First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain

In situ measurements of tropospheric volcanic plumes in Ecuador and Colombia during TC

A NASA DC‐8 research aircraft penetrated tropospheric gas and aerosol plumes sourced from active volcanoes in Ecuador and Colombia during the Tropical Composition, Cloud and Climate Coupling (TC4 ) mission in July–August 2007. The likely source volcanoes were Tungurahua (Ecuador) and Nevado del Huila (Colombia). The TC4 data provide rare insight into the chemistry of volcanic plumes in the tropical troposphere and permit a comparison of SO2 column amounts measured by the Ozone Monitoring Instrument (OMI) on the Aura satellite with in situ SO2 measurements. Elevated concentrations of SO2, sulfate aerosol, and particles were measured by DC‐8 instrumentation in volcanic outflow at altitudes of 3–6 km. Estimated plume ages range from ∼2 h at Huila to ∼22–48 h downwind of Ecuador. The plumes contained sulfate‐rich accumulation mode particles that were variably neutralized and often highly acidic. A significant fraction of supermicron volcanic ash was evident in one plume. In‐plume O3 concentrations were ∼70%–80% of ambient levels downwind of Ecuador, but data are insufficient to ascribe this to O3 depletion via reactive halogen chemistry. The TC4 data record rapid cloud processing of the Huila volcanic plume involving aqueous‐phase oxidation of SO2 by H2O2, but overall the data suggest average in‐plume SO2 to sulfate conversion rates of ∼1%–2% h−1 . SO2 column amounts measured in the Tungurahua plume (∼0.1–0.2 Dobson units) are commensurate with average SO2 columns retrieved from OMI measurements in the volcanic outflow region in July 2007. The TC4 data set provides further evidence of the impact of volcanic emissions on tropospheric acidity and oxidizing capacit

In situ measurements of tropospheric volcanic plumes in Ecuador and Colombia during TC^4

A NASA DC-8 research aircraft penetrated tropospheric gas and aerosol plumes sourced from active volcanoes in Ecuador and Colombia during the Tropical Composition, Cloud and Climate Coupling (TC^4) mission in July–August 2007. The likely source volcanoes were Tungurahua (Ecuador) and Nevado del Huila (Colombia). The TC^4 data provide rare insight into the chemistry of volcanic plumes in the tropical troposphere and permit a comparison of SO_2 column amounts measured by the Ozone Monitoring Instrument (OMI) on the Aura satellite with in situ SO_2 measurements. Elevated concentrations of SO_2, sulfate aerosol, and particles were measured by DC-8 instrumentation in volcanic outflow at altitudes of 3–6 km. Estimated plume ages range from ~2 h at Huila to ~22–48 h downwind of Ecuador. The plumes contained sulfate-rich accumulation mode particles that were variably neutralized and often highly acidic. A significant fraction of supermicron volcanic ash was evident in one plume. In-plume O_3 concentrations were ~70%–80% of ambient levels downwind of Ecuador, but data are insufficient to ascribe this to O_3 depletion via reactive halogen chemistry. The TC^4 data record rapid cloud processing of the Huila volcanic plume involving aqueous-phase oxidation of SO_2 by H_2O_2, but overall the data suggest average in-plume SO_2 to sulfate conversion rates of ~1%–2% h^(−1). SO_2 column amounts measured in the Tungurahua plume (~0.1–0.2 Dobson units) are commensurate with average SO_2 columns retrieved from OMI measurements in the volcanic outflow region in July 2007. The TC^4 data set provides further evidence of the impact of volcanic emissions on tropospheric acidity and oxidizing capacity

Using Satellite Remote Sensing and Modelling for Insights into N02 Air Pollution and NO2 Emissions

Nitrogen oxides (NO(x)) are key actors in air quality and climate change. Satellite remote sensing of tropospheric NO2 has developed rapidly with enhanced spatial and temporal resolution since initial observations in 1995. We have developed an improved algorithm and retrieved tropospheric NO2 columns from Ozone Monitoring Instrument. Column observations of tropospheric NO2 from the nadir-viewing satellite sensors contain large contributions from the boundary layer due to strong enhancement of NO2 in the boundary layer. We infer ground-level NO2 concentrations from the OMI satellite instrument which demonstrate significant agreement with in-situ surface measurements. We examine how NO2 columns measured by satellite, ground-level NO2 derived from satellite, and NO(x) emissions obtained from bottom-up inventories relate to world's urban population. We perform inverse modeling analysis of NO2 measurements from OMI to estimate "top-down" surface NO(x) emissions, which are used to evaluate and improve "bottom-up" emission inventories. We use NO2 column observations from OMI and the relationship between NO2 columns and NO(x) emissions from a GEOS-Chem model simulation to estimate the annual change in bottom-up NO(x) emissions. The emission updates offer an improved estimate of NO(x) that are critical to our understanding of air quality, acid deposition, and climate change

Effect of Particle Non-Sphericity on Satellite Monitoring of Drifting Volcanic Ash Clouds

Volcanic eruptions loft gases and ash particles into the atmosphere and produce effects that are both short term (aircraft hazards, interference with satellite measurements) and long term (atmospheric chemistry, climate). Large (greater than 0.5mm) ash particles fall out in minutes [Rose et al, 1995], but fine ash particles can remain in the atmosphere for many days. This fine volcanic ash is a hazard to modem jet aircraft because the operating temperatures of jet engines are above the solidus temperature of volcanic ash, and because ash causes abrasion of windows and airframe, and disruption of avionics. At large distances(10(exp 2)-10(exp 4) km or more) from their source, drifting ash clouds are increasingly difficult to distinguish from meteorological clouds, both visually and on radar [Rose et al., 1995]. Satellites above the atmosphere are unique platforms for viewing volcanic clouds on a global basis and measuring their constituents and total mass. Until recently, only polar AVHRR and geostationary GOES instruments could be used to determine characteristics of drifting volcanic ash clouds using the 10-12 micron window [Prata 1989; Wen and Rose 1994; Rose and Schneider 1996]. The NASA Total Ozone Mapping Spectrometer (TOMS) instruments aboard the Nimbus-7, Meteor3, ADEOS, and Earth Probe satellites have produced a unique data set of global SO2 volcanic emissions since 1978 (Krueger et al., 1995). Besides SO2, a new technique has been developed which uses the measured spectral contrast of the backscattered radiances in the 330-380nm spectral region (where gaseous absorption is negligible) in conjunction with radiative transfer models to retrieve properties of volcanic ash (Krotkov et al., 1997) and other types of absorbing aerosols (Torres et al., 1998)

Comparison of UV irradiances from Aura/Ozone Monitoring Instrument (OMI) with Brewer measurements at El Arenosillo (Spain) – Part 2: Analysis of site aerosol influence

Several validation studies have shown a notable overestimation of the clear sky ultraviolet (UV) irradiance at the Earth's surface derived from satellite sensors such as the Total Ozone Mapping Spectrometer (TOMS) and the Ozone Monitoring Instrument (OMI) with respect to ground-based UV data at many locations. Most of this positive bias is attributed to boundary layer aerosol absorption that is not accounted for in the TOMS/OMI operational UV algorithm. Therefore, the main objective of this study is to analyse the aerosol effect on the bias between OMI erythemal UV irradiance (UVER) and spectral UV (305 nm, 310 nm and 324 nm) surface irradiances and ground-based Brewer spectroradiometer measurements from October 2004 to December 2008 at El Arenosillo station (37.1° N, 6.7° W, 20 m a.s.l.), with meteorological conditions representative of the South-West of Spain. <br><br> The effects of other factors as clouds, ozone and the solar elevation over this intercomparison were analysed in detail in a companion paper (Antón et al., 2010). In that paper the aerosol effects were studied making only a rough evaluation based on aerosol optical depth (AOD) information at 440 nm wavelength (visible range) without applying any correction. We have used the precise information given by single scattering albedo (SSA) from AERONET for the determination of absorbing aerosols which has allowed the correction of the OMI UV data. <br><br> An aerosol correction expression was applied to the OMI operational UV data using two approaches to estimate the UV absorption aerosol optical depth, AAOD. The first approach was based on an assumption of constant SSA value of 0.91. This approach reduces the OMI UVER bias against the reference Brewer data from 13.4% to 8.4%. Second approach uses daily AERONET SSA values reducing the bias only to 11.6%. Therefore we have obtained a 37% and 12% of improvement respectively. For the spectral irradiance at 324 nm, the OMI bias is reduced from 10.5% to 6.98% for constant SSA and to 9.03% for variable SSA. Similar results were obtained for spectral irradiances at 305 nm, and 310 nm. <br><br> Contrary to what was expected, the constant SSA approach has a greater bias reduction than variable SSA, but this is a reasonable result according to the discussion about the reliability of SSA values. Our results reflect the level of accuracy that may be reached at the present time in this type of comparison, which may be considered as satisfactory taking into account the remaining dependence on other factors. Nevertheless, improvements must be accomplished to determine reliable absorbing aerosol properties, which appear as a limiting factor for improving OMI retrievals

Estimation of anthropogenic and volcanic SO2 emissions from satellite data in the presence of snow/ice on the ground

Early versions of satellite nadir-viewing UV SO2 data products did not explicitly account for the effects of snow/ice on retrievals. Snow-covered terrain, with its high reflectance in the UV, typically enhances satellite sensitivity to boundary layer pollution. However, a significant fraction of high-quality cloud-free measurements over snow is currently excluded from analyses. This leads to increased uncertainties of satellite emission estimates and potential seasonal biases due to the lack of data in winter months for some high-latitudinal sources. In this study, we investigated how Ozone Monitoring Instrument (OMI) and TROPOspheric Monitoring Instrument (TROPOMI) satellite SO2 measurements over snow-covered surfaces can be used to improve the annual emissions reported in our SO2 emissions catalogue (version 2; Fioletov et al., 2023). Only 100 out of 759 sources listed in the catalogue have 10 % or more of the observations over snow. However, for 40 high-latitude sources, more than 30 % of measurements suitable for emission calculations were made over snow-covered surfaces. For example, in the case of Norilsk, the world's largest SO2 point-source, annual emission estimates in the SO2 catalogue were based only on 3–4 summer months, while the addition of data for snow conditions extends that period to 7 months. Emissions in the SO2 catalogue were based on satellite measurements of SO2 slant column densities (SCDs) that were converted to vertical column densities (VCDs) using site-specific clear-sky air mass factors (AMFs), calculated for snow-free conditions. The same approach was applied to measurements with snow on the ground whereby a new set of constant, site-specific, clear sky with snow AMFs was created, and these were applied to the measured SCDs. Annual emissions were then estimated for each source considering (i) only clear-sky and snow-free days, (ii) only clear-sky with snow days, and (iii) a merged dataset (snow and snow-free conditions). For individual sources, the difference between emissions estimated for snow and snow-free conditions is within ±20 % for three-quarters of smelters and oil and gas sources and with practically no systematic bias. This is excellent consistency given that there is typically a factor of 3–5 difference between AMFs for snow and snow-free conditions. For coal-fired power plants, however, emissions estimated for snow conditions are on average 25 % higher than for snow-free conditions; this difference is likely real and due to larger production (consumption of coal) and emissions in wintertime.</p

Comparison of UV irradiances from Aura/Ozone Monitoring Instrument (OMI) with Brewer measurements at El Arenosillo (Spain) – Part 1: Analysis of parameter influence

The main objective of this study is to compare the erythemal UV irradiance (UVER) and spectral UV irradiances (at 305, 310 and 324 nm) from the Ozone Monitoring Instrument (OMI) onboard NASA EOS/Aura polar sun-synchronous satellite (launched in July 2004, local equator crossing time 01:45 p.m.) with ground-based measurements from the Brewer spectrophotometer #150 located at El Arenosillo (South of Spain). The analyzed period comprises more than four years, from October 2004 to December 2008. The effects of several factors (clouds, aerosols and the solar elevation) on OMI-Brewer comparisons were analyzed. The proxies used for each factor were: OMI Lambertian Equivalent Reflectivity (LER) at 360 nm (clouds), the aerosol optical depth (AOD) at 440 nm measured from the ground-based Cimel sun-photometer (&lt;a href="http://aeronet.gsfc.nasa.gov"target="_blank"&gt;http://aeronet.gsfc.nasa.gov&lt;/a&gt;), and solar zenith angle (SZA) at OMI overpass time. The comparison for all sky conditions reveals positive biases (OMI higher than Brewer) 12.3% for UVER, 14.2% for UV irradiance at 305 nm, 10.6% for 310 nm and 8.7% for 324 nm. The OMI-Brewer root mean square error (RMSE) is reduced when cloudy cases are removed from the analysis, (e.g., RMSE~20% for all sky conditions and RMSE smaller than 10% for cloud-free conditions). However, the biases remain and even become more significant for the cloud-free cases with respect to all sky conditions. The mentioned overestimation is partially due to aerosol extinction influence. In addition, the differences OMI-Brewer typically decrease with SZA except days with high aerosol loading, when the bias is near constant. The seasonal dependence of the OMI-Brewer difference for cloud-free conditions is driven by aerosol climatology. &lt;br&gt;&lt;br&gt; To account for the aerosol effect, a first evaluation in order to compare with previous TOMS results (Antón et al., 2007) was performed. This comparison shows that the OMI bias is between +14% and +19% for UVER and spectral UV irradiances for moderately-high aerosol load (AOD&gt;0.25). The OMI bias is decreased by a factor of 2 (the typical bias varies from +8% to +12%) under cloud-free and low aerosol load conditions (AOD&lt;0.1). More detailed analysis of absorbing aerosols influence on OMI bias at our station is presented in a companion paper (Cachorro et al., 2010)

The Observed Response of Ozone Monitoring Instrument (OMI) NO2 Columns to NOx Emission Controls on Power Plants in the United States: 2005-2011

We show that Aura Ozone Monitoring Instrument (OMI) nitrogen dioxide (NO2) tropospheric column data may be used to assess changes of the emissions of nitrogen oxides (NOx) from power plants in the United States, though careful interpretation of the data is necessary. There is a clear response for OMI NO2 data to NOx emission reductions from power plants associated with the implementation of mandated emission control devices (ECDs) over the OMI record (2005e2011). This response is scalar for all intents and purposes, whether the reduction is rapid or incremental over several years. However, it is variable among the power plants, even for those with the greatest absolute decrease in emissions. We document the primary causes of this variability, presenting case examples for specific power plants

Spin susceptibility of the superfluid 3^{3}He-B in aerogel

The temperature dependence of paramagnetic susceptibility of the superfluid ^{3}He-B in aerogel is found. Calculations have been performed for an arbitrary phase shift of s-wave scattering in the framework of BCS weak coupling theory and the simplest model of aerogel as an aggregate of homogeneously distributed ordinary impurities. Both limiting cases of the Born and unitary scattering can be easily obtained from the general result. The existence of gapless superfluidity starting at the critical impurity concentration depending on the value of the scattering phase has been demonstrated. While larger than in the bulk liquid the calculated susceptibility of the B-phase in aerogel proves to be conspicuously smaller than that determined experimentally in the high pressure region.Comment: 10 pages, 4 figures, REVTe