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All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

Best practices in software development for robust and reproducible geoscientific models based on insights from the Global Carbon Budget's dynamic vegetation models

Computational models play an increasingly vital role in scientific research by enabling the numerical simulation of complex processes. Such models are also fundamental in geosciences. For instance, they offer critical insights into the impacts of global change on the Earth system today and in the future. Beyond their value as research tools, models are also software products and should therefore adhere to certain established software engineering standards. However, scientists are rarely trained as software developers, which can lead to potential deficiencies in software quality like unreadable, inefficient, or erroneous code. The complexity of models, coupled with their integration into broader workflows, also often makes it challenging to reproduce results, evaluate processes, and build upon them. In this paper, we review the state and current practices of the development processes of the state-of-the-art land surface models used by the Global Carbon Budget. We combine the experience of modelers from the respective research groups with the expertise of software engineers from tech companies to outline key principles and tools for improving software quality in research. We explore four main areas: (1) model testing and validation, (2) scientific, technical, and user documentation, (3) version control, continuous integration, and code review, and (4) the portability and reproducibility of workflows. Our review reveals that while modeling communities are incorporating many best practices, significant room for improvement remains in areas such as automated testing, automated documentation, and reproducibility. Therefore, we here identify and promote essential software engineering practices, including numerous examples of practices from within the community that can serve as guidelines for other models and could help streamline processes across the entire community. We conclude with an open-source example implementation of these principles, demonstrating portable and reproducible data flows, a continuous integration setup, and web-based visualizations. This example may serve as a practical resource for model developers, users, and all scientists engaged in scientific programming.

Gregor, Konstantin [Technical Univ. of Munich (Ger↗
DOE OSTI2021

Improved ELMv1-ECA simulations of zero-curtain periods and cold-season CH 4 and CO 2 emissions at Alaskan Arctic tundra sites

Field measurements have shown that cold-season methane (CH 4 ) and carbon dioxide (CO 2 ) emissions contribute a substantial portion to the annual net carbon emissions in permafrost regions. However, most earth system land models do not accurately reproduce cold-season CH 4 and CO 2 emissions, especially over the shoulder (i.e., thawing and freezing) seasons. Here we use the Energy Exascale Earth System Model (E3SM) land model version 1 (ELMv1-ECA) to tackle this challenge and fill the knowledge gap of how cold-season CH 4 and CO 2 emissions contribute to the annual totals at Alaska Arctic tundra sites. Specifically, we improved the ELMv1-ECA soil water phase-change scheme, environmental controls on microbial activity, and the methane module. Results demonstrate that both soil temperature and the duration of zero-curtain periods (i.e., the fall period when soil temperatures linger around 0°C) simulated by the updated ELMv1-ECA were greatly improved; e.g., the mean absolute error (MAE) in zero-curtain durations at 12 cm depth was reduced by 62 % on average. Furthermore, the MAEs of simulated cold-season carbon emissions at three tundra sites were improved by 72 % and 70 % on average for CH 4 and CO 2 , respectively. Overall, CH 4 emitted during the early cold season (September and October), which often includes most of the zero-curtain period in Arctic tundra, accounted for more than 50 % of the total emissions throughout the entire cold season (September to May) in the model, compared with around 49.4 % (43 %–58 %) in observations. From 1950 to 2017, both CO 2 emissions during the zero-curtain period and during the entire cold season showed increasing trends, for example, of 0.17 and 0.36 gC m -2 yr -1 at Atqasuk. This study highlights the importance of zero-curtain periods in facilitating cold-season CH 4 and CO 2 emissions from tundra ecosystems.

58 GEOSCIENCES↗
NASA NTRS1976

Simulation of an automatically-controlled STOL aircraft in a microwave landing system multipath environment

The simulated response is described of a STOL aircraft to Microwave Landing System (MLS) multipath errors during final approach and touchdown. The MLS azimuth, elevation, and DME multipath errors were computed for a relatively severe multipath environment at Crissy Field California, utilizing an MLS multipath simulation at MIT Lincoln Laboratory. A NASA/Ames six-degree-of-freedom simulation of an automatically-controlled deHavilland C-8A STOL aircraft was used to determine the response to these errors. The results show that the aircraft response to all of the Crissy Field MLS multipath errors was small. The small MLS azimuth and elevation multipath errors did not result in any discernible aircraft motion, and the aircraft response to the relatively large (200-ft (61-m) peak) DME multipath was noticeable but small.

Toda, M.↗
NASA NTRS1976

Effect of multiple path approach procedures on runway landing capacity

When using the Instrument Landing System (ILS) all aircraft must follow a straight line approach path before landing. The Microwave Landing System (MLS) will allow use of differing curved approach paths. The objective of this research is to find out whether the introduction of MLS and consequently multiple approach paths can bring an increase in runway landing capacity. A model is developed which is capable of computing the expected ultimate landing runway capacity, under ILS and MLS conditions, when aircraft population characteristics and Air Traffic Control separation rules are given. This model can be applied in situations when only a horizontal separation between aircraft approaching a runway is allowed, as well as when both vertical and horizontal separations are possible. Results suggest that an increase in runway landing capacity, caused by introducing the MLS-described multiple approach paths, is to be expected only when an aircraft population consists of aircraft with significantly differing approach velocities and particularly in situations when a vertical separation can be applied.

Tosic, V.↗
NASA NTRS1978

Expansion of flight simulator capability for study and solution of aircraft directional control problems on runways

The development, evaluation, and evaluation results of a DC-9-10 runway directional control simulator are described. An existing wide bodied flight simulator was modified to this aircraft configuration. The simulator was structured to use either two of antiskid simulations; (1) an analog mechanization that used aircraft hardware; or (2) a digital software simulation. After the simulation was developed it was evaluated by 14 pilots who made 818 simulated flights. These evaluations involved landings, rejected takeoffs, and various ground maneuvers. Qualitatively most pilots evaluated the simulator as realistic with good potential especially for pilot training for adverse runway conditions.

Kibbee, G. W.↗
NASA NTRS1982

Flight-test verification of a pictorial display for general aviation instrument approach

Results of flight tests of the pictorial "follow me" box display results of the simulator study. The most important item of agreement was the frequency of the vertical and lateral models of motion of the pilot-aircraft-display system, which was 0.4 rad/sec in each study. Successful short, curved, descending approaches, such as are often suggested for use with microwave landing systems, can be executed with the "follow me" box display. Variations of the value of distance from the aircraft to the box were also examined using values of 736 m, 368 m, and 184 m. The results show that successful approaches can be made with all of these values. A sharper final turn and greater precision of position control are obtained with the shorter distance. Deletion of distance measuring equipment from the system was also studies. It was shown that successful approaches can be made with no distance measures included in the system, but the values of distance from the aircraft to the box that can be used are restricted.

Adams, J. J.↗
NASA NTRS1985

Active control landing gear for ground loads alleviation

An active landing gear has been created by connecting the hydraulic piston in an oleo strut to a hydraulic supply. A controller modulates the pressure in the oleo to achieve the desired dynamic characteristics. Tests on ground rigs (documented by a film) have demonstrated the successful alleviation of induced structural ground loads and the next step will be a flight test using a fighter aircraft.

Mcgehee, J. R.↗
NASA NTRS1995

Remote-sensing based technique to account for sub-grid scale variability of land surface properties

A method has been presented for the representation of sub-grid scale variability of surface properties within a land surface processes model. The method uses remotely-sensed data to directly or indirectly estimate probability density functions (PDF's) or key surface variables. Application of this technique in a coupled land surface-atmosphere model requires only grid-scale values of the variables of interest, obtained from low-resolution satellite imagery or surface/remote sensing data assimilation. The PDF's of each controlling surface property are superimposed on the respective grid-scale values to simulate sub-grid scale heterogeneity. Sensitivity studies will be carried out to ascertain the relative importance of the heterogeneity of several variables, and the degree to which non-linear property-process interactions impact large-scale fluxes.

Crosson, William L.↗
NASA NTRS1996

Bioprocessing in Microgravity: Applications of Continuous Flow Electrophoresis to Rat Anterior Pituitary Particles

In this report we describe the results of a continuous flow electrophoresis (CFE) experiment done on STS-65 in which we tested the idea that intracellular growth hormone (GH) particles contained in a cell lysate prepared from cultured rat anterior pituitary cells in microgravity might have different electrophoretic mobilities from those in a synchronous ground control cell lysate. Collectively, the results suggested that CFE processing in microgravity was better than on earth; more samples could be processed at a time (6 x) and more variant forms of GH molecules could be resolved as well. We had also hoped to carry out a pituitary cell CFE experiment, but failure of the hardware required that the actual cell electrophoresis trials be done on earth shortly after Shuttle landing. Data from these experiments showed that space-flown cells possessed a higher electrophoretic mobility than ground control cells, thereby offering evidence for the idea that exposure of cultured cells to microgravity can change their net surface charge-density especially when the cells are fed. Collectively, the results from this pituitary cell experiment document the advantage of using coupled cell culture and CFE techniques in the microgravity environment.

Hymer, W. C.↗
NASA NTRS2002

Evaluation of Flying Qualities and Guidance Displays for an Advanced Tilt-Wing STOL Transport Aircraft in Final Approach and Landing

A piloted simulation was performed on the Vertical Motion Simulator at NASA Ames Research Center to evaluate flying qualities of a tilt-wing Short Take-Off and Landing (STOL) transport aircraft during final approach and landing. The experiment was conducted to assess the design s handling qualities, and to evaluate the use of flightpath-centered guidance for the precision approach and landing tasks required to perform STOL operations in instrument meteorological conditions, turbulence, and wind. Pilots rated the handling qualities to be satisfactory for all operations evaluated except those encountering extreme crosswinds and severe windshear; even in these difficult meteorological conditions, adequate handling qualities were maintained. The advanced flight control laws and guidance displays provided consistent performance and precision landings.

Frost, Chad R.↗
NASA NTRS2011

Assessment of an Automated Touchdown Detection Algorithm for the Orion Crew Module

Orion Crew Module (CM) touchdown detection is critical to activating the post-landing sequence that safe?s the Reaction Control Jets (RCS), ensures that the vehicle remains upright, and establishes communication with recovery forces. In order to accommodate safe landing of an unmanned vehicle or incapacitated crew, an onboard automated detection system is required. An Orion-specific touchdown detection algorithm was developed and evaluated to differentiate landing events from in-flight events. The proposed method will be used to initiate post-landing cutting of the parachute riser lines, to prevent CM rollover, and to terminate RCS jet firing prior to submersion. The RCS jets continue to fire until touchdown to maintain proper CM orientation with respect to the flight path and to limit impact loads, but have potentially hazardous consequences if submerged while firing. The time available after impact to cut risers and initiate the CM Up-righting System (CMUS) is measured in minutes, whereas the time from touchdown to RCS jet submersion is a function of descent velocity, sea state conditions, and is often less than one second. Evaluation of the detection algorithms was performed for in-flight events (e.g. descent under chutes) using hi-fidelity rigid body analyses in the Decelerator Systems Simulation (DSS), whereas water impacts were simulated using a rigid finite element model of the Orion CM in LS-DYNA. Two touchdown detection algorithms were evaluated with various thresholds: Acceleration magnitude spike detection, and Accumulated velocity changed (over a given time window) spike detection. Data for both detection methods is acquired from an onboard Inertial Measurement Unit (IMU) sensor. The detection algorithms were tested with analytically generated in-flight and landing IMU data simulations. The acceleration spike detection proved to be faster while maintaining desired safety margin. Time to RCS jet submersion was predicted analytically across a series of simulated Orion landing conditions. This paper details the touchdown detection method chosen and the analysis used to support the decision.

Gay, Robert S.↗
NASA NTRS2022

Making or Breaking a Rover: System Engineering Parameters On-Board the Mars 2020 Perseverance Rover

On February 18, 2021, Perseverance, NASA’s Jet Propulsion Laboratory’s (JPL’s) Mars 2020 Rover, successfully landed on Mars with all systems nominal, despite the risk surrounding the over 200,000 internal flight parameters that had to be properly configured. The Perseverance team defines these parameters as software variables that are configurable, commandable and retrievable from Earth. In 2015, the Mars 2020 project leaders focused on improving systems engineering of parameters based on their experiences from parameter management on previous Mars rovers (Curiosity, Opportunity, Spirit, and Pathfinder) and parameter failures of past missions, such as the mission-ending parameter of the Mars Climate Orbiter. The new rigorous development process allowed for efficient certification and effective implementation of the parameters, allowing the rover to approach and land on the red planet (the most challenging phase of the mission) with zero parameter issues. Although successful, the Perseverance team learned many lessons for how to better manage parameters for the continued surface operations of the Mars 2020 mission and future missions. This paper will discuss eight parameter-management topics for the Perseverance Mission. The first is parameter definition: how we define parameters on our mission, where they are physically located on the vehicle, and why we have so many of them. The second topic is the updated parameter flight software module from Curiosity, including details on the 99% reduction in parameter commands, new bulk configuration capabilities, and improved parameter traceability. The third topic is parameter selection for different mission phases; this includes improving and tweaking our preferred parameter settings until they become certification candidates and managing parameter configurations based on test venue throughout the mission life cycle. The fourth topic is our flight certification process; this includes certification of flight values for four different epochs in the mission: Launch, Entry Decent and Landing (EDL) - 6days, Landing + 5 Sols (Martian Days, still on Cruise Flight Software), and once are on Surface Flight Software (FSW). The fifth topic covers in-flight command implementation, along with details on testing, validation, and verification of those commands. In the sixth section, we will explain our use of open-source management tools, including how we used GitHub for version control and management approvals. The seventh topic will describe the ground tools used in operations, including capabilities of the in-house built tool called Parasol. The eighth and final topic will dig into lessons learned for improving parameter management in the future of this mission and others.

Roth, Brian↗
NASA NTRS2022

Making or Breaking a Rover- Systems Engineering Parameters On-Board the Mars 2020 Perseverance Rover

On February 18, 2021, Perseverance, NASA’s Jet Propulsion Laboratory’s (JPL’s) Mars 2020 Rover, successfully landed on Mars with all systems nominal, despite the risk surrounding the over 200,000 internal flight parameters that had to be properly configured. The Perseverance team defines these parameters as software variables that are configurable, commandable and retrievable from Earth. In 2015, the Mars 2020 project leaders focused on improving systems engineering of parameters based on their experiences from parameter management on previous Mars rovers (Curiosity, Opportunity, Spirit, and Pathfinder) and parameter failures of past missions, such as the mission-ending parameter of the Mars Climate Orbiter. The new rigorous development process allowed for efficient certification and effective implementation of the parameters, allowing the rover to approach and land on the red planet (the most challenging phase of the mission) with zero parameter issues. Although successful, the Perseverance team learned many lessons for how to better manage parameters for the continued surface operations of the Mars 2020 mission and future missions. This paper will discuss eight parameter-management topics for the Perseverance Mission. The first is parameter definition: how we define parameters on our mission, where they are physically located on the vehicle, and why we have so many of them. The second topic is the updated parameter flight software module from Curiosity, including details on the 99% reduction in parameter commands, new bulk configuration capabilities, and improved parameter traceability. The third topic is parameter selection for different mission phases; this includes improving and tweaking our preferred parameter settings until they become certification candidates and managing parameter configurations based on test venue throughout the mission life cycle. The fourth topic is our flight certification process; this includes certification of flight values for four different epochs in the mission: Launch, Entry Decent and Landing (EDL) - 6days, Landing + 5 Sols (Martian Days, still on Cruise Flight Software), and once are on Surface Flight Software (FSW). The fifth topic covers in-flight command implementation, along with details on testing, validation, and verification of those commands. In the sixth section, we will explain our use of open-source management tools, including how we used GitHub for version control and management approvals. The seventh topic will describe the ground tools used in operations, including capabilities of the in-house built tool called Parasol. The eighth and final topic will dig into lessons learned for improving parameter management in the future of this mission and others.

Roth, Brian↗
NASA NTRS2017

The Functional Task Test: Results from the One-Year Mission

Exposure to the microgravity conditions of spaceflight causes astronauts to experience alterations in multiple physiological systems including sensorimotor disturbances, cardiovascular deconditioning, and loss of muscle mass and strength. Some or all of these changes might affect the ability of crewmembers to perform critical mission tasks immediately after landing on a planetary surface. The goal of our recently completed Functional Task Test (FTT) study was to determine the effects of spaceflight on functional tests that are representative of high priority exploration mission tasks and to identify the key underlying physiological factors that contribute to decrements in performance. The FTT is comprised of seven functional tests and a corresponding set of interdisciplinary physiological measures specifically targeting the sensorimotor, cardiovascular and muscular changes associated with exposure to spaceflight. Both Shuttle and International Space Station (ISS) astronauts were tested before and after spaceflight. Additionally, we conducted a supporting study in which subjects performed the FTT protocol before and after 70 days of 6 deg head-down bed rest, an analog for spaceflight. Two groups of bed rest subjects were studied: one group who performed aerobic and resistive exercise during bed rest using protocols similar to astronauts and one group who served as non-exercise controls. The bed rest analog allowed us to isolate the impact of body unloading without other spaceflight environmental factors on both functional tasks and on the underlying physiological factors that lead to decrements in performance, and then to compare those results with the results obtained in our spaceflight study. As an extension to the FTT study we collected data from one ISS crewmember who experienced 340 days in space using the same FTT protocol used previously to test spaceflight and bed rest subjects. Data were collected three times preflight and 1.7, 7.5 and 36.5 days after landing. The FTT one-year results will be presented at the meeting, and a comparison will be made with data previously obtained using the same protocol on astronauts tested before and after 6 months in space. Future work will focus on collecting data from additional subjects from one-year flights to gain a better assessment of extreme long-duration exposure to spaceflight on both functional measure of performance and physiological metrics.

Bloomberg, J. J↗
NASA NTRS2012

Lunar Navigation Determination System - LaNDS

A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

Quinn, David↗
NASA NTRS1961

Piloted Simulator Tests of a Guidance System which Can Continously Predict Landing Point of a Low L/D Vehicle During Atmosphere Re-Entry

The guidance system for maneuvering vehicles within a planetary atmosphere which was studied uses the concept of fast continuous prediction of the maximum maneuver capability from existing conditions rather than a stored-trajectory technique. used, desired touchdown points are compared with the maximum range capability and heating or acceleration limits, so that a proper decision and choice of control inputs can be made by the pilot. In the method of display and control a piloted fixed simulator was used t o demonstrate the feasibility od the concept and to study its application to control of lunar mission reentries and recoveries from aborts.

Wingrove, Rodney C.↗
NASA NTRS2013

Mars Sample Return Landed with Red Dragon

A Mars Sample Return (MSR) mission is the highest priority science mission for the next decade as recommended by the recent Decadal Survey of Planetary Science. However, an affordable program to carry this out has not been defined. This paper describes a study that examined use of emerging commercial capabilities to land the sample return elements, with the goal of reducing mission cost. A team at NASA Ames examined the feasibility of the following scenario for MSR: A Falcon Heavy launcher injects a SpaceX Dragon crew capsule and trunk onto a Trans Mars Injection trajectory. The capsule is modified to carry all the hardware needed to return samples collected on Mars including a Mars Ascent Vehicle (MAV), an Earth Return Vehicle (ERV) and Sample Collection and Storage hardware. The Dragon descends to land on the surface of Mars using SuperSonic Retro Propulsion (SSRP) as described by Braun and Manning [IEEEAC paper 0076, 2005]. Samples are acquired and deliverd to the MAV by a prelanded asset, possibly the proposed 2020 rover. After samples are obtained and stored in the ERV, the MAV launches the sample-containing ERV from the surface of Mars. We examined cases where the ERV is delivered to either low Mars orbit (LMO), C3 = 0 (Mars escape), or an intermediate energy state. The ERV then provides the rest of the energy (delta V) required to perform trans-Earth injection (TEI), cruise, and insertion into a Moon-trailing Earth Orbit (MTEO). A later mission, possibly a crewed Dragon launched by a Falcon Heavy (not part of the current study) retrieves the sample container, packages the sample, and performs a controlled Earth re-entry to prevent Mars materials from accidentally contaminating Earth. The key analysis methods used in the study employed a set of parametric mass estimating relationships (MERs) and standard aerospace analysis software codes modified for the MAV class of launch vehicle to determine the range of performance parameters that produced converged spacecraft designs capable of meeting mission requirements. Subsystems modeled in this study included structures, power system, propulsion system, nose fairing, thermal insulation, actuation devices, and GN&C. Best practice application of loads and design margins for all resources were used. Both storable and cryogenic propellant systems were examined. The landed mass and lander capsule size provide boundary conditions for the MAV design and packaging. We estimated the maximum mass the Dragon capsule is capable of landing. This and the volume capability to store the MAV was deduced from publically available data from SpaceX as well as our own engineering and aerodynamic estimates. Minimum gross-liftoff mass (GLOM) for the MAV were obtained for configurations that used pump-fed storable bi-propellant rocket engines for both the MAV and the ERV stage. The GLOM required fits within our internal estimate of the mass that Dragon can land at low elevation/optimal seasons on Mars. Based on the analysis, we show that a single Mars launch sample return mission is feasible using current commercial capabilities to deliver the return spacecraft assets.

Mars Ascent Vehicle (MAV)↗
NASA NTRS2020

Impacts of land use change and elevated CO2 on the interannual variations and seasonal cycles of gross primary productivity in China

Climate change, rising CO2 concentration, and land use and land cover change (LULCC) are primary driving forces for terrestrial gross primary productivity (GPP), but their impacts on the temporal changes in GPP are uncertain. In this study, the effects of the three main factors on the interannual variation (IAV) and seasonal cycle amplitude (SCA) of GPP in China were investigated using 12 terrestrial biosphere models from the Multi-scale Synthesis and Terrestrial Model Intercomparison Project. The simulated ensemble mean value of China's GPP between 1981 and 2010, driven by common climate forcing, LULCC and CO2 data, was found to be 7.4±1.8 Pg C/yr. In general, climate was the dominant control factor of the annual trends, IAV and seasonality of China's GPP. The overall rising CO2 led to enhanced plant photosynthesis, thus increasing annual mean and IAV of China's total GPP, especially in northeastern and southern China, where vegetation is dense. LULCC decreased the IAV of China's total GPP by ∼7 %, whereas rising CO2 induced an increase of 8 %. Compared to climate change and elevated CO2, LULCC showed less contributions to GPP's temporal variation, and its impact acted locally, mainly in southwestern China. Furthermore, this study also examined subregional contributions to the temporal changes in China's total GPP. Southern and southeastern China showed higher contributions to China's annual GPP, whereas southwestern and central parts of China explained larger fractions of the IAV in China's GPP.

land use change↗