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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 Surface performance is critically influenced by topography in virtually all real-world applications. The current standard practice is to describe topography using one of a few industry-standard parameters. The most commonly reported number is$$R$$ $R$a, the average absolute deviation of the height from the mean line (at some, not necessarily known or specified, lateral length scale). However, other parameters, particularly those that are scale-dependent, influence surface and interfacial properties; for example the local surface slope is critical for visual appearance, friction, and wear. The present Surface-Topography Challenge was launched to raise awareness for the need of a multi-scale description, but also to assess the reliability of different metrology techniques. In the resulting international collaborative effort, 153 scientists and engineers from 64 research groups and companies across 20 countries characterized statistically equivalent samples from two different surfaces: a “rough” and a “smooth” surface. The results of the 2088 measurements constitute the most comprehensive surface description ever compiled. We find wide disagreement across measurements and techniques when the lateral scale of the measurement is ignored. Consensus is established through scale-dependent parameters while removing data that violates an established resolution criterion and deviates from the majority measurements at each length scale. Our findings suggest best practices for characterizing and specifying topography. The public release of the accumulated data and presented analyses enables global reuse for further scientific investigation and benchmarking. 

Abstract The DarkSide-20k dark matter experiment, currently under construction at LNGS, features a dual-phase time projection chamber (TPC) with a ∼ 50 t argon target from an underground well. At this scale, it is crucial to optimise the argon flow pattern for efficient target purification and for fast distribution of internal gaseous calibration sources with lifetimes of the order of hours. To this end, we have performed computational fluid dynamics simulations and heat transfer calculations. The residence time distribution shows that the detector is well-mixed on time-scales of the turnover time (∼ 40 d). Notably, simulations show that despite a two-order-of-magnitude difference between the turnover time and the half-life of^83mKr of 1.83 h, source atoms have the highest probability to reach the centre of the TPC 13 min after their injection, allowing for a homogeneous distribution before undergoing radioactive decay. We further analyse the thermal aspects of dual-phase operation and define the requirements for the formation of a stable gas pocket on top of the liquid. We find a best-estimate value for the heat transfer rate at the liquid-gas interface of 62 W with an upper limit of 144 W and a minimum gas pocket inlet temperature of 89 K to avoid condensation on the acrylic anode. This study also informs the placement of liquid inlets and outlets in the TPC. The presented techniques are widely applicable to other large-scale, noble-liquid detectors. 

Abstract DarkSide-20k is a novel liquid argon dark matter detector currently under construction at the Laboratori Nazionali del Gran Sasso (LNGS) of the Istituto Nazionale di Fisica Nucleare (INFN) that will push the sensitivity for Weakly Interacting Massive Particle (WIMP) detection into the neutrino fog. The core of the apparatus is a dual-phase Time Projection Chamber (TPC), filled with 50 tonnes of low radioactivity underground argon (UAr) acting as the WIMP target. NUV-HD-cryo Silicon Photomultipliers (SiPM)s designed by Fondazione Bruno Kessler (FBK) (Trento, Italy) were selected as the photon sensors covering two$$10.5~\text {m}^2$$ $10.5{\text{m}}^2$Optical Planes, one at each end of the TPC, and a total of$$5~\text {m}^2$$ $5{\text{m}}^2$photosensitive surface for the liquid argon veto detectors. This paper describes the Quality Assurance and Quality Control (QA/QC) plan and procedures accompanying the production of FBK NUV-HD-cryo SiPM wafers manufactured by LFoundry s.r.l. (Avezzano, AQ, Italy). SiPM characteristics are measured at 77 K at the wafer level with a custom-designed probe station. As of March 2025, 1314 of the 1400 production wafers (94% of the total) for DarkSide-20k were tested. The wafer yield is$$93.2\pm 2.5$$ $93.2\pm 2.5$%, which exceeds the 80% specification defined in the original DarkSide-20k production plan. 

The dual-phase liquid argon time projection chamber is presently one of the leading technologies to search for dark matter particles with masses below 10 GeV c−2. This was demonstrated by the DarkSide-50 experiment with approximately 50 kg of low-radioactivity liquid argon as target material. The next generation experiment DarkSide-20k, currently under construction, will use 1,000 times more argon and is expected to start operation in 2027. Based on the DarkSide-50 experience, here we assess the DarkSide-20k sensitivity to models predicting light dark matter particles, including Weakly Interacting Massive Particles (WIMPs) and sub-GeV c−2 particles interacting with electrons in argon atoms. With one year of data, a sensitivity improvement to dark matter interaction cross-sections by at least one order of magnitude with respect to DarkSide-50 is expected for all these models. A sensitivity to WIMP–nucleon interaction cross-sections below 1 × 10−42 cm2 is achievable for WIMP masses above 800 MeV c−2. With 10 years exposure, the neutrino fog can be reached for WIMP masses around 5 GeV c−2. 

Abstract The Aria cryogenic distillation plant, located in Sardinia, Italy, is a key component of the DarkSide-20k experimental program for WIMP dark matter searches at the INFN Laboratori Nazionali del Gran Sasso, Italy. Aria is designed to purify the argon, extracted from underground wells in Colorado, USA, and used as the DarkSide-20k target material, to detector-grade quality. In this paper, we report the first measurement of argon isotopic separation by distillation with the 26 m tall Aria prototype. We discuss the measurement of the operating parameters of the column and the observation of the simultaneous separation of the three stable argon isotopes: $${}^{36}\hbox {Ar}$$ 36 Ar , $${}^{38}\textrm{Ar}$$ 38 Ar , and $${}^{40}\textrm{Ar}$$ 40 Ar . We also provide a detailed comparison of the experimental results with commercial process simulation software. This measurement of isotopic separation of argon is a significant achievement for the project, building on the success of the initial demonstration of isotopic separation of nitrogen using the same equipment in 2019.