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Recent Internet-of-Things (IoT) networks span across a multitude of stationary and robotic devices, namely unmanned ground vehicles, surface vessels, and aerial drones, to carry out mission-critical services such as search and rescue operations, wildfire monitoring, and flood/hurricane impact assessment. Achieving communication synchrony, reliability, and minimal communication jitter among these devices is a key challenge both at the simulation and system levels of implementation due to the underpinning differences between a physics-based robot operating system (ROS) simulator that is time-based and a network-based wireless simulator that is event-based, in addition to the complex dynamics of mobile and heterogeneous IoT devices deployed in a real environment. Nevertheless, synchronization between physics (robotics) and network simulators is one of the most difficult issues to address in simulating a heterogeneous multi-robot system before transitioning it into practice. The existing TCP/IP communication protocol-based synchronizing middleware mostly relied on Robot Operating System 1 (ROS1), which expends a significant portion of communication bandwidth and time due to its master-based architecture. To address these issues, we design a novel synchronizing middleware between robotics and traditional wireless network simulators, relying on the newly released real-time ROS2 architecture with a master-less packet discovery mechanism. Additionally, we propose a ground and aerial agents’ velocity-aware customized QoS policy for Data Distribution Service (DDS) to minimize the packet loss and transmission latency between a diverse set of robotic agents, and we offer the theoretical guarantee of our proposed QoS policy. We performed extensive network performance evaluations both at the simulation and system levels in terms of packet loss probability and average latency with line-of-sight (LOS) and non-line-of-sight (NLOS) and TCP/UDP communication protocols over our proposed ROS2-based synchronization middleware. Moreover, for a comparative study, we presented a detailed ablation study replacing NS-3 with a real-time wireless network simulator, EMANE, and masterless ROS2 with master-based ROS1. Our proposed middleware attests to the promise of building a largescale IoT infrastructure with a diverse set of stationary and robotic devices that achieve low-latency communications (12% and 11% reduction in simulation and reality, respectively) while satisfying the reliability (10% and 15% packet loss reduction in simulation and reality, respectively) and high-fidelity requirements of mission-critical applications. 

Abstract We present the design and performance of a four-phased radiofrequency (RF) carpet system for ion transport between 200–600 mbar, significantly higher than previously demonstrated RF carpet applications. The RF carpet, designed with a 160 $$\upmu $$ $\mu$m pitch, is applied to the lateral collection of ions in xenon at pressures up to 600 mbar. We demonstrate transport efficiency of caesium ions across varying pressures, and compare with microscopic simulations made in the SIMION package. The novel use of an N-phased RF carpet can achieve ion levitation and controlled lateral motion in a denser environment than is typical for RF ion transport in gases. This feature makes such carpets strong candidates for ion transport to single ion sensors envisaged for future neutrinoless double-beta decay experiments in xenon gas. 

Abstract We investigate the performance of , a 7.5 GPU-accelerated photon propagation tool compared with a single-threaded simulation. We compare the simulations using an improved model of the gaseous time projection chamber. Performance results suggest that improves simulation speeds by between$$58.47\pm {0.02}$$ $58.47\pm 0.02$and$$181.39\pm {0.28}$$ $181.39\pm 0.28$times relative to a CPU-only simulation and these results vary between different types of GPU and CPU. A detailed comparison shows that the number of detected photons, along with their times and wavelengths, are in good agreement between and . 

A<sc>bstract</sc> If neutrinoless double beta decay is discovered, the next natural step would be understanding the lepton number violating physics responsible for it. Several alternatives exist beyond the exchange of light neutrinos. Some of these mechanisms can be distinguished by measuring phase-space observables, namely the opening angle cosθamong the two decay electrons, and the electron energy spectra,T₁andT₂. In this work, we study the statistical accuracy and precision in measuring these kinematic observables in a future xenon gas detector with the added capability to precisely locate the decay vertex. For realistic detector conditions (a gas pressure of 10 bar and spatial resolution of 4 mm), we find that the average$$ \overline{\cos\ \theta } $$ $\overline{cos\theta }$and$$ \overline{T_1} $$ $\overline{T_1}$values can be reconstructed with a precision of 0.19 and 110 keV, respectively, assuming that only 10 neutrinoless double beta decay events are detected. 

Abstract The imaging of individual Ba²⁺ions in high pressure xenon gas is one possible way to attain background-free sensitivity to neutrinoless double beta decay and hence establish the Majorana nature of the neutrino. In this paper we demonstrate selective single Ba²⁺ion imaging inside a high-pressure xenon gas environment. Ba²⁺ions chelated with molecular chemosensors are resolved at the gas-solid interface using a diffraction-limited imaging system with scan area of 1 × 1 cm²located inside 10 bar of xenon gas. This form of microscopy represents key ingredient in the development of barium tagging for neutrinoless double beta decay searches in¹³⁶Xe. This also provides a new tool for studying the photophysics of fluorescent molecules and chemosensors at the solid-gas interface to enable bottom-up design of catalysts and sensors. 

Noble element time projection chambers are a leading technology for rare event detection in physics, such as for dark matter and neutrinoless double beta decay searches. Time projection chambers typically assign event position in the drift direction using the relative timing of prompt scintillation and delayed charge collection signals, allowing for reconstruction of an absolute position in the drift direction. In this paper, alternate methods for assigning event drift distance via quantification of electron diffusion in a pure high pressure xenon gas time projection chamber are explored. Data from the NEXT-White detector demonstrate the ability to achieve good position assignment accuracy for both high- and low-energy events. Using point-like energy deposits from$$^{83\textrm{m}}$$ ${}^{83\text{m}}$Kr calibration electron captures ($$E\sim 45$$ $E\sim 45$ keV), the position of origin of low-energy events is determined to 2 cm precision with bias$$< 1~$$ $<1$mm. A convolutional neural network approach is then used to quantify diffusion for longer tracks ($$E\ge ~1.5$$ $E\ge 1.5$ MeV), from radiogenic electrons, yielding a precision of 3 cm on the event barycenter. The precision achieved with these methods indicates the feasibility energy calibrations of better than 1% FWHM at Q$$_{\beta \beta }$$ ${}_{\beta \beta }$in pure xenon, as well as the potential for event fiducialization in large future detectors using an alternate method that does not rely on primary scintillation. 

Abstract We present a tunable metal ion beam that delivers controllable ion currents in the picoamp range for testing of dry-phase ion sensors. Ion beams are formed by sequential atomic evaporation and single or multiple electron impact ionization, followed by acceleration into a sensing region. Controllability of the ionic charge state is achieved through tuning of electrode potentials that influence the retention time in the ionization region. Barium, lead, and cadmium samples have been used to test the system, with ion currents identified and quantified using a quadrupole mass analyzer. Realization of a clean Ba²⁺  ion beam within a bench-top system represents an important technical advance toward the development and characterization of barium tagging systems for neutrinoless double beta decay searches in xenon gas. This system also provides a testbed for investigation of novel ion sensing methodologies for environmental assay applications, with dication beams of Pb²⁺and Cd²⁺also demonstrated for this purpose.