cometadata/datacite-titles-descriptions-related-identifiers huggingface dataset:
DOI: 10.15468/dl.a8ghth
title: Occurrence Download

description: A dataset containing 109 species occurrences available in GBIF matching the query:
{
 "and" : [
 "TaxonKey is Magnoliophyta",
 "Geometry POLYGON((7.587690 50.243966,7.587690 50.242841,7.589836 50.242841,7.589836 50.243966,7.587690 50.243966))",
 "HasGeospatialIssue is false"
 ]
}

 The dataset includes 109 records from 1 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0001064-150528172251762/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.15468/dl.x9zrkr
title: Occurrence Download

description: A dataset containing 0 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Dendrobium bidentiferum J.J.Sm."
 ]
}

 The dataset includes 0 records from 0 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0168634-230224095556074/datasets/export for details.
DOI: 10.15468/dl.xxjtnk
title: Occurrence Download

description: A dataset containing 23336 species occurrences available in GBIF matching the query:
{
 "TaxonKey" : [
 "is Polysticta stelleri (Pallas, 1769)"
 ]
}

 The dataset includes 23336 records from 102 constituent datasets; see https://api.gbif.org/v1/occurrence/download/0000067-190307172214381/datasets/export for details.
 
Data from some individual datasets included in this download may be licensed under less restrictive terms.
DOI: 10.48577/jpl.ynxurf
title: Baseline Design of the Investigation of Convective Updrafts (INCUS) Mission

description: The Investigation of Convective Updrafts, or INCUS, mission is a NASA Earth Ventures Mission (EV-M) that will measure, for the first time ever, the convective mass flux (CMF) of convective storm systems. INCUS is led by a Colorado State University (CSU)-based principal investigator with project management and system engineering delegated to the Jet Propulsion Laboratory (JPL) in Pasadena, CA. INCUS uses Ka-band radars on three spacecraft that are separated in time to measure the change in vertical columns of water and ice in convective storms systems. Machine learning algorithms will use the change in vertical profiles of water in ice over 30 and 120 seconds, ice water path and optical density measured by an on-board radiometer, and multiple program of record data points, to infer the rate at which vertical columns of water and ice are moving upwards and downwards in storm systems, also known as CMF, in different phases of a storm’s life cycle. The INCUS Ka-band radar is called the Dynamic Atmospheric Radar (DAR) and the radiometer is called the Dynamic Microwave Radiometer (DMR). The DAR is built by JPL and is based on the JPL RainCube radar with increased horizontal resolution and additional feed horns to increase swath and provide context measurements. To achieve higher, 3.5 m horizontal resolution, INCUS uses a 1.6 m deployable reflector antenna built by Tendeg, a Colorado-based space deployables company. The DMR is also built by JPL and is based on the TEMPEST-D microwave radiometer. INCUS requires three radars on three separate spacecraft to obtain the unique time-varied measurement required for CMF retrieval, but only a single radiometer to provide a large 500 km swath measurement of the entire convective storm system. The instruments are integrated onto the Integrated Payload Structure (IPS), also built by Tendeg, and are integrated onto Blue Canyon Technologies (BCT) Venus-class spacecraft busses. INCUS uses DMR mass models on the two observatories that do not have a radiometer to keep all three spacecraft and IPS mechanically identical across all three flight systems.INCUS will fly in an inclined, low-Earth orbit to maximize the time spent over the most interesting region for convective storm systems: the tropics. INCUS science requires the three spacecraft overflights to measure the same scene, but the rotation of the Earth will cause a small angular displacement between overflights. INCUS will perform a slow roll back and forth to keep the three spacecraft pointed at the same common ground track. The INCUS mission system and ground system are distributed across mission operations and ground data systems at BCT, communications infrastructure at KSAT, and the science data system at CSU.This paper will detail the baseline INCUS design at the start of Phase C, will highlight technical challenges in the formulation of the mission, and will provide a status update on the implementation of the mission.
DOI: 10.48577/jpl.xhxdk8
title: SysML Conops Timeline Generation Tool for a Lunar Terrain Vehicle (LTV)

description: A SysML tool for generating Lunar Terrain Vehicle (LTV) concept of operations timelines is described. The NASA Artemis program calls for long-duration missions and traverses at the Lunar polar regions. In contrast to equatorial regions with a 14-day/14-night diurnal solar exposure, some polar geographies may have shorter daylit or shadowed conditions that could affect solar recharging, battery sizes, and power management. The solar illuminated conditions constantly change depending on the current location of the rover, date, and time. In addition, communication access to the vehicle depends on relative Lunar and Earth orbits and position of artificial satellites or relay systems. A SysML model-based tool has been developed that organizes LTV events and activities into swimlanes showing participation of various operations and planning teams, communications relay systems, data-gathering instruments, and vehicle subsystems for the purpose of establishing relationships in decision-making nodes and functions. The tool tracks various rover and environmental parameters and simulates energy use over time. Based on a chosen traverse path, starting date, and time, the tool is capable of accessing Lunar terrain and lighting databases to provide information on how long a particular patch of landscape will remain illuminated, to assist planning teams with optimization of timing, velocity, and progress of the traverse. As the tool simulates various use cases, it automatically generates a timeline of events and a profile of energy use.
DOI: 10.48577/jpl.znzbgw
title: Ground Terminal Evaluation for Deployable Optical Receiver Aperture (DORA)

description: No abstract available.
DOI: 10.48577/jpl.cso8dl
title: Spacecraft Position Determination with the Electra UHF Transceiver

description: In June 2022, the Electra Relay Operations teambegan conducting radiometric phase and power data collectionduring relay overflights of the InSight Lander by the ExoMarsTrace Gas Orbiter (TGO). This mode of the Electra radio haspotential applications for both navigation and radio science, butis relatively untested in flight. Here, we present both one-way(non-coherent) and two-way (coherent) Doppler observationsconducted during 32 TGO relay overflights. Then we explorethe ability to find the surface position of the lander with eachdata set and compare this against other methods.Looking forward to Mars Sample Return, the capability to doone-way Doppler tracking would be essential for monitoring thelaunch performance of the Mars Ascent Vehicle anddetermining the final trajectory of the Orbiting Samplecontainer. Testing these positioning capabilities now will help usto prepare for that anticipated need.
DOI: 10.48577/jpl.yliz1b
title: Mars Sample Return Surface Relay Planning and Coordination

description: The Mars Sample Return (MSR) Campaign is acoordinated effort between NASA and ESA to return samplesfrom the surface of Mars. For the first time, there would bemultiple surface assets operating in a local region, sharing relaypasses from a single orbiter. Furthermore, MSR’s constrainedsurface timeline drives the need for each surface asset tomaximize their productivity and not let any sols go to waste. Toaddress these risks, MSR has developed tools and performedcareful analysis to architect the relay system to support all MSRsurface assets by allocating passes in a deliberate manner thatmaximizes overall productivity. In this paper, we focus on theMars Asset Relay Mission Link Allocation DesignEnvironment (MARMALADE), a tool designed by missionsystems engineers at JPL to allocate passes to various MSRsurface assets to maximize their operational efficiency. Theallocations are meant to maximize campaign productivity, andenable the campaign to march towards its primary surfacemission goal: to deliver samples to orbit in a timely manner forrendezvous with the Earth Return Orbiter (ERO) and return toEarth. The MARMLADE tool and its results are used to assistmission planners at the campaign- and project-level byproviding quantitative sensitivities to hardware trades, such asdifferent telecom architectures, operational trades such asoperating times and durations on Mars, and human factorstrades such as staffing windows and shifts on Earth.MARMLADE is enabling the development of a sound missionsystem and operations plan early in the mission phase.
DOI: 10.48577/jpl.ebzhrp
title: Look Before You Leap: Installing R13 on the Curiosity Mars Rover

description: In April of 2023 the Curiosity Mars Science Laboratory updated the flight software onboard the primary flight computer for the first time in six years. This paper describes the preparations to update the flight software and the process to update the onboard software. The flight software transition was designed to verify success at every step before proceeding to the next part of the activity. When possible, multiple chances for success were enabled, and backups and contingency plans were in place for the full transition. The result was a smooth and anomaly free flight software transition that allowed for a rapid return to science operations.
DOI: 10.48577/jpl.mwvmkd
title: An Expanded Deep Space Relay Architecture for Improved Communication and Navigation

description: In our previous paper, a baseline relay architecture was developed to provide optical communication with Mars and trilateration-based navigation services to deep space users [1]. The baseline architecture used Mars-leading and trailing orbits to ensure continuous optical communication with Mars during conjunction, while also providing suitable geometric diversity for trilateration. This paper addresses the design, performance, and feasibility of two expansions to the baseline architecture: a third relay in a Sun-Mars L2 Halo orbit, and opportunistic configuration of the lead and trail relays. Communication and navigation tradeoffs inform the design of the expanded architecture. The design parameters considered include the shape and size of the halo relay orbit and the separation angles of the lead/trail relays. The communication benefits of the expanded architecture are analyzed on the bases of additional access time and additional downlink capacity for Mars users. Navigation performance is evaluated based on a dilution of precision (DOP) analysis, which quantifies the geometric quality of the architecture for trilateration and a covariance analysis, which maps expected levels of range measurement error to position estimate error. The feasibility of the expanded architecture is assessed based on the propulsion requirements needed to deliver suitably sized telecom payloads to the desired relay orbits. Both impulsive and non-impulsive methods are considered. The addition of a halo relay to the architecture was found to benefit communication performance by providing more access opportunities and higher downlink bandwidth than the baseline throughout the synodic period. The halo relay also benefitted navigation by enabling trilateration via a one-way ranging scheme, or a two-way ranging scheme that could operate independent of the DSN. Reconfiguration of the lead and trail relays relative to Mars was found to improve data rates compared to the baseline architecture, but at the expense of navigation quality. Insertion of the lead, trail, and halo relays into their respective orbits was found to be achievable with reasonable propulsive abilities.
DOI: 10.48577/jpl.p49nvz
title: Planning and Control for Autonomous Drives of the Mars Sample Recovery Helicopter

description: The planned Mars Sample Return (MSR) campaign is humanity’s first attempt at returning samples from the Martian surface to Earth. This campaign is composed of multiple Martian surface assets, including the Perseverance rover and the Sample Retrieval Lander; which collaborate to collect, retrieve, and ultimately return a diverse set of Martian rock and regolith samples. The Sample Recovery Helicopter (SRH) is a backup system of two hybrid aerial-ground robots that transport sample tubes from the Three Forks sample depot to the Sample Retrieval Lander (SRL) in the case that the Perservance rover is not able to transport its own cache of samples to SRL.An SRH robot is a hybrid aerial-ground vehicle, capable of flying between Three Forks and SRL, performing accurate drives from landing sites to tube pickup and dropoff locations, and handling sample tubes with a manipulator arm. With the weight constraint induced from flying in the Martian atmosphere, the ground mobility and sample manipulation subsystems are each subject to significant mass constraints (&lt; 150g each). The mobility system has a four wheel skid-steer configuration, with 10 cm diameter wheels, and a maximum rock height traversal capability of 3.5 cm. To enable the manipulator arm to pickup the tube, the robot must drive to within a pose error of ±2 cm in x, ±4cm in y, and ±5◦ in yaw. With this tight accuracy requirement, the low control authority of lightweight skid-steer vehicles, and low rock-height traversal, the mobility system requires a highly capable autonomous driving capability.This paper presents the design of the planning and control strategies for SRH autonomous driving, along with a quantitative evaluation of the platform’s ability to drive to a desired pose on Martian analogue terrain. The ABIT* anytime optimizing sampling-based planner is used to plan feasible and distance-efficient paths assuming an occupancy grid representation of the local environment. A path-following controller is then used to follow the generated path by using spot turn and straight drive motion primitives. A separate controller is used for the final approach to a target pose using drives along closed-loop shallow arcs. Performance evaluation results show that such a strategy reliably drives the skid-steer platform to within the required pose error.The decision to implement Mars Sample Return will not be finalized until NASA’s completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only.
DOI: 10.48577/jpl.of9w2g
title: Advances in the Use of Global Navigation Satellite System (GNSS) Polarimetric Radio Occultation (PRO) Measurements for NWP and Weather Applications

description: Conventional radio occultations (RO) are performed by tracking the phase delay induced in Global Navigation Satellite System (GNSS) signals as they propagate through the Earth’s atmosphere. Standard RO products such as bending angle profiles are routinely assimilated from the Constellation Observing System for Meteorology, Ionosphere and Climate (COSMIC-2) (Schreiner et. al., 2020) and commercially available RO into operational Numerical Weather Prediction (NWP) forecast models. The positive impact to forecasts of temperature, winds and precipitation when RO data are included in the model data assimilation (DA) system has been demonstrated (Ruston and Healy, 2021; Singh et. al., 2021, Prive et. al., 2022, Cucurull, 2023; IROWG, 2023).Polarimetric RO (PRO) enhances standard RO by receiving the GNSS signals with a dual-polarization RO receiver. The PRO concept has been flight-proven via the Radio Occultations and Heavy Precipitation (ROHP) experiment, operating onboard the Spanish PAZ satellite since May 2018 (Cardellach et. al., 2018). In addition to the capabilities of the conventional RO, PRO can provide an indication of precipitation at each vertical level, offering a potential to advance the assimilation of satellite data in precipitating conditions. Furthermore, these observations also provide unique diagnostics and observations for investigating the thermodynamic environment in and near convective precipitation (Neelin et. al., 2023), and assumptions underlying parameterizations used by operational NWP forecast models (Kidd et. al., 2013).This hybrid-format “2nd GNSS Polarimetric Radio Occultation workshop” follows on to the first (online-only) workshop from 2021. It represented a forum for addressing multiple uses and applications that have been studied in the nearly six years that PRO data have been available. The objectives of the workshop were threefold: (1) To provide potential users with an understanding of the PRO measurement concept, the available data, and the geophysical content within the PRO profile; (2) to provide data providers with a forum to better understand the requirements of scientific, NWP and climate model users, and (3) to connect these communities to develop new products and further the use of PRO in science and weather applications. Since many readers may be unfamiliar with the PRO concept, a brief description is provided, followed by summaries of presentations, discussion and ways forward on these three objectives is presented.
DOI: 10.48577/jpl.thtl70
title: NASA’s Cold Atom Laboratory: Four Years of Quantum Science Operations in Space

description: The Cold-Atom Laboratory (CAL) analyzes microgravity Bose-Einstein condensates (BECs) aboard the International Space Station. This note describes CAL’s operational setup, outlines its contributions to date, presents planned upgrades for the next few years, and considers design choices for microgravity BEC successor-mission planning.
DOI: 10.48577/jpl.bppjx8
title: Development of a Cloud-based Data Match-Up Service (CDMS) in Support of Ocean Science Applications

description: No abstract available.
DOI: 10.48577/jpl.jc7h9l
title: Robotic Operations for the First Sample Depot on Mars

description: The Perseverance rover has completed a very successful2.5 years on Mars. It has filled 24 of the 43 sample tubes itbrought to Mars and completed the Three Forks Sample Depoton January 28, 2023, where it deposited 10 of these samples onthe surface of Mars. Each deposited sample was sealed within aReturnable Sample Tube Assembly (RSTA) and attached gloveassembly (RGA). Creation of this sample depot has satisfied allof the prime mission requirements. The Mars Sample Returnmission aims to bring some of the samples that Perseverancecollects from Mars to Earth, either via direct delivery from thePerseverance rover to the Sample Retrieval Lander (SRL), orby deploying Sample Recovery Helicopters (SRH) to fly to thesamples and collect them. This paper describes the strategicplanning and tactical execution of the mobility, robotic arm,sampling and imaging activities that led to the very successfuldepot creation. A number of factors had to be consideredincluding SRH access, communication obstructions, view forimaging, and contingency handling. It discusses how the strategicplanning arrived at the plan for alternating two main typesof sols: drop and image, and drive and photoshoot. Drop andimage choreographed moves between the Perseverance externalrobotic arm and the Adaptive Caching Assembly (ACA) insidethe rover, which has a second robotic arm - the Sample HandlingArm - to image the sample before and after depositing it on theground. Drive and photoshoot consists of backing up and takingmid-drive images of the dropped sample. During the 42 Martiandays (sols) that it took to create and document the Three Forksdepot, the rover drove 207.93 meters, dropped 10 sample RGAs,and took 4000 images. Completion of this sample depot ensuresthat there will be samples for the Mars Sample Return missionto bring back to Earth for the first time.
DOI: 10.48577/jpl.vges6g
title: Collaborative Moonwalkers

description: We present the results of an advanced concept research for a collective of robotic rovers named Moonwalkers that implement bio-inspired motivations, distributed intelligence, and integrated deep learning techniques to demonstrate autonomous cooperative goal-directed lunar exploration with minimum human interventions. By borrowing concepts from biology, the Moonwalker rovers are driven by a set of balanced motivations (ex. Energy, safety, operating temperature, achievements, respect) that pushes rovers to accomplish mission goals while keeping the rover safe from potential dangers. Drawing from current neuroscience and computer science research, the Moonwalker rovers feature system 1 (low-level) and system 2 (high-level) cognitive functions based on a two-level memory architecture utilizing a pre-trained multi-modal model plus a graph knowledgebase leveraging knowledge graph embeddings. This neuro-symbolic approach allows the rovers to learn from and be guided by human knowledge, enabling zero-shot learning, collaborative planning, and reasoning like human explorers. We also describe the construction of a virtual simulation environment with prototype rover agents. By addressing selected problems, we demonstrate physics informed machine learning can enhance the effectiveness of the virtual test environment.
DOI: 10.48577/jpl.fcvroo
title: High Resolution Numerical Models of Corona Formation Integrating Magmatic Processes and Surface Fracturing (and Eclogitization)

description: No abstract available.
DOI: 10.48577/jpl.sz5uf4
title: Development Robotic Arm System Testbed for the Mars Sample Return Campaign

description: The NASA-ESA led Mars Sample Return campaign will be the first to deliver samples from another planet to thousands of scientists worldwide who will rewrite textbooks with their discoveries. A critical step in the campaign is the transfer of sample tubes from the surface of Mars to the ascent vehicle which will require a highly dexterous robotic arm and advanced control strategies. Development and testing of the control algorithms is being carried out at NASA’s Jet Propulsion Laboratory on R&D testbeds while the flight robotic arm is under development by the ESA. The algorithm testing requires a seven degree of freedom robotic arm testbed closely resembling the kinematic configuration of the flight design which utilizes comparable mechanical components and avionics. The actuators of the testbed were designed around off the shelf drivetrain and sensor components which resemble the operation and performance of their flight counterparts, without the added complexity and expense of extreme radiation, vibration and thermal robustness. The cable harnessing is largely off the shelf and is integrated into a cable management system commonly used on industrial robots which is cheaper, easier to install and modify than a custom ribbon cable solution. Each actuator was tested on the benchtop for performance characterization and qualification of load capability. The integrated robotic arm was kinematically calibrated using vision-based metrology and applied load test cases. This paper describes the design, construction, and commissioning of this testbed, dubbed Bradbury, which meets the needs of the sample handling algorithm testing campaign while remaining relatively inexpensive and efficient to construct and reconfigure.
DOI: 10.48577/jpl.vdstjy
title: Estimating the change in the mutual orbit of Dimorphos due to the DART impact

description: No abstract available.
DOI: 10.48597/tb9t-q435
title: Measurement of Inorganics in air and particle phase at Starina

description: Measurement of Inorganics in air and particle phase at Starina
DOI: 10.48597/tfu3-ea47
title: Measurement of Heavy metals at Leba

description: Measurement of Heavy metals at Leba
DOI: 10.48597/tvyg-xugd
title: Measurement of Nitrate at High Muffles

description: Measurement of Nitrate at High Muffles
DOI: 10.48597/tyh9-ntsf
title: Measurement of Precipitation_amount at Niembro

description: Measurement of Precipitation_amount at Niembro
DOI: 10.48597/ubqm-kk7g
title: Measurement of Aerosol light scattering at Granada

description: Measurement of Aerosol light scattering at Granada