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DOE OSTI2025

2025 Geothermal Drilling Cost Curves Update: Preprint

Drilling activities account for 30% to 57% of the cost to develop and install a geothermal plant. Therefore, an accurate representation of the cost to drill a well is paramount in techno-economic analysis to determine the feasibility of a geothermal power project. In 2022, the National Renewable Energy Laboratory (NREL) endeavored to revise the U.S. Department of Energy (DOE) GeoVision baseline drilling cost curves due to extensive improvement in drilling rates at the Utah Frontier Observatory Research in Geothermal Energy (FORGE) demonstration site. That effort did not culminate in the recommendation of new curves because the actual project costs did not match the reported performance improvements and were at or above the GeoVision baseline. The need for another iteration of this analysis has arisen from industry record drilling performance reported by recent commercial field-scale and demonstration projects, including Fervo Energy’s Cape Station, the Utah FORGE 16B(78)-32 demonstration and the Geysers Power Company’s GDC-36 demonstration. Therefore, in this work, we have estimated the resulting industry average rate of penetration (ROP) and bit life and applied these parameters as inputs to the Well Cost Simplified model used in the GeoVision analysis. The resulting revised cost curves show a significant decline from the GeoVision baseline. For vertical wells, the magnitude of cost decline ranges between 12% and 24% while for deviated wells, cost reductions between 18% and 26% are estimated. The revised cost curves are in good agreement with actual cost data and therefore, quantify the economic impact of the utilization of (and advances in) polycrystalline diamond compact (PDC) bit technology and the application of physics-based methodologies that optimize mechanical specific energy.

15 GEOTHERMAL ENERGY↗

DOE OSTI2024

ECAR-6440 Rev 2 MARVEL Hazard Evaluation

This hazard evaluation supports the Microreactor Applications Research, Validation, and Evaluation (MARVEL) Project’s design effort and the development of the preliminary documented safety analysis (PDSA) (addendum to safety analysis report [SAR]-420, “Transient Reactor Test [TREAT] Facility FSAR”) (SAR-420-ADD-1). The hazard evaluation process for the MARVEL project for compliance with the requirements in 10 CFR 830, “Nuclear Safety Management,” follows a process similar to the Licensing Modernization Project (LMP) as outlined in Nuclear Energy Institute (NEI)-18-04, “Risk-Informed Performance-Based Guidance for Non-Light Water Reactor Licensing Basis Development,” and supporting documents. The LMP process is adapted to fit Department of Energy (DOE) reactor regulatory requirements as applicable and appropriate using a graded approach based on the MARVEL microreactor design. This approach provides reasonable assurance of meeting the requirements of 10 CFR 830 for protection of the public, workers, and environment.

21 - SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLAN↗

DOE OSTI2020

GaAs X-Ray Diodes (LDRD Annual Report FY2019)

Ongoing work at the Z Machine on the development of warm x-ray sources in support of national security missions requires fast x-ray diagnostics with sensitivities significantly higher than what is commercially available. Our team represents a collaborative effort between MESA and Z to fabricate GaAs x-ray detectors that meet this need. The delivered detectors have now been fielded in several Z shot series and are providing hard x-ray data to physicists at Z. In addition to improved time response and hard x-ray sensitivity compared to commercial detectors, the devices fabricated at MESA show much more consistent device-to-device signal levels. This improved repeatability gives researchers at Z new quantitative data for source development efforts.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2020

A Progress Report on Metal–Sulfur Batteries

Nonaqueous conversion-reaction sulfur chemistry has been attracting increasing attention over the past decade for the development of next-generation lithium-based batteries. Li–S batteries are currently approaching a nexus stage from lab-scale experiments to possible pragmatic applications. Inspired by the success of Li–S chemistry, other metal–sulfur batteries with a variety of metallic anodes, such as sodium, potassium, magnesium, calcium, and aluminum, have also started to attract attention. In comparison to lithium, Na, Mg, Al, K, and Ca are naturally more abundant and affordable. The Na-S, Mg-S, Al-S, K-S, and Ca-S battery systems provide a great potential for improving the volumetric energy density of sulfur-based batteries. The multivalent metal-sulfur systems, Mg-S, Al-S, and Ca-S, offer better safety features as well. However, the research and development on Na-S, Mg-S, Al-S, K-S, and Ca-S batteries is far behind the Li–S system due to many critical challenges. In this progress report, the fundamental principles of various metal–sulfur chemistries are first presented and compared. Then, the historical progress, recent advances, and key challenges of the Li–S, Na-S, Mg-S, Al-S, K-S, and Ca-S systems are summarized and discussed. Finally, future efforts and directions for both the fundamental and practical research are prospected.

25 ENERGY STORAGE↗

DOE OSTI2021

An introduction to neuromorphic computing and its potential impact for unattended ground sensors

Neuromorphic computers are hardware systems that mimic the brain’s computational process phenomenology. This is in contrast to neural network accelerators, such as the Google TPU or the Intel Neural Compute Stick, which seek to accelerate the fundamental computation and data flows of neural network models used in the field of machine learning. Neuromorphic computers emulate the integrate and fire neuron dynamics of the brain to achieve a spiking communication architecture for computation. While neural networks are brain-inspired, they drastically oversimplify the brain’s computation model. Neuromorphic architectures are closer to the true computation model of the brain (albeit, still simplified). Neuromorphic computing models herald a 1000x power improvement over conventional CPU architectures. Sandia National Labs is a major contributor to the research community on neuromorphic systems by performing design analysis, evaluation, and algorithm development for neuromorphic computers. Space-based remote sensing development has been a focused target of funding for exploratory research into neuromorphic systems for their potential advantage in that program area; SNL has led some of these efforts. Recently, neuromorphic application evaluation has reached the NA-22 program area. This same exploratory research and algorithm development should penetrate the unattended ground sensor space for SNL’s mission partners and program areas. Neuromorphic computing paradigms offer a distinct advantage for the SWaP-constrained embedded systems of our diverse sponsor-driven program areas.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2020

Adapting Existing Energy Planning, Simulation, and Operational Models for Resilience Analysis

Resilience is a topic receiving much attention in relation to energy systems, with particular attention being paid to the supply of electricity. As a result, research communities have proposed a plethora of candidate indicators and metrics for resilience, most of which remain immature at different scales and segments within the energy system. Given the complexity of resilience analyses and mitigation strategies, there is limited value in attempting to identify a single resilience metric, as no one metric can quantify resilience or its associated value for all stakeholders. Instead, a necessary focus of the research community should lie in implementing, testing, and validating resilience metrics and analysis approaches in energy sector models, which will be invaluable for informing resilience planning and investment decisions. Recognizing that implementing, testing, and validating resilience metrics are challenges that need to be addressed, the National Renewable Energy Laboratory (NREL) dedicated staff and time to researching how to effectively integrate resilience considerations into energy sector models and tools, as part of the Laboratory Directed Research and Development (LDRD) program. The overarching goal of the effort was to evaluate the data needs, methodologies, and outcomes - including consequences and/or changes in investment or operational decisions due to avoided consequences - based on resilience analysis in a range of existing tools. In particular, we selected five models originally built at NREL to explore non-resilience energy research questions to implement and exercise resilience metrics and analysis approaches.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

DOE OSTI2025

Sustaining the Z Facility (FY24 Progress Report)

Based on planning and reviews conducted in 2020, it is clear today that the Z Facility must be sustained through 2040 or longer. This requires a well-developed and executed maintenance and sustainment effort. Z’s Sustainment Plan outlines the approach that Sandia’s Pulsed Power Sciences Center will pursue to assure that the Z Facility maintains its world class research and development program supporting the NNSA’s Science Based Stockpile Stewardship efforts. In FY24, the Pulsed Power Center at SNL planned and executed many substantial sustainment projects as well as maintenance-driven-sustainment aligned to the Sustainment Plan. These projects are listed in this section with brief descriptions of the work executed.

42 ENGINEERING↗

DOE OSTI2023

Late-Stage Research Development and Demonstration Sub-Activities Updates

Oak Ridge National Laboratory (ORNL), in collaboration with the Pacific Northwest National Laboratory (PNNL), the National Renewable Energy Laboratory (NREL), the Lawrence Berkeley National Laboratory (LBNL), and the Hummingbird Firm (a specialized consulting firm focused on promoting diversity, equity, and inclusion considerations), has initiated a national initiative known as the Heat Pump (HP) and Heat Pump Water Heater (HPWH) Field Validation Partnership. This effort involves active participation from numerous critical entities involved in research and market transformation within the field.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Late-Stage Research Development and Demonstration Sub-activities Updates

99 GENERAL AND MISCELLANEOUS↗

DOE OSTI2023

Wind Energy Accomplishments and Year-End Performance Report: Fiscal Year 2023

As the United States' largest source of renewable energy, wind is already playing a vital role in the nation's shift to electricity generated from sustainable resources. Scientists, engineers, and analysts at the U.S. Department of Energy's (DOE's) National Renewable Energy Laboratory (NREL) are propelling our country closer to this clean energy future with new efficient, reliable, and cost-competitive wind technologies and deployment strategies. In Fiscal Year 2023 (FY 2023), NREL received national acclaim for recent wind technology breakthroughs, applauded sustained decades of progress in wind energy research, and heralded new initiatives to support the next generation of wind development. This report and NREL's achievements of the last year set the stage for innovative research to come. Two NREL software innovations used to assess wind technology options were recognized with R&D 100 Awards. The Renewable Energy Potential (reV) model helps planners, developers, and researchers calculate wind energy capacity, generation, and cost for specific facilities, fleets and scenarios. NREL's Simulation and Emulation for Advanced Systems validates transmission and distribution solutions to minimize implementation risks. Both of these tools can be applied to a range of renewable solutions to cut costs and improve the reliability of systems in even the most remote locations. The laboratory commemorated landmark anniversaries for wind energy research facilities and programs managed by NREL. The National Wind Technology Center (NWTC) celebrated 30 years as a world-class hub for renewable energy research. An important component of the NWTC on NREL's Flatirons Campus, the one-of-a-kind 7-megawatt (MW) Controllable Grid Interface wind energy research apparatus, turned 10 this year. The Collegiate Wind Competition completed its tenth annual competition in May 2023. Six years after the grand challenges in wind energy science were first compiled, NREL brought together more than 100 wind energy experts from 15 countries to revisit the field's most pressing research needs. Other key new research initiatives examined ways to simultaneously address the needs for skilled wind energy workers and equitable job opportunities. NREL released the first national-level report evaluating offshore wind industry workforce gaps and ways to build a large, diverse pool of job candidates. The lab also co-hosted the International Partnering Forum's Offshore Wind Workforce Summit as part of its ongoing efforts to address the special challenges of that industry sector. NREL research and development (R&D) for the DOE Wind Energy Technologies Office (WETO) continues to build momentum in its efforts to combat climate change, create clean energy jobs, and promote energy justice. This report provides more detail on these top achievements and other accomplishments made by NREL and its partners during FY 2023 (between Oct. 1, 2022, and Sept. 30, 2023).

accomplishments↗

DOE OSTI2021

Latin American Strategy for Research Infrastructures for High Energy, Cosmology, Astroparticle Physics LASF4RI for HECAP

The present document, the Latin American HECAP Physics Briefing Book, is the result of this ambitious grass roots effort. This report contains the work performed by the Preparatory Group to synthesize the main contributions and discussions for each of the topical working groups: Astronomy, Astrophysics and Astroparticle Physics; Cosmology; Dark Matter; Neutrinos; Electroweak and Strong Interactions, Higgs physics, Flavour and CP Physics and Beyond the Standard Model Physics; Instrumentation and Computing. This work aims at providing a landscape of existing expertise and capabilities. It will hopefully instruct some recommendations for further development of strategic research infrastructures relevant for future HECAP efforts in the region as well as for a continuous and successful involvement of Latin American HECAP researchers in the global arena.

43 PARTICLE ACCELERATORS↗

DOE OSTI2024

Filling in Subsurface Storage Open Data Gaps - Updates to CCS Data Availability on EDX and EDX Spatial (FWP-1022465)

There is a need to preserve and efficiently access data resources to drive the next generation of research and development while ensuring compliance with DOE regulations. Over the last 10+ years, there has been ongoing efforts by the DOE Carbon Storage Program to ensure that there is effective data curation and preservation of DOE funded research leveraging the NETL-FECM data repository, the Energy Data eXchange (EDX). This talk presents updates about ongoing efforts to continue to support the mission of ensuring that carbon storage data is findable, accessible, interoperable, and reusable to the carbon storage stakeholder community through EDX and EDX Spatial. Presented at the NETL Carbon Management Review Meeting, Pittsburgh, 2024.

Morkner, Paige↗

DOE OSTI2023

ESnet Requirements Review Program Through the IRI Lens: A Meta-Analysis of Workflow Patterns Across DOE Office of Science Programs (Final Report)

The Department of Energy (DOE) ensures America’s security and prosperity by addressing its energy, environmental, and nuclear challenges through transformative science and technology solutions. The DOE’s Office of Science (SC) delivers groundbreaking scientific discoveries and major scientific tools that transform our understanding of nature and advance the energy, economic, and national security of the United States. The SC’s programs advance DOE mission science across a wide range of disciplines and have developed the research infrastructure needed to remain at the forefront of scientific discovery. The DOE SC’s world-class research infrastructure — exemplified by the 28 SC scientific user facilities — provides the research community with premier observational, experimental, computational, and network capabilities. Each user facility is designed to provide unique capabilities to advance core DOE mission science for its sponsor SC program and to stimulate a rich discovery and innovation ecosystem. Research communities gather and flourish around each user facility, bringing together diverse perspectives. A hallmark of many facilities is the large population of students, postdoctoral researchers, and early-career scientists who contribute as full-fledged users. These facility staff and users collaborate over years to devise new approaches to utilizing the user facility’s core capabilities. The history of the SC user facilities has many examples of wildly inventive researchers challenging operational orthodoxy to pioneer new vistas of discovery; for example, the use of the synchrotron X-ray light sources for study of proteins and other large biological molecules. This continual reinvention of the practice of science — as users and staff forge novel approaches expressed in research workflows — unlocks new discoveries and propels scientific progress. Within this research ecosystem, the high-performance computing (HPC) and networking user facilities stewarded by SC’s Advanced Scientific Computing Research (ASCR) program play a dynamic cross-cutting role, enabling complex workflows demanding high performance data, networking, and computing solutions. The DOE SC’s three HPC user facilities and the Energy Sciences Network (ESnet) high-performance research network serve all of the SC’s programs as well as the global research community. Argonne Leadership Computing Facility (ALCF), the National Energy Research Scientific Computing Center (NERSC), and Oak Ridge Leadership Computing Facility (OLCF) conceive, build, and provide access to a range of supercomputing, advanced computing, and large-scale data-infrastructure platforms, while ESnet interconnects DOE SC research infrastructure and enables seamless exchange of scientific data. All four facilities operate testbeds to expand the frontiers of computing and networking research. Together, the ASCR facilities enterprise seeks to understand and meet the needs and requirements across SC and DOE domain science programs and priority efforts, highlighted by the formal requirements reviews (RRs) methodology. In recent years, the research communities around the SC user facilities have begun experimenting with and demanding solutions integrated with HPC and data infrastructure. This rise of integrated-science approaches is documented in many community and high-level government reports. At the dawn of the era of exascale science and the acceleration of artificial intelligence (AI) innovation, there is a broad need for integrated computational, data, and networking solutions. In response to these drivers, DOE has developed a vision for an Integrated Research Infrastructure (IRI): To empower researchers to meld DOE’s world-class research tools, infrastructure, and user facilities seamlessly and securely in novel ways to radically accelerate discovery and innovation.

42 ENGINEERING↗

DOE OSTI2024

Low-energy H- beam injectors for particle accelerators: upgrade requirements, challenges and future plans [Slides]

High brightness, negative hydrogen ion sources are used extensively in large, accelerator-based, user facilities operating worldwide. Negative hydrogen beams have become the preferred means of filling circular accelerators and storage rings as well as enabling efficient extraction from cyclotrons. Much larger beams of H- ions are also utilized for neutral beams injection into fusion machines and will be discussed in a separate companion presentation. Some of the accelerator facilities include the US Spallation Neutron Source (SNS), Japan Proton Accelerator Research Complex (J-PARC), Rutherford Appleton Laboratory (RAL-ISIS), Los Alamos Neutron Science Center (LANSCE), Fermi National Accelerator Laboratory (FNAL), Brookhaven National Laboratory (BNL), the CERN LHC injector, the Chinese Spallation Neutron Source (CSNS) as well as numerous installations of D-Pace (licenced by TRIUMF) ion sources used mainly with cyclotrons. Many facilities are currently working on various improvement / upgrade projects, both in the near and long term, which are driving further development of their ion source and LEBT (Low Energy Beam Transport) and, in some cases, their overall front end injector system. This report will first provide a simple description of each facilities existing ion source and LEBT and summarize the operational parameters which are currently being routinely injected into their accelerators. Next, the parametric goals of each of the facilities upgrade projects are specified as well as development efforts currently underway to meet these requirement and improvement goals. It is hoped that that this work will not only capture the current state-of-the-art of worldwide H- beam injectors and clarify the research goals and efforts of the community in general but will also encourage further inter laboratory collaborations.

43 PARTICLE ACCELERATORS↗

DOE OSTI2022

Triton Initiative: FY22 Communications, Outreach, and Engagement End-of-Year Report

The Department of Energy (DOE) Water Power Technologies Office (WPTO) Triton Initiative supports the advancement of the marine energy (ME) industry through environmental monitoring research and technology development. This report presents the results and analysis of the Triton Initiative’s communications, outreach, and engagement (TCOE) efforts in fiscal year 2022. The primary TCOE goals were to: (1) educate and raise awareness of ME and the role of Triton's environmental monitoring research in supporting the industry; (2) build trust with audiences through transparent communications and outreach; and (3) evaluate and refine TCOE tactics based on feedback and metrics. To support these goals, the TCOE team used multiple platforms and approaches. Notable achievements include: (1) 12 newsletter issues sent to 185 subscribers with an average open rate of 56.4%. (2) 10 Triton Stories, resulting in 2,871 collective views contributing to 46% of all Triton website views. (3) 78 Triton-specific social media posts, which generated a total of 81,896 impressions, 1,037 post-clicks, and 7,814 video views. (4) 6,320 Triton website views with increased search engine optimization ranking in several categories. (5) 3 Triton researchers interviewed as guests on two different podcasts, Water Women and Big Deep: An Ocean Podcast. (6) A Triton special issue of the Journal of Marine Science and Engineering (JMSE) featuring 10 peer reviewed publications. All articles ranked in the top 25%, and two in the top 5%, for digital attention of all research outputs scored by Altmetric. (7) A seven-part webinar series called Triton Talks to share and discuss research and results from the research published in the JMSE special issue. Triton leveraged unique opportunities, particularly the JMSE special issue, to disseminate research results to end users, educate stakeholders, and gain valuable feedback. These concerted communication efforts increased exposure across platforms ultimately resulting in greater reach and access across audiences. Based on audience analyses of webinar attendees and newsletter subscribers, the TCOE team was able to successfully engage with general audiences, research partners, and ME stakeholders, including subject matter experts from government agencies, research organizations, and the regulatory community. The TCOE task established channels to gather input and create opportunities for two-way communication with people engaged with Triton’s outreach efforts. The feedback received will enable the TCOE team to support its goals for ongoing evaluation of outreach and engagement tools while continuing to build trust in the ME community and educate diverse audiences about the impactful research conducted by the Triton Initiative. This report is a Triton Initiative Fiscal Year 2022 Quarter 4 Milestone Deliverable due to the DOE WPTO Sponsor on 9/30/2022. An updated version to include data through 9/30/2022 will be delivered in October 2022.

16 TIDAL AND WAVE POWER↗

DOE OSTI2024

Solar Energy Technical Publications Catalog: Solar Thermal Technology

The research and development described in these documents was conducted within the U.S . Department of Energy's (DOE) Solar Thermal Technology Program. The goal of this program is to advance the engineering and scientific understanding of solar thermal technology and to establish the technology base from which private industry can develop solar thermal power production options for introduction into the competitive energy market. Solar thermal technology concentrates the solar flux using tracking mirrors or lenses onto a receiver where the solar energy is absorbed as heat and converted into electricity or incorporated into products as process heat. The two primary solar thermal technologies, central receivers and distributed receivers, employ various point and line-focus optics to concentrate sunlight. Current central receiver systems use fields of heliostats (two-axis tracking mirrors) to focus the sun's radiant energy onto a single, tower- mounted receiver. Point focus concentrators up to 17 meters in diameter track the sun in two axes and use parabolic dish mirrors or Fresnel lenses to focus radiant energy onto a receiver. Troughs and bowls are line-focus tracking reflectors that concentrate sunlight onto receiver tubes along their focal lines. Concentrating collector modules can be used alone or in a multimodule system. The concentrated radiant energy absorbed by the solar thermal receiver is transported to the conversion process by a circulating work fluid. Receiver temperatures range from l00 degrees C in low-temperature troughs to over 1500 degrees C in dish and central receiver systems. The Solar Thermal Technology Program is directing efforts to advance and improve each system concept through solar thermal materials, components, and subsystems research and development and by testing and evaluation. These efforts are carried out with the technical direction of DOE and its network of field laboratories that works with private industry. Together they have established a comprehensive, goal-directed program to improve performance and provide technically proven options for eventual incorporation into the nation's energy supply. To successfully contribute to an adequate energy supply at reasonable cost, solar thermal energy must be economically competitive with a variety of other energy sources. The Solar Thermal Technology Program has developed components and system-level performance targets as quantitative program goals. These targets are used in planning research and development activities, measuring progress, assessing alternative technology options, and developing optimal components. These targets are pursued vigorously to ensure a successful program. This catalog represents part of an effort to provide information on publications about solar thermal research and development activities conducted by DOE's laboratories. Publications listed include technical and research reports and special publications. The following national laboratories are represented in this edition: Sandia National Laboratories, Solar Energy Research Institute, Jet Propulsion Laboratory. This catalog is a product of the DOE Solar Technical Information Program, which is dedicated to providing information to scientific and industrial users in ways most convenient and useful to them. This catalog focuses on solar thermal technologies, and its purpose is to keep the scientific and industrial communities informed of the latest developments in federally sponsored research in this technology.

140000* -- Solar Energy↗

DOE OSTI2025

Large-scale offshore wind farm effects on weather and climate in Puerto Rico (Final Technical Report)

Puerto Rico’s current electricity generation heavily relies on imported fossil fuels. This results in an average cost of electricity higher than the U.S. mainland average in all sectors (residential, commercial, and industrial), despite abundant local offshore wind resources, which have the potential to provide secure, low-cost energy generation and consequent economic prosperity. However, effects on atmospheric and oceanic circulation resulting from large-scale deployments of offshore wind farms have not been previously studied at tropical latitude. This project addressed this knowledge gap through a computational modeling effort designed to capture the coupled dynamics of the atmosphere and the ocean in presence of offshore wind farms. Results indicate that wind farm wakes can alter wind stress, generate Ekman-driven vertical transport, and potentially affect nutrient distribution. While full model coupling remains challenging, progress in parameterization and large-eddy simulations provides a foundation for future research. The project contributes to DOE’s Earth System modeling efforts and supports STEM workforce development.

17 WIND ENERGY↗

DOE OSTI2026

Prime Time for Model-Predictive Control? Assessing the Technical and Market Readiness of Advanced Controls in Buildings

Despite three decades of extensive research and field testing that have consistently validated the benefits of Model Predictive Control (MPC) in building applications, the technology has seen limited market adoption. This paper evaluates the readiness of MPC for widespread deployment, showcases recent demonstrations and field tests across diverse building types, including residential, small commercial, large commercial, and campus settings. Our results demonstrate that MPC can optimize system operations to achieve load shifting, minimize curtailment of on-site generation, and reduce energy costs by up to 80 %, while maintaining or improving occupant comfort. We also show that MPC can effectively control large assets, such as MW-sized thermal storage systems, and respond to dynamic pricing signals. However, achieving scale remains difficult due to labor-intensive workflows, reliance on a “PhD-in-the-loop” for MPC design and maintenance, susceptibility to fragile data infrastructure, and persistent workforce education and acceptance barriers. To bridge this gap, we outline a transition from bespoke, labor intensive prototypes toward streamlined, segment-targeted deployment strategies that leverage model templates, semantic tools, and generative AI. By automating control configuration and reducing engineering effort, these recommendations provide a pathway for transforming successful research demonstrations into scalable, market ready solutions for MPC-based controls.

Pritoni, Marco↗