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On 28 May 2019, a tornadic supercell, observed as part of Targeted Observation by UAS and Radars of Supercells (TORUS) produced an EF-2 tornado near Tipton, Kansas. The supercell was observed to interact with multiple preexisting airmass boundaries. These boundaries and attendant air masses were examined using unoccupied aircraft system (UAS), mobile mesonets, radiosondes, and dual-Doppler analyses derived from TORUS mobile radars. The cool-side air mass of one of these boundaries was found to have higher equivalent potential temperature and backed winds relative to the warm-side air mass; features associated with mesoscale air masses with high theta-e (MAHTEs). It is hypothesized that these characteristics may have facilitated tornadogenesis. The two additional boundaries were produced by a nearby supercell and appeared to weaken the tornadic supercell. This work represents the first time that UAS have been used to examine the impact of preexisting airmass boundaries on a supercell, and it provides insights into the influence environmental heterogeneities can have on the evolution of a supercell.

 

The Targeted Observation by Radars and UAS of Supercells (TORUS) field project observed two supercells on 8 June 2019 in northwestern Kansas and far eastern Colorado. Although these storms occurred in close spatial and temporal proximity, their evolutions were markedly different. The first storm struggled to maintain itself and eventually dissipated. Meanwhile, the second supercell developed just after and slightly to the south of where the first storm dissipated, and then tracked over almost the same location before rapidly intensifying and going on to produce several tornadoes. The objective of this study is to determine why the first storm struggled to survive and failed to produce mesocyclonic tornadoes while the second storm thrived and was cyclically tornadic. Analysis relies on observations collected by the TORUS project—including unoccupied aircraft system (UAS) transects and profiles, mobile soundings, surface mobile mesonet transects, and dual-Doppler wind syntheses from the NOAA P-3 tail Doppler radars. Our results indicate that rapid changes in the low-level wind profile, the second supercell’s interaction with two mesoscale boundaries, an interaction with a rapidly intensifying new updraft just to its west, and the influence of a strong outflow surge likely account for much of the second supercell’s increased strength and tornado production. The rapid evolution of the low-level wind profile may have been most important in raising the probability of the second supercell becoming tornadic, with the new updraft and the outflow surge leading to a favorable storm-scale evolution that increased this probability further.

 

We present a data-driven framework for strategy synthesis for partially-known switched stochastic systems. The properties of the system are specified using linear temporal logic (LTL) over finite traces (LTLf), which is as expressive as LTL and enables interpretations over finite behaviors. The framework first learns the unknown dynamics via Gaussian process regression. Then, it builds a formal abstraction of the switched system in terms of an uncertain Markov model, namely an Interval Markov Decision Process (IMDP), by accounting for both the stochastic behavior of the system and the uncertainty in the learning step. Then, we synthesize a strategy on the resulting IMDP that maximizes the satisfaction probability of the LTLf specification and is robust against all the uncertainties in the abstraction. This strategy is then refined into a switching strategy for the original stochastic system. We show that this strategy is near-optimal and provide a bound on its distance (error) to the optimal strategy. We experimentally validate our framework on various case studies, including both linear and non-linear switched stochastic systems. 

We propose a predictive runtime monitoring approach for linear systems with stochastic disturbances. The goal of the monitor is to decide if there exists a possible sequence of control inputs over a given time horizon to ensure that a safety property is maintained with a sufficiently high probability. We derive an efficient algorithm for performing the predictive monitoring in real time, specifically for linear time invariant (LTI) systems driven by stochastic disturbances. The algorithm implicitly defines a control envelope set such that if the current control input to the system lies in this set, there exists a future strategy over a time horizon consisting of the next N steps to guarantee the safety property of interest. As a result, the proposed monitor is oblivious of the actual controller, and therefore, applicable even in the presence of complex control systems including highly adaptive controllers. Furthermore, we apply our proposed approach to monitor whether a UAV will respect a “geofence” defined by a geographical region over which the vehicle may operate. To achieve this, we construct a data-driven linear model of the UAVs dynamics, while carefully modeling the uncertainties due to wind, GPS errors and modeling errors as time-varying disturbances. Using realistic data obtained from flight tests, we demonstrate the advantages and drawbacks of the predictive monitoring approach.