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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

Development of chemometric models to classify solid-state U materials by micro-Raman spectroscopy

Discerning uranium (U) particles found in environmental sampling is of interest for monitoring the peaceful use of nuclear material. In this study, a soft independent modeling of class analogy (SIMCA) library was successfully developed for the classification of a four-class system consisting of α-U 3 O 8 , UO 2 , UO 2 (NO 3 ) 2 ·6H 2 O (UNH), and UO 2 O 2 ·4H 2 O (studtite) by Raman spectroscopy in the presence of matrix particulates and additional outliers. Spectral variability between numerous particles of each type revealed appreciable differences as a function of particle size with respect to hydration state and potential oxide phase within each class. Interclass variability was accounted for using both unsupervised and supervised chemometric models. The supervised SIMCA model displayed reasonable sensitivity for each U class and a high degree of specificity by returning whether a spectrum belonged to one class or not. This work demonstrates how Raman spectral features and chemometrics can be used to distinguish U materials from one another and from matrix materials such as flint clay. Combining the outlined chemometric approach with Raman mapping sequences could provide a rapid, nondestructive technique to characterize the chemical composition of a diverse collection of U compounds amid background samples for environmental sampling, nuclear forensics, and industrial applications.

Actinide↗
DOE OSTI2026

Explainable tokamak-agnostic forecasting of fusion plasma instability via megahertz turbulent fluctuations

Scientific applications of artificial intelligence (AI) often remain limited by device-specific training and unexplained “black-box” approaches, creating fundamental barriers to cross-system generalization. This challenge is critical for nuclear fusion, where future reactors will have limited operational data for AI training. Here, we demonstrate that our neural network, trained solely on megahertz-scale turbulence measurements from one machine (DIII-D), forecasts Type-I edge localized mode (ELM) onsets in a different tokamak (KSTAR) through zero-shot weight transfer following physics-consistent preprocessing without device-specific retraining. Through an explainable AI framework combining gradient-weighted class activation mapping with physics validation, we reveal that our network can internalize physics relationships governing the ELM instabilities rather than memorizing device-specific patterns. The network perceives spatiotemporal features that correlate consistently with independently calculated instability growth rates, magnetohydrodynamic stability limits, and pedestal structure dynamics. Statistical analyses of dimensionally-reduced saliency features reveal the identical triangular features between the saliency representations, instability growth rates, and prediction probability across tokamaks, providing evidence that our forecasting system can show tokamak-agnostic generalization. This work contributes to a foundation for explainable scientific AI systems, where cross-system developments are essential for transcending traditional domain-specific constraints.

AI↗
DOE OSTI2025

WELLS Interactive Application

The Wellbore Exploration and Location Logistic System (WELLS) Interactive Application is an interactive tool to enable easy exploration and visualization of the living national wellbore database (WELLS Database (https://edx.netl.doe.gov/dataset/wells_database)). The tool and underlying database were created and are maintained by the National Energy Technology Laboratory (NETL), providing visualization of the more than six million public wellbore records from more than 65 authoritative state, federal, and tribal resources. The WELLS Interactive Application serves up wellbore data from oil, gas, underground injection, research, geothermal, geotechnical, groundwater, and other types of wells in a single, standardized, unified system. In addition to the surface location of these wells, the underlying database combines select key attributes for features such as well age, depth, and operating status. The system also provides users with references back to the original sources used in this unified platform. The underlying data can be accessed through the WELLS Database: https://edx.netl.doe.gov/dataset/wells_database Additional Information: The WELLS Interactive Application (formerly titled CO2-Locate) enables visualization and access to the public wellbore records through an intuitive web-based mapping tool. The WELLS Interactive Application was designed to help users visualize, query, analyze, and download wellbore records. Public wellbore points are included as a layer in the Map page, called Public Wells. Additionally, a multivariate hexagon grid summarizing well density from proprietary well data, called Well Density, is included to identify data gaps between the public and proprietary well data. Filtering functionalities in the tool allow these two layers to be spatially filtered by state, county, or basin as well as by status, type, true vertical depth, and spud year. The WELLS Interactive Application also contains a Near Me tool can be used to search and explore wellbore data within a user-defined distance of a specified location on the map, which can also be downloaded. The Query tool allows users to query the selected or filtered wells in the Public Wells layer and export the data. For additional information on these tool functionalities, see the help documentation on the About page of the tool. Notes for Consideration: The Well Density layer provided in this application is derived from proprietary wellbore data, the records of which do not always contain values for key features (status, type, true vertical depth, or spud year). Therefore, data might not be available when layers are queried for all filter combinations. Additionally, visualizing layers and applying filters may take additional time to load (i.e., draw on the map) due to the large size of the data.

ccs↗
DOE OSTI2024

Parallel quantum computing simulations via quantum accelerator platform virtualization

Quantum circuit execution is a central task in quantum computation. Due to inherent quantum-mechanical constraints, quantum computing workflows often involve a considerable number of independent measurements over a large set of slightly different quantum circuits. Here we discuss a simple model for parallelizing such quantum circuit executions that is based on introducing a large array of virtual quantum processing units (mapped to HPC nodes in our case) as a parallel quantum computing platform. Implemented within the XACC framework, the model can readily take advantage of its backend-agnostic features, enabling parallel quantum computing/simulation over any target backend supported by XACC. We illustrate the performance of this approach by demonstrating strong scaling in two pertinent domain science problems, namely in computing the gradients for the multi-contracted variational quantum eigensolver and in data-driven quantum circuit learning, where we vary the number of qubits and the number of circuit layers. Here, the latter simulation leverages the cuQuantum library to run efficiently on GPU-accelerated HPC platforms.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Automating the detection of hydrological barriers and fragmentation in wetlands using deep learning and InSAR

The loss of hydrological connectivity and fragmentation of natural wetlands is a widespread driver of wetland degradation. Understanding where and how natural connectivity is impaired is essential for managing, protecting and remediating these ecosystems. Wetland Interferometric Synthetic Aperture Radar (Wetland InSAR) can provide information on surface flow orientation in wetlands at a high spatial resolution, which can be used for barrier detection. However, the broad application of this approach is constrained by the labour-intensive manual delineation of barriers based on mapped water levels. This study presents the first deep learning-based methodology for the automated detection of hydrological barriers. We trained a deep convolutional network to segment edge features of hydrological barriers in 25 image pairs captured by ALOS PALSAR-1 L-Band InSAR between 2006 and 2011. The training dataset consists of manually labelled and delineated barriers showing abrupt changes in water surface elevation and wrapped interferograms with high coherence. We tested this method across three wetland sites: the Everglades and southern Louisiana wetlands (United States) and the Cienaga de Zapata (Cuba). Across these sites, the convolutional network detected hydrological barriers with up to 84% accuracy. The model performed particularly well for linear hydrological barriers such as roads, dikes, and channels. Notably, some barriers impede flow only seasonally, appearing during low water levels and disappearing when water levels rise. Our automated approach to detecting and assessing wetland hydrologic connectivity can be applied more broadly to support the effective management of fragmented wetland ecosystems.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2025

Multiscale maps of Active Layer Depth for Teller site Mile Marker 27 and Kougarok Mile Marker 80, Seward Peninsula, AK

Remote sensing maps of active layer depth derived from Unmanned Areal System (UAS) data. The UAS datasets were stepwise scaled until matching the AVIRIS-NG (Airborne Visible / Infrared Imaging Spectrometer - Next Generation) and Sentinel-2 spatial resolutions. Using the field observed Active Layer Depth (ALD) measurement in combination with spectral and topographic predictors derivatives from DJI UAS imagery, we used a spatially explicit RF regression model to predict and map ALD across our study landscapes. This package includes maps for Next-Generation Ecosystem Experiment Arctic (NGEE Arctic)’s Teller Mile Marker (MM) 27, and Kougarok MM80 (aka Mile 80) watersheds. The field, map data, and metadata are provided as geoTIF and text (*.csv) formats. These datasets are provided in support of Hantson et al., 2024 (accepted) “Scaling Arctic landscape and permafrost features improves active layer depth modeling”

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

The Emission and Suppression of Line Features in Luminous Transients

Featureless optical and ultraviolet (UV) spectra are a puzzling signature to emerge from recent observations of luminous fast blue optical transients (LFBOTs) and some tidal disruption events (TDEs). We describe the landscape of source and gas properties that are expected to form H, He I , and He II emission lines, and map spectral types to the parameter space of luminosity and system radius. Using one-dimensional radiative transfer calculations, we show that high source luminosities (L > 10 44 erg s −1 ) and compact ejecta radii (r < 10 14 cm) produce featureless spectra, due to the high temperature and ionization state of the emitting medium. Intermediate luminosities and moderately compact systems can generate He II -dominated spectra, while lower luminosities and more extended atmospheres result in conspicuous H and He I emission. Large expansion velocities (v ≥ 0.1c) can further broaden lines such that they blend into the continuum. Featureless UV spectra may require even more extreme ionization environments or velocities in order to suppress the many intrinsically strong metal lines at those wavelengths. Applying this framework to understand the absence of features observed in LFBOTs and featureless TDEs, we find that, under the optically thick, quasi-thermal conditions considered here, nonhomologous, compact outflows are likely necessary for featurelessness to persist in optical and UV spectra.

Aspegren, Olivia [University of California, Berkel↗
DOE OSTI2026

A Comprehensive Comparison of Building Height Products at a Global Level

The built environment continues to expand due to increasing human populations with some projections indicating additional growth of 2.5 billion persons by 2050. Buildings are a key component of the built environment and information on building height and urban morphology in general can help to better understand and address a host of development and urban planning issues including energy consumption, urbanization, population dynamics, urban heat islands, environmental degradation, and others. To date, several approaches have been developed to address the need for mapping building height at scale. These approaches can be grouped into two main categories: 1) directly measure height from remote sensing products or 2) indirectly estimate height from footprint morphology features at the building-by-building level. Due to a number of these global height datasets now being available for consumption and use across domains, there is a critical need to understand the differences displayed between these products and how the use of these may influence the outcome when applied. In this analysis, we compare and evaluate 5 global building height datasets: Global Human Settlement, World Settlement Footprint 3D, Global Building Morphology dataset, three-dimensional Global Building Footprints, and an approach developed at Oak Ridge National Laboratory (ORNL). Our analysis shows that, across 5 cities at a global scale with high-quality building height reference data, the approach developed by ORNL of inferring height at the building-by-building level is more accurate and consistent. This was evidenced by the ORNL product improving upon the baseline in all 5 cities, the only product to do so. These findings will aid researchers in choosing a global building height product that best meets their needs and provides global availability, consistency, and accuracy.

42 ENGINEERING↗
DOE OSTI2025

Accelerating phase field simulations through a hybrid adaptive Fourier neural operator with U-net backbone

Prolonged contact between a corrosive liquid and metal alloys can cause progressive dealloying. For one such process as liquid-metal dealloying (LMD), phase field models have been developed to understand the mechanisms leading to complex morphologies. However, the LMD governing equations in these models often involve coupled non-linear partial differential equations (PDE), which are challenging to solve numerically. In particular, numerical stiffness in the PDEs requires an extremely refined time step size (on the order of 10 -12 s or smaller). This computational bottleneck is especially problematic when running LMD simulation until a late time horizon is required. This motivates the development of surrogate models capable of leaping forward in time, by skipping several consecutive time steps at-once. In this paper, we propose a U-shaped adaptive Fourier neural operator (U-AFNO), a machine learning (ML) based model inspired by recent advances in neural operator learning. U-AFNO employs U-Nets for extracting and reconstructing local features within the physical fields, and passes the latent space through a vision transformer (ViT) implemented in the Fourier space (AFNO). We use U-AFNOs to learn the dynamics of mapping the field at a current time step into a later time step. We also identify global quantities of interest (QoI) describing the corrosion process (e.g., the deformation of the liquid-metal interface, lost metal, etc.) and show that our proposed U-AFNO model is able to accurately predict the field dynamics, in spite of the chaotic nature of LMD. Most notably, our model reproduces the key microstructure statistics and QoIs with a level of accuracy on par with the high-fidelity numerical solver, while achieving a significant 11, 200 × speed-up on a high-resolution grid when comparing the computational expense per time step. Finally, we also investigate the opportunity of using hybrid simulations, in which we alternate forward leaps in time using the U-AFNO with high-fidelity time stepping. We demonstrate that while advantageous for some surrogate model design choices, our proposed U-AFNO model in fully auto-regressive settings consistently outperforms hybrid schemes.

36 MATERIALS SCIENCE↗
DOE OSTI2026

Multitask graph neural networks for elastoplastic response prediction in dual-phase polycrystals

Microstructure-sensitive prediction of elastoplastic response remains a recurring bottleneck in multiscale damage and fatigue modeling, where large ensembles of statistically distinct polycrystals are required to quantify variability and extreme-value behavior. In this work, we develop a multitask graph neural network (GNN) surrogate that maps dual-phase ferrite–martensite polycrystal microstructures to Statistical Volume Element (SVE)-level elastoplastic Quantities of Interest (QoIs). Each SVE is represented as a grain-adjacency graph, with node features encoding phase, geometry, and crystallographic orientation, and edge features encoding relative misorientation. A message-passing graph convolution generates node embeddings, which are pooled into a graph representation and passed to a multitask regression head that jointly predicts 10 scalar QoIs and vector-valued stress–strain responses in orthogonal loading directions across multiple martensite volume fractions and SVE sizes. Results show high accuracy for scalar QoIs and strong agreement for full stress–strain trajectories, with population envelopes reproducing both median behavior and finite-SVE variability across compositions and partition scales. A unified model trained on pooled volume-fraction data preserves most within-regime accuracy relative to regime-specific models while also capturing the broader cross-regime variation reflected in the pooled test set. Distributional comparisons further demonstrate that the surrogate preserves heterogeneity under SVE partitioning, enabling statistically consistent block-wise random-field construction for mesoscale analyses. Overall, the proposed grain-graph surrogate provides a practical pathway to accelerate ensemble-based studies of SVE-level constitutive variability in dual-phase polycrystals.

Crystal plasticity↗
DOE OSTI2024

Linking Spatiotemporal Biological Data to Predict Harmful Algal Blooms

Cyanobacterial Harmful Algal Blooms (cHABs) have significant impacts on an affected region’s economy, ecology, and human health. The blooms can release toxins that kill fish and poison water for people and animals. The global adverse effects of cHABs are exacerbated by the consequences of climate change and increased pollution. Though the phenomena are well documented, scientists’ efforts to mitigate the damage are hampered by insufficient predictive models and incomplete granular knowledge of cHAB community structure. With a goal of leveraging bioinformatics and machine learning tools to better understand and predict cHABs, we are first exploring water sample data sets. Using nearly four thousand samples from the National Center for Biotechnology Information Sequence Read Archive (NCBI-SRA) across 16 years with latitude and longitude embedded in the metadata, we mapped the location of the samples onto a Lake Erie shape file. We combined information about location, date, and community taxa in the NCBI samples to discover factors that determine cHAB features. The data are separated into three distinct zones, with the majority pooled at the southwest end of the lake and occurring in 2017. The samples are rich in biological data; our next steps are to carry out whole genome sequence analysis and use the community profiles as part of our predictive machine learning model.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2025

lllinois Storage Corridor CarbonSAFE Phase III: Pre-drilling Site Assessment: Prairie State Generating Company

The Illinois Storage Corridor project will drill a stratigraphic test well as part of the Illinois Storage Corridor CarbonSAFE Phase 3 project near the Prairie State Generating Company coal-fired power plant near Marissa, Illinois. The pre-drilling site evaluation has considered the primary target reservoirs, the Potosi Dolomite and St. Peter Sandstone, and primary seal, the Maquoketa Group. Data to be collected from the well include core, fluid samples, in situ well tests, geophysical logs intended to provide information on lithologic, geomechanical, and geophysical characteristics to determine the feasibility for the geologic sequestration of 50 million metric tons or more of injected carbon dioxide. The planned drilling site has been evaluated using available subsurface geologic data and analyses from the Illinois Basin. These data provide lithologic and structural information, shallow groundwater resource distribution, location of known nearby wellbores, and regional drilling characteristics. The data were used to generate geologic structure and isopach maps for the target reservoir and caprock strata and for prognosing the tops of major lithologic units to aid drilling and coring procedures. The regional analyses indicate that no known structural features are expected to negatively impact the target storage reservoir or caprock. No protected and sensitive areas, groundwater resources, or existing resource development are expected to be impacted by the proposed well drilling activities. The well is planned to be drilled to a total depth of approximately 5,600 feet (1,707 m) and terminate in the Precambrian. Cores (up to 5 intervals) will be collected from the Maquoketa Group, confining units above the St. Peter Sandstone, St. Peter Sandstone, confining units of the Potosi Dolomite and the Potosi Dolomite. Water samples will be attempted to be collected from the St. Peter Sandstone and Potosi Dolomite. Potential impact on drilling progress is a lost circulation zone in the Potosi Dolomite, which has been demonstrated to have intermittent cavernous porosity from karstification elsewhere in the Illinois Basin. This document also presents a preliminary coring and sampling program, proposed logging suite, and well testing program, all of which will be reviewed during drilling.

01 COAL, LIGNITE, AND PEAT↗
DOE OSTI2025

Experiences with SYCL on AMD GPUs with Kokkos

With the recent diversification of the hardware landscape in the high-performance computing (HPC) community, performance-portability solutions are becoming more and more important. One of the most popular choices is Kokkos, which recently became a Linux Foundation project. Most of its development is supported by the US Department of Energy and the French Alternative Energies and Atomic Energy Commission. Kokkos is implemented as a C++ library with multiple backends to support CPUs as well as various GPU architectures. These backends include OpenMP, CUDA, HIP, and also SCYL. This approach enables users to leverage the preferred vendor toolchain for the respective platform (e.g. CUDA, ROCm, OneAPI). The SYCL backend is used to target Intel GPUs, in particular to support the Aurora exascale supercomputer. However, SYCL itself also offers a large degree of portability, and in fact Kokkos’ CI for SYCL has been running on NVIDIA hardware due to a lack of access to Intel GPUs. In this report, we describe our experience with using Kokkos SYCL backend on AMD GPUs targeting the Frontier supercomputer at Oak Ridge National Laboratory. The two major SYCL implementations are DPC++ and AdaptiveCpp. While the Kokkos SYCL backend has been implemented using the former, the latter was the first implementation to target AMD GPUs. We will discuss the experience with both of these SYCL implementations in terms of functionality and performance. Using Kokkos to evaluate SYCL toolchains has a number of benefits. Kokkos’ use of SYCL is fairly complex, exercising features such as graphs, relocatable device functions, atomics – including for non-arithmetic types, as well as pinned and page migratable memory allocations. Kokkos also needs to implement capabilities such as Kokkos’ hierarchical parallelism that are not a straight-forward mapping to SYCL capabilities. Furthermore, a large number of libraries and applications that represent diverse use cases are implemented in Kokkos, providing readily available test cases for a toolchain evaluation. Preliminary results show that support for AMD GPUs in DPC++ is much less mature than for NVIDIA GPUs or Intel GPUs. While the situation has improved significantly over the last year, we still encounter many runtime failures, dispatching problems, and code generation issues. With AdaptiveCpp the challenges arise even earlier in the evaluation process. Since Kokkos’ SYCL implementation is largely focused on supporting Intel GPUs, we opted to leverage SYCL extensions which are available in DPC++ but not in AdaptiveCpp. Furthermore, AdaptiveCpp appears to be less conformant with the SYCL2020 standard which Kokkos relies on. In some cases, we are able to work around the lack of feature support, in other cases we have to disable certain Kokkos capabilities to evaluate the toolchain. Our evaluation will leverage Kokkos’ unit tests to establish basic functionality and feature completeness. We then use simple benchmarks for components of a CG implementation as a measure of usability and performance of the SYCL toolchains.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Krylov winding and emergent coherence in operator growth dynamics

The operator wavefunction provides a fine-grained description of quantum chaos and of the irreversible growth of simple operators into increasingly complex ones. Remarkably, at finite temperature this wavefunction can acquire a phase that increases linearly with the operator’s size, a phenomenon called . Although size winding occurs naturally in a holographic setting, the emergence of a coherent phase in a scrambled operator remains mysterious from the standpoint of a thermalizing quantum many-body system. Here, in this article, we elucidate this phenomenon by introducing the related concept of , whereby the operator wavefunction acquires a phase which winds linearly with the Krylov index. We show that Krylov winding is a generic feature of quantum chaotic systems and is a direct consequence of the universal operator growth bound hypothesis. It gives rise to size winding under two additional conditions: (i) a low-rank mapping between the Krylov and size bases, which ensures phase alignment among operators of the same size, and (ii) the saturation of the "chaos-operator growth" bound 𝜆 𝐿 ≤ 2⁢𝛼 (with 𝜆 𝐿 the Lyapunov exponent and 𝛼 the growth rate), which ensures a linear phase dependence on size. For systems which do not saturate this bound, with ℎ = 𝜆 𝐿 /2⁢𝛼 < 1, the winding with Pauli size ℓ becomes superliner, behaving as ℓ 1/ℎ . We illustrate these results with two classes of microscopic models: the Sachdev-Ye-Kitaev (SYK) model and its variants, and a disordered 𝑘-local spin model.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2026

Coupled-channel approach to isotensor π π π scattering from lattice QCD

The quest to understand three-body dynamics from first-principle QCD includes the study of nonresonant and resonant systems. The isospin I = 2 system is of particular interest having no three-body resonance but featuring a resonance in a subchannel, while also being a coupled-channel problem. In this study, we calculate the finite-volume spectrum from lattice QCD at two different pion masses, map the amplitude to the infinite volume through a generalized Finite-Volume Unitarity three-body quantization condition, investigate the limit of a narrow ρ , and compare with an effective Lagrangian prediction at leading order. Chiral extrapolations between different pion masses are performed.

Feng, Yuchuan [The George Washington University] (↗
DOE OSTI2024

Peak effect and dynamics of stripe- and pattern-forming systems on a periodic one-dimensional substrate

Here we examine the ordering, pinning, and dynamics of two-dimensional pattern-forming systems interacting with a periodic one-dimensional substrate. In the absence of the substrate, particles with competing long-range repulsion and short-range attraction form anisotropic crystal, stripe, and bubble states. When the system is tuned across the stripe transition in the presence of a substrate, we find that there is a peak effect in the critical depinning force when the stripes align and become commensurate with the substrate. Under an applied drive, the anisotropic crystal and stripe states can exhibit soliton depinning and plastic flow. When the stripes depin plastically, they dynamically reorder into a moving stripe state that is perpendicular to the substrate trough direction. We also find that when the substrate spacing is smaller than the widths of the bubbles or stripes, the system forms pinned stripe states that are perpendicular to the substrate trough direction. The system exhibits multiple reentrant pinning effects as a function of increasing attraction, with the anisotropic crystal and large bubble states experiencing weak pinning but the stripe and smaller bubble states showing stronger pinning. We map out the different dynamic phases as a function of filling, the strength of the attractive interaction term, the substrate strength, and the drive, and demonstrate that the different phases produce identifiable features in the transport curves and particle orderings.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Swirls and scoops: Ice base melt revealed by multibeam imagery of an Antarctic ice shelf

Knowledge gaps about how the ocean melts Antarctica’s ice shelves, borne from a lack of observations, lead to large uncertainties in sea level predictions. Using high-resolution maps of the underside of Dotson Ice Shelf, West Antarctica, we reveal the imprint that ice shelf basal melting leaves on the ice. Convection and intermittent warm water intrusions form widespread terraced features through slow melting in quiescent areas, while shear-driven turbulence rapidly melts smooth, eroded topographies in outflow areas, as well as enigmatic teardrop-shaped indentations that result from boundary-layer flow rotation. Full-thickness ice fractures, with bases modified by basal melting and convective processes, are observed throughout the area. This new wealth of processes, all active under a single ice shelf, must be considered to accurately predict future Antarctic ice shelf melt.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2026

A Modular Accelerator Robotics Framework for AD Robotics

Accelerator tunnels, such as the ones at Fermilab, remain highly radioactive after beam shutoff due to induced radiation from the beam. This residual radiation creates a hazardous environment for manual inspection and repair of beamline components. To minimize worker radiation dose and reduce beam downtime, the AD Robotics Initiative previously built a fleet of low-cost custom mobile robots. However, the custom Python sockets server-client architecture lacked standardization, causing development delays and complicating the integration of new sensors and actuators. Here, we developed a modular system using ROS2 and Docker to standardize the teleoperation and control interfaces. This system was validated by implementing a teleoperation controller with real-time, low-latency, and high-definition video feedback. The aim of this framework is for a new feature or even a robot to be integrated into the system simply by documenting the hardware configuration. Current integration of LiDAR, Odometry, and Depth Cameras provides the foundation for Simultaneous Localization and Mapping (SLAM) tasks. Finally, future work involves integration into the accelerator control system and the attachment of a 6 degree-of-freedom robotic arm for telemanipulation.

Rayyan Khan, M. [Fermilab; Rensselaer Poly.; Unlis↗