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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Remote Sensing Data from CLARET: A Prototype Cart Data Set

A data set containing radiation, meteorological, and cloud sensor observations is documented. It was prepared for use by the Department of Energy's Atmospheric Radiation Measurement (ARM) program and other interested scientists. These data are a precursor of the types of data that ARM Cloud And Radiation Testbed (CART) sites will provide. The data are from the Cloud Lidar And Radar Exploratory Test (CLARET) conducted by the Wave Propagation Laboratory during autumn 1989 in the Denver-Boulder area of Colorado primarily for the purpose of developing new cloud-sensing techniques on cirrus. After becoming aware of this experiment, ARM scientists requested archival of subsets or the data to assist in the developing ARM program. Five CLARET cases were selected: two with cirrus, one with stratus, one with mixed-phase clouds, and one with clear skies. The cases range from 2 to 9.5 h in length. A pyranometer, pyrgeometer, pyrheliometer, and an infrared radiometer constituted the ensemble of instruments that provided surface radiation data. A lidar, radar, and ceilometer observed the cloud geometrical structure, and visual reports and all-sky camera observations were assimilated to provide cloud cover data. Radiosondes, wind profiler, RASS (profiling virtual temperature), microwave radiometers (observing column integrated liquid water and water vapor), and standard surface measurements provided meteorological data. Satellite data from the stratus case and one cirrus case were analyzed for statistics on cloud cover and top height. The main body of the selected data are available on diskette from the Wave Propagation Laboratory or Los Alamos National Laboratory. In addition to documenting the data set, this report describes CLARET and gives a bibliography of publications associated with the project. Some preliminary results of CLARET' research are also summarized. Simultaneous CO 2 lidar and radar backscatter measurements were shown to provide estimates of the effective radius of ice particles. Simultaneous radar and infrared radiometer data appear useful for estimating column-integrated numbers and average sizes of ice cloud particles. Ice water content obtained with this method compared favorably with values from another empirical technique using radar data alone. Depolarization of the CO 2 lidar signal from ice clouds was surprisingly small, suggesting that calculation of backscatter from nonspherical particles for this lidar is a tractable problem. Examples are also cited of CO 2 lidar measurements of the effective radius of water cloud drop size distributions and of inference of the size of pristine ice crystals that assume a particular orientation in the air. These parameters are all important to radiative transfer through clouds.

Clouds (Meteorology)↗
NASA NTRS2012

Use of In Situ and Airborne Multiangle Data to Assess MODIS- and Landsat-based Estimates of Surface Albedo

The quantification of uncertainty of global surface albedo data and products is a critical part of producing complete, physically consistent, and decadal land property data records for studying ecosystem change. A current challenge in validating satellite retrievals of surface albedo is the ability to overcome the spatial scaling errors that can contribute on the order of 20% disagreement between satellite and field-measured values. Here, we present the results from an uncertain ty analysis of MODerate Resolution Imaging Spectroradiometer (MODIS) and Landsat albedo retrievals, based on collocated comparisons with tower and airborne multi-angular measurements collected at the Atmospheric Radiation Measurement Program s (ARM) Cloud and Radiation Testbed (CART) site during the 2007 Cloud and Land Surface Interaction Campaign (CLAS33 IC 07). Using standard error propagation techniques, airborne measurements obtained by NASA s Cloud Absorption Radiometer (CAR) were used to quantify the uncertainties associated with MODIS and Landsat albedos across a broad range of mixed vegetation and structural types. Initial focus was on evaluating inter-sensor consistency through assessments of temporal stability, as well as examining the overall performance of satellite-derived albedos obtained at all diurnal solar zenith angles. In general, the accuracy of the MODIS and Landsat albedos remained under a 10% margin of error in the SW(0.3 - 5.0 m) domain. However, results reveal a high degree of variability in the RMSE (root mean square error) and bias of albedos in both the visible (0.3 - 0.7 m) and near-infrared (0.3 - 5.0 m) broadband channels; where, in some cases, retrieval uncertainties were found to be in excess of 20%. For the period of CLASIC 07, the primary factors that contributed to uncertainties in the satellite-derived albedo values include: (1) the assumption of temporal stability in the retrieval of 500 m MODIS BRDF values over extended periods of cloud-contaminated observations; and (2) the assumption of spatial 45 and structural uniformity at the Landsat (30 m) pixel scale.

Roman, Miguel O.↗
NASA NTRS2012

Evaluation and Validation of Global Land Surface Products Derived from Landsat, MODIS, and VIIRS

Data at medium and coarse resolution from the Landsat, MODIS, and VIIRS instruments provide crucial and indispensable time-series for the land component of the study of global change. This talk will be divided into two main sections. In the first part, a summary of the status of the processing, archiving, and early (Launch +6 months) on-orbit evaluation of the VIIRS Land Environmental Data Records (EDRs), will be presented. In the second part, results from an uncertainty analysis of MODIS- and Landsat-based albedo retrievals, based on collocated comparisons with tower and airborne multiangular measurements collected at the Cloud and Radiation Testbed (CART) site during the 2007 Cloud and Land Surface Interaction Campaign (CLASIC'07), will be discussed.

Roman, Miguel O.↗
NASA NTRS1998

Apparent Surface Reflectance of the DOE ARM SGP CART Central Site Derived from AVIRIS Spectral Images

The primary objective of the Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Program at the Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) is to acquire in situ and remote sensing data to improve cloud and atmospheric radiative models and parameterizations. As a consequence of this program, a large number of atmosphere and surface measurements are being acquired at the ARM SGP CART central site. NASA's Airborne Visible/Infrared Imaging Spectrometer (AVIRIS) overflew this site on August 1, 1997. AVIRIS measures the upwelling spectral solar radiance from 400 to 2500 nm at 10-nm intervals. From 20 km altitude, these calibrated spectra are acquired as images of 11 by up to 800 km with 20-by-20 m spatial resolution. These data were acquired at the ARM SGP CART Central Site to first investigate derivation of atmospheric parameters from the measured spectra, second study the variation of these parameters, and third demonstrate the inversion of the calibrated radiance spectra to apparent surface reflectance. These objectives have been pursued with AVIRIS data at other sites for atmospheric water vapor and derivation of apparent surface reflectance.

Green, Robert O.↗
NASA NTRS2002

Midlatitude Cirrus Clouds Derived from Hurricane Nora: A Case Study with Implications for Ice Crystal Nucleation and Shape

Hurricane Nora traveled up the Bala Peninsula coast in the unusually warm El Nino waters of September 1997, until rapidly decaying as it approached Southern California on 24 September. The anvil cirrus blowoff from the final surge of tropical convection became embedded in subtropical flow that advected the cirrus across the western US, where it was studied from the Facility for Atmospheric Remote Sensing (FARS) in Salt Lake City, Utah. A day later, the cirrus shield remnants were redirected southward by midlatitude circulations into the Southern Great Plains, providing a case study opportunity for the research aircraft and ground-based remote sensors assembled at the Clouds and Radiation Testbed (CART) site in northern Oklahoma. Using these comprehensive resources and new remote sensing cloud retrieval algorithms, the microphysical and radiative cloud properties of this unusual cirrus event are uniquely characterized. Importantly, at both the FARS and CART sites the cirrus generated spectacular optical displays, which acted as a tracer for the hurricane cirrus, despite the limited lifetimes of individual ice crystals. Lidar polarization data indicate widespread regions of uniform ice plate orientations, and in situ particle masticator data show a preponderance of pristine, solid hexagonal plates and columns. It is suggested that these unusual aspects are the result of the mode of cirrus particle nucleation, presumably involving the lofting of sea-salt nuclei in thunderstorm updrafts into the upper troposphere. This created a reservoir of haze particles that continued to produce halide-saltcontaminated ice crystals during the extended period of cirrus cloud maintenance. The reference that marine microliters are embedded in the replicas of ice crystals collected over the CART site points to the longevity of marine effects. Various nucleation scenarios proposed for cirrus clouds based on this and other studies, and the implications for understanding cirrus radiative properties or a global scale, are discussed.

Sassen, Kenneth↗
NASA NTRS1995

Preliminary design for Arctic atmospheric radiative transfer experiments

If current plans are realized, within the next few years, an extraordinary set of coordinated research efforts focusing on energy flows in the Arctic will be implemented. All are motivated by the prospect of global climate change. SHEBA (Surface Energy Budget of the Arctic Ocean), led by the National Science Foundation (NSF) and the Office of Naval Research (ONR), involves instrumenting an ice camp in the perennial Arctic ice pack, and taking data for 12-18 months. The ARM (Atmospheric Radiation Measurement) North Slope of Alaska and Adjacent Arctic Ocean (NSA/AAO) Cloud and Radiation Testbed (CART) focuses on atmospheric radiative transport, especially in the presence of clouds. The NSA/AAO CART involves instrumenting a sizeable area on the North Slope of Alaska and adjacent waters in the vicinity of Barrow, and acquiring data over a period of about 10 years. FIRE (First ISCCP (International Satellite Cloud Climatology Program) Regional Experiment) Phase 3 is a program led by the National Aeronautics and Space Administration (NASA) which focuses on Arctic clouds, and which is coordinated with SHEBA and ARM. FIRE has historically emphasized data from airborne and satellite platforms. All three program anticipate initiating Arctic data acquisition during spring, 1997. In light of his historic opportunity, the authors discuss a strawman atmospheric radiative transfer experimental plan that identifies which features of the radiative transport models they think should be tested, what experimental data are required for each type of test, the platforms and instrumentation necessary to acquire those data, and in general terms, how the experiments could be conducted. Aspects of the plan are applicable to all three programs.

Zak, B. D.↗
NASA NTRS1999

Climatic Implications of the Observed Temperature Dependence of the Liquid Water Path of Low Clouds

The uncertainty in the global climate sensitivity to an equilibrium doubling of carbon dioxide is often stated to be 1.5-4.5 K, largely due to uncertainties in cloud feedbacks. The lower end of this range is based on the assumption or prediction in some GCMs that cloud liquid water behaves adiabatically, thus implying that cloud optical thickness will increase in a warming climate if the physical thickness of clouds is invariant. Satellite observations of low-level cloud optical thickness and liquid water path have challenged this assumption, however, at low and middle latitudes. We attempt to explain the satellite results using four years of surface remote sensing data from the Atmospheric Radiation Measurements (ARM) Cloud And Radiation Testbed (CART) site in the Southern Great Plains. We find that low cloud liquid water path is insensitive to temperature in winter but strongly decreases with temperature in summer. The latter occurs because surface relative humidity decreases with warming, causing cloud base to rise and clouds to geometrically thin. Meanwhile, inferred liquid water contents hardly vary with temperature, suggesting entrainment depletion. Physically, the temperature dependence appears to represent a transition from higher probabilities of stratified boundary layers at cold temperatures to a higher incidence of convective boundary layers at warm temperatures. The combination of our results and the earlier satellite findings imply that the minimum climate sensitivity should be revised upward from 1.5 K.

DelGenio, Anthony↗
NASA NTRS1998

Operational processing and cloud boundary detection from micro pulse lidar data

Micro Pulse Lidar (MPL) was developed at NASA Goddard Space Flight Center (GSFC) as the result of research on space-borne lidar techniques. It was designed to provide continuous, unattended observations of all significant atmospheric cloud and aerosol structure with a rugged, compact system design and the benefit of eye safety (Spinhirne 1993). The significant eye safety feature is achieved by using low pulse energies and high pulse repetition rates compared to standard lidar systems. MPL systems use a diode pumped 10 microj, 2500 Hz doubled Nd:YLF laser. In addition, a solid state Geiger mode avalanche photo diode (GAPD) photon counting detector is used allowing for quantum efficiencies approaching 70%. Other design features have previously been noted by Spinhirne (1995). Though a commercially available instrument, with nearly 20 systems operating around the world, the most extensive MPL work has come from those operated by the Atmospheric Radiation Measurement (ARM) (Stokes and Schwartz 1994) program. The diverse ability of the instrument relating to the measurement of basic cloud macrophysical structure and both cloud and aerosol radiative properties well suits the ARM research philosophy. MPL data can be used to yield many parameters including cloud boundary heights to the limit of signal attenuation, cloud scattering cross sections and optical thicknesses, planetary boundary layer heights and aerosol scattering profiles, including those into the stratosphere in nighttime cases (Hlavka et al 1996). System vertical resolution ranges from 30 m to 300 m (i.e. high and low resolution respectively) depending on system design. The lidar research group at GSFC plays an advisory role in the operation, calibration and maintenance of NASA and ARM owned MPL systems. Over the past three years, processing software and system correction techniques have been developed in anticipation of the increasing population of systems amongst the community. Datasets produced by three ARM-owned systems have served as the basis for this development. With two operating at the southern Great Plains Cloud and Radiation Testbed Site (SGP CART) since December 1993 and another at the Manus Island Atmospheric Radiation and Cloud Station (TWP ARCS) location in the tropical western Pacific since February 1997, the ARM archive contains over 4 years of observations. In addition, high resolution systems planning to come on-line at the North Slope, AK CART shortly with another scheduled to follow at the TWP ARCS-II will diversify this archive with more extensive observations.

Campbell, James R.↗
NASA NTRS1999

Climatic Implications of the Observed Temperature Dependence of the Liquid Water Path of Low Clouds in the Southern Great Plains

Satellite observations of low-level clouds have challenged the assumption that adiabatic liquid water content combined with constant physical thickness will lead to a negative cloud optics feedback in a decadal climate change. We explore the reasons for the satellite results using four years of surface remote sensing data from the Atmospheric Radiation Measurement Program Cloud and Radiation Testbed site in the Southern Great Plains of the United States. We find that low cloud liquid water path is approximately invariant with temperature in winter but decreases strongly with temperature in summer, consistent with the satellite inferences at this latitude. This behavior occurs because liquid water content shows no detectable temperature dependence while cloud physical thickness decreases with warming. Thinning of clouds with warming is observed on seasonal, synoptic, and diurnal time scales; it is most obvious in the warm sectors of baroclinic waves. Although cloud top is observed to slightly descend with warming, the primary cause of thinning is the ascent of cloud base due to the reduction in surface relative humidity and the concomitant increase in the lifting condensation level of surface air. Low cloud liquid water path is not observed to be a continuous function of temperature. Rather, the behavior we observe is best explained as a transition in the frequency of occurrence of different boundary layer types: At cold temperatures, a mixture of stratified and convective boundary layers is observed, leading to a broad distribution of liquid water path values, while at warm temperatures, only convective boundary layers with small liquid water paths, some of them decoupled, are observed. Our results, combined with the earlier satellite inferences, imply that the commonly quoted 1.50 C lower limit for the equilibrium global climate sensitivity to a doubling of CO2, which is based on models with near-adiabatic liquid water behavior and constant physical thickness, should be revised upward.

DelGenio, Anthony D.↗
NASA NTRS1999

Climatic Implications of the Observed Temperature Dependence of the Liquid Water Path of Low Clouds in the Southern Great Plains

Satellite observations of low-level clouds have challenged the assumption that adiabatic liquid water content combined with constant physical thickness will lead to a negative cloud optics feedback in a decadal climate change. We explore the reasons for the satellite results using four years of surface remote sensing data from the Atmospheric Radiation Measurement Program Cloud and Radiation Testbed site in the Southern Great Plains of the United States. We find that low cloud liquid water path is approximately invariant with temperature in winter but decreases strongly with temperature in summer, consistent with the satellite inferences at this latitude. This behavior occurs because liquid water content shows no detectable temperature dependence while cloud physical thickness decreases with warming. Thinning of clouds with warming is observed on seasonal, synoptic, and diurnal time scales; it is most obvious in the warm sectors of baroclinic waves. Although cloud top is observed to slightly descend with warming, the primary cause of thinning, is the ascent of cloud base due to the reduction in surface relative humidity and the concomitant increase in the lifting condensation level of surface air. Low cloud liquid water path is not observed to be a continuous function of temperature. Rather, the behavior we observe is best explained as a transition in the frequency of occurrence of different boundary layer types. At cold temperatures, a mixture of stratified and convective boundary layers is observed, leading to a broad distribution of liquid water path values, while at warm temperatures, only convective boundary layers with small liquid water paths, some of them decoupled, are observed. Our results, combined with the earlier satellite inferences, imply that the commonly quoted 1.5C lower limit for the equilibrium global climate sensitivity to a doubling of CO2 which is based on models with near-adiabatic liquid water behavior and constant physical thickness, should be revised upward.

DelGenio, Anthony↗
NASA NTRS2001

Raman Lidar Water Vapor Measurements at the DOE SGP CART Site

The NASA/GSFC Scanning Raman Lidar (SRL) was deployed to the Department of Energy's (DOE) Cloud and Radiation Testbed site in northern Oklahoma September - December, 2000 for two DOE sponsored field campaigns: 1) the Water Vapor Intensive Operations Experiment 2000 and 2) the Atmospheric Radiations Measurement First International Satellite Cloud Climatology Experiment Experiment (AFWEX). WvIOP2000 focussed on water vapor measurements in the lower troposphere while AFWEX focussed on upper tropospheric water vapor. For the first time ever, four water vapor lidars were operated simultaneously: one airborne and three ground-based systems. Intercomparisons of these measurements and others will be presented at the meeting.

Whiteman, David N.↗
NASA NTRS2000

MM-Wave Radiometric Measurements of Low Amounts of Precipitable Water Vapor

An experiment was conducted during March, 1999 to study ways in which to improve techniques for measuring low amounts of total-column precipitable water vapor (PWV). The experiment was conducted at the DOE's ARM program's North Slope of Alaska/Adjacent Arctic Ocean Cloud and Radiation Testbed site (DoE ARM NSA/AAO CaRT) located just outside Barrow, Alaska. NASA and NOAA deployed a suite of radiometers covering 25 channels in the frequency range of 20 GHz up to 340 GHz including 8 channels around the 183 GHz water vapor absorption line. In addition to the usual CaRT site instrumentation the NOAA Depolarization and Backscatter Unattended Lidar (DABUL), the SUNY Rotating Shadowband Spectroradiometer (RSS) and other surface based meteorological instrumentation were deployed during the intensive observation period. Vaisala RS80 radiosondes were launched daily as well as nearby National Weather Service VIZ sondes. Atmospheric conditions ranged from clear calm skies to blowing snow and heavy multi-layer cloud coverage. Measurements made by the radiosondes indicate the PWV varied from approx. 1 to approx. 5 mm during the experiment. The near-surface temperature varied between about -40 C to - 15 C. In this presentation, an overview of the experiment with examples of data collected will be presented. Application of the data for assessing the potential and limitations of millimeter-wave radiometry for retrieving very low amounts of PWV will be discussed.

Racette, P.↗
NASA NTRS1992

Lidar Development for the Atmospheric Radiation Measurement (ARM) Program

The Atmospheric Radiation Measurement (ARM) Program was initiated by the Department of Energy's Atmospheric and Climate Research Division (DOE/ACRD) to improve parameterizations of cloud radiative effects in general circulation models of the Earth's climate. The Instrument Development Program (IDP), a major component of ARM, is directed toward the improvement of radiometric and remote sensing instrumentation pertinent to near real-time characterizations of atmospheric parameters. The ultimate goal of this program is to provide state-of-the-art instruments suitable for installation and extended use in ARM's field measurement component, the Cloud and Radiation Testbed (CART).

Griffin, J.↗
NASA NTRS1995

Raman lidar and sun photometer measurements of aerosols and water vapor during the ARM RCS experiment

The first Atmospheric Radiation Measurement (ARM) Remote Cloud Study (RCS) Intensive Operations Period (IOP) was held during April 1994 at the Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site near Lamont, Oklahoma. This experiment was conducted to evaluate and calibrate state-of-the-art, ground based remote sensing instruments and to use the data acquired by these instruments to validate retrieval algorithms developed under the ARM program. These activities are part of an overall plan to assess general circulation model (GCM) parameterization research. Since radiation processes are one of the key areas included in this parameterization research, measurements of water vapor and aerosols are required because of the important roles these atmospheric constituents play in radiative transfer. Two instruments were deployed during this IOP to measure water vapor and aerosols and study their relationship. The NASA/Goddard Space Flight Center (GSFC) Scanning Raman Lidar (SRL) acquired water vapor and aerosol profile data during 15 nights of operations. The lidar acquired vertical profiles as well as nearly horizontal profiles directed near an instrumented 60 meter tower. Aerosol optical thickness, phase function, size distribution, and integrated water vapor were derived from measurements with a multiband automatic sun and sky scanning radiometer deployed at this site.

Ferrare, R. A.↗
NASA NTRS1995

Scanning Raman lidar measurements of atmospheric water vapor during a cold frontal passage

The NASA/Goddard Space Flight Center Scanning Raman Lidar (SRL) had a highly successful deployment at the Department of Energy Cloud and Radiation Testbed (CART) Site in Billings, OK during April, 1994 for the first Intensive Operation Period (IOP) hosted there. During the IOP, the SRL operated from just after sundown to just before sunrise for all declared evenings of operation. The lidar acquired more than 123 hours of data over 15 nights with less than 1 hour of data lost due to minor system malfunction. The SRL acquired data both on the vertical and in scanning mode toward an instrumented 60 m tower during various meteorological conditions such as an intense cold frontal passage on April 15 which is the focus of this presentation.

Whiteman, D. N.↗
NASA NTRS1996

Modeling the surface evapotranspiration over the southern Great Plains

We have developed a method to apply the Simple Biosphere Model of Sellers et al to calculate the surface fluxes of sensible heat and water vapor at high spatial resolution over the domain of the US DOE's Cloud and Radiation Testbed (CART) in Kansas and Oklahoma. The CART, which is within the GCIP area of interest for the Mississippi River Basin, is an extensively instrumented facility operated as part of the DOE's Atmospheric Radiation Measurement (ARM) program. Flux values calculated with our method will be used to provide lower boundary conditions for numerical models to study the atmosphere over the CART domain.

Computerized Simulation↗
NASA NTRS1998

CART and GSFC raman lidar measurements of atmospheric aerosol backscattering and extinction profiles for EOS validation and ARM radiation studies

The aerosol retrieval algorithms used by the Moderate-Resolution Imaging Spectroradiometer (MODIS) and Multi-Angle Imaging SpectroRadiometer (MISR) sensors on the Earth Observing Satellite (EOS) AM-1 platform operate by comparing measured radiances with tabulated radiances that have been computed for specific aerosol models. These aerosol models are based almost entirely on surface and/or column averaged measurements and so may not accurately represent the ambient aerosol properties. Therefore, to validate these EOS algorithms and to determine the effects of aerosols on the clear-sky radiative flux, we have begun to evaluate the vertical variability of ambient aerosol properties using the aerosol backscattering and extinction profiles measured by the Cloud and Radiation Testbed (CART) and NASA Goddard Space Flight Center (GSFC) Raman Lidars. Using the procedures developed for the GSFC Scanning Raman Lidar (SRL), we have developed and have begun to implement algorithms for the CART Raman Lidar to routinely provide profiles of aerosol extinction and backscattering during both nighttime and ,daytime operations. Aerosol backscattering and extinction profiles are computed for both lidar systems using data acquired during the 1996 and 1997 Water Vapor Intensive Operating Periods (IOPs). By integrating these aerosol extinction profiles, we derive measurements of aerosol optical thickness and compare these with coincident sun photometer measurements. We also use these measurements to measure the aerosol extinction/backscatter ratio S(sub a) (i.e. 'lidar ratio'). Furthermore, we use the simultaneous water vapor measurements acquired by these Raman lidars to investigate the effects of water vapor on aerosol optical properties.

Ferrare, R. A.↗
NASA NTRS1998

Comparison of measurements by the NASA/GSFC scanning raman lidar and the DOE/ARM CART raman lidar

Latent heat transfer through evaporation and condensation of water vapor is the most important energy transport mechanism in the atmosphere. In addition, water vapor is the most active greenhouse gas. Any global warming scenario must take accurate account of the spatial and temporal variation of water vapor in order to account for both of these effects. Due to the great importance of water vapor in atmospheric radiation studies, specific intensive operations periods (IOPs) have been hosted by the Department of Energy's Atmospheric Radiation Measurements (ARM) program. One of the goals of these IOPs has been to determine the quality of and explain any discrepancies among a wide variety of water vapor measuring instruments. Raman lidar systems developed by NASA/Goddard Space Flight Center and DOE/Sandia National Laboratories have participated in the two Water Vapor IOPs (WVIOPs) held at the Southern Great Plains (SGP) Cloud and Radiation Testbed Site (CART) site during 1996 (WVIOP1) and 1997 (WVIOP2). Detailed comparisons of these two systems is ongoing but this effort has already resulted in numerous improvements in design and data analysis for both lidar systems.

Whiteman, David↗