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DOE OSTI2026

Post-puff SOL broadening on MAST-U under high-recycling conditions: evidence consistent with cross-field transport changes

Transient broadening of the scrape-off layer (SOL) density profile can modify main-chamber first-wall particle fluxes and divertor loading, yet its control parameters remain debated between divertor-regime transitions, neutral dynamics and changes in cross-field transport. We investigate fueling-driven SOL density-profile evolution and post-fueling relaxation on MAST-Upgrade (MAST-U) in ohmic L-mode, using two otherwise similar double-null Conventional Divertor discharges (I p = 450 kA, B T = 0.33 T) with identical 50 ms low-field side gas puffs; the only intentional difference is the puff start time. Upstream Thomson scattering shows that both discharges develop a transient far-SOL density profile modification, expressed as an increased SOL-width metric λ n e and a far-SOL enhancement consistent with a shoulder-like signature. In the earlier-puff case, the SOL-width metric remains elevated after puff termination and the post-puff decay time scales are systematically longer across the analysed radii. Outer-target Langmuir probes indicate high-recycling conditions during the analysed window (few-eV T e with radially peaked j sat,∥ and q ∥ profiles, without signatures of deep detachment). The outer-divertor collisionality proxy Λ div is elevated in both cases and does not discriminate between the different post-puff persistence. The target-integrated ion flux proxy ∫ J sat dA evolves nearly identically in both discharges when aligned to the puff start. Taken together, these observations suggest that the late/post-puff upstream SOL evolution is not set by parallel exhaust to the outer targetalone and is more consistent with upstream cross-field redistribution, with a possible role for plasma–neutral coupling and fueling geometry.

MAST-U↗

DOE OSTI2024

Overview of recent results from the ST40 compact high-field spherical tokamak

ST40 is a compact, high-field ($B_{\mathrm{T0}}\unicode{x2A7D} 2.1\,\,\,\textrm{T}$) spherical tokamak (ST) with a mission to expand the physics and technology basis for the ST route to commercial fusion. The ST40 research programme covers confinement and stability; solenoid-free start-up; high-performance operating scenarios; and plasma exhaust. In 2022, ST40 obtained central deuterium ion temperatures of $9.6 \pm 0.4\ \textrm{keV}$, demonstrating for the first time that pilot plant relevant ion temperatures can be reached in a compact, high-field ST. Analysis of these high-ion temperature plasmas is presented, including a summary of confinement, transport and microstability characteristics, and energetic particle instabilities. Recent scenario development activities have focused on establishing diverted H-mode plasmas across a range of toroidal fields and plasma currents, along with scenarios with high non-inductive current fractions. In future operations, beginning in 2025, a 1 MW dual frequency (104/137 GHz) electron cyclotron (EC) system will be installed to enable the study of EC and electron Bernstein wave plasma start-up and current drive. Predictive modelling of the potential performance of these systems is presented.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2024

Sensor response and radiation damage effects for 3D pixels in the ATLAS IBL Detector

Pixel sensors in 3D technology equip the outer ends of the staves of the Insertable B Layer (IBL), the innermost layer of the ATLAS Pixel Detector, which was installed before the start of LHC Run 2 in 2015. 3D pixel sensors are expected to exhibit more tolerance to radiation damage and are the technology of choice for the innermost layer in the ATLAS tracker upgrade for the HL-LHC programme. While the LHC has delivered an integrated luminosity of ≃ 235 fb -1 since the start of Run 2, the 3D sensors have received a non-ionising energy deposition corresponding to a fluence of ≃ 8.5 × 10 14 1 MeV neutron-equivalent cm -2 averaged over the sensor area. This paper presents results of measurements of the 3D pixel sensors' response during Run 2 and the first two years of Run 3, with predictions of its evolution until the end of Run 3 in 2025. Data are compared with radiation damage simulations, based on detailed maps of the electric field in the Si substrate, at various fluence levels and bias voltage values. These results illustrate the potential of 3D technology for pixel applications in high-radiation

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

Fine-scale landscape characteristics, vegetation composition, and snowmelt timing control phenological heterogeneity across low-Arctic tundra landscapes in Western Alaska

The Arctic is warming at over twice the rate of the rest of the Earth, resulting in significant changes in vegetation seasonality that regulates annual carbon, water, and energy fluxes. However, a crucial knowledge gap exists regarding the intricate interplay among climate, permafrost, and vegetation that generates high phenology variability across extensive tundra landscapes. This oversight has led to significant discrepancies in phenological patterns observed across warming experiments, long-term ecological observations, and satellite and modeling studies, undermining our ability to understand and forecast plant responses to climate change in the Arctic. To address this problem, we assessed plant phenology across three low-Arctic tundra landscapes on the Seward Peninsula, Alaska, using a combination of in-situ phenocam observations and high-resolution PlanetScope CubeSat data. We examined the patterns and drivers of phenological diversity across the landscape by (1) quantifying phenological diversity among dominant plant function types (PFTs) and (2) modeling the interrelations between plant phenology and fine-scale landscape features, such as topography, snowmelt, and vegetation. Our findings reveal that both spring and fall phenology varied significantly across Arctic PFTs, accounting for about 25%–44% and 34%–59% of the landscape-scale variation in the start of spring [SOS] and start of fall [SOF], respectively. Deciduous tall shrubs (e.g. alder and willow) had a later SOS (~7 d behind the mean of other PFTs), but completed leaf expansion (within 2 weeks) considerably faster compared to other PFTs. We modeled the landscape-scale variation in SOS and SOF using Random Forest, which showed that plant phenology can be accurately captured by a suite of variables related to vegetation composition, topographic characteristics, and snowmelt timing (variance explained: 53%–68% for SOS and 59%–82% for SOF). Notably, snowmelt timing was a crucial determinant of SOS, a factor often neglected in most spring phenology models. Our study highlights the impact of fine-scale vegetation composition, snow seasonality, and landscape features on tundra phenological heterogeneity. Improved understanding of such considerable intra-site phenological variability and associated proximate controls across extensive Arctic landscapes offers critical insights for representation of tundra phenology in process models and associated impact assessments with climate change.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

Thermophilic site-specific recombination system for rapid insertion of heterologous DNA into the Clostridium thermocellum chromosome

Clostridium thermocellum is an anaerobic thermophile capable of producing ethanol and other commodity chemicals from lignocellulosic biomass. The insertion of heterologous DNA into the C. thermocellum chromosome is currently achieved via a time-consuming homologous recombination process, where a single stable insertion can take 2–4 weeks or more to construct. In this work, we developed a thermostable version of the Serine recombinase Assisted Genome Engineering (tSAGE) approach for gene insertion in C. thermocellum utilizing a site-specific recombinase from Geobacillus sp. Y412MC61, enabling quick and easy insertion of DNA into the chromosome for accelerated genetic tool screening and heterologous gene expression. Using tSAGE, chromosomal insertion of plasmid DNA occurred at a maximum transformation efficiency of 5 × 10 3 CFU/µg, which is comparable to the transformation efficiency of a replicating control plasmid in C. thermocellum. Using tSAGE, we chromosomally integrated and characterized 17 reporter genes, 15 homologous and 31 heterologous constitutive promoters of varying strengths, 4 inducible promoters, and 5 riboswitches in C. thermocellum. We also determined that a 6–7 nucleotide gap between the ribosome binding site (RBS) and the start codon is optimal for high expression by employing a library of superfolder green fluorescent protein expression constructs driven by our strongest tested promoter (P clo1313_1194 ) with different distances between the RBS and start codon. The tools developed here will aid in accelerating C. thermocellum strain engineering for producing sustainable fuels and chemicals directly from plant biomass.

Biofuels↗

DOE OSTI2025

Contemporaneous optical-radio observations of a fast radio burst in a close galaxy pair

ABSTRACT We present the MeerKAT discovery and MeerLICHT contemporaneous optical observations of the fast radio burst (FRB) 20230808F, which was found to have a dispersion measure of $\mathrm{DM}=653.2\pm 0.4\mathrm{\, pc\, cm^{-3}}$. FRB 20230808F has a scattering time-scale $\tau _{s}=3.1\pm 0.1\, \mathrm{ms}$ at 1563.6 MHz, a rotation measure $\mathrm{RM}=169.4\pm 0.2\, \mathrm{rad\, m^{-2}}$, and a radio fluence $F_{\mathrm{radio}}=1.72\pm 0.01\, \mathrm{Jy\, ms}$. We find no optical counterpart in the time immediately after the FRB, nor in the 3 months after the FRB during which we continued to monitor the field of the FRB. We set an optical upper flux limit in MeerLICHT’s q-band of $11.7\, \mathrm{\mu Jy}$ for a 60 s exposure which started ${\sim}3.4$ s after the burst, which corresponds to an optical fluence, $F_{\mathrm{opt}}$, of $0.039\, \mathrm{Jy\, ms}$ on a time-scale of ${\sim}3.4$ s. We obtain an estimate for the $q-$band luminosity limit of $vL_{v}\sim 1.3\times 10^{43}\, \mathrm{erg\, s^{-1}}$. We localize the burst to a close galaxy pair at a redshift of $z_{\mathrm{spec}}=0.3472\pm 0.0002$. Our time delay of ${\sim}3.4$ s between the FRB arrival time and the start of our optical exposure is the shortest ever for an as yet non-repeating FRB, and hence the closest to simultaneous optical follow-up that exists for such an FRB.

Hanmer, K. Y. (ORCID:0000000234757752)↗

DOE OSTI2024

Perturbative quantum evolution of the gravitational state and dressing in general backgrounds

This paper sets up a perturbative treatment of the evolving quantum state of a gravitational system, in a Schrödinger-like picture, working about a general background. This connects gauge symmetry, the constraints, gravitational dressing, and evolution. Starting with a general time slicing, we give a simple derivation of the relation between the constraints, the Hamiltonian, and its well-known boundary term. Among different approaches to quantization with constraints, we focus on a “gauge-invariant canonical quantization,” which is developed perturbatively in the gravitational coupling. The leading-order solution of the constraints (including the Wheeler-DeWitt equation) for perturbations about the background is given in terms of an explicit construction of gravitational dressings built using certain generalized Green’s functions; different such dressings corresponding to adding propagating gravitational waves to a particular solution of the constraints. Dressed operators commute with the constraints, expressing their gauge invariance, and have an algebraic structure differing significantly from the undressed operators of the underlying field theory. These operators can act on the vacuum to create dressed states, and evolution of general such states is then generated by the boundary Hamiltonian, and alternately may be characterized using other relational observables. This provides a concrete approach to studying perturbative time evolution, including the leading gravitational backreaction, of quantum states of black holes with flat or anti–de-Sitter asymptotics, for example on horizon-crossing slices. This description of evolution in turn provides a starting point for investigating possibly important corrections to quantum evolution, that go beyond quantized general relativity. Published by the American Physical Society 2024

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2024

The Simons Observatory: Combining cross-spectral foreground cleaning with multitracer B -mode delensing for improved constraints on inflation

The Simons Observatory (SO), due to start full science operations in early 2025, aims to set tight constraints on inflationary physics by inferring the tensor-to-scalar ratio r from measurements of cosmic microwave background (CMB) polarization B-modes. Its nominal design including three small-aperture telescopes (SATs) targets a precision σ⁡(r = 0) ≤ 0.003 without delensing. Achieving this goal and further reducing uncertainties requires a thorough understanding and mitigation of other large-scale B-mode sources such as Galactic foregrounds and weak gravitational lensing. We present an analysis pipeline aiming to estimate r by including delensing within a cross-spectral likelihood, and demonstrate it for the first time on SO-like simulations accounting for various levels of foreground complexity, inhomogeneous noise and partial sky coverage. As introduced in an earlier SO delensing paper, lensing B-modes are synthesized using internal CMB lensing reconstructions as well as Planck-like cosmic infrared background maps and LSST-like galaxy density maps. We then extend SO’s power-spectrum-based foreground-cleaning algorithm to include all auto- and cross-spectra between the lensing template and the SAT B-modes in the likelihood function. This allows us to constrain r and the parameters of our foreground model simultaneously. Within this framework, we demonstrate the equivalence of map-based and cross-spectral delensing and use it to motivate an optimized pixel-weighting scheme for power spectrum estimation. We start by validating our pipeline in the simplistic case of uniform foreground spectral energy distributions. In the absence of primordial B-modes, we find that the 1⁢σ statistical uncertainty on r, σ⁡(r), decreases by 37% as a result of delensing. Tensor modes at the level of r = 0.01 are successfully detected by our pipeline. Even when using more realistic foreground models including spatial variations in the dust and synchrotron spectral properties, we obtain unbiased estimates of r both with and without delensing by employing the moment-expansion method. In this case, uncertainties are increased due to the higher number of model parameters, and delensing-related improvements range between 27% and 31%. These results constitute the first realistic assessment of the delensing performance at SO’s nominal sensitivity level.

79 ASTRONOMY AND ASTROPHYSICS↗

DOE OSTI2025

Relativistic gas accretion onto supermassive black hole binaries from inspiral through merger

Accreting supermassive black hole binaries are powerful multimessenger sources emitting both gravitational and electromagnetic (EM) radiation. Understanding the accretion dynamics of these systems and predicting their distinctive EM signals is crucial to informing and guiding upcoming efforts aimed at detecting gravitational waves produced by these binaries. To this end, accurate numerical modeling is required to describe both the spacetime and the magnetized gas around the black holes. In this paper, we present two key advances in this field of research. First, we have developed a novel 3D general relativistic magnetohydrodynamics (GRMHD) framework that combines multiple numerical codes to simulate the inspiral and merger of supermassive black hole binaries starting from realistic initial data and running all the way through merger. Throughout the evolution, we adopt a simple but functional prescription to account for gas cooling through photon emission. Next, we have applied our new computational method to follow the time evolution of a circular, equal-mass, nonspinning black hole binary for ∼200 orbits, starting from a separation of 20⁢𝑟 𝑔 and reaching the postmerger evolutionary stage of the system. We have shown how mass continues to flow toward the binary even after the binary “decouples” from its surrounding disk, but the accretion rate onto the black holes diminishes. We have identified how the minidisks orbiting each black hole are slowly drained and eventually dissolve as the binary compresses. We confirm previous findings that the system’s luminosity decreases by a factor of a few during inspiral; however, we observe an abrupt increase by ∼50% in this quantity at the time of merger, likely accompanied by an equally abrupt change in spectrum. Lastly, we have demonstrated that during the inspiral, fluid ram pressure regulates the fraction of the magnetic flux transported to the binary that attaches to the black holes’ horizons.

Accretion disk & black-hole plasma↗

DOE OSTI2026

Quantum Computing for AI-based Design and Optimization of Electric Motors

Knowledge-based artificial intelligence and hierarchical fuzzy logic offer an interpretable framework for electricvehicle motor preliminary design, but their computational burden grows with linguistic granularity and coupled design-space size. This paper presents a reduced quantum reformulation of the hierarchical fuzzy inference of air-gap flux density, a representative level-one motor-design parameter. Starting from the published electric-vehicle motor-design framework, a three-term fuzzy prototype is constructed from the original inference structure. The reduced model is then reformulated as a modular quantum register-oracle system, in which each hierarchical subrelation is encoded as a block oracle and evaluated through superpositionbased candidate-label testing. The proposed modular quantum formulation reproduces the reduced classical prototype after block fusion. A resource analysis shows that the reduced modular system requires seven qubits per block and twenty-two qubits in a straightforward four-block implementation. Finally, a crossovercomplexity model is derived to identify the regime in which quantum candidate search may become favorable relative to hierarchical fuzzy inference. The results show that no quantum advantage should be claimed for the present one-output reduced benchmark, but that a plausible crossover emerges for larger joint candidate spaces and higher linguistic granularity. The work therefore establishes a technically consistent starting point for future quantum-assisted electric-vehicle motor-design optimization.

Kumar, Praveen [ORNL] (ORCID:0000000291877857)↗

DOE OSTI2024

Semiglobal Safety-Filtered Extremum Seeking With Unknown CBFs

We introduce a safe extremum-seeking (Safe ES) algorithm which achieves the minimization of an unknown objective function while ensuring that an unknown, yet measured, control barrier function (CBF) remains above an arbitrarily small negative value for all time. In other words, “practical safety” is maintained during the entire period of convergence to the constrained extremum. Our design is based on quadratic program (QP) CBF style filters for safety, which is applied in an average and estimated sense. Using nonsmooth analysis tools, we guarantee semiglobal practical asymptotic (SPA) stability of the global constrained optimum, practical convergence to the safe set if starting in a condition violating the CBF, and practical safety for all time—semiglobally—if starting in safe set. The safety result of the paper is analogous with modern notions of SPA stability, guaranteeing that, for any small violation of safety, there exist design coefficients which guarantee that such a small violation is not exceeded. The paper outlines a set of sufficient conditions on the barrier and objective functions, and by way of a Lyapunov argument, we demonstrate that nonconvex constrained optimization problems can be solved. We present these results in the setting of a static map and a dynamical system. A simulation example illustrates the results.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Advancing Sustainability in Data Centers: Evaluation of Hybrid Air/Liquid Cooling Schemes for IT Payload Using Sea Water

Abstract-The growth in cloud computing, Big Data, AI and high-performance computing (HPC) necessitate the deployment of additional data centers (DC's) with high energy demands. The unprecedented increase in the Thermal Design Power (TDP) of the computing chips will require innovative cooling techniques. Furthermore, DC's are increasingly limited in their ability to add powerful GPU servers by power capacity constraints. As cooling energy use accounts for up to 40% of DC energy consumption, creative cooling solutions are urgently needed to allow deployment of additional servers, enhance sustainability and increase energy efﬁciency of DC's. The information in this study is provided from Start Campus' Sines facility supported by Alfa Laval for the heat exchanger and CO 2 emission calculations. The study evaluates the performance and sustainability impact of various data center cooling strategies including an air-only deployment and a subsequent hybrid air/water cooling solution all utilizing sea water as the cooling source. Here we evaluate scenarios from 3 MW to 15+1 MW of IT load in 3 MW increments which correspond to the size of heat exchangers used in the Start Campus' modular system design. This study also evaluates the CO 2 emissions compared to a conventional chiller system for all the presented scenarios. Results indicate that the effective use of the sea water cooled system combined with liquid cooled systems improve the efﬁciency of the DC, plays a role in decreasing the CO 2 emissions and supports in achieving sustainability goals.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2024

Newton-Raphson AC Power Flow Convergence Based on Deep Learning Initialization and Homotopy Continuation

Power flow forms the basis of many power system studies. With the increased penetration of renewable energy, grid planners tend to perform multiple power flow simulations under various operating conditions and not just selected snapshots at peak or light load conditions. Getting a converged AC power flow (ACPF) case remains a significant challenge for grid planners especially in large power grid networks. This paper proposes a two-stage approach to improve Newton-Raphson ACPF convergence and was applied to a 6102 bus Electric Reliability Council of Texas (ERCOT) system. The first stage utilizes a deep learning-based initializer with data re-training. Here a deep neural network (DNN) initializer is developed to provide better initial voltage magnitude and angle guesses to aid in power flow convergence. This is because Newton-Raphson ACPF is quite sensitive to the initial conditions and bad initialization could lead to divergence. The DNN initializer includes a data re-training framework that improves the initializer's performance when faced with limited training data. The DNN initializer successfully solved 3,285 cases out of 3,899 non-converging dispatch and performed better than random forest and DC power flow initialization methods. ACPF cases not solved in this first stage are then passed through a hot-starting algorithm based on homotopy continuation with switched shunt control. The hot-starting algorithm successfully converged 416 cases out of the remaining 614 non-converging ACPF dispatch. In conclusion, the combined two-stage approach achieved a 94.9% success rate, by converging a total of 3,701 cases out of the initial 3,899 unsolved cases.

Deep learning↗

DOE OSTI2025

Simulating evaporative wet and dry cycles in Gale crater, Mars using thermochemical modeling techniques

The aim of this work is to provide a model‐backed hypothesis for the formation of evaporites—sulfates, borates—in Gale crater using thermochemical modeling to determine constraints on their formation. We test the hypothesis that primary evaporites required multiple wet–dry cycles to form, akin to how evaporite assemblages form on Earth. Starting with a basalt‐equilibrated Mars fluid, Mars‐relevant concentrations of B and Li were added, and then equilibrated with Gale lacustrine bedrock. We simulated the cycles of evaporation followed by groundwater recharge/dilution to establish an approximate minimum number of wet–dry cycles required to form primary evaporites. We determine that a minimum of 250 wet–dry cycles may be required to start forming primary evaporites that consist of borates and Ca‐sulfates. We estimate that ~14,250 annual cycles (~25.6 k Earth years) of wet and dry periods may form primary borates and Ca‐sulfates in Gale crater. These primary evaporites could have been remobilized during secondary diagenesis to form the veins that the Curiosity rover observes in Gale crater. No Li salts form after 14,250 cycles modeled for the Gale‐relevant scenario (approximately 10 6 cycles would be needed) which implies Li may be leftover in a groundwater brine after the time of the lake. No major deposits of borates are observed to date in Gale crater which also implies that B may be leftover in the subsequent groundwater brine that formed after evaporites were remobilized into Ca‐sulfate veins.

58 GEOSCIENCES↗

DOE OSTI2024

RESCue Model (RESCue Experiment and Model) [SWR-24-84]

The Renewable Energy and Storage Cybersecurity Research (RESCue) project is a collaborative effort aimed at securing the rapidly growing deployment of transmission-connected hybrid renewable energy systems, consisting of a combination of wind, solar, and/or energy storage equipment, against escalating cyber threats. This project brings together major original equipment manufacturers (OEMs) of wind, solar, and energy storage, along with major asset owners and DOE National Laboratories, to collectively identify cyber threats, assess risks, and develop robust cybersecurity strategies and solutions. The development of hybrid reference architectures has provided comprehensive blueprints for the secure design and integration of hybrid renewable energy systems, accounting for their unique characteristics and interdependencies. Additionally, NREL has created a cyber-resilient design framework that integrates cybersecurity considerations from the start of the system lifecycle, ensuring security is "baked in" from the initial design phase. The research thrusts for the project included (i) development of hybrid reference architectures and (ii) a cyber-resilient design framework for hybrid energy systems. The reference architectures has provided comprehensive blueprints for the secure design and integration of hybrid renewable energy systems, accounting for their unique characteristics and interdependencies. Additionally, NREL has created a cyber-resilient design framework that integrates cybersecurity considerations from the start of the system lifecycle, ensuring security is "baked in" from the initial design phase. A demonstration experiment was developed for one of the architectures using NREL's Cyber Range resources. This experiment configuration, deployable using open-source tools, is provided here in this repository. Additional models were developed for the wind and solar architectures as well, however the configurations for only the Energy Storage scenario are provided here: https://www.nrel.gov/docs/fy24osti/89921.pdf

Hasandka, Adarsh↗

DOE OSTI2026

infrastore [SWR-26-077]

Infrastore is time-series storage for energy-systems simulations, backed by HDF5 + SQLite, with Rust, Python, Julia, gRPC, and CLI bindings. It is a Rust library for managing time-series data in power-systems and energy simulations. Numerical arrays are persisted in HDF5, and the metadata associating each array with its owning component lives in SQLite. Identical arrays are stored once and shared through content addressing. It ships native Rust, Python (PyO3), and Julia (C ABI) interfaces, the infrastore command-line tool, and a read-only gRPC server with a Rust client. Documentation: https://natlabrockies.github.io/infrastore/latest/ — start with the Quick Start or the Architecture.

Thom, Daniel [National Laboratory of the Rockies (↗

DOE OSTI2026

ReachNow EV Driving Data From Seattle, WA, Portland, OR, and New York, NY

ReachNow provided Idaho National Laboratory (INL) with a dataset describing approximately 49,000 trips taken by customers and employees in approximately 100 BMW i3 EVs operating in ReachNow's free-floating car-sharing fleets in Seattle, WA, Portland, OR, and New York, NY between May 2016 and February 2017. Data fields include vehicle rental period start and end timestamps, the location where vehicles were parked at the start and end of rental periods, and distance driven during rental periods. A field categorizing the user during each rental period is also included. This field makes it possible to identify when vehicles were rented by customers and when vehicles were driven by fleet management team employees to reposition, charge, or service the vehicles.

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↗