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All sourcesNASA NTRSDOE OSTI
DOE OSTI2023

Digitalization Guiding Principles and Method for Nuclear Industry Work Processes

The commercial U.S. light-water reactor fleet has been operating at historical efficiency, reliability, and safety over the last decade. Nuclear power has the highest capacity factor of any other power generation technology while also serving as the largest baseload source for carbon-free energy. Despite this remarkable achievement, continued operations for many plants are threatened due to fierce electricity market competition and rising operations and maintenance costs of which continued maintenance of obsolete analog equipment is a contributor. The digital age and associated technologies are where the future lies in process control, and nuclear has yet to take full advantage of the capabilities offered therein. The Light Water Reactor Sustainability Program (LWRS) at Idaho National Laboratory (INL), sponsored by the Department of Energy, has a mission to help the light-water reactor fleet manage its foundational capabilities to continue providing safe and reliable carbon-free power. LWRS helps support that mission by providing scientific, technology-based solutions for advanced concepts of operations with a more viable business model that will allow the fleet to continue to operate at peak levels through extended plant operation. The LWRS Digitalization Project at INL seeks to leverage digital technologies to synthesize and transform work processes. We provide a state-of-the-art analysis of digitalized work processes in nuclear power and investigate ways in which researchers at INL and the nuclear industry can work together to identify what data to access, how to access it, what to do with the data, and most importantly, how to use the insights for decision-making across all levels within the business. Borne from these considerations, we present four guiding principles for digitalization: develop a coherent digitalization plan, apply human factors engineering, establish data governance, and anticipate unintended consequences. Together, these principles form a method that plants can use to effectively to digitalize nuclear industry work processes. Our guiding principles are informed by multiple knowledge sources. First, we document activities from the Work Digitalization Initiative, which was conceived as a means for nuclear organizations to help define and standardize the industry’s approach to digitalizing work. Second, we detail primary research conducted with industry professionals regarding drivers and barriers to digitalization adoption. We present survey results that demonstrate what the industry hopes to get out of digitalization and the ways that INL can continue to support the industry’s digital transformation. Third, we present a digitalization use case with industry partners NextAxiom Technology and Xcel Energy. The project objective was to transform the current condition report work process from paper to digital, incorporating digitalized principles. We report the development of the application and lessons learned. The accomplishments achieved by this research and development serve to identify critical needs for plant guidance in support of digitalization implementation and contribute to the knowledge and strategies available for utilities considering or undertaking digitalization.

21 SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLANTS↗
DOE OSTI2025

EVs@Scale Next-Gen Profiles - Fleet Utilization 2024

As part of the U.S. Department of Energy’s EVs@Scale initiative, the Next-Gen Profiles (NGP) project provides a comprehensive, data-driven analysis of electric vehicle (EV) and electric vehicle supply equipment (EVSE) operations across real-world fleet deployments. This paper presents findings from the NGP’s Fleet Utilization study, which investigates operational behavior and asset usage across seventeen EV fleets and two EVSE fleets, encompassing a wide range of vehicle types and use cases. Data collected from diverse sources—varying in format and temporal resolution—are first reformatted into a unified structure. From this harmonized dataset, a suite of rigorously defined performance metrics is calculated at an hourly cadence, enabling consistent cross-comparison of charging, routing, and other key operational behaviors. Amid rapidly increasing EV adoption and growing demands for energy-efficient fleet operations, the analysis reveals clear utilization trends—including diurnal and weekly activity cycles, differences in short versus long charging session dependencies, and route-specific energy usage patterns. These findings highlight the need for tailored infrastructure strategies and the deployment of advanced energy management systems, such as Distributed Energy Resource Management Systems (DERMS) and Site Energy Management Systems (SEMS), which can optimize charging schedules and mitigate peak loads. By leveraging anonymized, harmonized datasets and standardized metrics, this study offers critical insights into fleet behavior and performance, providing a foundation to improve operational efficiency, reduce costs, and enable the scalable deployment of electrified transportation.

Wells, Landon↗
DOE OSTI2026

Admissible Powertrain Alternatives for Heavy-Duty Fleets: A Case Study on Resiliency and Efficiency

Heavy-duty vehicles dominate global freight movement and primarily rely on fossil-derived diesel fuel. However, fluctuations in crude oil prices and evolving emissions regulations have prompted interest in alternative powertrains to enhance fleet energy resiliency. This study paired real-world operational data from a large commercial fleet with high-fidelity vehicle models to evaluate the potential for replacing diesel internal combustion engine (ICE) trucks with alternative powertrain architectures. The baseline vehicle for this analysis is a diesel-powered ICE truck. Alternatives include ICE trucks fueled by bio- and renewable diesel, compressed natural gas (CNG) or hydrogen (H 2 ), as well as plug-in hybrid (PHEV), fuel cell electric (FCEV), and battery electric vehicles (BEV). While most alternative powertrains resulted in some payload capacity loss, the overall fleetwide impact was negligible due to underutilized payload capacity for the specific fleet considered in this study. For sleeper cab trucks, CNG-powered trucks achieved the highest replacement potential, covering 85% of the fleet. In contrast, H 2 and BEV architectures could replace fewer than 10% and 1% of trucks, respectively. Day cab trucks, with shorter daily routes, showed higher replacement potential: 98% for CNG, 78% for H 2 , and 34% for BEVs. However, achieving full fleet replacement would still require significant operational changes such as route reassignment and enroute refueling, along with considerable improvements to onboard energy storage capacity. Additionally, the higher total cost of ownership (TCO) for alternative powertrains remains a key challenge. This study also evaluated lifecycle impacts across various fuel sources, both fossil and bio-derived. Bio-derived synthetic diesel fuels emerged as a practical option for diesel displacement without disrupting operations. Conversely, H 2 and electrified powertrains provide limited lifecycle impacts under the current energy scenario. This analysis highlights the complexity of replacing diesel ICE trucks with admissible alternatives while balancing fleet resiliency, operational demands, and emissions goals. These results reflect a US-based fleet’s duty cycles, payloads, GVWR allowances, and an assumption of depot-only refueling/recharging. Applicability to other fleets and regions may differ based on differing routing practices or technical features such as battery swapping.

BEV↗
DOE OSTI2025

Electrifying education: Exploring the electrification potential of U.S. School bus fleets

We analyze the operations of 270 diesel school buses across the United States to assess their electrification potential and evaluate the impact of various charging strategies on electricity demand. We find that school buses typically follow a two-route schedule on weekdays, featuring extended dwell times between morning and evening trips. Weekday trip distances average 25 miles, while weekend trips average 42 miles. Charging simulations indicate over 90% of the U.S. school bus fleet could be electrified using current technologies (300-mile range at 1.21 kWh/mile with 19.2-kW depot charging) without modifying existing operating patterns. Depot charging is a key enabler of school bus electrification, however, the strategic placement of charging stations at other locations (e.g., schools) can further increase electrification potential. Additionally, we find electric school bus charging to be highly flexible, with charge management capable of reducing peak charging loads at depots by up to 77%.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2020

Understanding the Charging Flexibility of Shared Automated Electric Vehicle Fleets

The combined anticipated trends of vehicle sharing (ride-hailing), automated control, and powertrain electrification are poised to disrupt the current paradigm of predominately owner-driven gasoline vehicles with low levels of utilization. Shared, automated, electric vehicle (SAEV) fleets offer the potential for lower cost and emissions and have garnered significant interest among the research community. While promising, unmanaged operation of these fleets may lead to unintended negative consequences. One potentially unintended consequence is a high quantity of SAEVs charging during peak demand hours on the electric grid, potentially increasing the required generation capacity. This research explores the flexibility associated with charging loads demanded by SAEV fleets in response to servicing personal mobility travel demands. Travel demand is synthesized in four major United States metropolitan areas: Detroit, MI; Austin, TX; Washington, DC; and Miami, FL. In each of these four cities, SAEV simulations are performed using local projected electricity prices from the Regional Energy Deployment System (ReEDS) for a handful of supply side scenarios. A coordinated charging model is introduced that seeks to reduce fleet charging costs in response to time-varying electricity prices and increasing shares of personal trip demand served (between 1% and 25% of all metro trips served by the SAEV fleet). Simulation results are presented across various scenarios assuming fleetwide coordination to minimize charging energy costs while constrained by offering adequate mobility service to fleet customers. The results indicate that the SAEV charging load is highly flexible; energy costs were shown to reduce between 13% and 46% across a wide range of simulated scenarios. In addition, these savings were realized without detrimentally impacting the fleet’s ability to service trips.

autonomous vehicle↗
DOE OSTI2022

Port of New York and New Jersey Drayage Electrification Analysis

The National Renewable Energy Laboratory (NREL) evaluated the potential for drayage electrification in the Port of New York and New Jersey (PoNYNJ), with a focus on operators: Harbor Freight Transport (HF), Safeway Trucking (SWT), and International Motor Freight Inc (IMF). This report summarizes the data collection and electrification evaluation of all three drayage operators, includes detailed operational data, and identifies the performance requirements for battery electric tractors (BETs) and corresponding infrastructure operated within the context of PoNYNJ drayage operation. This report also details a methodology to evaluate opportunities, strategies, and challenges associated with future expansions of BETs in meeting PANYNJ emissions goals. The Port Authority has established a goal of achieving Net Zero carbon emissions by 2050 across all facilities, including from tenant and stakeholder sources such as drayage trucks. NREL used real-world performance data collected on the three PoNYNJ drayage operations, along with modeling and analysis tools to compare BET to diesel trucks. From March to July 2021, NREL collected 1Hz vehicle and engine data from 46 drayage trucks at the three operators totaling nearly 121,000 miles of operation, providing enough information to assess vehicle operations for electrification potential. A Future Automotive Systems Technology Simulator (FASTSim) electric truck powertrain model was validated using PoNYNJ data and scenarios were run to evaluate drayage truck electrification requirements over the real-world cycles. The first scenario examined BET viability with minimal changes to existing operations. This assumes the trucks charge when stopped for two hours or longer, have a functional battery size of 375 kWh, and can charge at 270 kilowatts (kW) average which are the specification of the commercially available Freightliner eCascadia. The second scenario looked at what operational, charging infrastructure, and BET technology changes would be needed to fully electrify. Finally, detailed analysis was run on charging rate structure to understand operational costs to the fleets. The studied drayage trucks averaged 5.1 MPG, spent roughly 9% of their energy at idle, and drove an average of 140 miles per day with a maximum daily distance of 573 miles. The FASTSim model results indicate a comparable BET would use 417 kWh of energy per day on average accounting for cargo weight, which is close to the full usable capacity of the eCascadia currently available on the market. Based on the daily average operating data, partial fleet electrification is possible with current technology. However, some specific days of operation would require over 1,600 kWh of energy due to longer distances traveled by the trucks and more intense operation. Trucks used for long distance and intense operation cannot be readily electrified with current technology without operational changes. Full adoption of BETs could reduce CO 2 emissions from these fleets by roughly 75% today, eliminating 76 metric tons of CO 2 (MTCO 2 ) per vehicle each year, which equates to 24,100 MTCO 2 per year for all three operators. Commercially available direct current fast chargers (DCFC) have charge rates up to 350 kW. Based on the average daily modeled energy use for each operator, current industrial rate structures, and the assumption of 350 kW peak charging, full drayage electrification would increase electricity consumption. In addition, peak demand usage would increase with unmanaged charging along with cost of electricity having a direct impact on cost per mile for electric vehicles. The resulting cost per mile for BETs along with comparable cost per mile for conventional diesel trucks are also examined at $\$$4.00 per gallon of diesel. It will be important for PANYNJ and the drayage operators within the PoNYNJ to consider these load impacts to their existing electrical infrastructure and devise operational strategies that avoid coincident charging of vehicles to mitigate demand charges. Despite these electricity cost increases, savings from reductions in diesel consumption will help offset the costs of this increased electricity consumption. However, prices of both electricity and diesel are subject to change based on various factors meaning the realized savings will vary over time. This shows BETs could be cost-competitive on an energy cost per mile basis for all scenarios while diesel is above $\$$3.00/gal. Further, if diesel prices dropped to the 15-year low of $2.33/gal, it would still be cost competitive to operate the EVs with electricity costs of 16.3 ¢/kWh or less.

33 ADVANCED PROPULSION SYSTEMS↗
DOE OSTI2025

Improving commercial truck fleet composition in emission modeling using 2021 US VIUS data

Commercial trucks are essential elements of the nation's supply chain system. Meanwhile, intensive truck movements contribute significantly to system externalities, such as energy use and air pollution. However, collecting detailed fleet composition and distribution of operational patterns remains a barrier to accurately accounting for these impacts. The recently released 2021 US Vehicle Inventory and Use Survey (US VIUS) fills a critical gap in understanding commercial truck fleet distributions, their operations, and business constraints at the national scale. This study aims to understand the latest US commercial vehicle fleet composition and operational characteristics using 2021 US VIUS data and calibrate the fleet inputs in regulatory emission models to assess the potential emission implications of the VIUS-derived fleet composition. The emission rates for commercial trucks and default fleet composition are collected from the U.S. EPA's MOtor Vehicle Emission Simulator (MOVES4). The 2021 US VIUS data is applied to improve fleet characteristics such as the long-haul fraction and the vehicle mileage accumulation rate. The study also investigates potential emission reduction benefits under various forecasted fleet electrification scenarios. The energy consumption and critical air pollutant rates by vehicle types are compared between MOVES4 and US VIUS fleets for both current and future scenarios to provide insights into the latest U.S. commercial vehicle fleet characteristics and their implications on energy and emissions. This study helps policymakers and practitioners advance the commercial fleet generation for emission models. It also deepens the understanding of the emission reduction potential of the commercial fleet under various fleet projections.

2021 US VIUS↗
DOE OSTI2025

Commercial Fleet Level Emissions and Energy Tracker (COFLEET) v1.0

This tool generates the latest US commercial vehicle fleet composition and operational characteristics using 2021 US VIUS data and assess the fleetwide energy and emission outcomes. The emission rates for commercial trucks and default fleet composition are collected from the U.S. EPA's MOtor Vehicle Emission Simulator (MOVES4). The 2021 US VIUS data is applied to generate fleet characteristics such as the long-haul fraction and the vehicle mileage accumulation rate. The tool also provides fleet turnover and emission forecasts under various forecasted fleet electrification scenarios. This tool helps policymakers and practitioners advance the commercial fleet generation for emission models. This study also provides some sample datasets for state and local transportation/air quality agencies to test, which can reduce the estimation bias associated with using MOVES default fleets.

Xu, Xiaodan [Lawrence Berkeley National Laboratory↗
DOE OSTI2022

HIVE™ [SWR-19-36]

The HIVE™ platform is a mobility services simulation platform developed to provide insight on the energy, infrastructure, service, and economic outcomes of various mobility as a service (MaaS) options. The HIVE platform takes a set of spatiotemporal travel origin-destination pairs and simulates the operation of a predefined mobility service fleet, incorporating request pooling, and various operational and charging behaviors. Hive specializes at modeling fleets of automated electric vehicles (AEVs) and can be used to site and size direct current fast charge (DCFC) stations and measure grid impacts of large-scale AEV fleets serving real-world MaaS trip demand (similar to taxis, Uber, Lyft, etc.). Potential outcomes from a Hive simulation include level of service, total vehicle miles traveled (VMT), deadheading (zero passenger) miles, simultaneous and total energy loads, average occupancy, and more. Hive is developed to generalize to new regions and can be customized to handle many scenarios and operating conditions.

Rames, Clement↗
DOE OSTI2020

Wireless Sensor Modalities at a Nuclear Plant Site to Collect Vibration Data

One of the major contributors to the total operating costs of domestic nuclear fleet of reactors today is the operation and maintenance (O&M) costs. These include labor-intense preventive maintenance programs involving manually-performed inspection, calibration, testing, and maintenance of plant assets at periodic frequency and time-based replacement of assets at periodic frequency, irrespective of their conditions. This has resulted in a labor-centric business model to achieve high capacity factors. To build an optimal maintenance program, it’s time to transition from this labor-centric business model to a technology-centric business model. Fortunately, there are technologies (advanced sensor, data analytics, and risk assessment methodologies) that will support this transition. The technology-centric business model will result in significant plant life extension and reduction of time-based maintenance activities. This will drive down O&M costs as labor is a rising cost and technology is a declining cost. This approach will lay the foundation for real-time condition assessment of plant assets, allowing condition-based maintenance to enhance plant safety, reliability, and economics of operation. The goal of this project is to address challenges in the area of digital monitoring, i.e., the application of advanced sensor technologies (particularly wireless sensor technologies) and science-based data analytic capabilities to advance online monitoring and predictive maintenance in nuclear plants to improve plant performance (efficiency gain and economic competitiveness). To achieve the project goal, in partnership with Exelon Generating Company (Exelon), researchers from Idaho National Laboratory (INL) and Oak Ridge National Laboratory (ORNL) are performing research and development (R&D) to demonstrate application of wireless sensors using the distributed antenna system and advanced data analytics to achieve predictive maintenance. In the report, wireless vibration sensors, vibration data and its indicator are described. The wireless vibration sensors presented in this report support three types of wireless communication, namely, Wi-Fi, cellular, and 900 MHz. These wireless vibration sensors are considered by partner plant site for installation on plant asset to enable online vibration monitoring to replace periodic measurements. These vibration data along with other plant process data will be utilized to develop diagnostic and prognostic models.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
DOE OSTI2022

Data-Driven Prediction and Optimization of Energy Use for Transit Fleets of Electric and ICE Vehicles

Due to the high upfront cost of electric vehicles, many public transit agencies can afford only mixed fleets of internal combustion and electric vehicles. Optimizing the operation of such mixed fleets is challenging because it requires accurate trip-level predictions of electricity and fuel use as well as efficient algorithms for assigning vehicles to transit routes. We present a novel framework for the data-driven prediction of trip-level energy use for mixed-vehicle transit fleets and for the optimization of vehicle assignments, which we evaluate using data collected from the bus fleet of CARTA, the public transit agency of Chattanooga, TN. We first introduce a data collection, storage, and processing framework for system-level and high-frequency vehicle-level transit data, including domain-specific data cleansing methods. We train and evaluate machine learning models for energy prediction, demonstrating that deep neural networks attain the highest accuracy. Based on these predictions, we formulate the problem of minimizing energy use through assigning vehicles to fixed-route transit trips. We propose an optimal integer program as well as efficient heuristic and meta-heuristic algorithms, demonstrating the scalability and performance of these algorithms numerically using the transit network of CARTA.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Performance Index Assessment for the PV Fleet Performance Data Initiative

We report on 250 PV systems throughout the United States, comprising 157 MWdc of system capacity and more than 10,000 monthly performance index (PI) values. Loss factors were isolated including first-year start-up issues, snowfall, soiling and inverter downtime. Inverter availability was found to contribute significant system energy loss during the first six months of operation, with an average of 8% loss occurring during this period, and 2.3% on average thereafter. Other start-up issues beyond inverter downtime, such as partial string outage, contributed additional underperformance in the first year of operation across the fleet. Winter performance was also found to be below summer performance on average, likely due to snowfall. A relationship was found between monthly snowfall accumulation in centimeters and monthly under-performance, indicating a 6%-40% loss in months with measured snowfall, depending on climate. After correcting for availability, snow and startup loss, over 90% of systems were performing within 10% of monthly expectation based on satellite resource data and PVWatts production estimates.

loss factors↗
DOE OSTI2022

High-Mileage Courier Fleet Vehicle On-road Logger Data

This dataset describes the performance and fuel efficiency of AVTA test vehicles operating in commercial courier fleets the Phoenix, AZ metro area between 2010 and 2016. Aftermarket data loggers were installed in two to four vehicles of each of 30+ distinct year/make/models (see reference ["INL Advanced Vehicle Testing Activity: On-road Logger and Laboratory Battery Pack Testing Vehicle List"](https://avt.inl.gov/sites/default/files/pdf/reports/DatasetVehicleList.pdf) for full list of vehicles). Loggers recorded vehicle operation as they were driven up to 160,000 miles in up to three years of fleet testing. Parameters were logged at 1-second intervals, including - vehicle speed, - engine and/or electric motor speed, - fuel and/or electricity consumption, and - ambient temperature. This dataset includes both raw second-by-second data and trip-level metrics. (This dataset will be shared by API; a small sample of the vehicle and logger data has been extracted and is available for download while the API is being developed.)

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Prognostics and Health Management in Nuclear Power Plants: An Updated Method-Centric Review With Special Focus on Data-Driven Methods

In a carbon-constrained world, future uses of nuclear power technologies can contribute to climate change mitigation as the installed electricity generating capacity and range of applications could be much greater and more diverse than with the current plants. To preserve the nuclear industry competitiveness in the global energy market, prognostics and health management (PHM) of plant assets is expected to be important for supporting and sustaining improvements in the economics associated with operating nuclear power plants (NPPs) while maintaining their high availability. Of interest are long-term operation of the legacy fleet to 80 years through subsequent license renewals and economic operation of new builds of either light water reactors or advanced reactor designs. Recent advances in data-driven analysis methods—largely represented by those in artificial intelligence and machine learning—have enhanced applications ranging from robust anomaly detection to automated control and autonomous operation of complex systems. The NPP equipment PHM is one area where the application of these algorithmic advances can significantly improve the ability to perform asset management. This paper provides an updated method-centric review of the full PHM suite in NPPs focusing on data-driven methods and advances since the last major survey article was published in 2015. The main approaches and the state of practice are described, including those for the tasks of data acquisition, condition monitoring, diagnostics, prognostics, and planning and decision-making. Research advances in non-nuclear power applications are also included to assess findings that may be applicable to the nuclear industry, along with the opportunities and challenges when adapting these developments to NPPs. Finally, this paper identifies key research needs in regard to data availability and quality, verification and validation, and uncertainty quantification.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2026

High-Mileage Courier Fleet Vehicle On-Road Logger Data

This dataset describes the performance and fuel efficiency of AVTA test vehicles operating in commercial courier fleets the Phoenix, AZ metro area between 2010 and 2016. Aftermarket data loggers were installed in two to four vehicles of each of 30+ distinct year/make/models (see reference ["INL Advanced Vehicle Testing Activity: On-road Logger and Laboratory Battery Pack Testing Vehicle List"](https://avt.inl.gov/sites/default/files/pdf/reports/DatasetVehicleList.pdf) for full list of vehicles). Loggers recorded vehicle operation as they were driven up to 160,000 miles in up to three years of fleet testing. Parameters were logged at 1-second intervals, including - vehicle speed, - engine and/or electric motor speed, - fuel and/or electricity consumption, and - ambient temperature. This dataset includes both raw second-by-second data and trip-level metrics. This dataset is shared by API; a small sample of the vehicle and logger data has been extracted and is also available for download.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

Microgrid Fast Charging Station (MFCS) Design Platform Project (Summary Report)

This report documents the important steps and outcomes of the Microgrid Fast Charging Station (MFCS) Design Platform project, executed by XENDEE Corporation and its testing and validation by Idaho National Laboratory (INL). This final summary report builds on the first summary released on April 30th, 2021 and adds the final results from the Hardware in the Loop (HIL) simulations and tests, which have been completed July 14th 2021. With this report XENDEE Corporation and Idaho National Laboratory conclude the first version of the Microgrid Fast Charging Station (MFCS) Design Platform as well as all related tests and validations for two in-depth case studies for islanded and non-islanded operation. The platform itself utilizes XENDEE’s advanced modeling systems and INL’s HIL system to ensure project viability and technical feasibility. It also intelligently maps all cables, transformers, and distributed technology interactions to anticipate and mitigate problems during peak usage or adverse conditions. Finally, the system is designed to optimize dispatch and generation at each time step of the day allowing the Microgrid to take advantage of energy sales to the utility and best manage the charging of an electrical fleet. This allows operators to reliably build bankable Microgrid systems and to operate them to reach the maximum efficiency even under the dynamic needs of electric vehicle fast charging

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

Fuel Cell Electric Bus Status Report 2025

This report highlights recent changes in the FCEB market, status updates for deployments, and a detailed performance evaluation of a large fleet of FCEBs operated by Foothill Transit in California during the period from June 2023 to December 2024.

33 ADVANCED PROPULSION SYSTEMS↗