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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2022

Aerosol and Cloud Optical Properties from the ARM Raman Lidars: The Feature Detection and Extinction (RLPROF-FEX) Value-Added Product

Aerosols and their interactions and influence on clouds are among the main sources of uncertainties in radiative direct and indirect forcing (IPCC 2013). Continuous height-resolved measurements of cloud and aerosol optical properties are needed to reduce these uncertainties. Here we describe the Raman Lidar Profiles – Feature detection and Extinction (RLPROF-FEX) Value-Added Product (VAP) derived using Raman lidar data at multiple U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility sites. RLPROF-FEX provides estimates of extinction, backscatter, and depolarization using the algorithm described by Thorsen et al. 2015 and Thorsen and Fu 2015. This document provides a description of the FEX algorithm, its input and output data, and related details about the Raman lidar (RL) system.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Autonomous Radiation Mapping and Quantification using an Unmanned Ground Vehicle. Part I - Environment Mapping

When characterizing facilities, advanced autonomous systems are safe, efficient, and cost-effective tools, which can safely deploy state-of-the-art instrumentation without exposing workers to radiation risks. One main focus of the research is the visual mapping of the environment.This paper presents a framework for the mapping aspect that utilizes lidar and SLAM technologies coupled with a monocular camera to create a point cloud of the environment. Upon completion, the present research work aims to provide an autonomous mobile robot the capability to localize itself and aid the user with visualizing the radiation data. Challenges: C++ node needs to properly synchronize image and point cloud data. 3D lidar has resolution of ± 3 cm. Proper camera calibration needed. Transforms need to be precise for proper alignment of image and point-cloud. Results: Voxelated point clouds. Accurate colors from calibrated cameras including details smaller than lidar resolution. Developed Robotics Operating System (ROS) package for ease of transfer to other robot platforms.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2024

TAMU TRACER: Targeted Mobile Measurements to Isolate the Impacts of Aerosols and Meteorology on Deep Convection

Difficulty in using observations to isolate the impacts of aerosols from meteorology on deep convection often stems from inability to resolve the spatiotemporal variations in the environment serving as the storm’s inflow region. During the DOE TRacking Aerosol Convection interactions ExpeRiment (TRACER) in June-September 2022, a Texas A&M University (TAMU) team conducted a mobile field campaign to characterize the meteorological and aerosol variability in airmasses that serve as inflow to convection across the ubiquitous mesoscale boundaries associated with the sea- and bay-breezes in the Houston, Texas, region. These boundaries propagate inland over the fixed DOE Atmospheric Radiation Measurement (ARM) sites. However, convection occurs on either or both the continental or maritime sides or along the boundary. The maritime and continental airmasses serving as convection inflow may be quite distinct, with different meteorological and aerosol characteristics that fixed-site measurements cannot simultaneously sample. Thus, a primary objective of TAMU TRACER was to provide mobile measurements similar to those at the fixed sites, but in the opposite airmass across these moving mesoscale boundaries. TAMU TRACER collected radiosonde, lidar, aerosol, cloud condensation nuclei (CCN), and ice nucleating particle (INP) measurements on 29 enhanced operations days covering a variety of maritime, continental, outflow, and pre-frontal airmasses. This paper summarizes the TAMU TRACER deployment and measurement strategy, instruments, available datasets, and provides sample cases highlighting differences between these mobile measurements and those made at the ARM sites. We also highlight the exceptional TAMU TRACER undergraduate student participation in high impact learning activities through forecasting and field deployment opportunities.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Infrastructure-Based Cooperative Perception at a Traffic Intersection: Overview and Challenges

Traffic intersections are crucial and challenging nodes in transportation networks where multiple lanes of vehicles and pedestrians converge. About one-quarter of traffic fatalities and about one-half of all traffic injuries in the United States happen at traffic intersections . Effective management of these intersections is important to ensure safety and efficiency of all users - vehicles, pedestrians, cyclists, and vulnerable road users (VRUs). With advancements in sensor perception technologies such as radar, light detection and ranging (lidar), and cameras, traffic intersections are developing into dynamic and data-rich environments. By using these data to create a real-time digital twin, we can enable real-time data-driven decision making and a range of applications such as sharing perception information to connected vehicles (CVs) and connected autonomous vehicles (CAVs), safety affirmative signaling, and curb optimizing to improve efficiency and enhance safety.This paper presents an overview of the concept and examines the challenges involved in implementing an infrastructure-based cooperative perception engine at a traffic intersection. In addition to outlining the physical components, this study also addresses important challenges involved in a multi-sensor system. We present results from deploying the National Renewable Energy Laboratory's (NREL's) Infrastructure Perception and Control (IPC) mobile trailer at a traffic intersection in the city of Colorado Springs, Colorado, USA that employed multiple radars and lidars to capture the data. This study provides necessary practical learning for the Cooperative Driving Automation (CDA) and traffic engineering communities for next-generation infrastructure-based cooperative perception that promises improvements in signal control for optimized traffic flow, among other applications, and documents findings for ongoing research and development efforts in other areas.

ADVANCED PROPULSION SYSTEMS,MATHEMATICS AND COMPUT↗
DOE OSTI2023

Cutting-Edge Operations Concepts: Intelligent Infrastructure, Cooperative Driving, Signal Control, and Curbside Management

The objective of this breakout session at the NREL Mobility workshop was to examine emerging traffic operations concepts built on key detection technology such as radars, lidars, and imaging recognition - and identify challenges and paths forward to integrate into our current roadway system. The key objective were to identify the opportunities for intelligent infrastructure to support near-term safety, equity, energy, and congestion mitigation goals, while supporting longer term connected-automated vehicle objectives. In the plenary session, Eric Raamot, from the USDOT Highly Automated Safety Systems Office challenged the participants to think broadly about the roll of standards and reference architecture to provide both an accelerated rollout of intelligent infrastructure, but also a repeatable and supportable framework upon which many infrastructure owners and operators (IOOs) could utilize for their implementation purposes.

ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2026

Dataset for "A primer on forest structure measurement with lidar for ecologists"

This repository includes data and code accompanying the case study included in the manuscript "A primer on forest structure measurement with lidar for ecologists" (submitted to Ecosphere). We compiled lidar datasets from multiple platforms in a common area to: 1. Demonstrate how differences in sensor characteristics influence density and resolution of lidar data. 2. Provide open-source, co-located datasets for users to further inspect differences in lidar data. 3. Provide example code to perform basic lidar analysis. This case study is meant to allow readers to get hands-on experience with real-world data from different platforms. This case study is not meant to be a rigorous comparison of derived ecological metrics among all sensors; such comparisons can be found throughout other publications referenced throughout the main manuscript. Code includes basic functions in R commonly used to visualize and manipulate lidar data accessible with a normal laptop computer; more sophisticated algorithms for advanced users are also referenced throughout the main manuscript. Terrestrial laser scanning (TLS), mobile laser scanning (MLS), UAS laser scanning (ULS), airborne laser scanning (ALS), and spaceborne laser scanning (SLS) data were collected within the Smithsonian Environmental Research Center (SERC) forest dynamics plot in Maryland, USA. TLS, MLS, and ALS data were collected within 1 month of the 2021 growing season; ULS data were collected in November 2020 (“leaf-off” data) and July 2022 (“leaf-on” data).

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Observations of airflow around a supertall curved building and its impact on temperature and humidity in Houston's urban center

Characterization of realistically shaped skyscrapers embedded in non-uniform neighbourhoods experiencing intricate weather patterns remains inadequately investigated. Aiming to close this gap, the Center for Multiscale Applied Sensing team deployed its mobile observatory in the street canyons around the curved Wells Fargo Plaza skyscraper in downtown Houston, TX. Three deployments allowed airflow observations under different inflow wind and thermodynamic stability conditions. Doppler lidar measurements reveal that when inflow hits the curved wall of the skyscraper, perpendicular canyons experience similar vortex configurations creating two windward and two leeward circulations. Windsond measurements support that buoyancy within the deep street canyons can generate thermal updrafts as strong as 2 m s -1 which is sufficient to overturn the mechanical downwash under gentle wind conditions. Canyons experiencing venting during the daytime were observed to be more thermodynamically stable at night while thermodynamically stable canyons during the day were observed to be more thermodynamically unstable at night owing to the accumulation of heat near street-level. Fourier decomposition of the vertical velocity measurements shows that in all cases flow exhibited high Reynolds numbers and was composed of turbulent eddies of predominantly 6 and 15 min periods. Here, this observational dataset provides insights to assess wind load, pedestrian comfort, urban air mobility, and natural ventilation and may be used as a benchmark for numerical model and wind tunnel studies attempting to represent realistically complex urban conditions.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Development of a Miniaturized Mobile Mapping System for In-Row, Under-Canopy Phenotyping

This paper focuses on the development of a miniaturized mobile mapping platform with advantages over current agricultural phenotyping systems in terms of acquiring data that facilitate under-canopy plant trait extraction. The system is based on an unmanned ground vehicle (UGV) for in-row, under-canopy data acquisition to deliver accurately georeferenced 2D and 3D products. The paper addresses three main aspects pertaining to the UGV development: (a) architecture of the UGV mobile mapping system (MMS), (b) quality assessment of acquired data in terms of georeferencing information as well as derived 3D point cloud, and (c) ability to derive phenotypic plant traits using data acquired by the UGV MMS. The experimental results from this study demonstrate the ability of the UGV MMS to acquire dense and accurate data over agricultural fields that would facilitate highly accurate plant phenotyping (better than above-canopy platforms such as unmanned aerial systems and high-clearance tractors). Plant centers and plant count with an accuracy in the 90% range have been achieved.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2024

Multi-Scale Integrated Monitoring System for Enhancing Methane Emission Detection, Quantification & Prediction

This report details the progress and findings of a comprehensive study on reviewing existing solutions, identifying technology gaps, and formulating an “all-in-one” integrated strategy for developing the next-generation multiscale methane monitoring and modeling platform, conducted under grant number DE-FE0032292. Co-led by Dr. David Ebert, Dr. Binbin Weng, and Dr. Chenghao Wang at the University of Oklahoma, the project’s goal was to develop an integrated approach for building this engineering platform to detect, quantify, and mitigate methane emissions across various temporal scale, spatial scales, and sectors. The planning grant study began with an extensive review of various methane sensing and monitoring technologies and systems, surveying over 100 technology providers globally. This review revealed the prevalence of optical methods over chemical methods in commercially available sensors, with Non-Dispersive Infrared (NDIR), Tunable Diode Laser Absorption Spectroscopy (TDLAS), and Optical Gas Imaging (OGI) cameras being the most prevalent options. A trend towards more advanced optical techniques was observed, driven by increased regulatory focus and technological advancements. The technical evaluation of these sensing technologies provided crucial insights into their capabilities and limitations. The study examined emerging technologies such as Differential Absorption LiDAR (DIAL), which show promise for high-precision and long-range detection. The team then investigated the features and application bandwidth of various sensing platforms, including handheld, fixed/stationary, mobile, aerials, and spaceborne monitors. Pilot field studies were conducted to assess the capabilities of solutions for different emission scenarios. Field work with sensor deployments was conducted at three distinct site types: an oil & gas industry site, a cattle ranching operation, and a waste processing facility. The team also conducted a thorough review of methane flux inverse modeling approaches, focused on physically based methods. These approaches were categorized into simple, intermediate, and advanced methods. A realtime WRF-GHG (Weather Research and Forecasting-Greenhouse Gas) modeling system was developed and applied, incorporating multiple data sources to guide field experiments and inform methane plume detection. The project identified and analyzed numerous categories of methane data sources, including satellite measurements, ground-based sensors, and inventory databases. Key platforms examined include EDGAR, EPA GHGI, NASA TROPOMI, Carbon Mapper, and Climate TRACE, among others. The team proposed an architecture for a comprehensive methane monitoring platform. This system incorporates multi-source data acquisition, advanced data processing and assimilation, interactive visualization tools, and analytical capabilities for emissions forecasting and scenario analysis. The proposed platform aims to provide a user-friendly interface catering to various stakeholders, from researchers to policymakers. The architecture includes sophisticated data ingestion methods, a centralized data warehouse, and advanced analytical tools for data fusion and interpretation. To ensure the relevance and effectiveness of the proposed system, a comprehensive survey was conducted to gather stakeholder input on system requirements. Key findings include a strong need for integrating various data types and formats, a preference for real-time data updates and advanced visualization tools, and a demand for user-friendly interfaces catering to different expertise levels.

03 NATURAL GAS↗
DOE OSTI2022

Automated Sorghum Phenotyping and Trait Development Platform

There is an urgent need to accelerate energy crop development for the production of renewable transportation fuels from biomass. Our interdisciplinary team developed mobile, ground-based and aerial phenotyping platforms and advanced remote sensing data analysis tools to acquire and process imagery from different types of cameras (e.g. RGB, multispectral, hyperspectral, and thermal sensors) and LiDAR point cloud data in large-scale sorghum field trials during phase 1 of the project. Phase 2 focused on Technology to Market activities to deliver these systems to the market place coupled with targeted research programs to address specific limitations or challenges for these systems.

09 BIOMASS FUELS↗
DOE OSTI2025

Optical Particle Measurements during EPCAPE Field Campaign Report

This campaign requested the deployment of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) User Facility optical particle counter (OPC) at the first ARM Mobile Facility (AMF1) located at the Scripps Pier in La Jolla, California during the Eastern Pacific Cloud Aerosol Precipitation Experiment (EPCAPE). The addition of the OPC was requested for two reasons. (1) Close the gap between the scanning mobility particle sizer (SMPS) and aerodynamic particle sizer (APS) size distribution from the Aerosol Observing System (AOS) measurements. (2) Principal investigator Petters has been working with Tracking Aerosol Convection Interaction Experiment (TRACER) data to compute particle fluxes from Doppler lidar (Petters et al. 2024). Briefly, backscatter flux is obtained using the eddy covariance technique using the Doppler vertical velocity and attenuated backscatter. Building upon prior studies, we were able to relate backscatter to particle number concentration by calibrating the lidar retrievals against optical particle counter-measured ground-based aerosol size distribution and radiosonde-interpolated relative humidity at lidar sample height. Performing similar analysis was of interest to EPCAPE to better understand the emissions and vertical transport of large particles into the overlying stratus clouds. However, as stated above, this analysis requires an optical size distribution that covers the 0.3-30-μm-diameter size range. The OPC was deployed between 2023-04-14 and 2024-02-14. The deployment, data quality analysis, and data archiving was handled by the DOE ARM instrument mentor team without additional involvement by the principal investigator. Data quality was marked as “routine” for the majority of the campaign.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

2020 Transportation Research Board Workshop: Infrastructure Spatial Sensing at Intersections: The Potential to Enhance Safety and Enable Automation

The sensing technology that is enabling vehicle automation also can revolutionize traffic intersection safety, control, and efficiency. Infrastructure spatial sensing technology refers to the deployment of sensors that can detect and track all objects in the field of view - for example, mounting lidar sensors, radar, and video imaging at an intersection and fusing the data to produce a three-dimensional dynamic operational awareness. Combining such sensing capability with fail-safe vehicle communications can facilitate applications such as eco-approach and departure, optimizing efficient vehicle-signal coordination, and reducing traffic accidents through increasing safety. Furthermore, evidence is mounting suggesting that infrastructure-based sensing is needed in order to safely deploy automated public mobility alongside the normal vehicle and pedestrian traffic in our cities. Six speakers were invited to present their work from various aspects (safety, efficiency, and automation) addressing infrastructure-based sensing at the workshop on Infrastructure Spatial Sensing hosted in Washington DC as part of the Transportation Research Board Annual Meeting in January 12, 2019. A summary of the presentation are included herein.

47 OTHER INSTRUMENTATION↗
DOE OSTI2026

Planetary Boundary-Layer Height (PBLHT) Value-Added Product: Remote-Sensing Retrievals

The planetary boundary layer (PBL) is fundamental to numerous atmospheric processes, including aerosol mixing and transport, cloud evolution, and precipitation formation. A critical parameter in these studies is the PBL height (PBLHT). This vertical depth is essential for characterizing PBL structures in numerical simulations and serves as a primary metric for estimating flux exchanges between the Earth’s surface and the atmosphere. Radiosonde (SONDE) observations provide high-vertical-resolution measurements of temperature and moisture profiles and are widely used to estimate PBLHT (Liu and Liang 2010, Seidel et al. 2010). The U.S. Department of Energy Atmospheric Radiation Measurement (ARM) User Facility’s PBLHT value-added product (VAP) for radiosonde measurements, known as PBLHTSONDE, applies three commonly used methods—the Heffter (1980) method, the Liu and Liang (2010) method, and the bulk Richardson number approach (Seibert et al. 2000)—to derive PBLHT. The PBLHTSONDE VAP operates routinely at ARM observatories and mobile facilities, with data available from the ARM Data Center shortly after sounding observations are collected (Sivaraman et al. 2013). However, radiosonde observations are limited by their low temporal resolution. Most stations launch soundings only twice daily, which constrains the ability to investigate and characterize the temporal evolution of the PBL using radiosonde data alone. The use of continuous remote-sensing observations provides high temporal resolution of PBLHT estimates. These observations include aerosol lidars (Dang et al. 2019, Su et al. 2020), Doppler lidar (DL; Tucker et al. 2009, Krishnamurthy et al. 2021), and water vapor and/or temperature lidars and radiometers (Turner et al. 2014). These observations provide valuable data on the PBL’s thermodynamic properties (e.g., water vapor and/or temperature lidars and radiometers), dynamic properties (e.g., DL), and distribution of tracer substances (e.g., aerosol lidars), all of which can be used to estimate PBLHT. ARM developed PBLHT estimates from the micropulse lidar (MPL; PBLHTMPL), Doppler lidar (PBLHTDL), and combined Raman lidar (RL)/atmospheric emitted radiance interferometer (AERI) thermodynamic profiles (PBLHTTHERMO). Each estimate captures different physical characteristics of the boundary layer—aerosol tracers, vertical velocity turbulence, and thermodynamic structure—and exhibits distinct strengths and limitations depending on the PBL regime and time of day. In addition, the ARM ceilometer (CEIL) provides three potential PBLHT candidates derived from the vendor's built-in algorithm. Building on these individual retrievals, ARM developed the PBLHTBEML VAP, which combines the four remote-sensing-based estimates with ancillary meteorological variables using the machine learning approach of Zhang et al. (2025) to produce a best-estimate PBLHT at 10-minute resolution.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2021

Estimation of Possible Primary Biological Particle Emissions and Rupture Events at the Southern Great Plains ARM Site

We use 10 years of data from the Department of Energy (DoE) Atmospheric Radiation Measurements (ARM) United States Southern Great Plains (SGP) site with nearby regional pollen and fungal spore measurements to indirectly estimate the seasonal influence of these two primary biological aerosol particles (PBAP). We estimate possible primary emissions of larger PBAP and PBAP rupture events, which form submicron organic aerosol during precipitation or high relative humidity. High pollen counts at two urban stations near SGP occur during late winter/early spring (day of year (DOY) 50–120) and late summer (DOY 240–310). Around 4–19 days per year show possible pollen events (PPE) when near-surface lidar observations of daily linear particle depolarization ratio >0.1 are coincident with high organic aerosol fraction. For PPE days with rainfall, aerosol size distribution observations show enhanced submicron particle concentrations consistent with pollen rupture events. For fungal spores, high fungal spore counts occur during late spring/early summer (DOY 110–195) and late summer/autumn (DOY 220–340). Based on size distribution observations, up to 7% of days have possible fungal spore rupture events (PFE) with higher aerosol number count specifically over the range expected for fungal spore fragment mobility diameter (20–50 nm). These short-lived PFE correlate with rainfall or occur after prolonged exposure to rainfall (e.g., >10 h). While the SGP site lacks direct measurements of bioaerosol and large particle sizes, this analysis suggests that PBAP primary emissions and rupture events could occur about 32 days per year, representing an important component of the aerosol budget during seasonal emissions.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

WM26 Paper Multi-Robot Collaboration for Hazardous Environments

Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.

42 - ENGINEERING↗
DOE OSTI2021

Facilitating Large‐Scale Snow Shedding from In‐Field Solar Arrays using Icephobic Surfaces with Low‐Interfacial Toughness

Abstract Large‐scale accrual of snow and ice on solar arrays in northern latitudes can cause significant power generation losses during winter. Depending on environmental conditions, snow can encompass a wide range in physical characteristics from dry snow (modulus ≈100 kPa and density ≈0.1 g cm −3 ) to bulk ice (modulus ≈8 GPa and density ≈0.9 g cm −3 ). This variation in snow morphology has made the development of a passive, broad‐spectrum, snow and ice‐shedding surface challenging. Here, the authors develop one of the first surfaces that simultaneously possesses both low‐interfacial strength ( τ˄ ice < 50 kPa) and toughness (Γ ice < 0.5 J m −2 ) with ice. These surfaces, fabricated via the addition of mobile polymer chains/oils to a thin polymeric coating, require extremely low detachment forces for ice, enabling its passive shedding at virtually any accretion length scale. Preliminary evidence that the new surfaces can shed different forms of snow and ice from field‐deployed solar arrays, over a range of subzero temperatures for several weeks, leading to significant increases in power generation is provided. The optically transparent surfaces are easily scalable and can be widely deployed by the solar industry in areas that see persistent snow. Other applications include automotive windshields, LIDAR covers for autonomous vehicles, and cold climate optical sensors.

Dhyani, Abhishek↗
DOE OSTI2020

Photonic methods and technologies for monitoring the ocean and atmosphere

In this paper, we review photonic methods and technologies that are promising for monitoring the ocean and atmosphere and have been implemented mainly in recent years at the Institute of Automation and Control Processes, Far Eastern Branch, Russian Academy of Sciences. We present results of lidar studies that have made it possible to understand key features of ocean – atmosphere interaction processes under continent – ocean transition conditions, which determine specific features of the atmospheric aerosol distribution, small gaseous components of the atmosphere and its optical characteristics. We consider methods and tools for combined optical and laser fluorescence monitoring of the ocean surface. Particular attention is paid to results of research on remote methods and tools for real-time laser-induced and laser fluorescence environmental monitoring of the ocean, including specialised fibre-optic probes and mobile underwater robotic systems. We present results of the development and investigation of highly sensitive, noise-proof fibre-optic hydro- and seismic/acoustic sensors for remote monitoring of the ocean and robotic systems for underwater laser protection of marine vessels, hydraulic structures and oceanographic instruments against the negative impact of biofouling. (invited paper)

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2026

A Modular Accelerator Robotics Framework for AD Robotics

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khan, M. [Fermilab; Rensselaer Poly.; Unlis↗