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Health Management Applications for International Space Station

Traditional mission and vehicle management involves teams of highly trained specialists monitoring vehicle status and crew activities, responding rapidly to any anomalies encountered during operations. These teams work from the Mission Control Center and have access to engineering support teams with specialized expertise in International Space Station (ISS) subsystems. Integrated System Health Management (ISHM) applications can significantly augment these capabilities by providing enhanced monitoring, prognostic and diagnostic tools for critical decision support and mission management. The Intelligent Systems Division of NASA Ames Research Center is developing many prototype applications using model-based reasoning, data mining and simulation, working with Mission Control through the ISHM Testbed and Prototypes Project. This paper will briefly describe information technology that supports current mission management practice, and will extend this to a vision for future mission control workflow incorporating new ISHM applications. It will describe ISHM applications currently under development at NASA and will define technical approaches for implementing our vision of future human exploration mission management incorporating artificial intelligence and distributed web service architectures using specific examples. Several prototypes are under development, each highlighting a different computational approach. The ISStrider application allows in-depth analysis of Caution and Warning (C&W) events by correlating real-time telemetry with the logical fault trees used to define off-nominal events. The application uses live telemetry data and the Livingstone diagnostic inference engine to display the specific parameters and fault trees that generated the C&W event, allowing a flight controller to identify the root cause of the event from thousands of possibilities by simply navigating animated fault tree models on their workstation. SimStation models the functional power flow for the ISS Electrical Power System and can predict power balance for nominal and off-nominal conditions. SimStation uses realtime telemetry data to keep detailed computational physics models synchronized with actual ISS power system state. In the event of failure, the application can then rapidly diagnose root cause, predict future resource levels and even correlate technical documents relevant to the specific failure. These advanced computational models will allow better insight and more precise control of ISS subsystems, increasing safety margins by speeding up anomaly resolution and reducing,engineering team effort and cost. This technology will make operating ISS more efficient and is directly applicable to next-generation exploration missions and Crew Exploration Vehicles.

Alena, Richard↗

Development of Two High-Energy Bus ‘Cores’ for Rapid Support of Low-TRL and Educational Payloads: A Software-Configured EPS Combined with Flexible C&DH

For several years the TechEdSat flight series (TES-n), developed by the Nano Orbital Workshop (NOW) group at NASA Ames, has relied upon an in-house developed unit to serve both EPS (Electrical Power System) and C&DH (Command and Data Handling) roles along with low data-rate telemetry functions, i.e., serving as the ‘core’ of the spacecraft bus. This ‘core’ has a considerable task given the rapid cadence of the TES program and the typically low-TRL of payloads; configurability and compatibility are key to prevent mission-specific hardware. However, at only 15 watts the current core has become insufficient to support the program’s growing missions and increasingly demanding payloads. To this end, the NOW program is developing new cores to support two TES mission classes: a single-PCB ‘MiniCore’ designed to support 80-watt missions 6U or smaller in LEO, and a three-PCB, radiation-tolerant ‘StackCore’ designed to support 6U and larger missions over 500 watts in LEO and beyond. The ‘MiniCore’ design consists of three main segments: a processor-agnostic C&DH, a software-configured EPS, and a backup low data-rate radio. The design philosophy was to enable rapid-manufacture in a turbulent supply chain, hence the design consists of COTS parts with a focus on those able to be drop-in replaced with radiation-tolerant versions when demanded by the mission. As a single PC-104 sized circuit board, power density and ease of integration also dominated design, demanding the use of modern features such as single-point USB-C for easy charging and monitoring of the spacecraft on the ground. The ‘MiniCore’ can support 80 watts of load, 140 watt-hours of storage, and over 20 watts of optimized solar generation with extensive power monitoring throughout. The ‘MiniCore’ supports one battery pack, six solar-panels, six loads, five actuators, Iridium SBD, and an internal 802.15.4 network. Additionally, the processor-agnostic design can accept any PJRC Teensy 3.x or Adafruit Feather microcontroller unit to enable processor scaling with mission requirements or environment. It is expected a development unit of this design will be completed before conference. The ‘StackCore’ design consists of three stacked PC-104 sized circuit boards: one dedicated to power generation and storage, one dedicated to power distribution, and one dedicated to C&DH tasks. This delineation is necessary to support the transition from highly integrated ICs to discrete analog circuitry, enabling a primarily analog control power system able to operate without software in a radiation environment with finer monitoring compared to the ‘MiniCore’ design. The planned base architecture supports over 500 watts of load, 250 watt-hours of storage, and over 80 watts of optimized solar generation. The power distribution board allows for the use of daughter cards hosting custom converters or interfaces for payloads, in addition to the software-configured supplies used on the ‘MiniCore’. This core stack will be managed by a Vorago ARM M4 microcontroller and support the same wireless communications as the ‘MiniCore’, with optional integration of a NOW S-band radio and attitude determination sensors for ‘black box’ functionality. It is expected the prototype will still be in development during conference.

Spacecraft↗

Development of Two High-Energy Bus ‘Cores’ for Rapid Support of Low-TRL and Educational Payloads: A Software-Configured EPS Combined with Flexible C&DH

For several years the TechEdSat flight series (TES-n), developed by the Nano Orbital Workshop (NOW) group at NASA Ames, has relied upon an in-house developed unit to serve both EPS (Electrical Power System) and C&DH (Command and Data Handling) roles along with low data-rate telemetry functions, i.e., serving as the ‘core’ of the spacecraft bus. This ‘core’ has a considerable task given the rapid cadence of the TES program and the typically low-TRL of payloads; configurability and compatibility are key to prevent mission-specific hardware. However, at only 15 watts the current core has become insufficient to support the program’s growing missions and increasingly demanding payloads. To this end, the NOW program is developing new cores to support two TES mission classes: a single-PCB ‘MiniCore’ designed to support 80-watt missions 6U or smaller in LEO, and a three-PCB, radiation-tolerant ‘StackCore’ designed to support 6U and larger missions over 500 watts in LEO and beyond. The ‘MiniCore’ design consists of three main segments: a processor-agnostic C&DH, a software-configured EPS, and a backup low data-rate radio. The design philosophy was to enable rapid-manufacture in a turbulent supply chain, hence the design consists of COTS parts with a focus on those able to be drop-in replaced with radiation-tolerant versions when demanded by the mission. As a single PC-104 sized circuit board, power density and ease of integration also dominated design, demanding the use of modern features such as single-point USB-C for easy charging and monitoring of the spacecraft on the ground. The ‘MiniCore’ can support 80 watts of load, 140 watt-hours of storage, and over 20 watts of optimized solar generation with extensive power monitoring throughout. The ‘MiniCore’ supports one battery pack, six solar-panels, six loads, five actuators, Iridium SBD, and an internal 802.15.4 network. Additionally, the processor-agnostic design can accept any PJRC Teensy 3.x or Adafruit Feather microcontroller unit to enable processor scaling with mission requirements or environment. It is expected a development unit of this design will be completed before conference. The ‘StackCore’ design consists of three stacked PC-104 sized circuit boards: one dedicated to power generation and storage, one dedicated to power distribution, and one dedicated to C&DH tasks. This delineation is necessary to support the transition from highly integrated ICs to discrete analog circuitry, enabling a primarily analog control power system able to operate without software in a radiation environment with finer monitoring compared to the ‘MiniCore’ design. The planned base architecture supports over 500 watts of load, 250 watt-hours of storage, and over 80 watts of optimized solar generation. The power distribution board allows for the use of daughter cards hosting custom converters or interfaces for payloads, in addition to the software-configured supplies used on the ‘MiniCore’. This core stack will be managed by a Vorago ARM M4 microcontroller and support the same wireless communications as the ‘MiniCore’, with optional integration of a NOW S-band radio and attitude determination sensors for ‘black box’ functionality. It is expected the prototype will still be in development during conference.

Spacecraft↗

Development of Two High-Energy Bus ‘Cores’

For several years the TechEdSat flight series (TES-n), developed by the Nano Orbital Workshop (NOW) group at NASA Ames, has relied upon an in-house developed unit to serve both EPS (Electrical Power System) and C&DH (Command and Data Handling) roles along with low data-rate telemetry functions, i.e., serving as the ‘core’ of the spacecraft bus. This ‘core’ has a considerable task given the rapid cadence of the TES program and the typically low-TRL of payloads; configurability and compatibility are key to prevent mission-specific hardware. However, at only 15 watts the current core has become insufficient to support the program’s growing missions and increasingly demanding payloads. To this end, the NOW program is developing new cores to support two TES mission classes: a single-PCB ‘MiniCore’ designed to support 80-watt missions 6U or smaller in LEO, and a three-PCB, radiation-tolerant ‘StackCore’ designed to support 6U and larger missions over 500 watts in LEO and beyond. The ‘MiniCore’ design consists of three main segments: a processor-agnostic C&DH, a software-configured EPS, and a backup low data-rate radio. The design philosophy was to enable rapid-manufacture in a turbulent supply chain, hence the design consists of COTS parts with a focus on those able to be drop-in replaced with radiation-tolerant versions when demanded by the mission. As a single PC-104 sized circuit board, power density and ease of integration also dominated design, demanding the use of modern features such as single-point USB-C for easy charging and monitoring of the spacecraft on the ground. The ‘MiniCore’ can support 80 watts of load, 140 watt-hours of storage, and over 20 watts of optimized solar generation with extensive power monitoring throughout. The ‘MiniCore’ supports one battery pack, six solar-panels, six loads, five actuators, Iridium SBD, and an internal 802.15.4 network. Additionally, the processor-agnostic design can accept any PJRC Teensy 3.x or Adafruit Feather microcontroller unit to enable processor scaling with mission requirements or environment. It is expected a development unit of this design will be completed before conference. The ‘StackCore’ design consists of three stacked PC-104 sized circuit boards: one dedicated to power generation and storage, one dedicated to power distribution, and one dedicated to C&DH tasks. This delineation is necessary to support the transition from highly integrated ICs to discrete analog circuitry, enabling a primarily analog control power system able to operate without software in a radiation environment with finer monitoring compared to the ‘MiniCore’ design. The planned base architecture supports over 500 watts of load, 250 watt-hours of storage, and over 80 watts of optimized solar generation. The power distribution board allows for the use of daughter cards hosting custom converters or interfaces for payloads, in addition to the software-configured supplies used on the ‘MiniCore’. This core stack will be managed by a Vorago ARM M4 microcontroller and support the same wireless communications as the ‘MiniCore’, with optional integration of a NOW S-band radio and attitude determination sensors for ‘black box’ functionality. It is expected the prototype will still be in development during conference.

Avery Brock↗

Testing and Expertise for Marine Energy (TEAMER) Program Support (CRADA Final Report)

Virginia Tech (VT) had previously developed a 50 kW AC to DC power converter that is specifically designed to improve the performance and efficiency of wave energy converters (WECs). Through this CRADA, NLR will test the VT power converter via a coupled dynamometer and power electronics test platform. The NLR test platform will be comprised of (1) a rotary dynamometer that will drive a VT provided gearbox and generator, (2) one or more DC regenerative power supplies that provide input power to and take power from the VT supplied power electronics, and (3) a data acquisition system for measurement. NLR will work with VT to develop a test plan, set up the test platform and integrate the test article, perform the testing, and assist in the data analysis.

16 TIDAL AND WAVE POWER↗

Data communication requirements for the advanced NAS network

The goal of the Numerical Aerodynamic Simulation (NAS) Program is to provide a powerful computational environment for advanced research and development in aeronautics and related disciplines. The present NAS system consists of a Cray 2 supercomputer connected by a data network to a large mass storage system, to sophisticated local graphics workstations, and by remote communications to researchers throughout the United States. The program plan is to continue acquiring the most powerful supercomputers as they become available. In the 1987/1988 time period it is anticipated that a computer with 4 times the processing speed of a Cray 2 will be obtained and by 1990 an additional supercomputer with 16 times the speed of the Cray 2. The implications of this 20-fold increase in processing power on the data communications requirements are described. The analysis was based on models of the projected workload and system architecture. The results are presented together with the estimates of their sensitivity to assumptions inherent in the models.

Levin, Eugene↗

The tethered retrievable platform concept and utilization

Main components of the current configuration of a proposed tethered satellite system (TSS) for deploying instrumentation up to 100 km upward or downward from the Orbiter in LEO are described. The TSS consists of the Deployer Module, the Tether, and the Satellite Module, and remains connected to the equipment in the Orbiter bay for the entire mission. The Deployer Module is mounted on a pallet, and has a boom, a tether control mechanism, and a tether control capability, in addition to data acquisition and control systems. The Satellite Module features a thermal control, electrical power and distribution, data management and communication, attitude determination, propulsion, and payload capability. Deployment is unpowered, taking advantage instead of gravity gradients to move the payload from the Orbiter. Safety features include a cutter mechanism to disengage the tether from the Orbiter if retrieval of the payload is judged to endanger the crew and the Orbiter.

Laue, J. H.↗

Overview of the Habitat Demonstration Unit Power System Integration and Operation at Desert RATS 2010

A habitat demonstration unit (HDU) was constructed at NASA Johnson Space Center (JSC) and designed by a multicenter NASA team led out of NASA Kennedy Space Center (KSC). The HDU was subsequently utilized at the 2010 Desert Research and Technology Studies (RATS) program held at the Black Point Lava Flow in Arizona. This report describes the power system design, installation and operation for the HDU. The requirements for the power system were to provide 120 VAC, 28 VDC, and 120 VDC power to the various loads within the HDU. It also needed to be capable of providing power control and real-time operational data on the load's power consumption. The power system had to be capable of operating off of a 3 phase 480 VAC generator as well as 2 solar photovoltaic (PV) power systems. The system operated well during the 2 week Desert RATS campaign and met all of the main goals of the system. The power system is being further developed to meet the future needs of the HDU and options for this further development are discussed.

Colozza, Anthony J.↗

Electrical Resistivity Tomography data from 2016 to 2018 at the Lower Montane site in the East River Watershed, Colorado

This dataset contains time-lapse Electrical Resistivity Tomography (ERT) data along a transect located on the northeast-facing hillslope at the lower montane site (Pumphouse site) in the upper East River Watershed. The monitoring dataset covers the period from November 2, 2016, to August 6, 2018. In addition, the archive also contains a baseline dataset from October 9, 2016. The ERT transect consisted of 128 electrodes with an electrode spacing of 1.25 m. The acquisition system was located in the middle of the transect, about 50 m on one side, and included an MPT (Multi-Phase Technologies) ERT system, a mini computer, and batteries with solar panels. Acquisition occurred daily under normal circumstances. The first 16 electrodes (from the upper end of the transect) could not be used after the cable was damaged during the 2017–2018 winter. Also, due to multiple failures in the power system, the temporal resolution of the data is much lower in 2018 compared to 2016 and 2017. The data have been processed and used in Dafflon et al., 2023, and the baseline dataset was used in Falco et al., 2019 (see reference list). This archive contains the measurements (ER.zip containing csv files) for each of the 326 acquisition times and a filtered version where only electrodes 17 to 128 are included (ERT_sm.zip containing csv files). The archive also contains the baseline dataset and two acquisitions with full reciprocals (ERT_RB.zip containing csv files), as well as all the raw MPT files (ERT_raw_MTP.zip). The geometry (electrode position and elevation) is provided in Universal Transverse Mercator (UTM) 13N Geoid2012AB in the file named ERT_Location.csv. The archive contains 1 *.csv data files, four *.zip files, and three metadata *.csv files. This work was supported by the Watershed Function Science Focus Area at Lawrence Berkeley National Laboratory funded by the US Department of Energy, Office of Science, Biological and Environmental Research under Contract No. DE-AC02-05CH11231.

54 ENVIRONMENTAL SCIENCES↗

Radar Waveform Pulse Analysis Measurement System for High-Power GaN Amplifiers

This work presents a measurement system to characterize the pulsed response of high-power GaN amplifiers for use in space-based SAR platforms that require very strict amplitude and phase stability. The measurement system is able to record and analyze data on three different time scales: fast, slow, and long, which allows for greater detail of the mechanisms that impact amplitude and phase stability. The system is fully automated through MATLAB, which offers both instrument control capability and in-situ data processing. To validate this system, a high-power GaN HEMT amplifier operated in saturation was characterized. The fast time results show that variations to the amplitude and phase are correlated to DC supply transients, while long time characteristics are correlated to temperature changes.

high-power amplifier (HPA)↗

Innovations in Sustainable Passive Wastewater Treatment - 20236

Sustainable water treatment systems, engineered to mimic natural processes and utilize natural materials, yield economic and environmental benefits through reductions in long term operational inputs, including: power, chemicals, and labor. Golder is an industry leader in the development and implementation of sustainable technologies at operating and closed mines. We continue to innovate these technologies and customize solutions to meet client needs by applying past experience and focused research. Sustainable (or passive) water treatment systems include ponds, wetlands, flow-through natural media beds, and limestone drains. These systems can blend in with a natural environment, are highly cost-effective for long-term water treatment, and can outcompete traditional active treatment technologies. Application of sustainable technologies relative to active technologies can be influenced by the influent water matrix, effluent limitations, flow rate of water requiring treatment, and available land area. In this presentation, four Golder-developed systems are reviewed as case studies, demonstrating our continued progressive approach to advancing sustainable water treatment technologies to meet industry needs. These case studies focus on design innovations and operational performance from data collected from the operational systems. Resources (power, chemicals, labor) required for the operation of each case study are compared with those that would be required for operation of their active treatment technology alternatives. - Case Study 1 presents an anaerobic biochemical reactor (BCR), a technology typically implemented for metals treatment and acid neutralization, for the treatment of sulfate to low concentrations (<250 mg/L). Active treatment via reverse osmosis (RO) membrane filtration is typically required for treatment of sulfate to similar concentrations, this innovation provides potential for sustainable treatment to replace the need for energy, chemical, labor, and waste (brine) intensive RO treatment for specific applications. Magnetite waste rock materials from the site were upcycled for use in this system to provide sequestration of the sulfide generated in the BCR. - Case Study 2 examines another novel application of the conventional BCR, modified for the removal of radionuclides and metals (uranium, radium, and selenium) at a closed uranium mine. - Case Study 3 presents implementation of sustainable treatment for mine drain water from a historic mine site, now a state park with around 100,000 visitors per year. The system includes a pond, wetland, and manganese removal bed surrounded by public trails designed to maintain the character of the park. The system treats for arsenic, iron, and manganese at relatively high flows (up to 1,200 gpm), with large seasonal fluctuations in flow and quality. - Case Study 4 is a unique project for which Golder is currently designing a sustainable treatment system, with no energy input, to treat nitrate in mine water post-closure at a site near the arctic circle. In this unprecedented application, climate, management of freshet, and space availability presented substantial technical challenges. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Data-Driven Linear Parameter-Varying Modeling and Control of Flexible Loads for Grid Services

Flexible loads have great potential to improve the electric grid's flexibility and stability. To effectively control large ensembles of heterogeneous loads, reliable models thereof are required. This paper presents a data-driven modeling and control approach to manage flexible loads for providing grid services. We leverage a linear parameter-varying autoregressive moving average (LPV-ARMA) model to describe the aggregate load response, where the parameters in the model are used to capture external environmental impacts (e.g., weather). A gain-scheduling feedback controller is then developed to adapt to environmental variations. This data-driven approach can be easily applied to different types of loads in various environmental conditions. In addition to the ensemble controller, distributed load controllers are designed to deliver grid services, while maintaining the quality of service of inherent load tasks. We demonstrate the work on the IEEE 37-node distribution system for real-time power regulation services through control of thermostatically controlled loads.

61 RADIATION PROTECTION AND DOSIMETRY↗

PV Performance Modeling - Data and Resources

The Photovoltaic (PV) Performance Modeling Collaborative (PVPMC) organized a blind PV performance modeling intercomparison to allow PV modelers to blindly test their models and modeling ability against real system data. Measured weather and irradiance data were provided along with detailed descriptions of PV systems from two locations (Albuquerque, New Mexico, USA and Roskilde, Denmark). Participants were asked to simulate the plane-of-array irradiance, module temperature, and DC power output from six systems and submit their results to Sandia for processing. This dataset includes seven MS-Excel sheets with instructions, notes and all necessary data (weather, irradiance, temperature, power) used for the data analysis of the blind modeling comparison. The hourly data represent six different systems from Albuquerque, NM and Roskilde, Denmark over a period of one year. These data are useful for PV performance model validation studies.

14 SOLAR ENERGY↗

A Practical On-line Framework for a Modified Energy Detector by Whitening Ambient PMU Data

A key application of Phasor Measurement Units (PMUs) is power system oscillation detection. An energy detector is a straightforward detection method, but setting thresholds requires extensive and time consuming baselining of data. This paper proposes a novel on-line method of whitening PMU measurements supporting a framework for detecting forced oscillations without requiring extensive baselining. An example of 24 hours of actual PMU data illustrates how a forced oscillation is very visible in the energy signal of the whitened data, while being hard to detect in the colored ambient noise. With this framework, the statistical theory for setting thresholds without baselining is much more straightforward and is the focus of future work.

Xu, Zikai↗

Model-Based Approaches to Generate Knowledge from Data in a Plant Reliability Context

One challenge that nuclear power plant system engineers are facing is continuous generation of an extremely large amount of equipment reliability (ER) data. These data elements come in textual (e.g., condition reports) and numeric (e.g., generated by monitoring systems) forms. They provide system engineers with valuable insights and information by discovering anomalous behaviors or degradation trends, identifying possible causes behind such behaviors and trends, and predicting their direct consequences. This paper directly targets the knowledge generation from ER data by putting “data into context.” We employ model-based system engineering (MBSE) of systems and assets to represent and capture their architecture and functional (i.e., cause-effect) relations. ER data elements are processed by first identifying which of the developed MBSE elements they are referring to. This task is harder for textual data since the information contained in issue or maintenance reports needs to be “understood” by a computational tool. We called this process “knowledge extraction” since our methods extract knowledge from textual data. Last, once numeric and textual ER data elements have been processed and “understood,” we discover possible cause-effect relations among them. This is performed by observing whether a logical connection through the MBSE models exists, and if there is a temporal relationship among them. The logic and temporal are the two main ingredients to perform “machine reasoning” from ER data.

97 - MATHEMATICS AND COMPUTING↗

Spacelab's interface to payload experiments

The Spacelab Payload Standard Modular Electronics (SPSME) program has been designed to provide a standardized set of space-qualified low-power electronic modules from which an experimenter may economically implement a command and data management system. SPSME is based on the Computer Automated Measurement and Control (CAMAC) interface standards. To the system of CAMAC, SPSME adds Spacelab interface modules, a flight qualified system crate, and an efficient light-weight power supply to produce a system compatible with the Spacelab environments, the Spacelab Command and Data Management System interface, and any experiment.

Golemon, W. F.↗

Application of Spectroscopic Doppler Velocimetry for Measurement of Streamwise Vorticity

A spectroscopic Doppler velocimetry technique has been developed for measuring two transverse components of velocity and hence streamwise vorticity in free jet flows. The nonintrusive optical measurement system uses Mie scattering from a 200 mW green continuous-wave laser interacting with dust and other tracer particulates naturally present in the air flow to measure the velocities. Scattered light is collected in two opposing directions to provide measurements of two orthogonal velocity components. An air-spaced Fabry-Perot interferometer is used for spectral analysis to determine the optical frequency shift between the incident laser light and the Mie scattered light. This frequency shift is directly proportional to the velocity component in the direction of the bisector of the incident and scattered light wave propagation vectors. Data were acquired for jet Mach numbers of 1.73 and 0.99 using a convergent 1.27-cm diameter round nozzle fitted with a single triangular "delta-tab". The velocity components and the streamwise vorticity calculated from the measurements are presented. The results demonstrate the ability of this novel optical system to obtain velocity and vorticity data without any artificial seeding and using a low power laser system.

Fagan, Amy↗

Could on-site fuel storage economically reduce power plant-gas grid dependence in pipeline constrained areas like New England?

In the Northeastern United States, natural gas supply constraints have led to periods when gas shortages have caused up to a quarter of all unscheduled power plant outages. Dual fuel oil/gas generators or local gas storage might mitigate gas supply shortages. We use historical power plant operational and availability data to develop a supply curve of the costs required for generators to mitigate fuel shortage failures in New England. Based on 2012–2018 data, we find that the historical fuel shortages at approximately 2 GW worth of gas-fired capacity could be mitigated using on-site fuel storage. For comparison, New England’s average reserve margin was 1.7–2.8 GW over our sample period. Oil dual fuel plants would recoup their investment if compensated with a reliability adder of $\$ 3-7$/MWh during their normal operations, while $\$ 7-16$/MWh would incentivize using onsite, compressed natural gas storage. We estimate that the capital expenses associated with the fuel storage options would be less expensive than installing battery backup for resource adequacy at current battery prices.

03 NATURAL GAS↗