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All sourcesNASA NTRSDOE OSTI
DOE OSTI2020

Integrated Mid-Continent Stacked Carbon Storage Hub Project Phase II (Final Summary Report)

The Phase II Integrated Midcontinent Stacked Carbon Storage Hub (IMSCS-HUB) is part of the Carbon Storage Assurance Facility Enterprise (CarbonSAFE) established by the United States Department of Energy (DOE) National Energy Technology Laboratory (NETL). CarbonSAFE is phased to support the development of commercial-scale (50 million metric tonnes [Mt] over a 30-year period) carbon capture, utilization, and storage (CCUS) in the United States. The IMSCS-HUB study area comprises carbon dioxide (CO 2 ) sources in Iowa, Kansas, and Nebraska (the source corridor), and CO 2 sinks in Kansas and Nebraska (the storage corridor), representing the first large-scale project for the Midcontinent region. The stacked storage corridor is characterized by alternating sequences of deep saline formations, oil-bearing reservoirs, shale, and evaporite units that are conducive to vertically stacked CO 2 injection for geologic storage and enhanced oil recovery (EOR). Three sites within the IMSCS-HUB stacked storage corridor were evaluated in Phase II for commercial CCUS feasibility: one in southwest-central Nebraska, Sleepy Hollow Field (SHF), a second in southwestern Nebraska near Madrid (Madrid), and a third in southwestern Kansas, the Patterson Site (composed of the Patterson, Heinitz, Hartland, and Oslo fields). In Phase II, the team assessed the feasibility of storage complexes at the potential storage sites in Nebraska and Kansas to support a commercial-scale storage hub that integrates proven CO 2 capture technology and transport from nearby ethanol sources. Building on lessons learned from the DOE-NETL Regional Carbon Sequestration Partnerships (RCSPs), the Project Team has identified a clear strategy to meet DOE’s 2025 objective of commercial carbon capture and storage (CCS) implementation by developing a CO 2 market and infrastructure that relies on multiple ethanol-based CO 2 sources in the short term and the incorporation of multiple coal-fired power plant CO 2 sources when commercial capture is economically viable. The team also leveraged the updated 45Q tax credit to develop capture and transport infrastructure. Commercial-scale CCUS is feasible at two candidate storage sites studied, the Madrid, Nebraska Site and the Patterson Site in Kearny County, Kansas. The Sleepy Hollow Field in Nebraska was found to be an attractive candidate for stacked storage with CO 2 -EOR (Battelle 2020e). Outreach efforts facilitated engagement from industry, government, and research sectors (Battelle and GPI, 2020) and an outreach plan for future phases of the project was developed to address issues that are of concern in the IMSCS-HUB project area (Battelle, 2020f). All components of a CCUS project were determined to be feasible in the IMSCS-HUB region and Risk Mitigation Plan was developed and includes strategies to mitigate risks associated with each project component (Battelle, 2020j). A roadmap was developed to obtain the required UIC permits for an integrated CCUS project (Battelle, 2020k). The regional storage resource characterization demonstrated significant opportunity for commercial-scale projects in the IMSCS-HUB storage corridor with 577.4 Mt of stacked CO 2 storage capacity and the potential to produce 181.9 MMbbls of oil via EOR across 17 individual storage areas (Battelle and ARI, 2020). The pipeline assessment study found viable pipeline routes that connected 45Q-eligible ethanol plants, coal fired power plants, and other sources in the IMSCS-HUB corridor. The comprehensive results of subsurface characterization, modeling efforts, outreach assessment, and regulatory analysis from were integrated to develop a Detailed Commercial Development Plan for the IMSCS-HUB (Battelle, 2020n). Commercialization efforts will involve obtaining Class VI UIC permits, establishing and finalizing the pipeline route, and evaluating capture projects at participating CO 2 sources. Phases I and II of the IMSCS-HUB CarbonSAFE provide a strong foundation for safely, efficiently, and cost-effectively characterizing and permitting commercial-scale project sites in the region. The plan for implementation of commercial-scale CCUS projects in the IMSCS-HUB is aligned with the objectives of CarbonSAFE Phase III: Site Characterization and CO 2 Capture Assessment.

20 FOSSIL-FUELED POWER PLANTS↗
NASA NTRS1981

Magnetosphere-Ionosphere coupling through the auroral acceleration region

An important form of coupling between the magnetosphere and the ionosphere occurs through acceleration mechanisms operative in the high altitude ionosphere on magnetic field lines connecting to the auroral zone. Energetic ion mass spectrometer data from within these auroral acceleration regions are presented to illustrate the characteristics of the mechanisms. Observations of ionospheric plasmas in the ring current, the distant plasma sheet, and the magnetotail lobes are shown illustrating the extent of their circulation and the importance of their contribution to the plasma in each regime. Finally the precipitating plasmas in the auroral region and the extent and peculiar effects of the 0(+) component of that precipitation on the ionosphere are illustrated.

Sharp, R. D.↗
NASA NTRS2018

Synergy of Observations and Dynamo Models to Understand and Predict Solar Activity Cycles

The long-standing problem of understanding the evolution of the global magnetic fields that drive solar activity through different temporal scales is becoming more tractable because, in addition to 400 years of sunspot records, we now have almost 4 solar cycles of magnetic field observations. These observations allow us to discern physical connections between dynamo model variables and observations using data assimilation analysis. In particular, the Ensemble Kalman Filter approach takes into account uncertainties in both observations and modeling and allows us to make reliable forecasts of solar cycle activity by using a relatively simple non-linear dynamical model of the solar dynamo. To expand this approach for more complex 2D and 3D dynamo modeling, it is necessary to decompose the observed synoptic magnetograms into poloidal and toroidal field components. In this presentation I will present initial results on magnetogram decomposition and assimilation of magnetogram data into dynamo modeling.

Kitiashvili, Irina N.↗
DOE OSTI2025

Cybersecurity Considerations for Hydrogen Infrastructure in Airport Environments

This report explores key cybersecurity concerns and best practices within environments that serve as reference points for the development of hydrogen fueling infrastructure for aviation. This cybersecurity analysis leverages prior NREL studies: 1) hydrogen fueling station component validation to identify vulnerabilities and failure events documented in physical equipment, and 2) electric aircraft charging infrastructure analysis to explore primary cybersecurity vulnerabilities. It reviews the criticality of digitized technologies in sustaining hydrogen fuel production, storage, and fueling systems, noting cybersecurity concerns that are universal to power systems and industrial control systems in general. In considering cybersecurity vulnerabilities within a future landscape of hydrogen energy for aviation applications, a reference architecture was intended to reveal the points of connection between assets and the potential sensors that are vulnerable to manipulation in the event of compromised access or communication within a SCADA system. A generalized reference architecture can help stakeholders, engineers, or strategists understand connections, criticalities, and standard practices when it comes to designing and planning for new systems. There are several gaps to account for in assessing the future of hydrogen production, storage, and fueling for aviation. Engaging stakeholders, including aircraft manufacturers, electric utilities, site property owners, and local communities, will inform decision-making around site structure, operations, and resources for future hydrogen fueling infrastructure to understand operational needs and cybersecurity awareness. Cybersecurity mitigation strategy must consider physical attack vectors that emerge with the integration of hydrogen systems into existing airport security requirements. The cybersecurity risk assessment contained in this report is an entry point into potential future granular-level analyses to be conducted as part of hazard and risk assessments for safe aviation hydrogen infrastructure, determining how the scale of hydrogen fuel infrastructure for aviation impacts the volume of cyber attack vectors, and what, if any, are the vulnerabilities associated with different types of on-board hydrogen systems. In this nascent development phase, assessing how best to integrate cybersecurity practices into an evolving U.S. aviation landscape provides critical insights into building increased awareness and stakeholder engagement to support a cyber-resilient infrastructure.

08 HYDROGEN↗
NASA NTRS1991

Synchronously deployable double fold beam and planar truss structure

A deployable structure that synchronously deploys in both length and width is disclosed which is suitable for use as a structural component for orbiting space stations or large satellites. The structure is designed with maximum packing efficiency so that large structures may be collapsed and transported in the cargo bay of the Space Shuttle. The synchronous deployment feature allows the structure to be easily deployed in space by two astronauts, without a complex deployment mechanism. The structure is made up of interconnected structural units, each generally in the shape of a parallelepiped. The structural units are constructed of structural members connected with hinged and fixed connections at connection nodes in each corner of the parallelepiped. Diagonal members along each face of the parallelepiped provide structural rigidity and are equipped with mid-length, self-locking hinges to allow the structure to collapse. The structure is designed so that all hinged connections may be made with simple clevis-type hinges requiring only a single degree of freedom, and each hinge pin is located along the centerline of its structural member for increased strength and stiffness.

Rhodes, Marvin D.↗
NASA NTRS1932

A New Principle of Sound Frequency Analysis

In connection with the study of aircraft and propeller noises, the National Advisory Committee for Aeronautics has developed an instrument for sound-frequency analysis which differs fundamentally from previous types, and which, owing to its simplicity of principle, construction, and operation, has proved to be of value in this investigation. The method is based on the well-known fact that the Ohmic loss in an electrical resistance is equal to the sum of the losses of the harmonic components of a complex wave, except for the case in which any two components approach or attain vectorial identity, in which case the Ohmic loss is increased by a definite amount. The principle of frequency analysis has been presented mathematically and a number of distinct advantages relative to previous methods have been pointed out. An automatic recording instrument embodying this principle is described in detail. It employs a beat-frequency oscillator as a source of variable frequency. A large number of experiments have verified the predicted superiority of the method. A number of representative records are presented.

Theodorsen, Theodore↗
NASA NTRS2011

Thermodynamics of the Solar Corona and Evolution of the Solar Magnetic Field as Inferred from the Total Solar Eclipse Observations of 11 July 2010

We report on multi-wavelength observations of the corona taken simultaneously in broadband white light, and in seven spectral lines, H-alpha 656.3 nm, Fe IX 435.9 nm, Fe X 637.4 nm, Fe XI 789.2 nm, Fe XIII 1074.7 nm, Fe XIV 530.3 nm and Ni XV 670.2 nm. The observations were made during the total solar eclipse of 11 July 2010 from the atoll of Tatakoto in French Polynesia. Simultaneous imaging with narrow bandpass filters in each of these spectral lines and in their corresponding underlying continua maximized the observing time during less than ideal observing conditions and yielded outstanding quality data. The application of two complementary image processing techniques revealed the finest details of coronal structures at 1" resolution in white light, and 6.5" in each of the spectral lines. This comprehensive wavelength coverage confirmed earlier eclipse findings that the solar corona has a clear two-temperature structure: The open field lines, expanding outwards from the solar surface, are characterized by electron temperatures near 1 X 10(exp 6) K, while the hottest plasma around 2X 10(exp 6) K resides in loop-like structures forming the bulges of streamers. The first images of the corona in the forbidden lines of Fe IX and Ni XV, showed that there was very little coronal plasma at temperatures below 5 X 10(exp 5) K and above 2.5X 10(exp 6) K. The data also enabled temperature differentiations as low as 0:2 X 10(exp 6) K in different density structures. These observations showed how the passage of CMEs through the corona, prior to totality, produced large scale ripples and very sharp streaks, which could be identified with distinct temperatures for the first time. The ripples were most prominent in emission from spectral lines associated with temperatures around 10(exp 6) K. The most prominent streak was associated with a conical-shaped void in the emission from the coolest line of Fe IX and from the hottest line of Ni XV. A prominence, which erupted prior to totality, appeared in the shape of a hook in the cooler lines of Fe X and Fe XI, spanning 0.5 R(solar) in extent starting at a heliocentric distance of 1.3 R(solar), with a complex trail of hot and cool twisted structures connecting it to the solar surface. Simultaneous Fe X 17.4 nm observations from space by Proba2/SWAP provided an ideal opportunity for comparing emission from a coronal forbidden line, namely Fe X 637.4 nm, with a space-based EUV allowed line. Comparison of the Fe X 17.4 nm and 637.4 nm emission provided the first textbook example of the role of radiative excitation in extending the detectability of coronal emission to much larger heliocentric distances than its collisionally excited component. These eclipse observations demonstrate the unique capabilities of coronal forbidden lines for exploring the evolution of the coronal magnetic field in the heliocentric distance range of 1 - 3 R(solar), which is currently inaccessible to any space-borne or ground-based observatory.

Habbal, Shadia Rifai↗
NASA NTRS2018

Synergy of Observations and Dynamo Models to Understand and Predict Solar Activity Cycles

The long-standing problem of understanding the evolution of the global magnetic fields that drive solar activity through different temporal scales is becoming more tractable because, in addition to 400 years of sunspot records, we now have almost 4 solar cycles of magnetic field observations. These observations allow us to discern physical connections between dynamo model variables and observations using data assimilation analysis. In particular, the Ensemble Kalman Filter approach takes into account uncertainties in both observations and modeling and allows us to make reliable forecasts of solar cycle activity cycles by using a relatively simple non-linear dynamical model of the solar dynamo. To expand this approach for more complex 2D and 3D dynamo modeling, it is necessary to decompose the observed synoptic magnetograms into poloidal and toroidal field components. In this presentation I will present initial results on magnetogram decomposition and assimilation of magnetogram data into dynamo modeling.

Synergy↗
NASA NTRSDate not supplied

Thin-Film Embedded Sensors for Battery Health Monitoring

Hybrid or all-electric aircraft are being developed as the next generation of aircraft to both allow new forms of aviation and decrease environmental impact. Since these types of aircraft are based on high-capacity battery technology, safe operation of these batteries becomes increasingly important. In particular, the potential for battery failure due to uncontrolled chemical reactions resulting in thermal runaway, catastrophic failure, and battery fires must be addressed in order for such battery technology to have the level of safety needed for standard aviation implementation. Efforts to ensure battery safety often involve engineering solutions that seek to contain rather than prevent such events by early detection. Such approaches increase the system weight and decrease the power per unit mass provided by the battery system. Existing methods for measuring battery parameters to determine the battery state-of-health are limited. These methods include electrical measurements of the cell current and/or voltage output as well as temperature measurements taken externally on the cell surface. Such external temperature measurements are limited in their ability to provide early warning of impending battery failure. In response, an effort to develop sensors operating internal to battery for health monitoring has been ongoing in the NASA Sensor-based Prognostics to Avoid Runaway Reactions & Catastrophic Ignition (SPARRCI) project. The basic approach associated with this sensor work is the deposition of thin film sensors on the battery separator located between the anode and cathode of the battery. These thin film sensors are then monitored to determine changes in battery parameters and health. Microfabrication techniques are employed to minimize the overall impact of the sensors on battery operation through the implementation of sensors with minimal size, weight, and power consumption. The thickness of the films, which are fabricated through physical vapor deposition (sputtering), are on the order of thousands of angstroms and can have minimal surface area. Thin film sensors for system health management have been implemented for a many decades on complex components for aerospace applications. However, the application of thin films of this type on a battery separator for internal battery monitoring applications has not previously been demonstrated to our knowledge. This paper describes the development of sensors for the internal battery monitoring through the use of thin film sensor technology. Thin metal films were successfully deposited on a battery separator polymer material with good adherence and electrical continuity. Multiple types of sensors have been deposited, as well as lead connections from the sensor to the edge of the separator material. The ability of these thin film sensors immersed in electrolyte to perform multiple types of battery parameter measurements has been demonstrated. For example, a multiparameter sensor system measured multiple properties simultaneously inside of a pouch cell over a wide temperature range. Further, real time measurement of interior temperature changes in a battery pouch cell with an integrated interior temperature sensor was demonstrated. These changes include detecting a fault in the battery (shorting) in situ with rapid response time (less than a minute) corresponding to a more limited response by a temperature sensor mounted externally. Other aspects of monitoring battery health were also explored, such as real-time measurement of simulated dendrite growth/metal deposition by sensor on separator material demonstrated. Future efforts will include improvements in the durability of the sensor structure to allow introduction of the approach into standard battery fabrication techniques. Overall, this work is a step forward in providing a method to prevent catastrophic battery failures and provide a foundation for safer, lighter, and higher energy batteries for the electric aircraft industry.

thin film battery health↗
DOE OSTI2023

Connecting Nuclear Security to International Frameworks on Gender and Security

The international community is slowly beginning to recognize the intersections between the law and policy on international security – particularly arms control, non-proliferation, and disarmament – and the body of human rights law that addresses gender equality. Notably absent from this discussion is the field of nuclear security. Despite its historical underpinnings as an inherently domestic activity, nuclear security is thoroughly grounded in international treaty law. Yet, nuclear security is often overlooked in the international security context and has not been well situated with international instruments that address gender equality. We argue that gender equality in nuclear security should be understood as an important component of broader efforts to achieve equal opportunities for women in work and critical to ensuring women are included in conflict prevention efforts. Linking nuclear security to broader international efforts to increase gender equality in security and conflict prevention will provide a clearer structure and framework for gender equality initiatives in the nuclear security field. This is critically important given that estimates indicate that women comprise only twenty percent of the nuclear security workforce. Moreover, situating nuclear security in a broader international legal framework will simultaneously help states meet their gender equality commitments emanating from other instruments. This paper will first analyze the relationship between nuclear security and broader international security efforts, in particular arms control treaties and non-proliferation regimes. It will then survey the relevant international and regional frameworks for gender equality, particularly those that have applicability in the security context. This paper will next explore the relationship between nuclear security and these frameworks on gender. We find that some instruments provide support for gender equality initiatives in nuclear security because of their mandate to states to provide structural gender equality, and others are particularly relevant where they call for women's participation in conflict prevention. This paper concludes with recommendations to states that are concerned about the underrepresentation of women in nuclear security.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
NASA NTRS1988

Possible explanations of north-south plasma flow in the outer heliosphere and meridional transport of magnetic flux

Observed meridional plasma flow and its connection with other plasma parameters in the outer heliosphere are discussed. The dynamics of the flow are examined locally and compared with observed plasma parameters and a global flow model which predicts such flows in a steady solar wind. The observational evidence supports stream dynamics and associated pressure gradients as responsible for driving the flow. Such a meridional flow may result in a net transport of magnetic flux from regions near the heliographic equator. The amplitude of the observed meridional component of solar wind flow is consistent with observed magnetic flux deficits in the outer heliosphere. The limited coverage of heliographic latitude by Voyager 2 precludes a direct measurement of the full flow pattern; however, the magnitude of reported magnetic flux deficits and the unambiguous, regular variations in the meridional flow suggest that the stream interactions do produce a net movement of magnetic flux away from the heliographic equator.

Mcnutt, R. L., Jr.↗
NASA NTRS1997

Solar Cycle Predictions Near Sunspot Minimum

Observations of solar magnetic activity and the dynamics of the solar convection zone have produced severe constraints on models of the Sun's magnetic dynamo. These constraints are so severe that, at present, we do not have numerical models that can accept the current conditions and then march forward in time to predict future activity. Given this state of solar dynamo theory we are forced to examine previous behavior to discover patterns and trends that afford us some measure of predictability. Here we examine the behavior of several indicators of solar activity near solar minimum that are well correlated with the amplitude of the following solar maximum to predict the level of solar activity over cycle 23. Sunspot numbers, areas, and positions are useful for characterizing solar cycle behavior due to the extent of the data (12 cycles or more). These data exhibit several patterns that relate future activity to past behavior. With the Odd-Even effect the odd numbered cycles have been larger than their even numbered predecessors for each of the last six cycle pairs. With the Amplitude-Period effect short period cycles have been followed by large amplitude cycles and long period cycles have been followed by small amplitude cycles for 10 of the last 13 cycles. With the Maximum-Minimum effect the sunspot number at minimum is directly correlated with the sunspot number at maximum for a given cycle. The geomagnetic indices aa and Ap are also related to solar activity by the connections between disturbances in the solar wind and variations in the Earth's magnetic field. Like the Maximum-Minimum effect for sunspots, the size of the aa and Ap indices at minimum are directly related to the amplitude of the following maximum. The number of geomagnetically disturbed days (days with Ap >= 25) over the course of a cycle is another indicator for the size of the next cycle. The aa and Ap indices can each be separated into a component in phase with the current sunspot cycle and an "extended cycle" component that is directly related to the following cycle. Individually each of these indicators provides some measure of predictive ability for the amplitudes of previous cycles. Taken in combination we find that the predictions are much more accurate. Our multi-variate analysis indicates that a maximum sunspot number of 160 +/- 20 should occur near the end of 1999 for cycle 23.

Hathaway, David H.↗
NASA NTRS2003

X-ray QPOs from the Ultra-luminous X-ray Source in M82: Evidence Against Beaming

We report the discovery with the European Photon Imaging Camera (EPIC) CCD cameras onboard XMM-Newton of a 54 mHz quasiperiodic oscillation (QPO) in the greater than 2 keV X-ray flux from the ultra-luminous X-ray source (ULX) X41.4+60 in the starburst galaxy M82. This is the first detection of a QPO in the X-ray flux from an extra-Galactic ULX, and confirms that the source is a compact object. The QPO is detected in the combined PN and MOS data at the approx. 6sigma level, and separately at lower significances in both the PN and MOS instruments. It had a centroid frequency of 54.3 +/- 0.9 mHz, a coherence Q is identical with nu(sub 0)/Delta nu(sub fwhm) is approx. 5, and an amplitude (rms) in the 2 - 10 keV band of 8.5%. Below about 0.2 Hz the power spectrum can be described by a power-law with index approx. 1, and integrated amplitude (rms) of 13.5%. The X-ray spectrum requires a curving continuum, with a disk-blackbody (diskbb) at T = 3.1 keV providing an acceptable, but not unique, fit. A broad Fe line centered at 6.55 keV is required in all fits, but the equivalent width (EW) of the line is sensitive to the choice of continuum model. There is no evidence of a reflection component. The implied bolometric luminosity is approx. 4 - 5 x 10(exp 40) ergs/s. Data from several archival Rossi X-ray Timing Explorer (RXTE) pointings at M82 also show evidence for QPOs in the 50 - 100 mHz frequency range. Several Galactic black hole candidates (BHCs), including GRS 1915+105, GRO J1655-40, and XTE 1550-564, show QPOs in the same frequency range as the 50 - 100 mHz QPOs in X41.4+60, which at first glance suggests a possible connection with such objects. However, strong, narrow QPOs provide solid evidence for disk emission, and thus present enormous theoretical difficulties for models which rely on either geometrically or relativistically beamed emission to account for the high X-ray luminosities. We discuss the implications of our findings for models of the ULX sources.

Strohmayer, Tod E.↗
NASA NTRS2005

A Prototype Actuator Concept for Membrane Boundary Vibration Control

In conjunction with the research in ultra-lightweight deployable spacecraft and membrane structures is an underlying need for shape and vibration control. For thin film membrane structures, fundamental modes of vibration for the membrane can be excited through station keeping, attitude adjustments, orbital maneuvers, or contact with space junk or micrometeorites. In order to maintain structural integrity as well as surface shape contour, which may be essential for inflatable antennas, reflective surfaces, or solar sails; vibration damping is a necessary component. This paper discusses development of an actuator attached at the membrane boundary, containing two types of piezoelectric elements, which can be used to perform active control of vibration from the boundary of a membrane. The actuator is designed to control the membrane out-of-plane displacement and in-plane tension by varying the boundary conditions. Results from an initial experimental evaluation of the concept are presented with bench tests of the actuator alone, and with the actuator connected to a large membrane.

Solter, Micah J.↗
NASA NTRS1990

3-D components of a biological neural network visualized in computer generated imagery. II - Macular neural network organization

Computer-assisted reconstructions of small parts of the macular neural network show how the nerve terminals and receptive fields are organized in 3-dimensional space. This biological neural network is anatomically organized for parallel distributed processing of information. Processing appears to be more complex than in computer-based neural network, because spatiotemporal factors figure into synaptic weighting. Serial reconstruction data show anatomical arrangements which suggest that (1) assemblies of cells analyze and distribute information with inbuilt redundancy, to improve reliability; (2) feedforward/feedback loops provide the capacity for presynaptic modulation of output during processing; (3) constrained randomness in connectivities contributes to adaptability; and (4) local variations in network complexity permit differing analyses of incoming signals to take place simultaneously. The last inference suggests that there may be segregation of information flow to central stations subserving particular functions.

Ross, Muriel D.↗
NASA NTRS2004

Interannual Variations in Earth's Low-Degree Gravity Field and the Connections With Geophysical/Climatic Changes

Long-wavelength time-variable gravity recently derived from satellite laser ranging (SLR) analysis have focused to a large extent on the effects of the recent (since 1998) large anomalous change in J2, or the Earth's oblateness, and the potential causes. However, it is relatively more difficult to determine whether there are corresponding signals in the shorter wavelength zonal harmonics from the existing SLR-derived time variable gravity results, although it appears that geophysical fluid mass transport is being observed. For example, the recovered J3 time series shows remarkable agreement with NCEP-derived estimates of atmospheric gravity variations. Likewise, some of the non-zonal spherical harmonic components have significant interannual signal that appears to be related to mass transport. The non-zonal degree-2 components show reasonable temporal correlation with atmospheric signals, as well as climatic effects such as El Nino Southern Oscillation. We will present recent updates on the J2 evolution, as well as a look at other low-degree components of the interannual variations of gravity, complete through degree 4. We will examine the possible geophysical and climatic causes of these low-degree time-variable gravity related to oceanic and hydrological mass transports, for example some anomalous but prominent signals found in the extratropic Pacific ocean related to the Pacific Decadal Oscillation.

Chao, Benjamin F.↗
NASA NTRS1985

Multi-crop area estimation and mapping on a microprocessor/mainframe network

The data processing system is outlined for a 1985 test aimed at determining the performance characteristics of area estimation and mapping procedures connected with the California Cooperative Remote Sensing Project. The project is a joint effort of the USDA Statistical Reporting Service-Remote Sensing Branch, the California Department of Water Resources, NASA-Ames Research Center, and the University of California Remote Sensing Research Program. One objective of the program was to study performance when data processing is done on a microprocessor/mainframe network under operational conditions. The 1985 test covered the hardware, software, and network specifications and the integration of these three components. Plans for the year - including planned completion of PEDITOR software, testing of software on MIDAS, and accomplishment of data processing on the MIDAS-VAX-CRAY network - are discussed briefly.

Sheffner, E.↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗