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DOE OSTI2024

Canopy spectral reflectance, Kougarok and Teller sites, Seward Peninsula, Alaska, 2016

Measurements of full-spectrum (350-2500 nm) canopy spectral reflectance of Arctic plant species at the Teller and Kougarok NGEE-Arctic sites, Seward Peninsula, Alaska. Spectra were collected in July 2016 using an SVC HR-2014i spectroradiometer together with a Spectralon white plate to calibrate each measurement under variable illumination conditions. The locations of the 43 measurement targets are provided as latitude and longitude recorded by the spectroradiometer internal GPS. This data package comprises .csv data and metadata files, and the SVC instrument output (.sig in .zip). The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research. The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska. Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Continuous soil temperature measurements from 2019-10-4 to 2020-10-4, Teller road Mile 27, Seward Peninsula, Alaska

The dataset contains depth-resolved soil temperature measured at 45 discrete locations in a watershed located along the Nome-Teller road at Mile 27 in Seward Peninsula, Alaska. The dataset was generated to understand the local heterogeneity of soil thermal dynamics and their controls in a discontinuous permafrost region. At each location, temperatures were measured by a distributed temperature profiling probe designed based on Dafflon et al (2022). The dataset includes a description of the probe locations in the "Probe_locations.csv" file and the 45 data files (Soil_temperatures_*.csv). Metadata files include data descriptions (_dd.csv) for tabular data. All included files are listed and described in NGA513_flmd.csv.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a research effort to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2017

A Scientific Data Provenance Harvester for Distributed Applications

Data provenance provides a way for scientists to observe how experimental data originates, conveys process history, and explains influential factors such as experimental rationale and associated environmental factors from system metrics measured at runtime. The US Department of Energy Office of Science Integrated end-to-end Performance Prediction and Diagnosis for Extreme Scientific Workflows (IPPD) project has developed a provenance harvester that is capable of collecting observations from file based evidence typically produced by distributed applications. To achieve this, file based evidence is extracted and transformed into an intermediate data format inspired in part by W3C CSV on the Web recommendations, called the Harvester Provenance Application Interface (HAPI) syntax. This syntax provides a general means to pre-stage provenance into messages that are both human readable and capable of being written to a provenance store, Provenance Environment (ProvEn). HAPI is being applied to harvest provenance from climate ensemble runs for Accelerated Climate Modeling for Energy (ACME) project funded under the U.S. Department of Energy’s Office of Biological and Environmental Research (BER) Earth System Modeling (ESM) program. ACME informally provides provenance in a native form through configuration files, directory structures, and log files that contain success/failure indicators, code traces, and performance measurements. Because of its generic format, HAPI is also being applied to harvest tabular job management provenance from Belle II DIRAC scheduler relational database tables as well as other scientific applications that log provenance related information.

Stephan, Eric G.↗

DOE OSTI2024

Snow Camera Photos at the Teller 27 Field Site from 2022-2023, Seward Peninsula, Alaska

Snow distribution in the Arctic is highly variable and driven by high winds and microtopography, which result in deep snow drifts and shallow scoured areas. To better understand snow drifting and scouring, 4 Reconyx HyperFire 2 game cameras were installed at the Teller 27 Watershed Field Site on the Seward Peninsula, Alaska from September 2022 to September 2023. Game cameras were installed at 4 locations across the watershed to capture pictures of snow in drift and scour areas. Three-meter tall, red PVC poles were used as snow-stakes to measure snow depth from these pictures. One photo was taken at each camera once per hour during daylight. Distances between cameras and snow stakes were measured so that snow depth can later be calculated from the pictures. This dataset contains four folders of *.jpg files from each camera and one *.kml file of camera locations.The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy’s Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy’s Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

Canopy reflectance spectra and photographs (raw data), Seward Peninsula, Alaska, 2022

Measurements of full-range (350–2500 nm) canopy spectral reflectance of Arctic plant species, plots, and transects at the Next Generation Ecosystem Experiment Arctic (NGEE Arctic) Teller Mile Marker (MM27) and Kougarok Fire Complex (KFC) sites, Seward Peninsula, Alaska. Spectra were collected in July 2022 using a handheld SVC HR-2014i spectroradiometer. All spectra were collected as calibrated surface radiance and converted to surface reflectance using 99.99% reflective Spectralon white reference standard. This data package includes unprocessed instrument output of the spectra signals (.sig) and, for some canopy measurements, photographs of the target taken by the SVC instrument camera or handheld digital camera (.jpg), GPS locations and file metadata (.csv).The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic), was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy's Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy's Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2024

iButton snow-ground interface temperature measurements in Los Alamos, New Mexico from 2023-2024

Snow/ground interface temperature measurements were collected at two sites in Los Alamos, New Mexico. Data were collected from November 29, 2023 to April 8, 2024 using iButton Link DS1921G-F5# Thermochron miniature temperature sensors (https://www.ibuttonlink.com/products/ds1921g). These sensors are a cost-efficient way to collect snowpack temperatures at a higher spatial resolution than what is normally achieved. iButton data were collected every 3 hours from a total of 19 iButtons. iButtons were placed in pairs, with one iButton placed at the ground surface and another buried 1 - 5 cm below the ground surface. One buried iButton did not successfully collect data, and therefore was excluded from this dataset. Data were collected throughout the snow cover season so that snowpack characteristics could be derived using the temperature data. Specifically, this dataset was used as a validation source for a novel machine learning approach to estimating snow depth (see related publication). Sensors were placed in areas with bare ground or minimal grass coverage, located away from any large vegetation. At Site A (TA51), manual snow depths were collected as validation data. These measurements were taken next to iButtons periodically throughout the winter, and notes on other precipitation types were also recorded. At Site B (TA6 Meteorological Station), a nearby sensor collected snow depths throughout the winter. This dataset contains one *.csv file of snow/ground interface temperatures at two sites, one *.csv file of manually collected snow depths, and one *.kml file of sensor locations. The Next-Generation Ecosystem Experiments: Arctic (NGEE Arctic) was a 15-year research effort (2012-2027) to reduce uncertainty in Earth System Models by developing a predictive understanding of carbon-rich Arctic ecosystems and feedbacks to climate. NGEE Arctic was supported by the Department of Energy’s Office of Biological and Environmental Research.The NGEE Arctic project had two field research sites: 1) located within the Arctic polygonal tundra coastal region on the Barrow Environmental Observatory (BEO) and the North Slope near Utqiagvik (Barrow), Alaska and 2) multiple areas on the discontinuous permafrost region of the Seward Peninsula north of Nome, Alaska.Through observations, experiments, and synthesis with existing datasets, NGEE Arctic provided an enhanced knowledge base for multi-scale modeling and contributed to improved process representation at global pan-Arctic scales within the Department of Energy’s Earth system Model (the Energy Exascale Earth System Model, or E3SM), and specifically within the E3SM Land Model component (ELM).

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2018

About a method for compressing X-ray computed microtomography data

The management of scientific data is of high importance especially for experimental techniques that produce big data volumes. Such a technique is x-ray computed tomography (CT) and its community has introduced advanced data formats which allow for better management of experimental data. Rather than the organization of the data and the associated meta-data, the main topic on this work is data compression and its applicability to experimental data collected from a synchrotron-based CT beamline at the Elettra-Sincrotrone Trieste facility (Italy) and studies images acquired from various types of samples. This study covers parallel beam geometry, but it could be easily extended to a cone-beam one. The reconstruction workflow used is the one currently in operation at the beamline. Contrary to standard image compression studies, this manuscript proposes a systematic framework and workflow for the critical examination of different compression techniques and does so by applying it to experimental data. Beyond the methodology framework, this study presents and examines the use of JPEG-XR in combination with HDF5 and TIFF formats providing insights and strategies on data compression and image quality issues that can be used and implemented at other synchrotron facilities and laboratory systems. In conclusion, projection data compression using JPEG-XR appears as a promising, efficient method to reduce data file size and thus to facilitate data handling and image reconstruction

data compression↗

DOE OSTI2016

MO-FG-202-03: Efficient Data Collection of Continuous 2D and Discrete Relative Dosimetric Data for Annual LINAC QA Using TrueBeam Developer Mode and a 1D Scanning Tank

Purpose: To develop a method to exploit real-time dynamic machine and couch parameter control during linear accelerator (LINAC) beam delivery to facilitate efficient performance of TG-142 suggested, Annual LINAC QA tests. Methods: Varian’s TrueBeam Developer Mode (Varian Medical Systems, Palo Alto, CA) facilitates control of Varian’s TrueBeam LINAC via instructions provided in Extensible Markup Language (XML) files. This allows machine and couch parameters to be varied dynamically, in real-time, during beam delivery. Custom XML files were created to allow for the collection of (1) continuous Tissue Maximum Ratios (TMRs), (2) beam profiles, and (3) continuous output factors using a 1D-scanning tank. TMRs were acquired by orienting an ionization chamber (IC) at isocenter (depth=25cm) and synchronizing a depth scan towards the water surface while lowering the couch at 1mm/s. For beam profiles, the couch was driven laterally and longitudinally while logging IC electrometer readings. Output factors (OFs) where collected by continually varying field sizes (4×4 to 30×30-cm{sup 2}) at a constant speed of 6.66 mm/s. To validate measurements, comparisons were made to data collected using traditional methods (e.g. 1D or 3D tank). Results: All data collecting using the proposed methods agreed with traditionally collected data (TMRs within 1%, OFs within 0.5% and beam profile agreement within 1% / 1mm) while taking less time to collect (factor of approximately 1/10) and with a finer sample resolution. Conclusion: TrueBeam developer mode facilitates collection of continuous data with the same accuracy as traditionally collected data with a finer resolution in less time. Results demonstrate an order of magnitude increase in sampled resolution and an order of magnitude reduction in collection time compared to traditional acquisition methods (e.g. 3D scanning tank). We are currently extending this approach to perform other TG-142 tasks.

61 RADIATION PROTECTION AND DOSIMETRY↗

DOE OSTI2017

PLEXOS Input Data Generator

The PLEXOS Input Data Generator (PIDG) is a tool that enables PLEXOS users to better version their data, automate data processing, collaborate in developing inputs, and transfer data between different production cost modeling and other power systems analysis software. PIDG can process data that is in a generalized format from multiple input sources, including CSV files, PostgreSQL databases, and PSS/E .raw files and write it to an Excel file that can be imported into PLEXOS with only limited manual intervention.

Source record↗

DOE OSTI2016

FALDO: a semantic standard for describing the location of nucleotide and protein feature annotation

Nucleotide and protein sequence feature annotations are essential to understand biology on the genomic, transcriptomic, and proteomic level. Using Semantic Web technologies to query biological annotations, there was no standard that described this potentially complex location information as subject-predicate-object triples. In this paper, we have developed an ontology, the Feature Annotation Location Description Ontology (FALDO), to describe the positions of annotated features on linear and circular sequences. FALDO can be used to describe nucleotide features in sequence records, protein annotations, and glycan binding sites, among other features in coordinate systems of the aforementioned “omics” areas. Using the same data format to represent sequence positions that are independent of file formats allows us to integrate sequence data from multiple sources and data types. The genome browser JBrowse is used to demonstrate accessing multiple SPARQL endpoints to display genomic feature annotations, as well as protein annotations from UniProt mapped to genomic locations. Our ontology allows users to uniformly describe – and potentially merge – sequence annotations from multiple sources. Finally, data sources using FALDO can prospectively be retrieved using federalised SPARQL queries against public SPARQL endpoints and/or local private triple stores.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2020

Molecular simulation data for 'Data-guided Multi-Map variables for ensemble refinement of molecular movies'

These trajectories, scripts, and analysis performed on Summit underly the work published as 'Data-guided Multi-Map variables for ensemble refinement of molecular movies'. The trajectories include equilibrium and non-equilibrium sampling of ADK, CODH, and FLPP3, the scripts used to build the systems, and the scripts used to analyze the output. The directory structure is explained further in an internal README file.

59 BASIC BIOLOGICAL SCIENCES↗

DOE OSTI2024

EGS Collab Experiment 2: Microseismic Monitoring

This dataset contains continuous seismic waveform data recorded during stimulation and thermal circulation tests for the Enhanced Geothermal Systems (EGS) Collab Experiment #2, conducted from February to September 2022 at the Sanford Underground Research Facility in Lead, South Dakota. This experiment aimed to study and validate models of geothermal systems by injecting high-pressure fluids into rock formations 1200-1500 meters below the surface, inducing microseismic events. The seismic monitoring system included 16 three-component accelerometers and a 24-channel hydrophone array, installed in boreholes surrounding the test area. Data were recorded at high sampling rates using a continuous waveform recording system to monitor seismic activity in real time. The dataset contains the raw data stored in binary format, with files named based on timestamps, and includes calibration certificates for some sensors to facilitate corrections to real units. Users are strongly advised to consult the accompanying detailed report, which outlines the experimental setup, sensor specifications, installation procedures, and data processing methods. The report also describes important nuances, such as the hardware filters on hydrophones, sensor calibration details, and the naming conventions for the recorded data. Proper use of this dataset may require familiarity with seismic data analysis tools, such as the Obspy Python package, and an understanding of the SEED naming conventions used for channel identification.

15 GEOTHERMAL ENERGY↗

DOE OSTI2026

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↗

DOE OSTI2026

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↗

DOE OSTI2026

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↗

DOE OSTI2026

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↗

DOE OSTI2026

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↗

DOE OSTI2026

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↗