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At least 163 records · Page 9

A Q-Learning-Based Approach for Distributed Beam Scheduling in mmWave Networks

We consider the problem of distributed downlink beam scheduling and power allocation for millimeter-Wave (mmWave) cellular networks where multiple base stations (BSs) belonging to different service operators share the same unlicensed spectrum with no centralized control or explicit coordination among them. Our goal is to design efficient distributed beam scheduling and power allocation schemes such that the network-level payoff, defined as the weighted sum of the total throughput and a power penalization term, can be maximized. To this end, we propose a distributed scheduling approach to power allocation and adaptation for efficient interference management over the shared spectrum by modeling each BS as an independent Q-learning agent. As a baseline, we compare the proposed approach to the state-of-the-art non-cooperative game-based approach which was previously developed for the same problem. We conduct extensive experiments under various scenarios to verify the effect of multiple factors on the performance of both approaches. Experiment results show that the proposed approach adapts well to different interference conditions by learning from experience and thus can achieve higher payoff than the game-based approach. The proposed approach can also be integrated into our previously developed Lyapunov stochastic optimization framework for the purpose of network utility maximization with optimality guarantee. As a result, the weights in the payoff function can be automatically and optimally determined by the virtual queue values from the sub-problems derived from the Lyapunov optimization framework.

99 GENERAL AND MISCELLANEOUS↗

Evaluating Global Emission Inventories of Biogenic Bromocarbons

Emissions of halogenated very short-lived substances (VSLS) are poorly constrained. However, their inclusion in global models is required to simulate a realistic inorganic bromine (Bry) loading in both the troposphere, where bromine chemistry perturbs global oxidizing capacity, and in the stratosphere, where it is a major sink for ozone (O3). We have performed simulations using a 3-D chemical transport model (CTM) including three top-down and a single bottom-up derived emission inventory of the major brominated VSLS bromoform (CHBr3) and dibromomethane (CH2Br2). We perform the first concerted evaluation of these inventories, comparing both the magnitude and spatial distribution of emissions. For a quantitative evaluation of each inventory, model output is compared with independent long-term observations at National Oceanic and Atmospheric Administration (NOAA) ground-based stations and with aircraft observations made during the NSF (National Science Foundation) HIAPER Pole-to-Pole Observations (HIPPO) project. For CHBr3, the mean absolute deviation between model and surface observation ranges from 0.22 (38 %) to 0.78 (115 %) parts per trillion (ppt) in the tropics, depending on emission inventory. For CH2Br2, the range is 0.17 (24 %) to 1.25 (167 %) ppt. We also use aircraft observations made during the 2011 Stratospheric Ozone: Halogen Impacts in a Varying Atmosphere (SHIVA) campaign, in the tropical western Pacific. Here, the performance of the various inventories also varies significantly, but overall the CTM is able to reproduce observed CHBr3 well in the free troposphere using an inventory based on observed sea-to-air fluxes. Finally, we identify the range of uncertainty associated with these VSLS emission inventories on stratospheric bromine loading due to VSLS (Br(VSLS/y)). Our simulations show Br(VSLS/y) ranges from approximately 4.0 to 8.0 ppt depending on the inventory. We report an optimized estimate at the lower end of this range (approximately 4 ppt) based on combining the CHBr3 and CH2Br2 inventories which give best agreement with the compilation of observations in the tropics.

bromocarbons↗

Applications of ISES for the atmospheric sciences

The proposed Information Sciences Experiment System (ISES) will offer the opportunity for real-time access to measurements acquired aboard the Earth Observation System (Eos) satellite. These measurements can then be transmitted to remotely located ground based stations. The application of such measurements to issues related to atmospheric science which was presented to a workshop convened to review possible application of the ISES in earth sciences is summarized. The proposed protocol for Eos instruments requires that measurement results be available in a central data archive within 72 hours of acquiring data. Such a turnaround of raw satellite data to the final product will clearly enhance the timeliness of the results. Compared to the time that results from many current satellite programs, the 72 hour turnaround may be considered real time. Examples are discussed showing how real-time measurements from one or more of the proposed Eos instruments could have been applied to the study of certain issues important to global atmospheric chemistry. Each of the examples discussed is based upon a field mission conducted during the past five years. Each of these examples will emphasize how real-time data could have been used to alter the course of a field experiment, thereby enhancing the scientific output. For the examples, brief overviews of the scientific rationale and objectives, the region of operation, the measurements aboard the aircraft, and finally how one or more of the proposed Eos instruments could have provided data to enhance the productivity of the mission are discussed.

Hoell, James M., Jr.↗

Subsidence Measurements at the Teller 27 Field Site, Seward Peninsula, Alaska, 2021

In September 2021, differential GPS (dGPS) points were collected in areas of visual subsidence in the Teller watershed near mile marker 27 of the Bob Blodgett Nome-Teller Memorial Highway on the Seward Peninsula of Alaska. This study aimed to understand how structural permafrost loss is affecting meter-scale ground elevation. As ice thaws, heaving and slumping of the landscape creates new microtopographical features on the landscape that may alter surface hydrology and soil moisture and thus plant community composition and biogeochemical cycling. The Teller 27 field site is underlain with discontinuous permafrost, so the landscape features a variety of permafrost features. We collected ground elevations from eight subsidence areas in two forms: 1) Transects were sampled laterally through areas of ground subsidence to capture the high edges and low spots where the earth slumped. 2) The circumference of the subsidence area was sampled in order to measure the ground area affected by subsidence. These data were collected with an Emlid Reach RS2 dGPS and a base station. This dataset includes one *.csv of dGPS locations of the eight subsidence locations and one *.kml of measurement locations.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic) was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy’s Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy’s Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

Ensuring reliable connectivity to cellular-connected UAVs with up-tilted antennas and interference coordination

To integrate unmanned aerial vehicles (UAVs) in future large-scale deployments, a new wireless communication paradigm, namely, the cellular-connected UAV has recently attracted interest. However, the line-of-sight dominant air-to-ground channels along with the antenna pattern of the cellular ground base stations (GBSs) introduce critical interference issues in cellular-connected UAV communications. In particular, the complex antenna pattern and the ground reflection (GR) from the down-tilted antennas create both coverage holes and patchy coverage for the UAVs in the sky, which leads to unreliable connectivity from the underlying cellular network. To overcome these challenges, in this paper, we propose a new cellular architecture that employs an extra set of co-channel antennas oriented towards the sky to support UAVs on top of the existing down-tilted antennas for ground user equipment (GUE). To model the GR stemming from the down-tilted antennas, we propose a path-loss model, which takes both antenna radiation pattern and configuration into account. Next, we formulate an optimization problem to maximize the minimum signal-to-interference ratio (SIR) of the UAVs by tuning the up-tilt (UT) angles of the up-tilted antennas. Since this is an NP-hard problem, we propose a genetic algorithm (GA) based heuristic method to optimize the UT angles of these antennas. After obtaining the optimal UT angles, we integrate the 3GPP Release-10 specified enhanced inter-cell interference coordination (eICIC) to reduce the interference stemming from the down-tilted antennas. Our simulation results based on the hexagonal cell layout show that the proposed interference mitigation method can ensure higher minimum SIRs for the UAVs over baseline methods while creating minimal impact on the SIR of GUEs.

3GPP↗

A Non-Cooperative Game-Based Distributed Beam Scheduling Framework for 5G Millimeter-Wave Cellular Networks

Here, this paper studies the problem of distributed beam scheduling for 5G millimeter-Wave (mm-Wave) cellular networks where base stations (BSs) belonging to different operators share the same spectrum without centralized coordination among them. Our goal is to design efficient distributed scheduling algorithms to maximize the network utility, which is a function of the achieved throughput by the user equipment (UEs), subject to the average and instantaneous power consumption constraints of the BSs. We propose a Media Access Control (MAC) and a power allocation/adaptation mechanism utilizing the Lyapunov stochastic optimization framework and non-cooperative games. In particular, we first decompose the original utility maximization problem into two sub-optimization problems for each time frame, which are a convex optimization problem and a non-convex optimization problem, respectively. By formulating the distributed scheduling problem as a non-cooperative game where each BS is a player attempting to optimize its own utility, we provide a distributed solution to the non-convex sub-optimization problem via finding the Nash Equilibrium (NE) of the game whose weights are determined optimally by the Lyapunov optimization framework. Finally, we conduct simulation under various network settings to show the effectiveness of the proposed game-based beam scheduling algorithm in comparison to that of several reference schemes.

42 ENGINEERING↗

The Wizard Staff: A Mobile Tool Supporting Human Exploration on The Lunar Surface

The Wizard Staff is a rechargeable, battery powered mobile tool with multiple uses for lunar surface exploration. It supports human activity as a surface survey tool, provides external illumination to enhance safety, delivers networking, communications, and navigation features to remote sites, and assists crew rescue with an emergency beacon and rigid splint structure. As a survey tool, it assists crewed geologic field site exploration with external lights, cameras, and LiDAR to illuminate, map, and record the sample collection process. As a relay station, it provides a surface intranet communications and navigation node for extended exploration far from the lander or habitation module. A separately developed Search-and-Rescue (SAR) handheld device can broadcast a signal to the Gandalf Staff containing crew position and biometric data. The staff then formats the message and sends it orbiting satellite(s) for emergency response via the LunaNET on a dedicated frequency similar to terrestrial applications using an Emergency Position-Indicating Radiobeacon (EPIRB). The staff is designed with an upper and lower segment. Components in the upper segment are the LiDAR, external lighting arrays, cameras, communications equipment, intelligence devices, and user interface for crew operations. The lower segment is a set of FeLiPO4 battery cells packed into the 2” diameter carbon fiber tube. When the battery pack is discharged, a spring connector (designed for the dusty lunar environment) easily disconnects the two segments for replacement with another fully charged battery pack. The lower segment can be used for Incapacitated Crew Rescue (ICR) as a rigid splint. As a stand-alone science platform, the Wizard Staff provides infrastructure for instruments and sensors to record the lunar environment over long periods of time. After a crew installs the components on the lunar surface, the platform delivers data to the lunar lander or base station for analysis. The stand-alone mode requires an auxiliary power source (e.g. solar array) and energy storage system (e.g. battery), so it could also be used as an electrical recharging station. A working prototype of Wizard Staff has been developed with collaboration between NASA (JSC, MSFC, and GSFC), Texas Space Technology Applications and Research (T STAR), and Texas A&M University (TAMU) using $300k of innovation funding in FY’21 and FY’22. The functional staff weights 36# on Earth (6# on the Moon), stands 2.1m tall and delivers external lighting with an array of 40 LED bulbs generating 1460 Lux at 2m range (near field), or 2 Lux at 50m (far field).

Gandalf Staff↗

Historic climate, cosmogenic 10Be, denudation-rate, and geospatial datasets from the Pikes Peak region, Colorado, USA

This data package contains geographic information system (GIS) layers and tabular datasets associated with the study of elevation-dependent denudation rates on Pikes Peak in the Front Range of the Rocky Mountains, Colorado, USA. The package includes GIS layers used to produce the study-area map, including sample locations, sample watershed boundaries, the Pikes Peak batholith, Pleistocene glacier extent, weather station locations, and elevation and hillshade rasters, together with comma-separated value (CSV) tables and matching CSV data dictionaries. These mapped layers provide the geographic framework for interpreting denudation patterns across the Pikes Peak region and for relating sample locations to watershed geometry, bedrock setting, glacial history, and nearby climate stations. The first group of tables reports climate and geospatial context for the study area. These files include station-based temperature and precipitation data used to characterize elevational gradients in mean annual climate and monthly climate seasonality, sample locations, denudation-rate and topographic metrics, fixed frost-cracking model parameters, frost-cracking intensity and precipitation-frequency metrics, and stream-power inversion results. Together, these data provide the basis for evaluating how denudation varies with elevation, climate, and landscape form across sampled catchments on Pikes Peak. The second group of tables reports cosmogenic nuclide and erosion-model results used in the denudation analysis. Included files contain accelerator mass spectrometry (AMS) measurements for in situ-produced cosmogenic beryllium-10 (10Be), including sample identifiers, measured 10Be:9Be ratios, analytical uncertainties, carrier mass, quartz mass, blank corrections, blank-group statistics, and calculated 10Be concentrations and uncertainties. Additional tables summarize stream-power-law inversion results for sampled catchments, including optimized model parameters, predicted erosion rates, residual metrics, channel-pixel counts, and convergence status, as well as regression equations and summary statistics used to evaluate relationships among elevation, climate, frost cracking, precipitation forcing, and denudation rate. The package contains GIS files, comma-separated value files (.csv), Microsoft Excel files (.xlsx), CSV data dictionaries, a file-level metadata table, and a readme text file.

10Be cosmogenic nuclides↗

Systematic Underestimation of Canopy Conductance Sensitivity to Drought by Earth System Models

The response of vegetation canopy conductance (g c ) to changes in moisture availability ($γ^{m}_{gc}$) is a major source of uncertainty in climate projections. While vegetation typically reduces stomatal conductance during drought, accurately modeling how and to what degree stomata respond to changes in moisture availability at global scales is particularly challenging, because no global scale g c observations exist. Here, we leverage a collection of satellite, reanalysis and station-based near-surface air and surface temperature estimates, which are physically and statistically linked to $γ^{m}_{gc}$ due to the local cooling effect of g c through transpiration, to develop a novel emergent constraint of $γ^{m}_{gc}$ in an ensemble of Earth System Models (ESMs). We find that ESMs systematically underestimate $γ^{m}_{gc}$ by ~33%, particularly in grasslands, croplands, and savannas in semi-arid and bordering regions of the Central United States, Central Europe, Southeastern South America, Southern Africa, Eastern Australia, and parts of East Asia. We show that this underestimation occurs because ESMs inadequately reduce g c when soil moisture decreases. As g c controls carbon, water and energy fluxes, the misrepresentation of modeled $γ^{m}_{gc}$ contributes to biases in ESM projections of gross primary production, transpiration, and temperature during droughts. Our results suggest that the severity and duration of droughts may be misrepresented in ESMs due to the impact of sustained g c on both soil moisture dynamics and the biosphere-atmosphere feedbacks that affect local temperatures and regional weather patterns.

54 ENVIRONMENTAL SCIENCES↗

The AtmoSOFAR Channel: First Direct Observations of an Elevated Acoustic Duct

The Sound Fixing and Ranging (SOFAR) channel in the ocean allows for low frequency sound to travel thousands of kilometers, making it particularly useful for detecting underwater nuclear explosions. Suggestions that an elevated SOFAR-like channel should exist in the stratosphere date back over half a century and imply that sources within this region can be reliably sensed at vast distances. However, this theory has not been supported with evidence of direct observations from sound within this channel. Here we show that an infrasound sensor on a solar hot air balloon recorded the first infrasound detection of a ground truth airborne source while within this acoustic channel, which we refer to as the AtmoSOFAR channel. Our results support the existence of the AtmoSOFAR channel, demonstrate that acoustic signals can be recorded within it, and provide insight into the characteristics of recorded signals. Results also show a lack of detections on ground-based stations, highlighting the advantages of using balloon-borne infrasound sensors to detect impulsive sources at altitude.

54 ENVIRONMENTAL SCIENCES↗

Using Temporal Deep Learning Models to Estimate Daily Snow Water Equivalent Over the Rocky Mountains

Abstract In this study we construct and compare three different deep learning (DL) models for estimating daily snow water equivalent (SWE) from high‐resolution gridded meteorological fields over the Rocky Mountain region. To train the DL models, Snow Telemetry (SNOTEL) station‐based SWE observations are used as the prediction target. All DL models produce higher median Nash‐Sutcliffe Efficiency (NSE) values than a conceptual SWE model and interpolated gridded data sets, although mean squared errors also tend to be higher. Sensitivity of the SWE prediction to the model's input variables is analyzed using an explainable artificial intelligence (XAI) method, yielding insight into the physical relationships learned by the models. This method reveals the dominant role precipitation and temperature play in snowpack dynamics. In applying our models to estimate SWE throughout the Rocky Mountains, an extrapolation problem arises since the statistical properties of SWE (e.g., annual maximum) and geographical properties of individual grid points (e.g., elevation) differ from the training data. This problem is solved by normalizing the SWE with its historical maximum value to alleviate extrapolation for all tested DL models. Our work shows that the DL models are promising tools for estimating SWE, and sufficiently capture relevant physical relationships to make them useful for spatial and temporal extrapolation of SWE values.

54 ENVIRONMENTAL SCIENCES↗

Measurements of aerosol microphysical and chemical properties in the central Arctic atmosphere during MOSAiC

The Arctic environment is transforming rapidly due to climate change. Aerosols’ abundance and physicochemical characteristics play a crucial, yet uncertain, role in these changes due to their influence on the surface energy budget through direct interaction with solar radiation and indirectly via cloud formation. Importantly, Arctic aerosol properties are also changing in response to climate change. Despite their importance, year-round measurements of their characteristics are sparse in the Arctic and often confined to lower latitudes at Arctic land-based stations and/or short high-latitude summertime campaigns. Here, we present unique aerosol microphysics and chemical composition datasets collected during the year-long Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) expedition, in the central Arctic. These datasets, which include aerosol particle number concentrations, size distributions, cloud condensation nuclei concentrations, fluorescent aerosol concentrations and properties, and aerosol bulk chemical composition (black carbon, sulfate, nitrate, ammonium, chloride, and organics) will serve to improve our understanding of high-Arctic aerosol processes, with relevance towards improved modelling of the future Arctic (and global) climate.

54 ENVIRONMENTAL SCIENCES↗

Improved constraints on hematite refractive index for estimating climatic effects of dust aerosols

Abstract Uncertainty in desert dust composition poses a big challenge to understanding Earth’s climate across different epochs. Of particular concern is hematite, an iron-oxide mineral dominating the solar absorption by dust particles, for which current estimates of absorption capacity vary by over two orders of magnitude. Here, we show that laboratory measurements of dust composition, absorption, and scattering provide valuable constraints on the absorption potential of hematite, substantially narrowing its range of plausible values. The success of this constraint is supported by results from an atmospheric transport model compared with station-based measurements. Additionally, we identify substantial bias in simulating hematite abundance in dust aerosols with current soil mineralogy descriptions, underscoring the necessity for improved data sources. Encouragingly, the next-generation imaging spectroscopy remote sensing data hold promise for capturing the spatial variability of hematite. These insights have implications for enhancing dust modeling, thus contributing to efforts in climate change mitigation and adaptation.

Environmental Sciences & Ecology↗

Locating the missing large-scale emission in the jet of M87* with short EHT baselines

In very-long baseline interferometric arrays, nearly co-located stations probe the largest scales and typically cannot resolve the observed source. In the absence of a large-scale structure, closure phases constructed with these stations are zero and, since they are independent of station-based errors, they can be used to probe data issues. Here, we show how these trivial closure phases become nonzero with a brightness distribution on smaller scales than their short baseline would suggest. When applied to sources that are made up of a bright compact and large-scale diffuse component, the trivial closure phases directly measure the centroid relative to the compact source and higher-order image moments. We present a technique to measure these image moments with minimal model assumptions and validate it on synthetic Event Horizon Telescope (EHT) data. We then apply this technique to 2017 and 2018 EHT observations of M87* and find a weak preference for extended emission in the direction of the large-scale jet. We also apply it to 2021 EHT data and measure the source centroid about 1 mas northwest of the compact ring, which is consistent with the jet observed at lower frequencies.

79 ASTRONOMY AND ASTROPHYSICS↗

Overlooked cooling effects of albedo in terrestrial ecosystems

Radiative forcing (RF) resulting from changes in surface albedo is increasingly recognized as a significant driver of global climate change but has not been adequately estimated, including by Intergovernmental Panel on Climate Change (IPCC) assessment reports, compared with other warming agents. Here, we first present the physical foundation for modeling albedo-induced RF and the consequent global warming impact (GWI Δα ). We then highlight the shortcomings of available current databases and methodologies for calculating GWI Δα at multiple temporal scales. There is a clear lack of comprehensive in situ measurements of albedo due to sparse geographic coverage of ground-based stations, whereas estimates from satellites suffer from biases due to the limited frequency of image collection, and estimates from earth system models (ESMs) suffer from very coarse spatial resolution land cover maps and associated albedo values in pre-determined lookup tables. Field measurements of albedo show large differences by ecosystem type and large diurnal and seasonal changes. As indicated from our findings in southwest Michigan, GWI Δα is substantial, exceeding the RF Δα values of IPCC reports. Inclusion of GWI Δα to landowners and carbon credit markets for specific management practices are needed in future policies. We further identify four pressing research priorities: developing a comprehensive albedo database, pinpointing accurate reference sites within managed landscapes, refining algorithms for remote sensing of albedo by integrating geostationary and other orbital satellites, and integrating the GWI Δα component into future ESMs.

54 ENVIRONMENTAL SCIENCES↗

Resource Allocation for Single Carrier Massive MIMO Systems

Resource allocation in orthogonal frequency division multiplexing (OFDM) systems is performed through allocating blocks of subcarriers to each user. Even though OFDM is the primary waveform for 5G NR systems, research reports have noted that single carrier modulation (SCM) offers several advantages over OFDM in massive multiple input multiple output (MIMO) systems, making it a preferred candidate for some future applications such as massive machine type communications (mMTC). This paper presents a method for SCM resource allocation and the relevant information recovery algorithms at the receiver. Our emphasis is on cyclic prefixed SCM, where highly flexible and efficient frequency domain detection algorithms enable the operation of many simultaneous users in a massive MIMO uplink scenario. The proposed resource allocation method allows the number of users to exceed the number of antennas at the base station (BS). Each single carrier transmission is partitioned into L interleaved streams, and each user is allocated a number of such streams. One major benefit of SCM is that each data symbol is spread over the entire bandwidth. As such, the receiver performance is dictated by the average channel gain across the transmission band rather than the channel gain at a given frequency bin or a small group of frequencies. In the proposed setup, each stream may be thought of as a resource block in SCM, analogous to resource blocks in OFDM. Hence, in the context of this paper, the terms resource blocks and streams may be used interchangeably.

5G and Beyond Communications↗

Achievable Rate and Energy Efficiency Analysis of Multiuser Relay-Aided Massive MIMO Downlink

In this article, the achievable sum rate and the energy efficiency (EE) are investigated for a multiuser relay-aided massive multiple-input–multiple-output (MIMO) downlink. Low-resolution digital-to-analog converters (DACs) are equipped at both the base station (BS) and the relay station (RS), and the amplify-and-forward protocol is adopted at the RS. Under the Rician fading channel, closed-form approximate expressions for the achievable sum rate are derived with perfect and imperfect channel state information. Furthermore, a more general power law is extracted to save transmit power without reducing the achievable sum rate, and a local optimal power allocation scheme is proposed to improve the channel capacity of active users. Then, the tradeoff between the achievable sum rate and the EE is discussed. The numerical results show that, due to the quantization noise, the transmit power has a limited increase in the achievable rate. In addition, it is more valuable to improve the DAC quantization bit at the RS when the number of BS antennas is larger than that of RS antennas. In addition, under strong line-of-sight channels or high pilot transmit power conditions, the channel estimation accuracy is higher, and the best tradeoff between the achievable sum rate and the EE can be obtained when the DAC quantization bit is 4.

25 ENERGY STORAGE↗

Outcomes and Insights From Simplified Analytic Trajectory Optimization for a Tethered Underwater Kite

This letter formulates and solves a periodic trajectory optimization problem for a tethered underwater kite. The goal is to maximize the average mechanical power harvested by the kite. The type of kite considered in this letter extracts electricity from ocean currents by moving cross-current as its reel away from its base station, and consumes electricity to reel back. The problem of optimizing this kite’s trajectory is challenging due to the high dimensionality and nonlinearity of its dynamics. To tackle this challenge, the literature often separates the problem into two subproblems focusing on optimizing the cross-current and the reel-in/reel-out components of the trajectory, respectively, which may be sub-optimal. In contrast, this letter solves for the combined cross-current and reel-in/reel-out trajectory by linearizing the dynamics of the kite around a zero-power reference equilibrium trajectory in spherical coordinates. This allows the trajectory optimization problem to be solved analytically for simple sinusoidal input perturbations from equilibrium. Here we use linear quadratic regulation to enable the nonlinear kite model to track the optimized trajectory. The result is a computationally efficient approach that achieves an attractive Loyd factor of 19.9%, while providing important insights into the nature of the optimal trajectory.

42 ENGINEERING↗