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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 667 records · Page 37
All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

System Identification of X-33 Neural Network

Modern flight control research has improved spacecraft survivability as its goal. To this end we need to have a failure detection system on board. In case the spacecraft is performing imperfectly, reconfiguration of control is needed. For that purpose we need to have parameter identification of spacecraft dynamics. Parameter identification of a system is called system identification. We treat the system as a black box which receives some inputs that lead to some outputs. The question is: what kind of parameters for a particular black box can correlate the observed inputs and outputs? Can these parameters help us to predict the outputs for a new given set of inputs? This is the basic problem of system identification. The X33 was supposed to have the onboard capability of evaluating the current performance and if needed to take the corrective measures to adapt to desired performance. The X33 is comprised of both rocket and aircraft vehicle design characteristics and requires, in general, analytical methods for evaluating its flight performance. Its flight consists of four phases: ascent, transition, entry and TAEM (Terminal Area Energy Management). It spends about 200 seconds in ascent phase, reaching an altitude of about 180,000 feet and a speed of about 10 to 15 Mach. During the transition phase which lasts only about 30 seconds, its altitude may increase to about 190,000 feet but its speed is reduced to about 9 Mach. At the beginning of this phase, the Main Engine is Cut Off (MECO) and the control is reconfigured with the help of aerosurfaces (four elevons, two flaps and two rudders) and reaction control system (RCS). The entry phase brings down the altitude of X33 to about 90,000 feet and its speed to about Mach 3. It spends about 250 seconds in this phase. Main engine is still cut off and the vehicle is controlled by complex maneuvers of aerosurfaces. The last phase TAEM lasts for about 450 seconds and the altitude and speed, both are reduced to zero. The present attempt, as a start, focuses only on the entry phase. Since the main engine remains cut off in this phase, there is no thrust acting on the system. This considerably simplifies the equations of motion. We introduce another simplification by assuming the system to be linear after some non-linearities are removed analytically from our consideration. Under these assumptions, the problem could be solved by Classical Statistics by employing the least sum of squares approach. Instead we chose to use the Neural Network method. This method has many advantages. It is modern, more efficient, can be adapted to work even when the assumptions are diluted. In fact, Neural Networks try to model the human brain and are capable of pattern recognition.

Aggarwal, Shiv↗
NASA NTRS1989

Ames life science telescience testbed evaluation

Eight surrogate spaceflight mission specialists participated in a real-time evaluation of remote coaching using the Ames Life Science Telescience Testbed facility. This facility consisted of three remotely located nodes: (1) a prototype Space Station glovebox; (2) a ground control station; and (3) a principal investigator's (PI) work area. The major objective of this project was to evaluate the effectiveness of telescience techniques and hardware to support three realistic remote coaching science procedures: plant seed germinator charging, plant sample acquisition and preservation, and remote plant observation with ground coaching. Each scenario was performed by a subject acting as flight mission specialist, interacting with a payload operations manager and a principal investigator expert. All three groups were physically isolated from each other yet linked by duplex audio and color video communication channels and networked computer workstations. Workload ratings were made by the flight and ground crewpersons immediately after completing their assigned tasks. Time to complete each scientific procedural step was recorded automatically. Two expert observers also made performance ratings and various error assessments. The results are presented and discussed.

Haines, Richard F.↗
DOE OSTI2013

A carbon foam with a bimodal micro–mesoporous structure prepared from larch sawdust for the gas-phase toluene adsorption

Highlights: ► Network carbon foam containing a bimodal pore distribution was prepared from Larch. ► Liquefaction route was used for the preparation of morphology controllable carbon. ► Pore structure of carbon foam was controlled through KOH activation. - Abstract: A carbon foam with a bimodal micro–mesopore distribution, was prepared by submitting larch sawdust to liquefaction, resinification, foaming, carbonization and KOH activation. The morphology, pore texture and crystal microstructure was characterized by scanning and transmission electron microscopy, nitrogen adsorption analysis and X-ray powder diffraction. A honeycomb structure with adjacent cells was observed for the precursor of carbon foam. After KOH activation, the cell wall of precursor shrunk and broke. This lead to the formation of a well-connected 3D network and developed ligament pore structure (surface area of 554–1918 m{sup 2}/g) containing bimodal pores, 2.1 and 3.9 nm in diameter. The porous carbon foam prepared at 700 °C exhibited a much higher gas-phase toluene removal than commercial activated carbon fiber owing to the 3D network and bimodal pore structure.

36 MATERIALS SCIENCE↗
DOE OSTI2015

Rapid and Efficient Redox Processes within 2D Covalent Organic Framework Thin Films

Two-dimensional covalent organic frameworks (2D COFs) are ideally suited for organizing redox-active subunits into periodic, permanently porous polymer networks of interest for pseudocapacitive energy storage. Currently, we describe a method for synthesizing crystalline, oriented thin films of a redox-active 2D COF on Au working electrodes. The thickness of the COF film was controlled by varying the initial monomer concentration. A large percentage (80–99%) of the anthraquinone groups are electrochemically accessible in films thinner than 200 nm, an order of magnitude improvement over the same COF prepared as a randomly oriented microcrystalline powder. As a result, electrodes functionalized with oriented COF films exhibit a 400% increase in capacitance scaled to electrode area as compared to those functionalized with the randomly oriented COF powder. These findings demonstrate the promise of redox-active COFs for electrical energy storage and highlight the importance of controlling morphology for optimal performance.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2026

InterQnet: A Heterogeneous Full-Stack Approach to Co-Designing Scalable Quantum Networks

Quantum communications have progressed significantly, moving from a theoretical concept to small-scale experiments to recent metropolitan-scale demonstrations. As the technology matures, it is expected to revolutionize quantum computing in much the same way that classical networks revolutionized classical computing. Quantum communications will also enable breakthroughs in quantum sensing, metrology, and other areas. However, scalability has emerged as a major challenge, particularly in terms of the number and heterogeneity of nodes, the distances between nodes, the diversity of applications, and the scale of user demand. This article describes InterQnet, a multidisciplinary project that advances scalable quantum communications through a comprehensive approach that improves devices, error handling, and network architecture. InterQnet has a two-pronged strategy to address scalability challenges: InterQnet-Achieve focuses on practical realizations of heterogeneous quantum networks by building and then integrating first-generation quantum repeaters with error mitigation schemes and centralized automated network control systems. The resulting system will enable quantum communications between two heterogeneous quantum platforms through a third type of platform operating as a repeater node. InterQnet-Scale focuses on a systems study of architectural choices for scalable quantum networks by developing forward-looking models of quantum network devices, advanced error correction schemes, and entanglement protocols. Here, we report our current progress toward achieving our scalability goals.

Chung, Joaquin [Argonne] (ORCID:0000000173833810)↗
NASA NTRS1990

Overview of the 27-28 October FIRE Cirrus IFO case: Meteorology and cloud fields

A detailed description of the meteorology of the 27 and 28 October FIRE Cirrus IFO case is presented. The progression of synoptic scale events over the region is reviewed including the evolution of surface and upper air features, i.e., the surface cyclone that formed to the west over Montana on the 27th and moved through Wisconsin late on the 28th and the associated short wave ridge aloft. A summary of the corresponding cloud conditions observed over the area of aircraft operations is given including characterization of the cloud forms and cloud heights based on information derived from debriefings of the aircrews, surface observations, airborne (ER-2) and surface lidars observations and satellite imagery (GOES). The correspondence between the resolved meteorological features (subsynoptic rawinsonde network) and the development of cloud layers is illustrated. In particular, the discussion emphasizes the relationship between vertical thermodynamic structure and the character and vertical structure of the cloud fields. The role of the larger scale in maintaining the observed vertical structure is quantified both with respect to its control via forced ascent and advective processes. Based on results of these analyses, conclusions are drawn with respect to the design of future field missions.

Starr, David OC.↗
NASA NTRS2002

Numerical Modeling of Cavitating Venturi: A Flow Control Element of Propulsion System

In a propulsion system, the propellant flow and mixture ratio could be controlled either by variable area flow control valves or by passive flow control elements such as cavitating venturies. Cavitating venturies maintain constant propellant flowrate for fixed inlet conditions (pressure and temperature) and wide range of outlet pressures, thereby maintain constant, engine thrust and mixture ratio. The flowrate through the venturi reaches a constant value and becomes independent of outlet pressure when the pressure at throat becomes equal to vapor pressure. In order to develop a numerical model of propulsion system, it is necessary to model cavitating venturies in propellant feed systems. This paper presents a finite volume model of flow network of a cavitating venturi. The venturi was discretized into a number of control volumes and mass, momentum and energy conservation equations in each control volume are simultaneously solved to calculate one-dimensional pressure, density, and flowrate and temperature distribution. The numerical model predicts cavitations at the throat when outlet pressure was gradually reduced. Once cavitation starts, with further reduction of downstream pressure, no change in flowrate is found. The numerical predictions have been compared with test data and empirical equation based on Bernoulli's equation.

Majumdar, Alok↗
DOE OSTI2017

Literature Survey on Operational Voltage Control and Reactive Power Management on Transmission and Sub-Transmission Networks

Voltage and reactive power system control is generally performed following usual patterns of loads, based on off-line studies for daily and seasonal operations. This practice is currently challenged by the inclusion of distributed renewable generation, such as solar. There has been focus on resolving this problem at the distribution level; however, the transmission and sub-transmission levels have received less attention. This paper provides a literature review of proposed methods and solution approaches to coordinate and optimize voltage control and reactive power management, with an emphasis on applications at transmission and sub-transmission level. The conclusion drawn from the survey is that additional research is needed in the areas of optimizing switch shunt actions and coordinating all available resources to deal with uncertain patterns from increasing distributed renewable generation in the operational time frame. These topics are not deeply explored in the literature.

capacitors↗
DOE OSTI2022

Machine learning approaches to streamline and enhance the analysis of multiscale imaging data for bioaerosol and soil particles

Bioaerosol and soil particles are ubiquitous in the environment. They are multicomponent and complex in nature displaying mixed inorganic and organic components. The way components are mixed in a bioaerosol sample is referred to as its mixing state. Soil particles are also a mixture of inorganic (mineral) and organic (soil organic matter) components. Bioaerosol particles contribute to a major fraction of coarse mode atmospheric particles, especially in the tropical areas, contributing up to 80 % of the particle mass concentration. The mixing state of particles is crucial to evaluate because it impacts several important environmental processes such as warm and cold cloud formation and radiation budget. Mixing states in aerosols are accompanied by chemical reactions across solid-liquid-gas interfaces. In this study, we utilized elemental compositions and microcopy images of thousands of atmospheric particles acquired by computer-controlled scanning electron microscope equipped with an energy-dispersive x-ray spectrometer to compute the mixing state of atmospheric particles. A 2D convolutional neural network (CNN), also known as convnet, was used to model the relationship between low resolution imaging data and higher resolution spectroscopy data, with the former as training input and the latter as target output. Two types of CNNs were implemented and tested; a basic CNN and an Inception-v3 network. For binary classification, the basic CNN achieved an accuracy of 84.29 % across all atom types, and the Inception-v3-like network achieved an accuracy 85.51 %. This study demonstrates the applicability of deep learning to handle large amounts of imaging/chemical spectroscopy data efficiently and evaluate particle mixing state from a range of environmental samples.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS1979

GEOS 3 STDN S band Doppler tracking investigation

GEOS 3S Doppler band and laser ranging data, acquired from August 1975 to March 1976 in the spacecraft altimeter calibration area, are examined. An evaluation of two-way and three-way Doppler data, for the positioning of Spaceflight Tracking and Data Network S band stations is presented, as well as the Goddard Space Flight Center laser system that is used to reference the exact position of the Doppler stations. The two-way and three-way Doppler tracking devices, situated at Rosman and Bermuda, have yielded data for the recovery of GEOS 3 arc height with an uncertainty of only 1 m. Attention is given to the effects of beacon signal frequency instability, controlled by a temperature sensitive auxiliary crystal oscillator on board the spacecraft, and to the one-way range rate tracking noise that was found to be within a range of 2 to 10 cm/s. 1- and 2-way passes and their different arc meters are graphed, showing the Doppler tracking interval. It was concluded that other accurate computations and recovery of station coordinates could be performed employing tracking data from S band stations.

Rosenbaum, B.↗
DOE OSTI2022

Enabling Autonomous Electron Microscopy for Networked Computation and Steering

Advanced electron microscopy workflows require an ecosystem of microscope instruments and computing systems possibly located at different sites to conduct remotely steered and automated experiments. Current workflow executions involve manual operations for steering and measurement tasks, which are typically performed from control workstations co-located with microscopes; consequently, their operational tempo and effectiveness are limited. We propose an approach based on separate data and control channels for such an ecosystem of Scanning Transmission Electron Microscopes (STEM) and computing systems, for which no general solutions presently exist, unlike the neutron and light source instruments. We demonstrate automated measurement transfers and remote steering of Nion STEM physical instruments over site networks. We propose a Virtual Infrastructure Twin (VIT) of this ecosystem, which is used to develop and test our steering software modules without requiring access to the physical instrument infrastructure. Additionally, we develop a VIT for a multiple laboratory scenario, which illustrates the applicability of this approach to ecosystems connected over wide-area networks, for the development and testing of software modules and their later field deployment.

Al Najjar, Anees↗
DOE OSTI2018

A Vitis vinifera basic helix-loop-helix transcription factor enhances plant cell size, vegetative biomass and reproductive yield

Strategies for improving plant size are critical targets for plant biotechnology to increase vegetative biomass or reproductive yield. To improve biomass production, a codon-optimized helix–loop–helix transcription factor (VvCEB1 opt ) from wine grape was overexpressed in Arabidopsis thaliana resulting in significantly increased leaf number, leaf and rosette area, fresh weight and dry weight. Cell size, but typically not cell number, was increased in all tissues resulting in increased vegetative biomass and reproductive organ size, number and seed yield. Ionomic analysis of leaves revealed the VvCEB1 opt- overexpressing plants had significantly elevated, K, S and Mo contents relative to control lines. Increased K content likely drives increased osmotic potential within cells leading to greater cellular growth and expansion. To understand the mechanistic basis of VvCEB1 opt action, one transgenic line was genotyped using RNA-Seq mRNA expression profiling and revealed a novel transcriptional reprogramming network with significant changes in mRNA abundance for genes with functions in delayed flowering, pathogen–defence responses, iron homeostasis, vesicle-mediated cell wall formation and auxin-mediated signalling and responses. Direct testing of VvCEB1 opt- overexpressing plants showed that they had significantly elevated auxin content and a significantly increased number of lateral leaf primordia within meristems relative to controls, confirming that cell expansion and organ number proliferation were likely an auxin-mediated process. VvCEB1 opt overexpression in Nicotiana sylvestris also showed larger cells, organ size and biomass demonstrating the potential applicability of this innovative strategy for improving plant biomass and reproductive yield in crops.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

Illinois Express Quantum Network (IEQNET): metropolitan-scale experimental quantum networking over deployed optical fiber

The Illinois Express Quantum Network (IEQNET) is a program to realize metro-scale quantum networking over deployed optical fiber using currently available technology. IEQNET consists of multiple sites that are geographically dispersed in the Chicago metropolitan area. Each site has one or more quantum nodes (Qnodes) representing the communication parties in a quantum network. Q-nodes generate or measure quantum signals such as entangled photons and communicate the results via standard, classical, means. The entangled photons in IEQNET nodes are generated at multiple wavelengths, and are selectively distributed to the desired users via optical switches. Here we describe the network architecture of IEQNET, including the Internet-inspired layered hierarchy that leverages software-defined-networking (SDN) technology to perform traditional wavelength routing and assignment between the Q-nodes. Specifically, SDN decouples the control and data planes, with the control plane being entirely classical. Issues associated with synchronization, calibration, network monitoring, and scheduling will be discussed. An important goal of IEQNET is demonstrating the extent to which the control plane can coexist with the data plane using the same fiber lines. This goal is furthered by the use of tunable narrow-band optical filtering at the receivers and, at least in some cases, a wide wavelength separation between the quantum and classical channels. We envision IEQNET to aid in developing robust and practical quantum networks by demonstrating metro-scale quantum communication tasks such as entanglement distribution and quantum-state teleportation.

Chung, Joaquin↗
DOE OSTI2022

Cyber-Resilient Frequency Control of Power Grids with Energy Storage Systems

The integration of synchronous generators and energy storage systems operated through communication networks introduces new challenges and vulnerabilities to the electric grid, where cyber attacks can corrupt sensor measurements or control inputs and interrupt functions such as frequency regulation. This paper proposes a defense methodology for the design of resilient operating constraints imposed on each generation and storage unit in order to prevent any attack sequence from driving the system's frequency to unsafe conditions. The resilient operating constraints are found by using ellipsoidal approximations of the reachable set of the power system, leading to a convex optimization problem with linear matrix inequalities. Numerical results in a single-area power system with synchronous generation and energy storage demonstrate how the resilient constraints provide security guarantees against any type of attack affecting frequency measurements or controller setpoints.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2017

Time-Coordination Strategies and Control Laws for Multi-Agent Unmanned Systems

Time-critical coordination tools for unmanned systems can be employed to enforce the type of temporal constraints required in terminal control areas, ensure minimum distance requirements among vehicles are satisfied, and successfully perform coordinated missions. In comparison with previous literature, this paper presents an ampler spectrum of coordination and temporal specifications for unmanned systems, and proposes a general control law that can enforce this range of constraints. The constraint classification presented con- siders the nature of the desired arrival window and the permissible coordination errors to define six different types of time-coordination strategies. The resulting decentralized coordination control law allows the vehicles to negotiate their speeds along their paths in response to information exchanged over the communication network. This control law organizes the different members in the fleet hierarchically per their behavior and informational needs as reference agent, leaders, and followers. Examples and simulation results for all the coordination strategies presented demonstrate the applicability and efficacy of the coordination control law for multiple unmanned systems.

Puig-Navarro, Javier↗
NASA NTRS1990

Synoptic conditions producing cirrus during the FIRE cirrus IFO

Although direct observations of cirrus clouds by the FIRE research aircraft were usually confined to the area of Intensive Field Observation (IFO) surface network, these cirrus were generally part of a more extensive zone of upper level cloudiness. It is these large scale patterns of cirriform cloud and their relationship to the corresponding synoptic environment which are the prime focus. Three conceptual models are presented and each of the individual cases are classified into one of these categories. Although the cases manifest significant differences in intensity and small scale structure, it is believed that they are best viewed in this unified context. The descriptions given are mostly qualitative, however, quantitative descriptions of the synoptic control and its relationship to cloud structure for all the IFO cases are summarized. The synoptic situations in which extensive cirriform clouds were observed are classified into three basic types: warm front cases, cold front cases, and closed low aloft cases. A simplified summary of each type of situation is presented.

Starr, David OC.↗
DOE OSTI2014

Strengthening Retrofit Markets for Comprehensive Savings in Multifamily Buildings (Interim Final Report)

Energy efficiency is vitally important in Maine. Nearly 70% of Maine households rely on fuel oil as their primary energy source for home heating, a higher share than in any other state. Coupled with the state's long, cold winters, Maine's dependence on oil renders homeowners particularly vulnerable to fluctuating fuel costs. With $\$$4.5 million in seed funding from the Energy Department's Better Buildings Neighborhood Program, the Governor's Energy Office (GEO), through Efficiency Maine Trust (the Trust), is spurring Maine landlords to lower their monthly energy bills and improve comfort for their tenants during the state's cold winter months and increasingly warmer summers. Maine's aging multifamily housing stock can be expensive to heat and costly to maintain. It is not unusual to find buildings with little or no insulation, drafty windows, and significant air leaks, making them ideal candidates for energy efficiency upgrades. Maine modeled its Multifamily Efficiency Program (MEP) after the state's highly successful Home Energy Savings Program (HESP) for single-family homes. HESP provided cash incentives and financing opportunities to owners of one-to four-unit structures, which resulted in thousands of energy assessments and whole-house energy upgrades in 225 communities. Maine's new MEP multifamily energy efficiency upgrade and weatherization initiative focuses on small to medium-sized (i.e., five to 20 units) apartment buildings. The program's energy efficiency upgrades will provide at least 20% energy savings for each upgraded multifamily unit. The Trust’s MEP relies on a network of approved program partners who help move projects through the pipeline from assessment to upgrade. MEP has two components: benchmarking and development of an Energy Reduction Plan (ERP). Using the ENERGY STAR® Portfolio Manager benchmarking tool, MEP provides an assessment of current energy usage in the building, establishes a baseline for future energy efficiency improvements, and enables tracking and monitoring of future energy usage at the building— all at no cost to the building owner. The ERP is developed by a program partner using either the Trust’s approved modeling or prescriptive tools; it provides detailed information about the current energy related conditions in the building and recommends energy efficiency, health, and safety improvements. The Trust's delivery contractor provides quality assurance and controls throughout the process. Through this effort, MEP's goal is to establish a self-sustaining, market-driven program, demonstrating the value of energy efficiency to other building owners. The increasing value of properties across the state will help incentivize these owners to continue upgrades after the grant period has ended. Targeting urban areas in Maine with dense clusters of multifamily units—such as Portland, Lewiston- Auburn, Bangor, and Augusta—MEP engaged a variety of stakeholder groups early on to design its multifamily program. Through direct emails and its website, program officials invited lending institutions, building professionals, engineering firms, equipment distributors, and local property owners associations to attend open meetings around the state to learn about the goals of the multifamily program and to help define its parameters. These meetings helped program administrators understand the diversity of the customer base: some owners are individuals with a single building, while other owners are groups of people or management companies with an entire portfolio of multifamily buildings. The diversity of the customer base notwithstanding, owners see MEP as an opportunity to make gains in their respective properties. Consistently high turnouts at stakeholder meetings fueled greater customer interest as awareness of the program spread through word of mouth. The program also gained traction by utilizing the program partner networks and building on the legacy of the Trust’s successful HESP for single-family residences. MEP offers significant incentives for building owners to participate in the upgrade program. Wholebuilding benchmarking services are available to most multifamily housing buildings free of charge. The service provides the building owner with an assessment of the building's current energy efficiency as compared to other multifamily buildings on a national scale, establishes a baseline to measure future improvements, and enables owners to track monthly energy consumption using the ENERGY STAR Portfolio Manager. Once the benchmarking process is complete, the program links building owners with approved program partners (e.g., energy professionals, home performance contractors) to identify and implement specific energy-saving opportunities in the building. Program partners can also provide project quotes with estimated financing incentives and payback period calculations that enable building owners to make informed decisions. What's more, the Trust provides two financial incentives for successful completion of program milestones. The first is a per-unit incentive for completion of an approved ERP (i.e., $\$$100 per unit if a prescriptive path is followed, and $\$$200 per unit for a modeled ERP). Upon final inspection of the installed project scope of work, an incentive of $\$$1,400 per unit or 50% of installed cost—whichever is less—is paid. The Trust originally established a $\$$1 million loan-loss reserve fund (LLRF) to further enhance financing opportunities for qualified multifamily building owners. This funding mechanism was designed to connect building owners with lenders that retain the mortgages for their properties and encourages the lenders to offer financing for energy efficiency improvements. However, there has been no interest in the LLRF and therefore the LLRF has been reduced. Ultimately, MEP plans to build an online tool for building owners to assess opportunities to make upgrades in their multifamily units. The tool will include a performance rating system to provide a way for building owners to more easily understand energy use in their building, and how it could be improved with energy efficiency upgrades. Prospective tenants will also be able to use the rating system to make informed decisions about where to rent. Furthermore, the rating can be incorporated into real estate listings as a way for prospective home buyers and the real estate financial community to evaluate a home's operating costs. The Trust’s MEP has identified the state's most experienced energy professionals, vendors, suppliers, and contractors that install energy efficiency equipment in the multifamily sector to be qualified program partners. To be eligible for partnership, energy assessment professionals and contractors are required to have demonstrated experience in the multifamily sector and hold associated professional certifications, such as Building Operator Certification (BOC), Certified Energy Manager (CEM), Professional Engineer (PE), or Building Performance Institute (BPI) Multifamily Building Analyst. Widespread program interest has enabled the Trust to redirect funds that might otherwise be needed for program promotion to building capacity through contractor training. In addition to boosting professional training and certification opportunities, MEP teaches its partners how to market the multifamily program to prospective multifamily homeowners.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗