weak temperature gradient (WTG), damped gravity wave (DGW), and spectral weak temperature gradient (Spectral WTG) method in NCAR's Single Column Atmosphere Model (SCAM6). Radiative cooling is either specified or interactive, and the convective parameterization is run using two different values of a parameter that controls the degree of convective inhibition. Results are interpreted in the context of the Global Atmospheric System Studies -Weak Temperature Gradient (GASS-WTG) Intercomparison project. Using the same parameter settings and simulation configuration as in the GASS-WTG Intercomparison project, SCAM6 under the WTG and DGW methods produces erratic results, suggestive of numerical instability. However, when key parameters are changed to weaken the large-scale circulation's damping of tropospheric temperature variations, SCAM6 performs comparably to single column models in the GASS-WTG Intercomparison project. The Spectral WTG method is less sensitive to changes in convection and radiation than are the other two methods, performing qualitatively similarly across all configurations considered. Under all three methods, circulation strength, represented in 1D by grid-scale vertical velocity, is decreased when barriers to convection are reduced. This effect is most extreme under specified radiative cooling, and is shown to come from increased static stability in the column's reference radiative-convective equilibrium profile. This argument can be extended to interactive radiation cases as well, though perhaps less conclusively.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Parameterizations of electron scattering form factors for elastic scattering and electroexcitation of nuclear states in 27 Al and 40 Ca

Here, we report on empirical parameterizations of longitudinal ($\mathscr{R}$ L ) and transverse ($\mathscr{R}$ T ) nuclear elec- tromagnetic form factors for elastic scattering and the excitations of nuclear states in 27 Al and 40 Ca. The parameterizations are needed for the calculations of radiative corrections in measurements of electron scattering cross sections on 27 Al and 40 Ca in the quasi-elastic, resonance and inelastic con- tinuum regions, provide the contribution of nuclear excitations in investigations of the Coulomb Sum Rule, and test theoretical model predictions for excitation of nuclear states in electron and neutrino interactions on nuclear targets at low energies.

elastic scattering reactions↗
DOE OSTI2024

Random coordinate descent: A simple alternative for optimizing parameterized quantum circuits

Variational quantum algorithms rely on the optimization of parameterized quantum circuits in noisy settings. The commonly used back-propagation procedure in classical machine learning is not directly applicable in this setting due to the collapse of quantum states after measurements. Thus, gradient estimations constitute a significant overhead in a gradient-based optimization of such quantum circuits. This paper introduces a random coordinate descent algorithm as a practical and easy-to-implement alternative to the full gradient descent algorithm. This algorithm only requires one partial derivative at each iteration. Motivated by the behavior of measurement noise in the practical optimization of parameterized quantum circuits, this paper presents an optimization problem setting that is amenable to analysis. Under this setting, the random coordinate descent algorithm exhibits the same level of stochastic stability as the full gradient approach, making it as resilient to noise. The complexity of the random coordinate descent method is generally no worse than that of the gradient descent and can be much better for various quantum optimization problems with anisotropic Lipschitz constants. Theoretical analysis and extensive numerical experiments validate our findings. Published by the American Physical Society 2024

Ding, Zhiyan (ORCID:000000018863403X)↗
DOE OSTI2025

Realization and Calibration of Continuously Parameterized Two-Qubit Gates on a Trapped-Ion Quantum Processor

Continuously parameterized two-qubit gates are a key feature of state-of-the-art trapped-ion quantum processors, as they have favorable error scalings and show distinct improvements in circuit performance over more restricted maximally entangling gatesets. In this work, we provide a comprehensive and pedagogical discussion on how to practically implement these continuously parameterized Mølmer–Sørensen gates on the Quantum Scientific Computing Open User Testbed, a low-level trapped-ion processor. To generate the arbitrary entangling angles, θ, we simply scale the amplitude of light used to generate the entanglement. However, doing so requires careful consideration of amplifier saturation as well as the variable light shifts that result. As such, we describe a method to calibrate and cancel the dominant fourth-order effects, followed by a dynamic virtual phase advance during the gate to cancel any residual light shifts, and find a linear scaling between θ and the residual light shift. Once we have considered and calibrated these effects, we demonstrate performance improvement with decreasing θ. Finally, we describe nuances of hardware control to transform the XX-type interaction of the arbitrary-angle Mølmer–Sørensen gate into a phase-agnostic and crosstalk-mitigating ZZ interaction.

Yale, Christopher Gordon [Sandia National Laborato↗
DOE OSTI2026

Non-Invasive Electrode Impedance Estimation for Optimized Charge Profile Parameterization of Lithium-Ion Batteries

This work presents a non-invasive method for parameterizing a physically motivated equivalent circuit model of lithium-ion batteries using operando electrochemical impedance spectroscopy and time-domain data. The proposed model consists exclusively of linear circuit elements, enabling computationally efficient simulation and real-time implementation on battery management system chips. By integrating frequency- and time-domain measurements, the model accurately estimates internal states such as the negative electrode potential, achieving a root mean square error of 12.3 mV during fast charging validation. Parameterization requires only rate tests with sinusoidal perturbations at three different ambient temperatures, making the approach experimentally accessible. The model reveals key insights into battery behavior, including rate-dependent overpotentials primarily governed by charge transfer kinetics at the positive electrode, and temperature-dependent impedance contributions from both charge transfer and solid-state diffusion processes. Validation using reference electrodes confirms the model’s ability to detect lithium plating onset and reproduce impedance behavior across a wide range of operating conditions. The approach enables in situ optimization of fast charging profiles and lays the foundation for future extensions incorporating aging effects and plating dynamics.

25 ENERGY STORAGE↗
DOE OSTI2026

Using PyBioNetFit to leverage qualitative and quantitative data in biological model parameterization and uncertainty quantification

Data generated in studies of cellular regulatory systems are often qualitative. For example, measurements of signaling readouts in the presence and absence of mutations may reveal a rank ordering of responses across conditions but not the precise extents of mutation-induced differences. Qualitative data are often ignored by mathematical modelers or are considered in an ad hoc manner, as in the study of Kocieniewski and Lipniacki (2013) [Phys Biol 10: 035006], which was focused on the roles of MEK isoforms in ERK activation. In this earlier study, model parameter values were tuned manually to obtain consistency with a combination of qualitative and quantitative data. This approach is not reproducible, nor does it provide insights into parametric or prediction uncertainties. Here, starting from the same data and the same ordinary differential equation (ODE) model structure, we generate formalized statements of qualitative observations, making these observations more reusable, and we improve the model parameterization procedure by applying a systematic and automated approach enabled by the software package PyBioNetFit. We also demonstrate uncertainty quantification (UQ), which was absent in the original study. Our results show that PyBioNetFit enables qualitative data to be leveraged, together with quantitative data, in parameterization of systems biology models and facilitates UQ. These capabilities are important for reliable estimation of model parameters and model analyses in studies of cellular regulatory systems and reproducibility.

59 BASIC BIOLOGICAL SCIENCES↗
NASA NTRS1974

The meridional variation of the eddy heat fluxes by baroclinic waves and their parameterization

The meridional and vertical eddy fluxes of sensible heat produced by small-amplitude growing baroclinic waves are calculated using solutions to the two-level model with horizontal shear in the mean flow. The results show that the fluxes are primarily dependent on the local baroclinicity, i.e., the local value of the isentropic slopes in the mean state. Where the slope exceeds the critical value, the transports are poleward and upward; where the slope is less than the critical value, the transports are equatorward and downward. These results are used to improve an earlier parameterization of the tropospheric eddy fluxes of sensible heat based on Eady's model. Comparisons with observations show that the improved parameterization reproduces the observed magnitude and sign of the eddy fluxes and their vertical variations and seasonal changes, but the maximum in the poleward flux is too near the equator.

Stone, P. H.↗
NASA NTRS1976

A parameterization for the absorption of solar radiation by water vapor in the earth's atmosphere

A parameterization for the absorption of solar radiation as a function of the amount of water vapor in the earth's atmosphere is obtained. Absorption computations are based on the Goody band model and the near-infrared absorption band data of Ludwig et al. A two-parameter Curtis-Godson approximation is used to treat the inhomogeneous atmosphere. Heating rates based on a frequently used one-parameter pressure-scaling approximation are also discussed and compared with the present parameterization.

Wang, W.-C.↗
NASA NTRS1978

Parameterization of surface temperature retrieval for remote sensing experiments

The paper describes a parameterization procedure for determining the actual surface temperature from the effective brightness temperature measured radiometrically in the 11-micron window region. The algorithm permits computation of the atmospheric correction without performing detailed radiative transfer calculations, and corrections for atmospheric water vapor and for variations of surface emittance are explained. The parameterization is based on model calculations performed with a line-by-line radiative transfer program, and the sensitivity of the retrieved surface temperature to uncertainties concerning the water vapor and the surface emittance is examined.

Tiwari, S. N.↗