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At least 739 records · Page 41

Monitoring installation of partially occluded subassemblies in modular construction factories using BIM, ray tracing, and computer vision

Modular and offsite construction methods are being increasingly adopted due to the advantages they offer in terms of project completion time, quality, and energy-efficiency. Despite these advantages, the current state of monitoring systems in modular construction factories highly relies on labor-intensive, subjective, and error-prone observational methods. A large body of research has aimed to automate the monitoring process using an array of sensors, such as IMUs and RFIDs, during the past two decades. Recently, computer vision-based methods have gained increasing interest as a non-intrusive technology to monitor the process inside modular construction factories. However, partial occlusion challenges have impeded their practical application on a large scale. This challenge is specifically important for monitoring the installation of subassemblies since they can obstruct the view of the monitoring camera, especially those that enable long-term monitoring like closed-circuit television (CCTV) fixed-view surveillance cameras. Here, this paper aims to address this challenge by proposing a novel computer vision-based method to monitor the installation of new subassemblies inside modular factories in highly occluded scenes. The proposed methodology identifies the subassemblies in the CCTV video footage using computer vision, analyzes the occlusions using BIM and ray casting techniques, and estimates the progress of assembly by comparing the BIM model with the detected subassemblies in the video. The proposed methodology was successfully validated on surveillance videos captured from a volumetric modular construction factory in the U.S., achieving 93% accuracy in identifying the installation of subassemblies. The results from this research show that the integration of BIM and computer vision is a promising method for monitoring the installation processes inside modular factories under severe occlusion.

97 MATHEMATICS AND COMPUTING↗

The AGN-201 Digital Twin: A test bed for remotely monitoring nuclear reactors

Research reactors have historically provided researchers and scientists with a means for testing and understanding the workings of nuclear phenomena. With the lack of new research reactors built in the past decades, it is important now more than ever to utilize and provide evidence for the usefulness of research reactors. Here, this work explores the use of the AGN-201 research reactor at Idaho State University as a test bed for developing a digital twin (named the AGN-201 DT) to realize remote monitoring for nuclear reactors. The goal of the AGN-201 DT is to monitor the AGN-201 reactor and detect when undeclared events take place to provide information for a monitoring agency. The AGN-201 DT was able to detect (without a priori knowledge) when multiple undeclared experiments were placed in the core using on-the-fly machine learning and reactor physics analysis. The AGN-201 reactor provided a test bed for developing, deploying, and testing a digital twin for monitoring nuclear reactors.

21 - SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLAN↗

An adaptive model-free robotic force control strategy for hydrodynamic real-time hybrid simulation of floating offshore wind turbines

Real-time hybrid simulation (RTHS) - a cyber-physical testing approach - promises to enhance the simulation fidelity of the model-scale experiments used to prototype floating offshore wind turbines (FOWTs). In hydrodynamic RTHS (hydro-RTHS), actuators emulate aerodynamic forces on model-scale FOWT specimens subjected to physical waves in a hydrodynamic laboratory. Robotic arms are promising candidates for actuation in hydro-RTHS due to their compact multi-degree-of-freedom (DOF) capabilities. Unlike classical RTHS for seismic applications, which typically relies on displacement control, hydro-RTHS requires 6-DOF force control on newly designed floating prototypes in a model-scale setting, which presents significant challenges, including modeling uncertainties, directional asymmetry, configuration drift, bandwidth limitations, and time-varying delays. To mitigate these constraints without extensive pre-test calibration, this study proposes an adaptive model-free robotic force control strategy that combines task-space explicit force control with a secondary joint-space pose-keeping task. The Adaptive Feedforward Compensator (AFC) is integrated into the force control loop to compensate for time-varying delay. Experimental testing was conducted using a Franka Emika Panda robotic arm with a 1:50 scale FOWT specimen under operational wind and wave conditions. Results demonstrate stable and consistent 6-DOF force tracking. Effective delay compensation was observed, with low-frequency delay reductions ranging from 71.4% to 91.8% and improvements in low-frequency surge force tracking of 25.0% to 52.1%. This study enhances robotic actuation performance in hydro-RTHS and introduces a force control strategy that supports reliable robotic operation in uncertain floating environments. Future work will explore disturbance-observer mechanisms to further enhance wave rejection capabilities under extreme wind and wave conditions.

17 WIND ENERGY↗

Comparison of structurally diverse simulation models for prediction of epidemic outcomes caused by a long-distance dispersed pathogen

Long-distance dispersal (LDD) pathogens pose substantial challenges for epidemic control due to their ability to generate new infection foci at great distances. While various modeling approaches have been developed to understand and manage such outbreaks, little work has compared how models of different structures behave under shared conditions. Here, in this study, we compare four structurally distinct epidemiological models — EPIMUL, GEMF, PoPS, and Warwick — each adapted to simulate the spread of wheat stripe rust (WSR), a wind-dispersed LDD pathogen, under identical epidemiological parameters and dispersal kernel. Using data from a controlled field experiment, we evaluate the ability of each model to replicate disease prevalence under nine intervention scenarios that vary in timing and culling area. While the models differ substantially in design — ranging from spatial grid-based to network-based and raster-based frameworks — the shared dispersal kernel allowed for close alignment in their predictions. All models accurately captured general epidemic trends, particularly the strong effect of early intervention on disease suppression. We qualitatively compared their behavioral responses across scenarios and also evaluated an ensemble prediction by averaging across model outputs. Our findings highlight how integrating shared epidemiological components into distinct modeling frameworks can improve consistency and accuracy, while reinforcing the importance of early culling in managing LDD pathogen outbreaks.

Dispersal kernel↗

Chromium enhances the mechanical performance of 3d transition metal high entropy alloys

A comprehensive examination of the compositional effects on the deformation behavior of high entropy alloys (HEAs) was conducted through nanoindentation, indentation creep, and stress relaxation experiments at ambient temperature. The alloys investigated included NiCoFe, NiCoCr, NiCoCrFe, and NiCoCrFeMn, all of which underwent identical thermomechanical processing. From the experimental results, NiCoCr exhibited the highest maximum shear stress for dislocation nucleation (13 GPa) and nanoindentation hardness (3.8 GPa) among the alloys tested. It also showed the lowest stress sensitivity (0.02) and activation volume (3–4 b 3 ) under creep and stress relaxation conditions, indicative of its superior plastic flow properties. Density functional theory (DFT) calculations further revealed an uneven charge density and larger bonding-length variation in NiCoCr due to the presence of Cr, which increased lattice distortion, impeding dislocation movement. Furthermore, in this study, post-deformation microscopy using transmission electron microscopy (TEM) revealed a high density of stacking faults and twins in NiCoCr that effectively enhanced its creep strength. The results highlight the significance of specific elemental effects, particularly from Cr in this study, over configurational entropy effect (i.e., compositional complexity) in governing the deformation microstructure and mechanical properties of HEAs. Finally, these insights will be instrumental for the design and optimization of advanced alloys for load-bearing applications.

36 - MATERIALS SCIENCE↗

Back to Basics: Lanthanide and Heavy Actinide Chelation at High pH by Niobium Polyoxometalates

Niobium polyoxometalates (Nb-POMs) form in alkaline media, which limits their use as ligands for acidic cations, particularly lanthanides and actinides. Metal-Nb-POM moieties have the potential for emergent and enhanced properties, based on strong complexation behavior and high stability of the resultant materials. Here, in this study, we probe interactions of lanthanides (Pr 3+ , Nd 3+ , Sm 3+ , Eu 3+ , Tb 3+ , Dy 3+ ) and actinides (Am 3+ , Cm 3+ ) with a Nb-POM [Nb 6 O 19 ] 8– (Nb 6 ) in alkaline media. Nb 6 , the most charge-dense Nb-POM, enhances f-element luminescence emission by up to × 10 6 , via Nb-POM-mediated sensitization. Lengthened emission lifetimes correlate with the release of the metal-cation hydration sphere, replaced by multidentate Nb-POMs. The Nb 6 –Ln(An) complexes resist carbonate and phosphate displacement, and Nb 6 –Ln(An) complexation is retained upon isolation of the solids from solution. Electrospray ionization mass spectrometry (ESI-MS) and Raman spectroscopy both indicate the formation of the unprecedented Peacock–Weakley Nb-POM ([LnIII(Nb 5 O 18 ) 2 ] 19- ) in addition to simple Nb 6 –Ln coordination complexes. Luminescence emission spectra support the presence of simple Nb 6 –Ln coordination complexes. Small-angle X-ray scattering (SAXS) evidence the formation of Ln-Nb-POM aggregates. This foundational investigation highlights the potential of Nb-POMs as metal–ligands at basic pH, with value-added properties including scaffolding extended materials and controlling light absorption and emission.

organic↗

Chemoproteomic Elucidation of β-Lactam Drug Targets in Mycobacterium abscessus

The pathogen Mycobacterium abscessus (Mab) can cause severe and difficult-to-treat chronic lung infections. Despite the rising incidence and clinical concern of Mab infections, treatment options are limited and often ineffective. Treatment is complicated by Mab’s ability to persist in a nonreplicating, drug-resistant state. Several β-lactam antibiotics are potently bactericidal against Mab but are underutilized because their molecular mechanisms of action against Mab are incompletely understood. In the current study, we used β-lactam-derived activity-based probes and chemoproteomics to report the first comprehensive list of Mab enzymes targeted by β-lactams. We compared β-lactam targets across two Mab subspecies in actively replicating and nonreplicating cultures, using a new carbon starvation model of persistence. We identified 17 targets that were active in every condition tested, seven of which were previously unknown to bind β-lactams. Lastly, we characterized the β-lactamase activity and β-lactam inhibition profiles of nine Mab enzymes, demonstrating that imipenem inhibits these targets more effectively than cefoxitin. These findings demonstrate β-lactam target engagement in persistent Mab and provide clarity on the mechanisms of action of clinically relevant β-lactams in Mab, crucial steps toward fully realizing their potential for treating infections caused by this opportunistic pathogen.

Mycobacterium abscessus↗

Crystallographic Evidence of Size-Dependent Bond Flexibility in Metal–Organic Framework Nanocrystals

Size-dependent electronic, magnetic, and optical behavior suggests that metal–organic frameworks become softer materials as their particle sizes decrease, but direct evidence is lacking. Here, we report variable-temperature powder X-ray diffraction data of Fe(1,2,3-triazolate)2 particles that offer crystallographic insight into size-dependent bond flexibility. Rietveld refinement reveals size-dependent positive thermal expansion upon downsizing the crystalline domains from 178 to 9 nm, with a 6-fold increase from 16 MK –1 to 96 MK –1 . Here, this behavior occurs in tandem with size-dependent elongation of metal–ligand bonds and increasing thermal displacement parameters, consistent with pronounced metal-linker bond lability. We propose that these effects, as well as size-dependent annealing of crystallite sizes, originate from the high charge density and surface stress of smaller particles. Taken together, these results provide structural evidence that size reduction serves as a synthetic route to controlling the dynamic response of materials to external stimuli.

Crystals↗

Glacial‐Interglacial and Millennial‐Scale Changes in Nitrous Oxide Emissions Pathways and Source Regions

During the transition from the Last Glacial Maximum (LGM) to the Holocene, the atmospheric N 2 O mole fraction increased by 80 nmol mol −1 . Using ice core measurements of N 2 O isotopomer ratios, we show that this increase was driven by increases in both nitrification and denitrification, with the relative partitioning between both production pathways depending on the assumed isotopic end-member source signatures. Similarly, we also attribute a 35 nmol mol −1 N 2 O mole fraction increase during the Heinrich Stadial 4/Dansgaard Oeschger 8 (HS4/DO8) millennial-scale event to increases in both N 2 O production pathways. In contrast, the 25 nmol mol −1 N 2 O mole fraction decrease during the Younger Dryas was driven almost exclusively by a decrease in nitrification. The deglacial and HS4/DO8 increases in N 2 O production occurred in both marine and terrestrial environments, with the terrestrial source responding faster to warming by about two centuries. Constraints on changes in nitrification and denitrification emissions are robust and consistent with previous studies showing the sensitivity of N 2 O emissions to abrupt Northern Hemisphere warming. This study demonstrates for the first time the importance of both denitrification and nitrification pathways in driving source changes. Absolute emissions are more uncertain due to uncertainty about source isotopomer signatures. For instance, the contribution of denitrification to emissions at the LGM shifts from (65 ± 10) % to (91 ± 6) % when factoring in isotope enrichment due to partial reduction of N 2 O to N 2 during denitrification. Reducing uncertainty in source signatures will increase the power of ice core N 2 O isotope records in deducing environmental change.

54 ENVIRONMENTAL SCIENCES↗

How Did Westward Volcaniclastic Deposits Accumulate in the Deep Sea Following the January 2022 Eruption of Hunga Volcano?

Most volcanic eruptions on Earth take place below the ocean surface and remain largely unobserved. Reconstruction of past submerged eruptions has thus primarily been based on the study of seafloor deposits. Rarely before the 15 January 2022 eruption of Hunga volcano (Kingdom of Tonga) have we been able to categorically link deep-sea deposits to a specific volcanic source. This eruption was the largest in the modern satellite era, producing a 58-km-tall plume, a 20-m high tsunami, and a pressure wave that propagated around the world. The eruption induced the fastest submarine density currents ever measured, which destroyed submarine telecommunication cables and traveled at least 85 km to the west to the neighboring Lau Basin. Here we report findings from a series of remotely operated vehicle dives conducted 4 months after the eruption along the Eastern Lau Spreading Center-Valu Fa Ridge. Hunga-sourced volcaniclastic deposits 7–150 cm in thickness were found at nine sites, and collected. Study of the internal structure, grain size, componentry, glass chemistry, and microfossil assemblages of the cores show that these deposits are the distal portions of at least two ~100-km-runout submarine density currents. We identify distinct physical characteristics of entrained microfossils that demonstrate the dynamics and pathways of the density currents. Microfossil evidence suggests that even the distal parts of the currents were erosive, remobilizing microfossil-concentrated sediments across the Lau Basin. Remobilization by volcaniclastic submarine density currents may thus play a greater role in carbon transport into deep sea basins than previously thought.

58 GEOSCIENCES↗

Shifts in Evapotranspiration Components During Heatwaves Alter Surface Cooling

Heatwave events significantly alter ecosystem water and energy balance and are often accompanied by extreme surface temperatures. Understanding how surface temperatures during such events are regulated by soil evaporation (E) and vegetation transpiration (T) remains limited due to challenges in partitioning total evapotranspiration (ET). Here, high-frequency turbulence methods are used to partition observed ET at 32 National Ecological Observatory Network sites across the contiguous United States. Heatwaves were defined as at least three consecutive days with daily maximum air temperature exceeding the site-specific 90th percentile of the 2019–2021 record. Across 268 identified events, the T/ET ratio decreased by 32% ± 16% relative to the non-heatwave baseline of 0.65, with greater reductions at lower biomass sites. The T/ET ratio was typically suppressed below non-heatwave conditions during the early and middle stages of the heatwave (first two-thirds of event duration), but was on average higher than non-heatwave baseline levels during late stages (final third) due to extremely low soil evaporation. Of the studied heatwaves, 71% of these had surface temperatures above 38°C in their late stage; however, heatwaves sustaining higher evaporation fluxes (upper tertile of observed fluxes) during the late stage were associated with relative surface temperature anomalies that were on average 45% lower than those of heatwaves with lower evaporation fluxes (lower tertile). The commensurate surface cooling induced by higher transpiration was only 2% during heatwaves, suggesting that transpiration has a limited ability to mitigate extreme surface temperatures. This study allows for improved prediction of ecosystem feedbacks under extreme thermal stress.

54 ENVIRONMENTAL SCIENCES↗

Observations of Subduction, Downward Heat Flux and Dense Filament Collapse in the Northern Gulf of Mexico

Submesoscale processes are important contributors to the global heat budget and generally support upward heat transport through restratification. However, in salinity‐stratified regions, such as the northern Gulf of Mexico with its influx of freshwater from the Mississippi‐Atchafalaya river system, temperature can act like a passive tracer and submesoscale processes can contribute to downward heat transport. Oceanic heat content is a factor in many environmental risks the region faces, for example, hurricane intensification, and marine heatwaves. During the 2022 field campaign of the Submesoscales Under Near‐Resonant Inertial Shear Experiment, a sampling plan was developed to study such submesoscale processes in high resolution. Over 31 hr, four assets (two research ships and two remotely controlled boats) drove in parallel across a dense filament, capturing its evolution in time and space. The observations show that surface waters, warmed by daytime solar radiation, were subducted and that the associated overturning circulation transported heat below the surface layer where it was later irreversibly mixed away. The estimated downward heat flux was as strong as the concurrent net air‐sea heat flux into the ocean. The filament was then observed to rapidly collapse which we attribute to boundary layer turbulence and the breakdown of geostrophic balance. The collapsing fronts display behaviors indicative of gravity currents. These observations highlight how in salinity‐stratified regions, frontal dynamics can be associated with downward heat flux and how the submesoscale can play an important role in the oceanic heat budget.

58 GEOSCIENCES↗

When Do Riverine Systems “Feel the Burn”? Simulating How Burn Extent and Severity Modulate Hydrologic Controls on Biogeochemical Export

Wildfires impact terrestrial landscapes and downstream river corridors through shifts in vegetation and soil properties leading to downstream hydrologic and water quality impacts. The magnitude of these impacts depend on a complex and interconnected set of wildfire, landscape, and aquatic processes. Here, we isolate the impact of post-fire hydrologic changes on streamflow, nitrate, and dissolved organic carbon using the Soil and Water Assessment Tool (SWAT) model. We explore how responses differ across burn severity and area burned in two test basins: a humid forested basin and a semi-arid mixed land use basin. We ran 1830 wildfire simulations testing impacts of area burned, burn severity, and post-fire precipitation on streamflow, nitrate, and dissolved organic carbon. Our work suggests that area burned thresholds differ with burn severity and analyte. Additionally, post-fire transport of dissolved organic carbon was sensitive to both area burned and severity, while nitrate was primarily sensitive to area burned. Despite a muted (−9.5 to 5.7 mm yr −1 change) hydrologic response in the semi-arid basin, the model predicted large (7%–288% increase) shifts in dissolved organic carbon, suggesting that post-fire shifts in flow pathways and soil properties are key in its response. The limited shifts in nitrate responses in the simulations highlight that terrestrial post-fire transformations, rather than hydrologic changes, may control the increases in stream nitrate often observed post-fire. As wildfire regimes are shifting, improving understanding of post-fire nutrient export responses is critical to protect freshwater resources and aquatic ecosystems.

Wampler, Katherine A. [Pacific Northwest National ↗

Regulating in situ gaseous deposition to construct highly durable Fe–N–C oxygen-reduction fuel cell catalysts

The activity–stability trade-off challenges the design of high-performance atomically dispersed iron–nitrogen–carbon (Fe–N–C) catalysts for the acidic oxygen reduction reaction in polymer electrolyte fuel cells. Here we develop an in situ chemical vapour deposition approach during catalyst synthesis to break the trade-off, producing highly stable Fe–N–C catalysts while maintaining adequate oxygen reduction reaction activity. The optimal catalyst exhibits a half-wave potential of 0.867 V, remaining unchanged after an accelerated stress test (AST) of 100,000 potential cycles in rotating disk electrode tests. In membrane electrode assemblies under H 2 –air conditions, it delivers 93 mA cm −2 at 0.8 V after a standard AST of 30,000 voltage cycles, and shows minimal current density losses (2.9% at 0.6 V; 14.2% at 0.7 V) after an extended AST up to 120,000 cycles. Furthermore, the catalyst’s durability improvement is primarily due to the in situ chemical vapour deposition, which strengthens Fe–N bonds, increases active-site density, mitigates iron aggregates and reduces surface porosity.

Chemical engineering↗

Wavelength dependent photochemistry of an iron dinitrogen hydride complex via multiple spectroscopies – competing ejection of axial ligands

Nitrogenase (N 2 ase) is a critical enzyme which catalyzes the reaction of N 2 → NH 3 in nature. Studies on the spectroscopy and photochemistry of trans-[Fe II (DMeOPrPE) 2 (N 2 )H][BPh 4 ] (1) and its isotopologues (2–6) provide a possible first step to evaluate the geometries and properties of the real N 2 ase–N 2 structure(s). In this article, we have used FT-IR, FT-Raman, synchrotron-based nuclear resonant vibrational spectroscopy (NRVS) and DFT calculations to examine and assign the normal modes of these complexes. In addition, we have monitored their wavelength dependent photochemistry using mid-IR, near-IR, NRVS, and Mössbauer spectroscopies. Two distinct photolysis pathways are observed with mid-IR at (nominal) 4 K – (1) the cleavage of Fe–N 2 bond in UV or visible light photolyses, which presents a unipolar disappearance of the N 2 peak at 2094 cm −1 and is recombinable; (2) the ejection of trans hydrogen atom with UV irradiation, which has a pair of bipolar peaks with the disappearance of N 2 at 2094 cm −1 and the appearance of a new species at 2056 cm −1 and is non-recombinable. The latter peak is well aligned with the N 2 peak in an Fe I reference complex (7). The combination of mid IR monitored photolysis/recombination and NRVS monitored photolysis form the central evidence for the conclusions in this article. In particular, the Fe II –N 2 and Fe I –H·dissociations are in competition with each other in UV or UV-inclusive photolyses of this dinitrogen hydride complex. In addition, near-IR and Mössbauer also provide consistent evidence about Fe I . This wavelength dependent photochemical work is the first one on a reaction active N 2 ase–N 2 model complex and it also demonstrates the competition ejection between two axial ligands (H· and N 2 ). It offers valuable information for future studies on real N 2 ase–N 2 and its photolysis products.

Dong, Weibing [Liaoning Normal University (China)]↗

Selection of Sampling and Surrogate Modeling Methods for State-Point Evaluations of an AGN-201M Reactor

Nuclear reactor digital twins (DTs) have been proposed for use as a safeguards technology to efficiently monitor new and novel reactors as they come online. A safeguards DT needs to be capable of detecting misuse and diversion as they occur, requiring physics models to be accurate and efficient. Mathematical surrogate models are capable of achieving the necessary efficiency and can largely maintain the accuracy of higher-order models given a quality training sample. The Multiphysics Object-Oriented Simulation Environment (MOOSE) code framework is specifically equipped to generate training samples and create surrogate models using full-order reactor physics models. Utilizing an operational AGN-201M reactor’s specifications, two surrogate types were trained on samples of variable size, and using Cartesian products, Latin hypercube sampling, and quadrature sampling, each was compared and evaluated on accuracy when compared to a full-order Monte Carlo model. Both surrogate types were able to capture reactivity changes within 0.05 $ of the Monte Carlo model while reducing the computation costs by eight orders of magnitude.

MOOSE↗

Boosted decision tree reweighting of simulated neutrino interactions for O ( 1 ) GeV neutrino cross-section measurements

This paper illustrates a generic method for multidimensional reweighting of O ( 1 ) GeV neutrino interaction Monte Carlo samples. The reweighting is based on a boosted decision tree algorithm trained on high-dimensional space in detector final-state observables. This enables one generator’s events to be reweighted so that its reconstructed particle content and kinematics distributions, as well as detector efficiency, match those of a target model. The approach establishes an efficient way to reuse legacy Monte Carlo data, avoiding regeneration. As an example, we test its use in a measurement of transverse kinematic imbalance of the μ - and proton in charged-current quasielastic like ν μ events from the MINERvA experiment.

Lin, Z. [Rochester U.] (ORCID:0009000188903698)↗

Decoupling Li out-diffusion and surface diffusion in the lithiation-assisted epitaxial growth of lithium tungstate

Lithiation-assisted epitaxy offers a flexible and robust approach for synthesizing high-quality Li-containing materials and interfaces with precise control. Here, in this study, we use lithium tungstate (Li x WO 3+x/2 , where x = 0 to 2) as a model system to investigate the intertwined effects of Li out-diffusion-induced compositional changes and surface-diffusion-induced morphological changes. By systematically varying synthesis and processing conditions, we uncover their impact on lithium tungstate film formation. Comprehensive characterizations, including X-ray diffraction, atomic force microscopy, X-ray photoemission spectroscopy and time-of-flight secondary ion mass spectrometry, reveal that low-temperature growth (< 300 °C) followed by high-temperature annealing yields continuous lithium tungstate films with significantly reduced surface roughness. In contrast, high-temperature deposition (≥ 300 °C) accelerates surface diffusion and Li out-diffusion, leading to island formation. Furthermore, in situ scanning transmission electron microscopy demonstrates the beam sensitivity of Li 2 WO 4 and reveals a phase transition from Li 2 WO 4 to LiWO 3.5 under prolonged electron beam exposure. These findings deepen our understanding of how to control composition and morphology of Li-containing films, providing valuable insights for the design and integration of energy materials.

Shi, Jueli [Pacific Northwest National Laboratory ↗