Hi-Val: Iterative Learning of Hierarchical Value Functions for Policy Generation

Task decomposition is effective in manifold applications where the global complexity of a problem makes planning and decision-making too demanding. This is true, for example, in high-dimensional robotics domains, where (1) unpredictabilities and modeling limitations typically prevent the manual specification of robust behaviors, and (2) learning an action policy is challenging due to the curse of dimensionality. In this work, we borrow the concept of Hierarchical Task Networks (HTNs) to decompose the learning procedure, and we exploit Upper Confidence Tree (UCT) search to introduce HOP, a novel iterative algorithm for hierarchical optimistic planning with learned value functions. To obtain better generalization and generate policies, HOP simultaneously learns and uses action values. These are used to formalize constraints within the search space and to reduce the dimensionality of the problem. We evaluate our algorithm both on a fetching task using a simulated 7-DOF KUKA light weight arm and, on a pick and delivery task with a Pioneer robot

Calibration Technique for Polarization-Sensitive Lidars

Polarization-sensitive lidars have proven to be highly effective in discriminating between spherical and non-spherical particles in the atmosphere. These lidars use a linearly polarized laser and are equipped with a receiver that can separately measure the components of the return signal polarized parallel and perpendicular to the outgoing beam. In this work we describe a technique for calibrating polarization-sensitive lidars that was originally developed at NASA s Langley Research Center (LaRC) and has been used continually over the past fifteen years. The procedure uses a rotatable half-wave plate inserted into the optical path of the lidar receiver to introduce controlled amounts of polarization cross-talk into a sequence of atmospheric backscatter measurements. Solving the resulting system of nonlinear equations generates the system calibration constants (gain ratio, G, and offset angle, theta) required for deriving calibrated measurements of depolarization ratio from the lidar signals. In addition, this procedure also determines the mean depolarization ratio within the region of the atmosphere that is analyzed. Simulations and error propagation studies show the method to be both reliable and well behaved. Operational details of the technique are illustrated using measurements obtained as part of Langley Research Center s participation in the First ISCCP Regional Experiment (FIRE)

New ADS Functionality for the Curator

In this paper we provide an update concerning the operations of the NASA Astrophysics Data System (ADS), its services and user interface, and the content currently indexed in its database. As the primary information system used by researchers in Astronomy, the ADS aims to provide a comprehensive index of all scholarly resources appearing in the literature. With the current effort in our community to support data and software citations, we discuss what steps the ADS is taking to provide the needed infrastructure in collaboration with publishers and data providers. A new API provides access to the ADS search interface, metrics, and libraries allowing users to programmatically automate discovery and curation tasks. The new ADS interface supports a greater integration of content and services with a variety of partners, including ORCID claiming, indexing of SIMBAD objects, and article graphics from a variety of publishers. Finally, we highlight how librarians can facilitate the ingest of gray literature that they curate into our system.Comment: Submitted to the Proceedings of Library and Information Services in Astronomy VIII, Strasbourg, Franc

Airborne multiwavelength High Spectral Resolution Lidar (HSRL-2) observations during TCAP 2012 : Vertical profiles of optical and microphysical properties of a smoke/urban haze plume over the northeastern coast of the US

© Author(s) 2014. This work is distributed under the Creative Commons Attribution 3.0 License.We present measurements acquired by the world's first airborne 3 backscatter (β) + 2 extinction (α) High Spectral Resolution Lidar (HSRL-2). HSRL-2 measures particle backscatter coefficients at 355, 532, and 1064 nm, and particle extinction coefficients at 355 and 532 nm. The instrument has been developed by the NASA Langley Research Center. The instrument was operated during Phase 1 of the Department of Energy (DOE) Two-Column Aerosol Project (TCAP) in July 2012. We observed pollution outflow from the northeastern coast of the US out over the western Atlantic Ocean. Lidar ratios were 50-60 sr at 355 nm and 60-70 sr at 532 nm. Extinction-related Ångström exponents were on average 1.2-1.7, indicating comparably small particles. Our novel automated, unsupervised data inversion algorithm retrieved particle effective radii of approximately 0.2 μm, which is in agreement with the large Ångström exponents. We find good agreement with particle size parameters obtained from coincident in situ measurements carried out with the DOE Gulfstream-1 aircraft.Peer reviewedFinal Published versio

An Accuracy Assessment of the CALIOP/CALIPSO Version 2/Version 3 Daytime Aerosol Extinction Product Based on a Detailed Multi-Sensor, Multi-Platform Case Study

The Cloud Aerosol LIdar with Orthogonal Polarization (CALIOP), on board the CALIPSO platform, has measured profiles of total attenuated backscatter coefficient (level 1 products) since June 2006. CALIOP s level 2 products, such as the aerosol backscatter and extinction coefficient profiles, are retrieved using a complex succession of automated algorithms. The goal of this study is to help identify potential shortcomings in the CALIOP version 2 level 2 aerosol extinction product and to illustrate some of the motivation for the changes that have been introduced in the next version of CALIOP data (version 3, released in June 2010). To help illustrate the potential factors contributing to the uncertainty of the CALIOP aerosol extinction retrieval, we focus on a one-day, multi-instrument, multiplatform comparison study during the CALIPSO and Twilight Zone (CATZ) validation campaign on 4 August 2007. On that day, we observe a consistency in the Aerosol Optical Depth (AOD) values recorded by four different instruments (i.e. spaceborne MODerate Imaging Spectroradiometer, MODIS: 0.67 and POLarization and Directionality of Earth s Reflectances, POLDER: 0.58, airborne High Spectral Resolution Lidar, HSRL: 0.52 and ground-based AErosol RObotic NETwork, AERONET: 0.48 to 0.73) while CALIOP AOD is a factor of two lower (0.32 at 532 nm). This case study illustrates the following potential sources of uncertainty in the CALIOP AOD: (i) CALIOP s low signal-to-noise ratio (SNR) leading to the misclassification and/or lack of aerosol layer identification, especially close to the Earth s surface; (ii) the cloud contamination of CALIOP version 2 aerosol backscatter and extinction profiles; (iii) potentially erroneous assumptions of the aerosol extinction-to-backscatter ratio (Sa) used in CALIOP s extinction retrievals; and (iv) calibration coefficient biases in the CALIOP daytime attenuated backscatter coefficient profiles. The use of version 3 CALIOP extinction retrieval for our case study seems to partially fix factor (i) although the aerosol retrieved by CALIOP is still somewhat lower than the profile measured by HSRL; the cloud contamination (ii) appears to be corrected; no particular change is apparent in the observation-based CALIOP Sa value (iii). Our case study also showed very little difference in version 2 and version 3 CALIOP attenuated backscatter coefficient profiles, illustrating a minor change in the calibration scheme (iv)

Modeling regional aerosol variability over California and its sensitivity to emissions and long-range transport during the 2010 CalNex and CARES campaigns

Abstract. The performance of the Weather Research and Forecasting regional model with chemistry (WRF-Chem) in simulating the spatial and temporal variations in aerosol mass, composition, and size over California is quantified using measurements collected during the California Nexus of Air Quality and Climate Experiment (CalNex) and the Carbonaceous Aerosol and Radiative Effects Study (CARES) conducted during May and June of 2010. The extensive meteorological, trace gas, and aerosol measurements collected at surface sites and along aircraft and ship transects during CalNex and CARES were combined with operational monitoring network measurements to create a single dataset that was used to evaluate the one configuration of the model. Simulations were performed that examined the sensitivity of regional variations in aerosol concentrations to anthropogenic emissions and to long-range transport of aerosols into the domain obtained from a global model. The configuration of WRF-Chem used in this study is shown to reproduce the overall synoptic conditions, thermally-driven circulations, and boundary layer structure observed in region that controls the transport and mixing of trace gases and aerosols. However, sub-grid scale variability in the meteorology and emissions as well as uncertainties in the treatment of secondary organic aerosol chemistry likely contribute to errors at a primary surface sampling site located at the edge of the Los Angeles basin. Differences among the sensitivity simulations demonstrate that the aerosol layers over the central valley detected by lidar measurements likely resulted from lofting and recirculation of local anthropogenic emissions along the Sierra Nevada. Reducing the default emissions inventory by 50% led to an overall improvement in many simulated trace gases and black carbon aerosol at most sites and along most aircraft flight paths; however, simulated organic aerosol was closer to observed when there were no adjustments to the primary organic aerosol emissions. The model performance for some aerosol species was not uniform over the region, and we found that sulfate was better simulated over northern California whereas nitrate was better simulated over southern California. While the overall spatial and temporal variability of aerosols and their precursors were simulated reasonably well, we show cases where the local transport of some aerosol plumes were either too slow or too fast, which adversely affects the statistics regarding the differences between observed and simulated quantities. Comparisons with lidar and in-situ measurements indicate that long-range transport of aerosols from the global model was likely too high in the free troposphere even though their concentrations were relatively low. This bias led to an over-prediction in aerosol optical depth by as much as a factor of two that offset the under-predictions of boundary-layer extinction resulting primarily from local emissions. Lowering the boundary conditions of aerosol concentrations by 50% greatly reduced the bias in simulated aerosol optical depth for all regions of California. This study shows that quantifying regional-scale variations in aerosol radiative forcing and determining the relative role of emissions from local and distant sources is challenging during "clean" conditions and that a wide array of measurements are needed to ensure model predictions are correct for the right reasons. In this regard, the combined CalNex and CARES datasets are an ideal testbed that can be used to evaluate aerosol models in great detail and develop improved treatments for aerosol processes

An evaluation of CALIOP/CALIPSO’s aerosol-above-cloud detection and retrieval capability over North America

Assessing the accuracy of the aerosol-above-cloud (AAC) properties derived by CALIOP (the Cloud-Aerosol Lidar with Orthogonal Polarization) is challenged by the shortage of accurate global validation measurements. We have used measurements of aerosol vertical profiles from the NASA Langley airborne High Spectral Resolution Lidar (HSRL-1) in 86 CALIOP-coincident flights to evaluate CALIOP AAC detection, classification, and retrieval. Our study shows that CALIOP detects ~23% of the HSRL-detected AAC. According to our CALIOP-HSRL data set, the majority of AAC aerosol optical depth (AOD) values are \u3c 0.1 at 532 nm over North America. Our analyses show that the standard CALIOP retrieval algorithm substantially underestimates the occurrence frequency of AAC when optical depths are less than ~0.02. Those aerosols with low AOD values can still have a consequent radiative forcing effect depending on the underlying cloud cover and overlying aerosol absorption properties. We find essentially no correlation between CALIOP and HSRL AAC AOD (R2 = 0.27 and N = 151). We show that the CALIOP underestimation of AAC is mostly due to tenuous aerosol layers with backscatter less than the CALIOP detection threshold. The application of an alternate CALIOP AAC retrieval method (depolarization ratio) to our data set yields very few coincident cases. We stress the need for more extensive suborbital CALIOP validation campaigns to acquire a process-level understanding of AAC implications and further evaluate CALIOPs AAC detection and retrieval capability, especially over the ocean and in different parts of the world where AAC are more frequently observed and show higher values of AOD

Structure and evolution of a proviral locus of Glyptapanteles indiensis bracovirus

Background. Bracoviruses (BVs), a group of double-stranded DNA viruses with segmented genomes, are mutualistic endosymbionts of parasitoid wasps. Virus particles are replication deficient and are produced only by female wasps from proviral sequences integrated into the wasp genome. Virus particles are injected along with eggs into caterpillar hosts, where viral gene expression facilitates parasitoid survival and therefore perpetuation of proviral DNA. Here we describe a 223 kbp region of Glyptapanteles indiensis genomic DNA which contains a part of the G. indiensis bracovirus (GiBV) proviral genome. Results. Eighteen of ∼24 GiBV viral segment sequences are encoded by 7 non-overlapping sets of BAC clones, revealing that some proviral segment sequences are separated by long stretches of intervening DNA. Two overlapping BACs, which contain a locus of 8 tandemly arrayed proviral segments flanked on either side by ∼35 kbp of non-packaged DNA, were sequenced and annotated. Structural and compositional analyses of this cluster revealed it exhibits a G+C and nucleotide composition distinct from the flanking DNA. By analyzing sequence polymorphisms in the 8 GiBV viral segment sequences, we found evidence for widespread selection acting on both protein-coding and non-coding DNA. Comparative analysis of viral and proviral segment sequences revealed a sequence motif involved in the excision of proviral genome segments which is highly conserved in two other bracoviruses. Conclusion. Contrary to current concepts of bracovirus proviral genome organization our results demonstrate that some but not all GiBV proviral segment sequences exist in a tandem array. Unexpectedly, non-coding DNA in the 8 proviral genome segments which typically occupies ∼70% of BV viral genomes is under selection pressure suggesting it serves some function(s). We hypothesize that selection acting on GiBV proviral sequences maintains the genetic island-like nature of the cluster of proviral genome segments described herein. In contrast to large differences in the predicted gene composition of BV genomes, sequences that appear to mediate processes of viral segment formation, such as proviral segment excision and circularization, appear to be highly conserved, supporting the hypothesis of a single origin for BVs. © 2007 Desjardins et al; licensee BioMed Central Ltd

Combined Retrievals of Boreal Forest Fire Aerosol Properties with a Polarimeter and Lidar

Absorbing aerosols play an important, but uncertain, role in the global climate. Much of this uncertainty is due to a lack of adequate aerosol measurements. While great strides have been made in observational capability in the previous years and decades, it has become increasingly apparent that this development must continue. Scanning polarimeters have been designed to help resolve this issue by making accurate, multi-spectral, multi-angle polarized observations. This work involves the use of the Research Scanning Polarimeter (RSP). The RSP was designed as the airborne prototype for the Aerosol Polarimetery Sensor (APS), which was due to be launched as part of the (ultimately failed) NASA Glory mission. Field observations with the RSP, however, have established that simultaneous retrievals of aerosol absorption and vertical distribution over bright land surfaces are quite uncertain. We test a merger of RSP and High Spectral Resolution Lidar (HSRL) data with observations of boreal forest fire smoke, collected during the Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCTAS). During ARCTAS, the RSP and HSRL instruments were mounted on the same aircraft, and validation data were provided by instruments on an aircraft flying a coordinated flight pattern. We found that the lidar data did indeed improve aerosol retrievals using an optimal estimation method, although not primarily because of the constraints imposed on the aerosol vertical distribution. The more useful piece of information from the HSRL was the total column aerosol optical depth, which was used to select the initial value (optimization starting point) of the aerosol number concentration. When ground based sun photometer network climatologies of number concentration were used as an initial value, we found that roughly half of the retrievals had unrealistic sizes and imaginary indices, even though the retrieved spectral optical depths agreed within uncertainties to independent observations. The convergence to an unrealistic local minimum by the optimal estimator is related to the relatively low sensitivity to particles smaller than 0.1 ( m) at large optical thicknesses. Thus, optimization algorithms used for operational aerosol retrievals of the fine mode size distribution, when the total optical depth is large, will require initial values generated from table look-ups that exclude unrealistic size/complex index mixtures. External constraints from lidar on initial values used in the optimal estimation methods will also be valuable in reducing the likelihood of obtaining spurious retrievals