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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Using Host Galaxy Photometric Redshifts to Improve Cosmological Constraints with Type Ia Supernovae in the LSST Era

We perform a rigorous cosmology analysis on simulated Type Ia supernovae (SNe Ia) and evaluate the improvement from including photometric host galaxy redshifts compared to using only the "z spec " subset with spectroscopic redshifts from the host or SN. We use the Deep Drilling Fields (~50 deg 2 ) from the Photometric LSST Astronomical Time-Series Classification Challenge (PLAsTiCC) in combination with a low-z sample based on Data Challenge2. The analysis includes light-curve fitting to standardize the SN brightness, a high-statistics simulation to obtain a bias-corrected Hubble diagram, a statistical+systematics covariance matrix including calibration and photo-z uncertainties, and cosmology fitting with a prior from the cosmic microwave background. Compared to using the z spec subset, including events with SN+host photo-z results in (i) more precise distances for z > 0.5, (ii) a Hubble diagram that extends 0.3 further in redshift, and (iii) a 50% increase in the Dark Energy Task Force figure of merit (FoM) based on the w 0 w a CDM model. Analyzing 25 simulated data samples, the average bias on w 0 and w a is consistent with zero. The host photo-z systematic of 0.01 reduces FoM by only 2% because (i) most z < 0.5 events are in the z spec subset, (ii) the combined SN+host photo-z has ×2 smaller bias, and (iii) the anticorrelation between fitted redshift and color self-corrects distance errors. To prepare for analyzing real data, the next SN Ia cosmology analysis with photo-zs should include non–SN Ia contamination and host galaxy misassociations.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

The Atacama Cosmology Telescope: A Measurement of the DR6 CMB Lensing Power Spectrum and Its Implications for Structure Growth

We present new measurements of cosmic microwave background (CMB) lensing over 9400 deg of the sky. These lensing measurements are derived from the Atacama Cosmology Telescope (ACT) Data Release 6 (DR6) CMB data set, which consists of five seasons of ACT CMB temperature and polarization observations. We determine the amplitude of the CMB lensing power spectrum at 2.3% precision (43σ significance) using a novel pipeline that minimizes sensitivity to foregrounds and to noise properties. To ensure that our results are robust, we analyze an extensive set of null tests, consistency tests, and systematic error estimates and employ a blinded analysis framework. Our CMB lensing power spectrum measurement provides constraints on the amplitude of cosmic structure that do not depend on Planck or galaxy survey data, thus giving independent information about large-scale structure growth and potential tensions in structure measurements. The baseline spectrum is well fit by a lensing amplitude of A lens = 1.013 ± 0.023 relative to the Planck 2018 CMB power spectra best-fit ΛCDM model and A lens = 1.005 ± 0.023 relative to the ACT DR4 + WMAP best-fit model. From our lensing power spectrum measurement, we derive constraints on the parameter combination $S^{CMBL}_{8}$ ≡ σ 8 (Ω m /0.3) 0.25 of $S^{CMBL}_{8}$ = 0.818 ± 0.022 from ACT DR6 CMB lensing alone and $S^{CMBL}_{8}$ = 0.813 ± 0.018 when combining ACT DR6 and Planck NPIPE CMB lensing power spectra. These results are in excellent agreement with ΛCDM model constraints from Planck or ACT DR4 + WMAP CMB power spectrum measurements. Our lensing measurements from redshifts z ~ 0.5–5 are thus fully consistent with ΛCDM structure growth predictions based on CMB anisotropies probing primarily z ~ 1100. We find no evidence for a suppression of the amplitude of cosmic structure at low redshifts.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2025

Multimodality in the Search for New Physics in Pulsar Timing Data and the Case of Kination-amplified Gravitational-wave Background from Inflation

We investigate the kination-amplified inflationary gravitational-wave background (GWB) interpretation of the signal recently reported by various pulsar timing array (PTA) experiments. Kination is a post-inflationary phase in the expansion history dominated by the kinetic energy of some scalar field, characterized by a stiff equation of state w = 1. Within the inflationary GWB model, we identify two modes that can fit the current data sets (NANOGrav and EPTA) with equal likelihood: the kination-amplification (KA) mode and the ordinary, no-kination-amplification (no-KA) mode. The multimodality of the likelihood motivates a Bayesian analysis with nested sampling. We analyze the free spectra of current PTA data and mock free spectra constructed with higher signal-to-noise ratios using nested sampling. The analysis of the mock spectrum designed to be consistent with the best fit to the NANOGrav 15 yr (NG15) data successfully reveals the expected bimodal posterior for the first time while excluding the reheating mode that appears in the fit to the current NG15 data, making a case for our correct and comprehensive treatment of potential multimodal posteriors arising from future PTA data sets. The resultant Bayes factor is $\mathcal{B}$ $\equiv$ Z no–KA /Z KA = 2.9 ± 1.9, indicating comparable statistical significance between the two modes. Given the theoretical model-building challenges of producing highly blue-tilted primordial tensor spectra, the KA mode has the advantage of requiring less blue primordial spectra, compared with the no-KA mode. The synergy between future cosmic microwave background polarization, pulsar timing, and laser interferometer measurements of gravitational waves will help resolve the ambiguity implied by the multimodal posterior in PTA-only searches.

Cosmology↗
DOE OSTI2026

The Thermal and Kinematic Sunyaev–Zeldovich Effect in Galaxy Clusters and Filaments Using Multifrequency Temperature Maps of the Cosmic Microwave Background: A399–A401 Cluster Pair Case Study

We present a multifrequency and multi-instrument methodology to study the physical properties of galaxy clusters and cosmic filaments using cosmic microwave background observations. Our approach enables simultaneous measurement of both the thermal (tSZ) and kinematic Sunyaev–Zeldovich (kSZ) effects, incorporates relativistic corrections, and models astrophysical foregrounds such as thermal dust emission. We do this by jointly fitting a single physical model across multiple maps from multiple instruments at different frequencies, rather than fitting a model to a single Compton-y map. We demonstrate the success of this method by fitting the A399–A401 galaxy cluster pair and filament system using archival data from the Planck satellite and new, targeted deep data from the Atacama Cosmology Telescope, covering 11 different frequencies over 14 maps from 30 GHz to 545 GHz. Our tSZ results are consistent with previous work using Compton-y maps. We measure the line-of-sight peculiar velocities of the cluster–filament system using the kSZ effect and find statistical uncertainties on individual cluster peculiar velocities of ≲600 km s −1 , which are competitive with current state-of-the-art measurements. Additionally, we measure the optical depth of the filament component with a signal-to-noise of 8.5σ and reveal hints of its morphology. This modular approach is well-suited for application to future instruments across a wide range of millimeter and submillimeter wavebands.

Gill, Ajay S. [National Research Council of Canada↗
DOE OSTI2022

Testing the Cosmological Principle: Astrometric Limits on Systemic Motion of Quasars at Different Cosmological Epochs

A sample of 60,410 bona fide optical quasars with astrometric proper motions in Gaia Early Data Release 3 and spectroscopic redshifts above 0.5 in an oval 8400 square degree area of the sky is constructed. Using orthogonal Zernike functions of polar coordinates, the proper motion fields are fitted in a weighted least-squares adjustment of the entire sample and of six equal bins of sorted redshifts. The overall fit with 37 Zernike functions reveals a statistically significant pattern, which is likely to be of instrumental origin. The main feature of this pattern is a chain of peaks and dips mostly in the R.A. component with an amplitude of 25 μ as yr -1 . This field is subtracted from each of the six analogous fits for quasars grouped by redshifts covering the range 0.5 through 7.03, with median values of 0.72, 1.00, 1.25, 1.52, 1.83, 2.34. The resulting residual patterns are noisier, with formal uncertainties up to 8 μ as yr -1 in the central part of the area. We detect a single high-confidence Zernike term for the R.A. proper motion components of quasars with redshifts around 1.52 representing a general gradient of 30 μ as yr -1 over 150° on the sky. We do not find any small- or medium-scale systemic variations of the residual proper motion field as functions of redshift above the 2.5 σ significance level.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2022

Using Maximum Circular Velocity in Halo Occupation Distribution Models to Predict Galaxy Clustering

Abstract Standard halo occupation distribution (HOD) models predict how galaxies occupy halos based on a single property, the virial mass, M vir . To incorporate galaxy assembly bias, we consider alternative halo mass proxies to use in the HOD. A promising replacement is maximum circular velocity, V max , which measures the halo’s potential well, and successfully predicts galaxy clustering in subhalo abundance matching models. We fit galaxy clustering measurements from SDSS DR7 with two modified HODs besides the standard M vir -based model: one where V max is used as the halo property that determines galaxy occupation, and the other adopting an adjustable combination of M vir and V max . Except for the reduced volume M r < − 20 threshold sample fit with V max alone, neither change improves the model performance in predicting the projected two-point correlation function, w p . We conclude that switching the primary variable to V max does not significantly improve the HOD model’s ability to fit galaxy clustering.

Mezini, Lorena↗
DOE OSTI2024

High-precision measurement of the W boson mass with the CMS experiment at the LHC

In the standard model of particle physics, the masses of the carriers of the weak interaction, the W and Z bosons, are uniquely related. Physics beyond the standard model could change this relationship through the effects of quantum loops of virtual particles, thus making it of great importance to measure these masses with the highest possible precision. Although the mass of the Z boson is known to the remarkable precision of 22 parts per million (2.0 MeV), the W boson mass is known much less precisely, given the difficulty of the measurement. A global fit to electroweak data, used to predict the W boson mass in the standard model, yields an uncertainty of 6 MeV. Reaching a comparable experimental precision would be a sensitive and fundamental test of the standard model. Furthermore, a precision measurement of the W boson mass performed by the CDF Collaboration at the Fermilab Tevatron has challenged the standard model by significantly disagreeing with the prediction of the global electroweak fit and the average of other $m_\mathrm{W}$ measurements. We report the first W boson mass measurement by the CMS Collaboration at the CERN LHC, based on a data sample collected in 2016 at the proton-proton collision energy of 13 TeV. The W boson mass is measured using a large sample of W$\toμν$ events via a highly granular binned maximum likelihood fit to the kinematic properties of the muons produced in the W$^{+}$ and W$^{-}$ boson decays. The significant in situ constraints of theoretical inputs and their corresponding uncertainties, together with an accurate determination of the experimental effects, lead to a precise W boson mass measurement, $m_\mathrm{W} =$ 80$\,$360.2 $\pm$ 9.9 MeV, in agreement with the standard model prediction.

FOS: Physical sciences↗
DOE OSTI2025

Algorithm to extract direction in 2D discrete distributions and a continuous Frobenius norm

In this study, we present a novel algorithm for determining directionality in 2D distributions of discrete data. We compare a reference dataset with a known direction to a measured dataset with an unknown direction by the Frobenius norm of the difference (FND) to find the unknown direction. To generalize this concept, we develop a continuous Frobenius norm of the difference (CFND) as a continuous analog of the FND and derive its analytical expression. By relating fitted and normalized 2D Gaussian distributions, we show that the CFND approximates the FND, and we validate this relationship with computer simulations. We find that a first-order approximation of the CFND between two similar Gaussian distributions takes the form of an absolute sine function, offering a simple analytical form with potential for specialized applications in segmented inverse beta decay (IBD) neutrino detectors, astronomy, machine learning, and more. Although this method may easily extend to 3D scalar fields, our focus here is on 2D real-valued fields as it directly applies to directionality. Our methodology consists of modeling a 2D Gaussian distribution, binning the data into a histogram, and encoding it as a square matrix. Rotating this matrix around its geometric center and comparing it to a measured dataset using the FND gives us rotational data that we fit with an absolute sine function. The location of the minimum of this fit is the angle closest to the true angle of the direction in the measured dataset. We present the derivation and discuss initial applications of the CFND in our novel algorithm, demonstrating its success in approximating directionality in 2D distributions.

Data Analysis, Statistics and Probability (physics↗
DOE OSTI2024

Profiling the molecular destruction rates of temperature and humidity as well as the turbulent kinetic energy dissipation in the convective boundary layer

A simultaneous deployment of Doppler, temperature, and water-vapor lidars is able to provide profiles of molecular destruction rates and turbulent kinetic energy (TKE) dissipation in the convective boundary layer (CBL). Horizontal wind profiles and profiles of vertical wind, temperature, and moisture fluctuations are combined, and transversal temporal autocovariance functions (ACFs) are determined for deriving the dissipation and molecular destruction rates. These are fundamental loss terms in the TKE as well as the potential temperature and mixing ratio variance equations. These ACFs are fitted to their theoretical shapes and coefficients in the inertial subrange. Error bars are estimated by a propagation of noise errors. Sophisticated analyses of the ACFs are performed in order to choose the correct range of lags of the fits for fitting their theoretical shapes in the inertial subrange as well as for minimizing systematic errors due to temporal and spatial averaging and micro- and mesoscale circulations. We demonstrate that we achieve very consistent results of the derived profiles of turbulent variables regardless of whether 1 or 10 s time resolutions are used. We also show that the temporal and spatial length scales of the fluctuations in vertical wind, moisture, and potential temperature are similar with a spatial integral scale of ≈160 m at least in the mixed layer (ML). The profiles of the molecular destruction rates show a maximum in the interfacial layer (IL) and reach values of ϵ m ≃ 7 x 10 -4 g 2 kg −2 s −1 for mixing ratio and ϵ θ ≃ 1.6 x 10 -3 K 2 s −1 for potential temperature. In contrast, the maximum of the TKE dissipation is reached in the ML and amounts to ≃ 10 -2 m 2 s −3 . We also demonstrate that the vertical wind ACF coefficient k w ∝ $\overline{w'^{2}}$ and the TKE dissipation ϵ ∝ ($\overline{w'^{2}}$) 3/2 . For the molecular destruction rates, we show that ϵ m ∝ $\overline{m'^{2}}$ ($\overline{w'^{2}}$) 1/2 and ϵ θ ∝ $\overline{θ'^{2}}$ ($\overline{w'^{2}}$) 1/2 . These equations can be used for parameterizations of ϵ, ϵ m , and ϵ θ . All noise error bars are derived by error propagation and are small enough to compare the results with previous observations and large-eddy simulations. The results agree well with previous observations but show more detailed structures in the IL. Consequently, the synergy resulting from this new combination of active remote sensors enables the profiling of turbulent variables such as integral scales, variances, TKE dissipation, and the molecular destruction rates as well as deriving relationships between them. The results can be used for the parameterization of turbulent variables, TKE budget analyses, and the verification of large-eddy simulations.

dissipation rate↗
DOE OSTI2025

NOvA 2024 official data release (26.61E20 neutrino + 12.5E20 antineutrino)

This data release corresponds to the Bayesian 2024 analysis of NOvA $\nu_e$ appearance and $\nu_{\mu}$ disappearance data, corresponding to analysis described in https://arxiv.org/abs/2509.04361. File `NOvA_2024_data_histograms.root` contains data histograms for all the NOvA data samples. Exposure: * neutrino-enhanced beam: 26.61E20 protons on target * antineutrino-enhanced beam: 12.5E20 protons on target External constraints: * ss2th12=0.851, dm21=7.53e-5 are fixed at 2019 PDG values, with negligible effect on NOvA predictions. * ss2th13 & dm32: * RCDB1D: 1D constraint from Daya Bay for ss2th13, 0.0851+/-0.0024 * RCDB2D: Correlated 2D constraint from Daya Bay on ss2th13 & dm32, available in their official 2023 data release: https://journals.aps.org/prl/abstract/10.1103/PhysRevLett.130.161802#supplemental An additional file containing the predictions (`NOvA_2024_prediction_with_systs_histograms.root`) for all channels’ signal and background components computed at the NOvA best-fit oscillation parameters and systematic pull terms. Numu samples include the no-oscillation case as well. Please note that any fits performed with these histograms are not expected to exactly reproduce the official NOvA results as parameterizations of the numerous systematic uncertainties considered in the official fits are not included in this release. The zip file also contains the 2D credible interval contours, with details in a README.md

Sztuc, Artur [University Coll. London] (ORCID:0000↗
DOE OSTI2025

CTN-004: Rubin Observatory Raw Data File Format

At the NSF-DOE Vera C. Rubin Observatory we write data from the LSSTCam and LATISS instruments using FITS format with one file written per detector. Here we discuss the layout of those FITS files and describe the FITS headers.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2020

Extracting maximal frequency response potential in controllable loads

Methods and apparatus are disclosed for extracting maximal frequency response potential in controllable loads. In one example, a method includes assigning a fitness metric to at least one electrical device coupled to a power grid, assigning a frequency threshold based on the fitness metric, and transmitting the assigned frequency threshold to the at least one electrical device. The fitness metric can be based at least in part on an availability component and a quality component associated with the at least one device and the frequency threshold can cause the at least one electrical device to activate autonomously based on a frequency of the power grid.

Lian, Jianming↗
DOE OSTI2022

Testing multiflavored ULDM models with SPARC

We perform maximum likelihood estimates (MLEs) for single and double flavor ultralight dark matter (ULDM) models using the Spitzer Photometry and Accurate Rotation Curves (SPARC) database. These estimates are compared to MLEs for several commonly used cold dark matter (CDM) models. By comparing various CDM models we find, in agreement with previous studies, that the Burkert and Einasto models tend to perform better than other commonly used CDM models. We focus on comparisons between the Einasto and ULDM models and analyze cases for which the ULDM particle masses are: free to vary; and fixed. For each of these analyses, we perform fits assuming the soliton and halo profiles are: summed together; and matched at a given radius. When we let the particle masses vary, we find a negligible preference for any particular range of particle masses, within $10^{-25}\,\text{eV}\leq m\leq10^{-19}\,\text{eV}$, when assuming the summed models. For the matched models, however, we find that almost all galaxies prefer particles masses in the range $10^{-23}\,\text{eV}\lesssim m\lesssim10^{-20}\,\text{eV}$. For both double flavor models we find that most galaxies prefer approximately equal particle masses. We find that the summed models give much larger variances with respect to the soliton-halo (SH) relation than the matched models. When the particle masses are fixed, the matched models give median and mean soliton and halo values that fall within the SH relation bounds, for most masses scanned. When the particle masses are fixed in the fitting procedure, we find the best fit results for the particle mass $m=10^{-20.5}\,\text{eV}$ (for the single flavor models) and $m_1=10^{-20.5}\,\text{eV}$, $m_2=10^{-20.2}\,\text{eV}$ for the double flavor, matched model. We discuss how our study will be furthered using a reinforcement learning algorithm.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
DOE OSTI2023

Development of a Versatile Analysis Method for the Isotopic Characterization of Alpha Spectra

Over the past several years significant work has been performed at Idaho National Laboratory to build an alpha-particle spectrometry capability and expertise for a wide range of applications that include technical nuclear forensics, nuclear safeguards, and environmental monitoring. This development has led to a diverse collection of sample types and preparations measured with varied solid-state detector materials and configurations. Several characteristics of a measured alpha pulse height spectrum make performing localized fits of individual peak shapes unfeasible. Alternatively, the entirety of the spectrum must be fit concurrently to extract isotopic information. An analysis tool has been developed to perform isotopic characterization of alpha spectra. This process included a study of both the mathematical model used to represent the detector response of an alpha-particle as well as the algorithm used to fit the spectrum.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

Examination of Digital-Delay Rossi-$\alpha$ for 252 Cf-Driven Highly Enriched Uranium Using Organic Scintillators

Neutron noise techniques constitute several analysis methods applicable to non-destructive assay. One technique is the Rossi-α method to calculate the prompt neutron decay constant (α) or its inverse, the prompt neutron period (1/α), for assemblies of fissionable material. This work evaluates a high-data-throughput measurement at the National Criticality Experiments Research Center (NCERC) with organic scintillators measuring a subcritical assembly of highly enriched uranium (HEU) metal (93% 235 U). The assembly comprises hemi shells stacked together to form fully closed shells and is driven by a Cf source at the center. The assembly is a total of 59.85 kg HEU and a k eff of 0.99, according to MCNP6.2 KCODE simulations. Measurements were acquired with a three-by-four array of 5.08-cm-diameter by 5.08-cm-length trans-stilbene crystals 166 cm from the assembly center. Two types of coincident binning methods are used to build the Rossi-α distribution of coincident neutron detections: A) type 1 binning, also known as any-and-all forward time differences, and B) type 1 binning with a digital-delay technique that is analogous to Orndoff’s use of delay cabling in early Rossi-alpha measurements. Method B) disregards same-detector coincidences and once all nearest time coincidences are collected between all detectors after a trigger, a time delay of 0.75 µs is implemented. The measured prompt neutron decay constants for both techniques are calculated from single exponential fits and the two methods are compared. Method A) shows an apparent timing discontinuity near 500 ns time differences. This timing discontinuity interferes with the fitting method used to calculate the prompt neutron decay constant. Method B) mitigates the artificial timing discontinuity and removes the disagreement of the fit. Future work will model the time-dependent detector response to discern why this timing discontinuity occurs, discern how Method B) reduces the amplitude of this timing discontinuity, and apply this method to critical assembly measurements to ultimately confirm the recommendation to use Method B) for high-data-throughput measurements.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2023

Selection of Training Sets for 235U Source Detection Classifiers Using Gamma Signatures

The machine learning methods for classifiers to detect low level radiation sources are of interest when suitable training data sets are available. Their application and performance assessment, however, involves the aspects of over-fitting and training data selection that are somewhat uncommon in other existing methods for this task.We study U-235 gamma signatures using data sets collected by 21 NaI detectors under controlled conditions. The gamma spectra are collected by the detectors located at different distances from the source, and we study their choice as training sets for classifiers to detect a source. The detectors form the near, middle and outer groups based on the distance to source. The classifiers based on the outer group are susceptible to over-fitting, that is, they achieve low training error but incur much higher testing error in independent tests. The other two groups achieve lower training error and comparable testing error, and the near group achieves the overall lowest error. In detecting a source at an unknown distance, the farther detectors in the middle group achieve the overall lowest testing error with limited over-fitting, thereby indicating the complex dependencies between the training and classifier performance.

Rao, Nageswara↗
DOE OSTI2023

Using pyrometry to identify porosity in additively manufactured structures

A method and apparatus for identifying porosity in a structure made by an additive manufacturing process in which a laser is scanned across layers of material to form the structure. Pyrometry data comprising images of the layers acquired during additive manufacturing of the structure is received. The pyrometry data is used to generate temperature data comprising estimated temperatures of points in the layers in the images of the layers. The temperature data is used to identify shapes fit to high temperature areas in the images of the layers. Conditions of the shapes fit to the high temperature areas in the images of the layers are identified. Outlier shapes are identified in the shapes fit to the high temperature areas in the images of the layers using the conditions of the shapes.

Mitchell, John A.↗
DOE OSTI2020

Radioactive Source Localization via Bayesian Particle Filter

In the event of a misplaced radioactive source or other emergency situation, measuring a radiation field, mapping its distribution, and determining a source location are essential tasks to ameliorating the situation. However, radiation fields may be extremely hazardous to human surveyors and minimizing received radiation doses is just as essential. Robots appear to be a potential solution to these problems. Beyond simply measuring radiation, the robot's computer processing capabilities offer a way to apply complex data analysis methods to radiation measurements in real-time. Methods which predict likely source locations can then feed this information into other processes, potentially improving path planning and enabling more efficient measurements. Given a robot mounted with a gamma-ray detector, can we: develop a methodology to account for detector performance across a wide range of source angles, distances, and photon energies? operate an autonomously navigating robot to effectively survey and characterize an area of interest? implement a data analysis method, conventionally used in measurements of motion, for source localization purposes? An open-source TurtleBot 3 robot, running Robot Operating System (ROS) on Ubuntu 16.04 LTS, was fitted with a Kromek GR1{sup R} Cadmium Zinc Telluride (CZT) solid-state gamma-ray detector. As a part of ROS, the packages OpenSlam, gmapping, and amcl were used to perform Simultaneous Localization and Mapping (SLAM), determining the robot's position and mapping the surrounding area. Data was acquired via Lidar mounted on top the TurtleBot 3. Detector Calibration Fit: The equation was fit to 365 counts of various energies, distances, and angles. A MATLAB{sup R} program was written to simulate measurements taken a robot on a random walk, with count data and positions discretized into finite element pixels. Using this program, a sample of 100 runs was performed on a map with a simulated source at the center, with a total of 200 of 2 pixels each. Similarly, multiple runs of the filter were performed on recorded robot measurement data. In both simulation and real tests, when corrected for errors (particles placed outside of bounds or on the robot, and simulation-specific errors), corresponding t-tests of predicted x and y-coordinates were within a 95% confidence interval of the actual position. For the real trial, these positions are slightly skewed right in the x-axis as the robot remained mainly to the left side of the source within the sample area. These simulations demonstrate potential validity for the usage of a particle filter as method of radioactive source localization. In the future, true real-time implementation and data fusion may further augment the performance of the robot to localize lost sources. Additionally, identification of multiple sources, determination of source types, and usage of a collimator are areas to potentially be explored.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗