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At least 361 records · Page 20

Examining astrophysical gas cloud collapse using an optical depth-scaled, x-ray-irradiated, carbon-foam sphere

When stellar radiation interacts with a molecular cloud, the cloud's fate depends on the strength of the incident radiation and the radiation's mean-free-path within the cloud [F. Bertoldi, Astrophys. J. 346, 735–755 (1989)]. Under the right conditions, the radiation compresses the cloud and a star formation may occur. Where and when the stellar formation occurs in the cloud's collapse are open questions. Direct observation of the complete star–cloud lifecycle is nearly impossible due to the immense timescales and distances over which the interaction occurs. Laboratory astrophysics offers a way to investigate such a system by scaling the important astrophysical parameters to the laboratory. This work describes laboratory experiments to study the radiation-driven implosion of clouds, using x rays from a laser-irradiated, thin, gold foil as a surrogate star and a carbon-foam sphere as a surrogate cloud. An optically thick system, theoretically corresponding to a star-forming regime, was selected by choice of the foam density. Gold foil and sphere motions were imaged by x-ray radiography. Radiographic images show the formation of an interface between rarefied gold and carbon plasmas, a shock moving into the sphere, and a blunting of the initial sphere's shape. Measurements show that the shock moved linearly around 64 μm/ns into the sphere, and the gold–carbon interface formed by 2 ns at the sphere edge remained stationary. The deformation of the sphere was driven by the incident radiation and not by mechanical pressures applied by gold plasma. The blunting of the sphere was likely due to the geometric reduction of flux near the sphere's poles. Higher x-ray flux near the sphere's equator caused high compression and a faster shock, which flattened the sphere. We will discuss the results and implications of our observations.

VanDervort, R. W. [University of Michigan 1 , Ann ↗

Six More Ultra-faint Milky Way Companions Discovered in the DECam Local Volume Exploration Survey

We report the discovery of six ultra-faint Milky Way satellites identified through matched-filter searches conducted using Dark Energy Camera (DECam) data processed as part of the second data release of the DECam Local Volume Exploration (DELVE) survey. Leveraging deep Gemini/GMOS-N imaging (for four candidates) as well as follow-up DECam imaging (for two candidates), we characterize the morphologies and stellar populations of these systems. We find that these candidates all share faint absolute magnitudes (M$_{V}$ ≥ −3.2 mag) and old, metal-poor stellar populations (τ > 10 Gyr, [Fe/H] < −1.4 dex). Three of these systems are more extended (r$_{1/2}$ > 15 pc), while the other three are compact (r$_{1/2}$ < 10 pc). From these properties, we infer that the former three systems (Boötes V, Leo Minor I, and Virgo II) are consistent with ultra-faint dwarf galaxy classifications, whereas the latter three (DELVE 3, DELVE 4, and DELVE 5) are likely ultra-faint star clusters. Using data from the Gaia satellite, we confidently measure the proper motion of Boötes V, Leo Minor I, and DELVE 4, and tentatively detect a proper-motion signal from DELVE 3 and DELVE 5; no signal is detected for Virgo II. We use these measurements to explore possible associations between the newly discovered systems and the Sagittarius dwarf spheroidal, the Magellanic Clouds, and the Vast Polar Structure, finding several plausible associations. Our results offer a preview of the numerous ultra-faint stellar systems that will soon be discovered by the Vera C. Rubin Observatory and highlight the challenges of classifying the faintest stellar systems.

79 ASTRONOMY AND ASTROPHYSICS↗

ARM Cloud and Precipitation Measurements and Science Group (CPMSG) 2024 Workshop Report

The mission of the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility is to improve the understanding and representation of cloud and aerosol processes and their interaction with the Earth's surface in Earth system models (ESMs) by providing comprehensive field observations and supporting advanced data analytics. The ARM Cloud and Precipitation Measurements and Science Group (CPMSG) was chartered in March 2019 to help improve the performance and scientific impact of ARM measurements of clouds and precipitation. The group aims to identify and address gaps in measurement capabilities, maximize the scientific impact of ARM data, and effectively serve the scientific community. To achieve these goals, the group includes experts in cloud and precipitation science, as well as representatives from ARM infrastructure, including instrument mentors, engineers, data quality officers, and data product translators. Prior to CPMSG, early discussions on cloud and precipitation measurements primarily focused on improving radar systems, but have since evolved to include a broader scope involving radiometers and other instruments. Since its formation, the CPMSG has gathered feedback using science traceability matrices. CPMSG aims to keep these as living documents to show the measurement needs, scientific drivers, roadblocks, maturity of measurements and retrievals, and pathways to model improvements. The group meets quarterly to discuss and prioritize measurement and operational improvements.

54 ENVIRONMENTAL SCIENCES↗

Assessment and Coordination of EVSE Cybersecurity Standards

Cybersecurity certification programs for Electric Vehicle Supply Equipment (EVSE) are fragmented due to no single certification covering all aspects of the device and additionally the existence of multiple programs and under different levels of regulation. These devices are also confronted by the intricate assembly of product software, firmware, and hardware. Devices contain both logical and physical interfaces. These multifaceted devices have vulnerabilities at many levels and interconnect with other potentially vulnerable systems including the electric vehicle, the cloud where data and payment information are stored, and the electric grid and electric grid equipment including utilities. Of the EVSE certification programs that are found, none are directly for the cybersecurity of EVSE. Many standards are for safety, specifically battery safety, some are cybersecurity standards for other types of equipment and can be modeled for EVSE. In specific, ISA/IEC 62443 is found to be significantly in line with EVSE security needs and will be used in future testing to certify EVSE and help guide the project to demonstrate where gaps exist, where strengths lie in the standard and how this can be used to lead the certification efforts in harmonizing EVSE cybersecurity standards. In addition, there are multiple efforts that are currently seeking to build EVSE standards or revise existing standards to address gaps. This effort is seeking to establish a cybersecurity program for EVSE that will inform customers and help increase the level of security across products and state EVSE procurements to achieve consistency across different jurisdictions.

33 ADVANCED PROPULSION SYSTEMS↗

Cloud Radiative Effects on MJO Development in DYNAMO

Observed Madden-Julian Oscillation (MJO) events are examined with the aid of regional model simulations to understand the role of cloud radiative effects in the MJO development. The importance of this role is demonstrated by the absence of MJO in the model simulations that contain no cloud radiative effects. Comparisons of model simulations with and without the cloud radiative effects and observation help identify the major processes arising from those effects. Those processes develop essentially from heating in the upper-troposphere due to shortwave absorption within anvil clouds in the upper troposphere and the convergence of longwave radiation in the middle-upper troposphere, with a peak at 300-hPa, during deep convection. First, that heating adds extra buoyancy and accelerates the rising motion in the upper troposphere in deep convection. The vertical acceleration in the upper troposphere creates a vacuum effect and demands for more deep convection to develop. Second, in response to that demand and required by mass balance arises the large-scale horizontal and vertical mass, moisture, and energy convergence. It strengthens deep convection and, with the feedback from continuing cloud radiative effect, creates conditions that can perpetuate deep convection and MJO development. That perpetuation does not occur however because those processes arising from the cloud radiative heating in the upper troposphere stabilize the troposphere till it supports no further deep convection. Weakening deep convection reduces cloud radiative effects. The subsequent reduction of the vacuum effect in the upper troposphere diminishes deep convection completing an MJO cycle. These results advance our understanding of the development of the MJO in the radiative-convective system over warm waters in the tropics. They show that while the embryo of intraseasonal oscillation may exist in the system its growth/development is largely dependent on cloud radiative effects and feedbacks.

54 ENVIRONMENTAL SCIENCES↗

Extratropical Cloud Feedback Constrained by Cloud Sources and Sinks in Cyclones

Constraining cloud feedback in global climate models (GCMs) using observations is important for establishing accurate predictions of future climate. Uncertainty in shortwave cloud feedback (SW FB ) dominates uncertainty in total cloud feedback. Recent studies show a shift toward more positive extratropical SW FB in the latest generations of GCMs leading to the emergence of very high equilibrium climate sensitivity (ECS). In this study, we use precipitation efficiency and albedo susceptibility to constrain liquid water path (LWP) response to warming and SW FB in the Southern Ocean (SO; 50°–80°S). We analyze precipitation in extratropical cyclones (ECs) to learn about extratropical condensed water sink processes, combined with observations of clouds and moisture convergence, and use the analysis to better understand and constrain SW FB . We utilize a perturbed parameter ensemble (PPE) hosted in the Community Atmosphere Model, version 6 (CAM6), to provide a constraint on SW FB based on observations from Clouds and the Earth’s Radiant Energy System (CERES) and Multisensor Advanced Climatology of LWP (MAC-LWP). We apply Gaussian process regression to emulate the model response to all parameters perturbed in the PPE. Confronting the emulator output with observations provides a new estimated response of Earth to global warming. Furthermore, our new estimates of SO LWP reduce the PPE range by 66%–72%, which results in a shortwave cloud radiative effect estimated range that is 27%–34% less than the PPE range. Observations suggest a more positive SO SW FB than the Community Earth System Model, version 2 (CESM2), and consequently do not reject the high climate sensitivity GCMs emerging from the Coupled Model Intercomparison Project phase 6 (CMIP6).

Atmosphere↗

Interactions Between Clouds and Wind-Driven Surface Heat Exchanges over Land

Earth system model experiments show that increasing horizontal resolution fundamentally alters the simulated soil-moisture-precipitation feedback. Kilometer-scale simulations often produce weaker or even negative feedback compared to coarse-resolution models. A key difference of kilometer-scale models is that they resolve mesoscale secondary circulations, including boundary layer horizontal rolls and cellular structures, in addition to cold pools and downdrafts associated with convective precipitation. However, because the relevant processes occur on yet-smaller scales, these circulations are often poorly resolved. This project demonstrated that boundary layer secondary circulations significantly affect surface heat exchanges and wind gusts, and that current model parameterizations can misrepresent these processes at kilometer-scale resolution. Using DOE Atmospheric Radiation Measurement (ARM) observations and targeted experiments with the DOE Energy Exascale Earth System Model (E3SM), we identified physically unrealistic wind gust and surface flux responses to secondary circulations, diagnosed a systematic overestimation of wind shear in convective cold pools, and uncovered a multivariate relationship between land surface fluxes and the scales of updrafts that form shallow cumulus clouds. These findings provide observation-based recommendations for improving parameterizations of surface fluxes and wind gusts in high-resolution Earth system models, thereby reducing uncertainty in convective storm prediction and land-atmosphere feedbacks.

54 ENVIRONMENTAL SCIENCES↗

Development of the ARM Lagrangian Large-Scale Forcing Data (ARMLAGTRAJ) Value-Added Product Based on the lagtraj Framework

The Atmospheric Radiation Measurement (ARM) large-scale forcing data developed based on the constrained variational analysis (VARANAL) value-added product (VAP) (Zhang and Lin 1997, Zhang et al. 2001, Xie et al. 2004, Tang et al. 2019) has been widely used for single-column models (SCMs), cloud-resolving models (CRMs), and large-eddy simulation models (LESs) to understand and improve physical processes in models. Recently, the U.S. Department of Energy (DOE) ARM user facility conducted several major field campaigns using ship-based moving observational platforms. For example, the Marine ARM GPCI Investigation of Clouds (MAGIC) field campaign focused on the role of subtropical marine-boundary layer (MBL) clouds, and the Multidisciplinary Drifting Observatory for the Study of Arctic Climate (MOSAiC) field campaign aimed to improve understanding of the coupled climate systems in the Arctic. Observations from moving platforms are critical to provide a comprehensive characterization of coupled-system processes associated with all stages of the cloud and/or sea-ice life cycle. Traditional ARM large-scale forcing data have been developed at fixed locations. They need to be extended to include these moving platforms to address data needs for ship-based field campaigns or to support LES modeling in a Lagrangian framework. With these considerations in mind, we develop ARM-type Lagrangian large-scale forcing data sets based on the lagtraj framework (Boeing et al. 2020) with notable enhancements in generating forcings that are more suitable for ARM field campaigns. The lagtraj is a novel tool that generates forcings for LES and SCM simulation in both Lagrangian and Eulerian perspective. This technical report focuses on the major changes we performed on the lagtraj algorithm and provides an overview of the ARM Lagrangian Large-Scale Forcing Data (ARMLAGTRAJ) value-added products.

54 ENVIRONMENTAL SCIENCES↗

Mechanisms Behind the Long‐Distance Diurnal Offshore Precipitation Propagation in Northwestern South America

Abstract Northwestern South America (NWSA) is the rainiest region on Earth, with diurnal precipitation exhibiting extensive westward offshore propagation of up to about 1,200 km in boreal spring (March‐May). The diurnal offshore precipitation propagation begins slowly (3–10 m s −1 ) near the coast of NWSA (<200 km) but accelerates significantly (∼20 m s −1 ) and shows an afternoon enhancement far from the coast (>400 km). However, the driving mechanisms behind this long‐distance precipitation propagation remain unclear. Using a new cloud tracking and classification data set, we found that mesoscale convective systems (MCSs) are the dominant precipitation contributors in the offshore region of NWSA. Cloud tracking shows that the long‐distance propagation and the afternoon enhancement of diurnal precipitation primarily originate from MCSs initiated in the early morning, either over open oceans or from the coast of Central America. Composite tendency analysis shows that MCSs initiated near the coast of Central America have significant upward cooling and moistening signals starting from the surface before initiation. Further analysis of surface diurnal perturbation fields indicates that the land breeze is the primary driving mechanism for MCS initiation. Conversely, for MCSs initiated over open oceans, a significant downward cooling signal from 400 hPa is observed ∼7 hr before initiation, corresponding to the passage of diurnal gravity waves emitted from the Andes. Additionally, our findings highlight the critical role of lower and mid‐level moisture conditions in MCS initiation, alongside the influence of gravity waves.

Hu, Jingyi [Department of Meteorology and Atmosphe↗

Self-Assembly Driven Microlithography via Near-Infrared Light Activation

Current vat photopolymerization (VP) relies on UV or visible light to start the rapid crosslinking of liquid photocurable resins into 3D-printed structures. Here, we develop a self-assembly-driven photopatterning approach to photothermally generate polymeric solids by combining thermoplasmonic nanoparticles and thermoresponsive polymers, in which near-infrared (NIR) light activates thermoplasmonic heating of nanoparticles, triggering the irreversible self-assembly of thermoresponsive polymers into insoluble mesoglobules. A small amount of thermal initiator and crosslinker leads to irreversible self-assembly of polymer nanocomposites. NIR light offers deeper penetration and reduced scattering compared to UV, enabling more uniform curing of thicker or filled materials and expanded process control for composites or opaque systems. Thermoplasmonic heat generation is achieved using surface-modified gold nanorods (AuNRs) with a longitudinal localized surface plasmon resonance peak in the NIR region. Key variables such as polymer composition, molecular weight, physical interactions at the nanoparticle–polymer interface, which can be tuned by surface functionalization, AuNR concentration, and pH can be used to tailor the assembly behavior of these systems, including photothermal effect, flocculation, and cloud point temperature, and the mechanical properties of the final structures. Collectively, these results highlight a platform for photothermally-driven microlithography of polymer solids with diverse, tunable macroscopic properties, enabled by low-energy NIR light-activated self-assembly.

36 MATERIALS SCIENCE↗

The Role of In-Cloud Wet Removal in Simulating Aerosol Vertical Profiles and Cloud Radiative Forcing

Among the physical processes controlling aerosol vertical profiles, in-cloud wet removal is of utmost importance while its representation in global climate models (GCMs) is crude. In this study, we implement into the Community Atmosphere Model version 6 (CAM6) a physically based aerosol wet removal parameterization scheme that explicitly treats aerosol activation, removal and resuspension. Evaluation against in-situ observations shows that the default scheme substantially overestimates the upper tropospheric black carbon (BC) and sea salt mass. Our physically based scheme reduces BC and sea salt mass by a factor of 10 and 1,000, respectively, in better agreement with observations. Also, the new scheme slightly increases number of aerosol particles between 12 nm and 4.8 μm in diameter, thereby mitigating the aerosol number underestimation in the default scheme. Our new scheme reduces the overestimation of coarse-mode aerosol (0.5–4.8 μm) number. Overall, the aerosol property changes (mass decrease and number increase) reduce the cloud condensation nuclei (CCN) concentration at low supersaturation (i.e., 0.02% and 0.1%), and increase CCN at high supersaturations (i.e., 0.5% and 1%). Consequently, the global annual mean cloud liquid water path increases by 1.89 g m -2 and the ice water path increases by 0.51 g m -2 . The global annual mean shortwave, longwave, and net cloud radiative forcing change by -1.06, 0.57, and -0.48 W m -2 , respectively. Further improvement is needed to reflect the real physics that the removal efficiencies for aerosol mass and number are disproportionate and to advect cloud-borne (activated) aerosols for a complete aerosol lifecycle.

54 ENVIRONMENTAL SCIENCES↗

Raw_data_Batch_I: Argonne to Shorewood via I-55

Date of collection: May 12, 2023 Location: Interstate 55, DuPage County, IL This data set contains lidar and vision data collected along a round trip between I-55 Exit 273A and Exit 253. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![argonne shorewood image](argone-shorewood.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Ashland Avenue

Date of collection: May 26, 2023 Location: Ashland Avenue, Chicago, IL This data set contains lidar and vision data collected along Ashland Avenue. A south-to-north run starts from the intersection of Irving Park and Ashland and ends at Andersonville Garden. A north-to-south run starts from Andersonville Garden and ends around the intersection of Irving Park and Ashland. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![ashland avenue image](ashland-avenue.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Downers Grove to Darien

Date of collection: May 11, 2023 Location: Downers Grove to Darien, IL This dataset contains lidar and vision data collected in Downers Grove and Darien, IL. The vehicle started in Downers Grove at the intersection of Main and Ogden, headed east. At the intersection of Odgen and IL 83, it then headed south until IL 33 and then west along IL 33 until the intersection of IL 33 and Lemont Road. It then headed north along Lemont Road/Main Street until the intersection of Main and Ogden. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![downers grove image](downers-grove-darien.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Garfield Ridge

Date of collection: May 4, 2023 Location: Garfield Ridge, Chicago, IL This data set contains lidar and vision data collected in Garfield Ridge, Chicago. The vehicle started from the intersection of Garfield Ridge and S. Harlem, headed east until S. Central Ave. The vehicle headed south along S. Central Ave. until West 60th Street, headed west, and turned north along S. Austin Ave. until it turned west onto W. 59th Street. The vehicle then headed north along S. Harlem Ave. and returned to the intersection of Garfield Ridge and S. Harlem. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![garfield ridge image](garfield-ridge.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Lakeshore Drive

Date of collection: May 18, 2023 Location: Lakeshore Drive, Chicago, IL Content: “North to South” “South to North” This data set contains lidar and vision data collected along Lakeshore Drive. The “South to North” folder starts from the intersection of Lakeshore Drive and 31st Street and ends at Hollywood Towers Chicago. The “North to South” folder starts from the intersection of Lakeshore Drive and Sheridan Avenue and ends at the 31st Street intersection. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![lakeshore drive image](lakeshore-drive.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Lisle to Waterfall Glen

Date of collection: May 11, 2023 Location: DuPage County, IL This dataset contains lidar and vision data collected between Lisle, IL, and the Waterfall Glen parking lot. The vehicle started near Cass School District 63, headed east along IL 34. The vehicle then turned south along IL 83 until Interstate 55. Finally, the vehicle turned southwest along I 55 until Exit 273A and headed toward the Waterfall Glen parking lot. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![lisle waterfall image](lisle-waterfall.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

Raw_data_Batch_I: Randall Road

Date of collection: June 3, 2022 Location: Randall Road, DuPage County, IL Content: “North to South” “South to North” This data set contains lidar and vision data collected along Randall Road in DuPage County, Illinois. The “South to North” folder starts at 1480 N. Orchard Road, Aurora, IL 60506, headed north along Randall Road until 238 N. Randall Road, St. Charles, IL 60174. The “North to South” folder starts from 238 N. Randall Road, St. Charles, IL 60174, headed south along Randall Road until 1480 N. Orchard Road, Aurora, IL. The data contains the following Robot Operating System (ROS) topics: - /Central_Camera_blurred – Image flow from coaxial camera heading, vehicle front. - /Left_Camera_blurred – Image flow from left camera, 60° from central camera on the left side. - /Right_Camera_blurred – Image flow from right camera, 60° from central camera on the right side. - /camera0/camera_info – Intrinsic and distortion information of left camera. - /camera0/projection_matrix – Extrinsic matrix of left camera from lidar. - /camera2/camera_info – Intrinsic and distortion information of central camera. - /camera2/projection_matrix – Extrinsic matrix of central camera from lidar. - /camera5/camera_info – Intrinsic and distortion information of right camera. - /camera5/projection_matrix – Extrinsic matrix of right camera from lidar. - /novatel/oem7/bestpos – Latitude, longitude, and elevation information from NovAtel GNSS-INS system. - /points_raw – VLP-32 lidar point cloud. - /tf – Vehicle base frame. The data are organized into a data description file and one or more ROS .bag files, dependent on original file size. The data description file provides information about the data collection date, location, and detailed mapping, while the .bag file(s) contain the actual data. Please note that for the purpose of securing personally identifiable information, all license plates and faces included in this publication have been intentionally blurred during real-time processing. ![randall road image](randall-road.png)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗