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At least 1,495 records · Page 83

Spatially-Explicit Prediction of Capacity Density Advances Geographic Characterization of Wind Power Technical Potential

Mounting interest in ambitious clean energy goals is exposing critical gaps in our understanding of onshore wind power potential. Conventional approaches to evaluating wind power technical potential at the national scale rely on coarse geographic representations of land area requirements for wind power. These methods overlook sizable spatial variation in real-world capacity densities (i.e., nameplate power capacity per unit area) and assume that potential installation densities are uniform across space. Here, we propose a data-driven approach to overcome persistent challenges in characterizing localized deployment potentials over broad extents. We use machine learning to develop predictive relationships between observed capacity densities and geospatial variables. The model is validated against a comprehensive data set of United States (U.S.) wind facilities and subjected to interrogation techniques to reveal that key explanatory features behind geographic variation of capacity density are related to wind resource as well as urban accessibility and forest cover. We demonstrate application of the model by producing a high-resolution (2 km × 2 km) national map of capacity density for use in technical potential assessments for the United States. Our findings illustrate that this methodology offers meaningful improvements in the characterization of spatial aspects of technical potential, which are increasingly critical to draw reliable and actionable planning and research insights from renewable energy scenarios.

17 WIND ENERGY↗

Tectonic analysis of Baja California and Parras shear belt in Mexico

The author has identified the following significant results. Geological correlation of terrain across the Gulf of California using ERTS-1 imagery revealed significant similarities between Isla Tiburon, Isla Angel de la Guarda, and the San Carlos Range in mainland Mexico. ERTS-1 imagery was used to check the validity of the existence of major trans-Baja fault zones. ERTS-1 imagery also shows that high albedo sediments similar to known late Tertiary marine sediments are widespread in southern and middle Baja and extend in places to the eastern side of the Peninsula. Major faults in northern Mexico and across the border in the United States were mapped, and ample evidence was found that the Parras and parts of the Texas lineament are belts of major transverse shear faults in areas outside the supposed limit of the Texas and Parras lineaments. A fundamental concept which may help explain many complexities in the tectonic development is beginning to emerge: The southwestern part of North America was torn by massive left-lateral shear of transverse trend (east-west) during the compressive stage of the late Mesozoic and early Cenozoic. This tectonic style has changed into tensional rifting (Basin and Range) and right-lateral shear later in the Cenozoic and Quaternary.

Abdel-Gawad, M.↗

The effects of installation on single- and counter-rotation propeller noise

In order to understand the effects of installation on propeller noise, numerous measurements are required to define the directivity of the noise as well as the level. An experimental study was designed to map the noise radiation pattern for various single-rotation propeller (SRP) and counter-rotation propeller (CRP) installations covering + or 60 deg from the propeller disk plane and + or - 60 deg laterally. Configurations that were considered included an SRP at angle of attack and in tractor and pusher operations and a CRP. A first principles linear theory was validated for the SRP tractor operation over the angle range mentioned above. The increases in noise that arise from an unsteady loading operation such as an SRP pusher or CRP exceed 15 dB and depend on the observer location. In particular, the majority of the additional noise appears to radiate in the axial directions.

Block, P. J. W.↗

Infrared Sensing Aeroheating Flight Experiment: STS-96 Flight Results

Major elements of an experiment called the Infrared Sensing Aeroheating Flight Experiment are discussed. The primary experiment goal is to provide reentry global temperature images from infrared measurements to define the characteristics of hypersonic boundary-layer transition during flight. Specifically, the experiment is to identify, monitor, and quantity hypersonic boundary layer windward surface transition of the X-33 vehicle during flight. In addition, the flight data will serve as a calibration and validation of current boundary layer transition prediction techniques, provide benchmark laminar, transitional, and fully turbulent global aeroheating data in order to validate existing wind tunnel and computational results, and to advance aeroheating technology. Shuttle Orbiter data from STS-96 used to validate the data acquisition and data reduction to global temperatures, in order to mitigate the experiment risks prior to the maiden flight of the X-33, is discussed. STS-96 reentry midwave (3-5 micron) infrared data were collected at the Ballistic Missile Defense Organization/Innovative Sciences and Technology Experimentation Facility site at NASA-Kennedy Space Center and subsequently mapped into global temperature contours using ground calibrations only. A series of image mapping techniques have been developed in order to compare each frame of infrared data with thermocouple data collected during the flight. Comparisons of the ground calibrated global temperature images with the corresponding thermocouple data are discussed. The differences are shown to be generally less than about 5%, which is comparable to the expected accuracy of both types of aeroheating measurements.

Blanchard, Robert C.↗

A Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) Determined from Phased Microphone Arrays

Current processing of acoustic array data is burdened with considerable uncertainty. This study reports an original methodology that serves to demystify array results, reduce misinterpretation, and accurately quantify position and strength of acoustic sources. Traditional array results represent noise sources that are convolved with array beamform response functions, which depend on array geometry, size (with respect to source position and distributions), and frequency. The Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) method removes beamforming characteristics from output presentations. A unique linear system of equations accounts for reciprocal influence at different locations over the array survey region. It makes no assumption beyond the traditional processing assumption of statistically independent noise sources. The full rank equations are solved with a new robust iterative method. DAMAS is quantitatively validated using archival data from a variety of prior high-lift airframe component noise studies, including flap edge/cove, trailing edge, leading edge, slat, and calibration sources. Presentations are explicit and straightforward, as the noise radiated from a region of interest is determined by simply summing the mean-squared values over that region. DAMAS can fully replace existing array processing and presentations methodology in most applications. It appears to dramatically increase the value of arrays to the field of experimental acoustics.

Brooks, Thomas F.↗

A Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) Determined from Phased Microphone Arrays

Current processing of acoustic array data is burdened with considerable uncertainty. This study reports an original methodology that serves to demystify array results, reduce misinterpretation, and accurately quantify position and strength of acoustic sources. Traditional array results represent noise sources that are convolved with array beamform response functions, which depend on array geometry, size (with respect to source position and distributions), and frequency. The Deconvolution Approach for the Mapping of Acoustic Sources (DAMAS) method removes beamforming characteristics from output presentations. A unique linear system of equations accounts for reciprocal influence at different locations over the array survey region. It makes no assumption beyond the traditional processing assumption of statistically independent noise sources. The full rank equations are solved with a new robust iterative method. DAMAS is quantitatively validated using archival data from a variety of prior high-lift airframe component noise studies, including flap edge/cove, trailing edge, leading edge, slat, and calibration sources. Presentations are explicit and straightforward, as the noise radiated from a region of interest is determined by simply summing the mean-squared values over that region. DAMAS can fully replace existing array processing and presentations methodology in most applications. It appears to dramatically increase the value of arrays to the field of experimental acoustics.

Brooks, Thomas F.↗

Toa Baja Disasters: Utilizing Open-Source Earth Observations to Inform the Toa Baja Municipality’s Flood Mitigation Efforts and Educate the Public

Toa Baja, located just west of San Juan in Puerto Rico, is known as “the underwater city” due to its propensity to flood. The city contains the mouth of the island’s longest river, Río de la Plata, which drains into the Atlantic Ocean on the northern edge of the municipality. Proximity to these major water features and the flat, low terrain contribute to the flood-prone nature of the area. During tropical storm events, such as Hurricane Maria in 2017, Toa Baja experienced inundation of up to 20 feet. Changes in the global climate system are causing more intense and frequent tropical storms, making places like Toa Baja subject to irreparable damage. This NASA DEVELOP project collaborated with the Municipio Autónomo de Toa Baja, ResilientSEE, and the Massachusetts Institute of Technology Urban Risk Lab to supplement recent 2018 Federal Emergency Management Agency Hydraulic Engineering Centers-River Analysis System flood maps, which designated 63% of the area as a flood plain. The analysis provides a high-resolution interpretation of flood susceptibility using a variety of factors that collectively influence the likelihood of flooding. Sentinel-1 C-Band Synthetic Aperture Radar (C-SAR) data processed with Google Earth Engine scripting identified historical inundation and was used for validation purposes. Socioeconomic factors were combined with the inundation layer producing a final risk output. These outputs will improve public understanding of exposure to flood risk in Toa Baja and provide scientific evidence for flood mitigation advocacy.

Disasters↗

Toa Baja Disasters: Utilizing Open-Source Earth Observations to Inform the Toa Baja Municipality’s Flood Mitigation Efforts and Educate the Public

Toa Baja, located just west of San Juan in Puerto Rico, is known as “the underwater city” due to its propensity to flood. The city contains the mouth of the island’s longest river, Río de la Plata, which drains into the Atlantic Ocean on the northern edge of the municipality. Proximity to these major water features and the flat, low terrain contribute to the flood-prone nature of the area. During tropical storm events, such as Hurricane Maria in 2017, Toa Baja experienced inundation of up to 20 feet. Changes in the global climate system are causing more intense and frequent tropical storms, making places like Toa Baja subject to irreparable damage. This NASA DEVELOP project collaborated with the Municipio Autonómo de Toa Baja, ResilientSEE, and the Massachusetts Institute of Technology Urban Risk Lab to supplement recent 2018 Federal Emergency Management Agency Hydraulic Engineering Centers-River Analysis System flood maps, which designated 63% of the area as a flood plain. The analysis provides a high-resolution interpretation of flood susceptibility using a variety of factors that collectively influence the likelihood of flooding. Sentinel-1 C-Band Synthetic Aperture Radar (C-SAR) data processed with Google Earth Engine scripting identified historical inundation and was used for validation purposes. Socioeconomic factors were combined with the inundation layer producing a final risk output. These outputs will improve public understanding of exposure to flood risk in Toa Baja and provide scientific evidence for flood mitigation advocacy.

Disasters↗

Sao Paulo Lightning Mapping Array (SP-LMA): Deployment and Plans

An 8-10 station Lightning Mapping Array (LMA) network is being deployed in the vicinity of Sao Paulo to create the SP-LMA for total lightning measurements in association with the international CHUVA [Cloud processes of tHe main precipitation systems in Brazil: A contribUtion to cloud resolVing modeling and to the GPM (GlobAl Precipitation Measurement)] field campaign. Besides supporting CHUVA science/mission objectives and the Sao Luz Paraitinga intensive operation period (IOP) in December 2011-January 2012, the SP-LMA will support the generation of unique proxy data for the Geostationary Lightning Mapper (GLM) and Advanced Baseline Imager (ABI), both sensors on the NOAA Geostationary Operational Environmental Satellite-R (GOES-R), presently under development and scheduled for a 2015 launch. The proxy data will be used to develop and validate operational algorithms so that they will be ready for use on "day1" following the launch of GOES-R. A preliminary survey of potential sites in the vicinity of Sao Paulo was conducted in December 2009 and January 2010, followed up by a detailed survey in July 2010, with initial network deployment scheduled for October 2010. However, due to a delay in the Sa Luz Paraitinga IOP, the SP-LMA will now be installed in July 2011 and operated for one year. Spacing between stations is on the order of 15-30 km, with the network "diameter" being on the order of 30-40 km, which provides good 3-D lightning mapping 150 km from the network center. Optionally, 1-3 additional stations may be deployed in the vicinity of Sa Jos dos Campos.

Bailey, J. C.↗

Chapter Twelve - Proton transfer and drug binding details revealed in neutron diffraction studies of wild-type and drug resistant HIV-1 protease

HIV-1 protease is an essential therapeutic target for the design and development of antiviral inhibitors to treat AIDS. We used room temperature neutron crystallography to accurately determine hydrogen atom positions in several protease complexes with clinical drugs, amprenavir and darunavir. Hydrogen bonding interactions were carefully mapped to provide an unprecedented picture of drug binding to the protease target. We demonstrate that hydrogen atom positions within the enzyme catalytic site can be altered by introducing drug resistant mutations and by protonating surface residues that trigger proton transfer reactions between the catalytic Asp residues and the hydroxyl group of darunavir. When protein perdeuteration is not feasible, we validate the use of initial H/D exchange with unfolded protein and partial deuteration in pure D2O with hydrogenous glycerol to maximize deuterium incorporation into the protein, with no detrimental effects on the growth of quality crystals suitable for neutron diffraction experiments.

60 APPLIED LIFE SCIENCES↗

Evaluation of Functional Marrow Irradiation Based on Skeletal Marrow Composition Obtained Using Dual-Energy Computed Tomography

Purpose: To develop an imaging method to characterize and map marrow composition in the entire skeletal system, and to simulate differential targeted marrow irradiation based on marrow composition. Methods and Materials: Whole-body dual energy computed tomography (DECT) images of cadavers and leukemia patients were acquired, segmented to separate bone marrow components, namely, bone, red marrow (RM), and yellow marrow (YM). DECT-derived marrow fat fraction was validated using histology of lumbar vertebrae obtained from cadavers. The fractions of RM (RMF = RM/total marrow) and YMF were calculated in each skeletal region to assess the correlation of marrow composition with sites and ages. Treatment planning was simulated to target irradiation differentially at a higher dose (18 Gy) to either RM or YM and a lower dose (12 Gy) to the rest of the skeleton. Results: A significant correlation between fat fractions obtained from DECT and cadaver histology samples was observed (r=0.861, P<.0001, Pearson). The RMF decreased in the head, neck, and chest was significantly inversely correlated with age but did not show any significant age-related changes in the abdomen and pelvis regions. Conformity of radiation to targets (RM, YM) was significantly dependent on skeletal sites. The radiation exposure was significantly reduced (P<.05, t test) to organs at risk (OARs) in RM and YM irradiation compared with standard total marrow irradiation (TMI). Conclusions: Whole-body DECT offers a new imaging technique to visualize and measure skeletal-wide marrow composition. The DECT-based treatment planning offers volumetric and site-specific precise radiation dosimetry of RM and YM, which varies with aging. Our proposed method could be used as a functional compartment of TMI for further targeted radiation to specific bone marrow environment, dose escalation, reduction of doses to OARs, or a combination of these factors.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Modeling stratified flames with and without shear using multiple mapping conditioning

A stochastic sparse particle approach is coupled with an artificial thickening flame (ATF) model for large eddy simulations (LES) to predict a series of turbulent premixed-stratified flames with and without shear and stratification. The thickened reaction progress variable serves as reference variable for the multiple mapping conditioning (MMC) mixing model which emulates turbulent mixing of the stochastic particles. The key feature of MMC is to enforce localness in this reference space when particle pairs are mixed and prevents unphysical mixing of burnt and unburnt fluid across the flame front. We apply MMC-ATF to three flames of a series of turbulent stratified flames and validate the method by comparison with experimental data. The new measurements feature increased accuracy in comparison to previously published data of the same flames due to a better signal-to-noise ratio and a setup which is less prone to beam steering. All flame locations are well predicted by the LES-ATF approach and an analysis of the MMC particle statistics demonstrates that MMC preserves the flamelet-like behaviour in regions where the experiments show low scatter around the flamelet solution. Predicted (local) deviations from the flamelet-solution are comparable to deviations observed in the measurements and variations in the flame structure due to differences in stratification and shear are reasonably well captured by the method.

47 OTHER INSTRUMENTATION↗

Planck 2013 results. XV. CMB power spectra and likelihood

This paper presents the Planck 2013 likelihood, a complete statistical description of the two-point correlation function of the CMB temperature fluctuations that accounts for all known relevant uncertainties, both instrumental and astrophysical in nature. We use this likelihood to derive our best estimate of the CMB angular power spectrum from Planck over three decades in multipole moment, &ell;, covering 2 &le; &ell; &le; 2500. The main source of uncertainty at &ell; &le; 1500 is cosmic variance. Uncertainties in small-scale foreground modelling and instrumental noise dominate the error budget at higher &ell;s. For &ell; < 50, our likelihood exploits all Planck frequency channels from 30 to 353 GHz, separating the cosmological CMB signal from diffuse Galactic foregrounds through a physically motivated Bayesian component separation technique. At &ell; &le; 50, we employ a correlated Gaussian likelihood approximation based on a fine-grained set of angular cross-spectra derived from multiple detector combinations between the 100, 143, and 217 GHz frequency channels, marginalising over power spectrum foreground templates. We validate our likelihood through an extensive suite of consistency tests, and assess the impact of residual foreground and instrumental uncertainties on the final cosmological parameters. We find good internal agreement among the high-&ell; cross-spectra with residuals below a few &mu;K 2 at &ell; ≲ 1000, in agreement with estimated calibration uncertainties. We compare our results with foreground-cleaned CMB maps derived from all Planck frequencies, as well as with cross-spectra derived from the 70 GHz Planck map, and find broad agreement in terms of spectrum residuals and cosmological parameters. We further show that the best-fit CDM cosmology is in excellent agreement with preliminary Planck EE and TE polarisation spectra. We find that the standard ΛCDM cosmology is well constrained by Planck from the measurements at &ell; ≲ 1500. One specific example is the spectral index of scalar perturbations, for which we report a 5.4σ deviation from scale invariance, n s = 1. Increasing the multipole range beyond &ell; ≃ 1500 does not increase our accuracy for the ΛCDM parameters, but instead allows us to study extensions beyond the standard model. We find no indication of significant departures from the ΛCDM framework. Finally, we report a tension between the Planck best-fit ΛCDM model and the low-&ell; spectrum in the form of a power deficit of 5&ndash;10% at &ell; ≲ 40, with a statistical significance of 2.5&ndash;3σ. Without a theoretically motivated model for this power deficit, we do not elaborate further on its cosmological implications, but note that this is our most puzzling finding in an otherwise remarkably consistent data set.

79 ASTRONOMY AND ASTROPHYSICS↗

Structure and energetics of pairwise interactions between proteasome subunits RPN2, RPN13, and ubiquitin clarify a substrate recruitment mechanism

This work presents that the 26S proteasome is a large cellular assembly that mediates the selective degradation of proteins in the nucleus and cytosol and is an established target for anticancer therapeutics. Protein substrates are typically targeted to the proteasome through modification with a polyubiquitin chain, which can be recognized by several proteasome-associated ubiquitin receptors. One of these receptors, RPN13/ADRM1, is recruited to the proteasome through direct interaction with the large scaffolding protein RPN2 within the 19S regulatory particle. To better understand the interactions between RPN13, RPN2, and ubiquitin, we used human proteins to map the RPN13-binding epitope to the C-terminal 14 residues of RPN2, which, like ubiquitin, binds the N-terminal pleckstrin-like receptor of ubiquitin (PRU) domain of RPN13. We also report the crystal structures of the RPN13 PRU domain in complex with peptides corresponding to the RPN2 C terminus and ubiquitin. Through mutational analysis, we validated the RPN2-binding interface revealed by our structures and quantified binding interactions with surface plasmon resonance and fluorescence polarization. In contrast to a previous report, we find that RPN13 binds ubiquitin with an affinity similar to that of other proteasome-associated ubiquitin receptors and that RPN2, ubiquitin, and the deubiquitylase UCH37 bind to RPN13 with independent energetics. In conclusion, these findings provide a detailed characterization of interactions that are important for proteasome function, indicate ubiquitin affinities that are consistent with the role of RPN13 as a proteasomal ubiquitin receptor, and have major implications for the development of novel anticancer therapeutics.

59 BASIC BIOLOGICAL SCIENCES↗

Energy transport analysis of NSTX plasmas with the TGLF turbulent and NEO neoclassical transport models

This work presents a study of plasma transport at low aspect ratio on the National Spherical Torus Experiment tokamak, where the turbulent and neoclassical energy fluxes calculated by the quasilinear Trapped Gyro Landau Fluid (TGLF) model and the multi species drift-kinetic Neoclassical solver (NEO) are validated against experimental data. The turbulent energy transport of two plasma discharges, one in the L-mode confinement regime and another in the H-mode regime, is dominated by electrostatic drift-wave instabilities, while the ion heat transport has a significant neoclassical contribution. The data analysis workflow is described in detail to understand how the variations of mapping and fitting of experimental data affect the power balance solution and subsequent flux-matching plasma profile predictions with the TGYRO solver. On average, the predicted plasma profiles are consistent with experimental data. However, the solutions are sensitive to various input parameters, including boundary conditions, and the electron-ion coupling. Linear gyrokinetic stability analysis demonstrates close agreement of the real frequencies of unstable modes between TGLF and CGYRO gyrokinetic simulations, but higher growth rates are predicted by TGLF, especially for the H-mode case. Estimates of the low-k modes' contributions to the total flux are consistent with linear stability analysis and the E × B suppression of turbulence in TGLF simulations with the SAT1 saturation model, while the SAT2 saturation model over-predicts the low-k modes' contribution in the H-mode case. Moreover, the results with SAT1 model are consistent with power balance analysis, which indicates only neoclassical ion energy fluxes inside ρ < 0.4 in the L-mode case and $\rho \unicode{x2A7D} 0.7$ in the H-mode case. The presence of multi-scale turbulence and ion-scale driven zonal flow mixing effects are also observed in TGLF scans of the electron turbulent heat flux over a range of temperature gradients and the electron-ion temperature ratio, which could explain the strong model sensitivity to variations of input parameters.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Joint inference of multiplicative and additive systematics in galaxy density fluctuations and clustering measurements

Galaxy clustering measurements are a key probe of the matter density field in the Universe. With the era of precision cosmology upon us, surveys rely on precise measurements of the clustering signal for meaningful cosmological analysis. However, the presence of systematic contaminants can bias the observed galaxy number density, and thereby bias the galaxy two-point statistics. As the statistical uncertainties get smaller, correcting for these systematic contaminants becomes increasingly important for unbiased cosmological analysis. We present and validate a new method for understanding and mitigating both additive and multiplicative systematics in galaxy clustering measurements (two-point function) by joint inference of contaminants in the galaxy overdensity field (one-point function) using a maximum-likelihood estimator (MLE). We test this methodology with Kilo-Degree Survey-like mock galaxy catalogues and synthetic systematic template maps. We estimate the cosmological impact of such mitigation by quantifying uncertainties and possible biases in the inferred relationship between the observed and the true galaxy clustering signal. Our method robustly corrects the clustering signal to the sub-percent level and reduces numerous additive and multiplicative systematics from 1.5σ to less than 0.1σ for the scenarios we tested. In addition, we provide an empirical approach to identifying the functional form (additive, multiplicative, or other) by which specific systematics contaminate the galaxy number density. Even though this approach is tested and geared towards systematics contaminating the galaxy number density, the methods can be extended to systematics mitigation for other two-point correlation measurements.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Smart Preprocessing & Robust Integration Emulator

To achieve the desired particle size of biomass feedstocks during preprocessing for trouble-free handling and conversion to produce biofuels and bioproducts, the raw materials must undergo a crucial milling process. The particle size of biomass plays a critical role in subsequent biofuel manufacturing, where a larger area-to-volume ratio facilitates efficient synthesis while balancing the impact of moisture on biomass storage. To optimize biofuel production efficiency and overcome these challenges, it is imperative to accurately predict the particle size distribution (PSD) of the biomass in the design of efficient preprocessing systems. The population balance model (PBM), upon empirical calibration and validation, can provide rapid prediction of post-milling PSD of granular biomass. However, PSD has limitations related to mass conservation and the absence of moisture considerations. To overcome these drawbacks, a deep learning model called the enhanced deep neural operator (DNO+) is implemented in the code. This model not only retains the capabilities of the PBM in handling complex mapping functions but also incorporates additional factors influencing the system. By considering various experimental conditions such as sieve size and moisture content, the trained DNO+ model can effectively predict the PSD after milling for any given feed PSD. To further reduce the reliance on experimental data, the PBM is integrated into the DNO+ model, resulting in a physics-informed DNO+ (PIDNO+). The PIDNO+ model addresses the non-conservation of quality exhibited by the PBM while inheriting the advantages of the DNO+ model in considering multiple influencing factors. Moreover, the PIDNO+ model significantly reduces the amount of data required for model training. Both deep learning models, i.e., DNO+ and PIDNO+, are excellent in predictive performance, offering swift and accurate machine learning-based predictions. The use of this code that contains these models will assist in guiding the proper milling equipment selection and operational conditions to achieve the desired biomass particle sizes, ensuring the efficiency of subsequent biofuel and bioproduct production processes.

Xia, Yidong [Idaho National Laboratory (INL), Idah↗

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↗