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DOE OSTI2024

Optimizing Residential HVAC Systems: Evaluating How the Usage of Smart Diagnostic Tools for Quality Installation and Commissioning Impacts System Performance and HVAC Contractor Businesses

The adoption of digital quality installation and fault detection tools has the potential to transform the $14 billon residential heating, ventilating, and air conditioning (HVAC) service and installation industry. Increased market penetration can be accelerated by providing an increased understanding of the energy and economic value proposition of the usage of these tools. In tandem with energy and HVAC system performance impact research and analysis, the Southface Team investigated the economic business implications for HVAC service and installation contractors adopting the use of measureQuick (mQ), a smart diagnostic app that aids in quality installation and fault detection and works agnostically with Bluetooth-enabled HVAC technician tools.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Coupled Induction Machine and HVAC Models for Simulating HVAC Performance Considering Grid Dynamics in Buildings

This paper presents the development of novel models that integrate induction machines with HVAC equipment, such as pumps, heat pumps, and chillers, to analyze the impact of electrical parameters on the operational performance of thermo-fluid systems. The proposed model employs a coupling technique that captures the dynamic interactions between induction machines and HVAC systems. By integrating electrical, thermal, and mechanical dynamics, the models provide a comprehensive framework for simulating real-world scenarios, including interactions with the electrical grid. This achievement was made possible through the development of a Computationally Efficient and Accurate Induction Machine (CEAIM) model. Implemented using the equation-based Modelica language, the CEAIM model has been validated against experimental results, manufacturer data sheets, and various operating conditions. Its performance has been compared with existing induction machine models in the Modelica Standard Library (MSL), demonstrating superior accuracy and computational efficiency. The CEAIM model predicts torque, speed, and power consumption with a coefficient of determination (R 2 ) ranging from 0.98 to 1 and a coefficient of variation of root mean square error (CVRMSE) between 0.27% and 6.67%. Additionally, CEAIM scales more efficiently than conventional MSL models, with a slower computational growth rate in large-scale simulations. After thorough validation of the CEAIM model, it was coupled with HVAC equipment as this approach provides a detailed multi-dimensional view of capturing electrical transients and mechanical performance. To support this, a case study was conducted to showcase its capabilities.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2026

Robotics for HVAC applications: A critical review and future perspectives

Recent advances in artificial intelligence (AI), enhanced computational capabilities, and innovations in sensors and hardware have driven the increasing development and application of robots in heating, ventilation, and air conditioning (HVAC) systems. We selected and reviewed 101 studies published between 2005 and 2025, sourced from IEEE Xplore, Scopus, Web of Science, and the ACM Digital Library. To analyze these works, we developed a five-dimensional analytical framework (morphology, sensing, navigation, task execution, and system integration), inspired by the Springer Handbook of Robotics and tailored specifically for robotic applications in HVAC. Based on the reviewed studies, six distinct tasks spanning the entire HVAC lifecycle have been identified. Among the six tasks, inspection and maintenance dominate (59 %), followed by indoor monitoring and auditing (21 %), whereas leakage detection, comfort support, and installation/retrofit remain less explored. To address the identified gaps, this review proposes future research directions including investigating robot-aware HVAC design principles, developing multimodal HVAC sensing and data fusion techniques, enhancing robot training and hardware capabilities, and expanding robotic applications beyond Maintenance and Operations (M&O). The findings from this review inform future robotics research for HVAC applications and ultimately enhance system affordability, energy efficiency, resilience or reliability, and occupant environmental comfort. Moreover, it seeks to inspire researchers to explore the intersections of robotics, computer science, building science, and HVAC engineering fostering advancements in this multidisciplinary field.

AI↗

DOE OSTI2025

Multi-Agent Hierarchical Deep Reinforcement Learning for HVAC Control With Flexible DERs

As electricity consumption in commercial and residential buildings continues to rise, reducing energy costs presents an increasing challenge. Heating, ventilating, and air-conditioning (HVAC) systems, which typically account for 40%-50% of a building's energy use, are prime targets for energy savings. Intelligent control of HVAC temperature through the exploitation of HVAC load flexibility brings significant potential to reduce energy consumption and electricity expenses. The nonlinear models of HVAC systems challenge traditional control methods, while the uncertainty introduced by HVAC load flexibility complicates distributed energy resource (DER) management using conventional optimal dispatch techniques. In response to these challenges, we propose a hierarchical multi-agent deep reinforcement learning (DRL) approach. The lower-level agents focus on balancing comfort and energy conservation, while the upper-level DRL agents optimize the use of DERs to reduce peak demand based on the control outcomes of the HVAC by the lower-level agents. Here, in the upper-level agents, we incorporate a multi-agent structure based on ensemble learning, which acts based on historical and current data without relying on precise load forecasting to address the delayed rewarding issue in DRL. This allows for the effective reduction of energy costs. The proposed method is tested using a real-world microgrid comprising 413 buildings in Southern California, and the results demonstrate that our approach can significantly reduce overall electricity bills while ensuring the comfort of consumers and residents.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

Effects of ambient temperature on electric vehicle range considering battery Performance, powertrain Efficiency, and HVAC load

Here, this study investigates the impact of ambient temperature on the range of electric vehicles (EVs) by analyzing its effects on usable battery energy (UBE), heating, ventilation, and air conditioning (HVAC) energy consumption, and powertrain energy losses. Chassis dynamometer tests within a thermal chamber were conducted under various temperature conditions to investigate these impacts. The results indicate that lower temperatures lead to a decrease in UBE for lithium-ion batteries in EVs. At −18 °C, the UBE exhibited reductions of 4---8 % compared to the UBE at 22 °C. Battery thermal management strategies significantly affected the UBE loss, with different strategies resulting in distinct UBE reductions. HVAC energy consumption, especially for interior heating, proved to be the most dominant variable affecting EV driving range. Larger discrepancies between the HVAC target temperature (22 °C) and the ambient temperature increased HVAC energy usage. The type of HVAC system also influenced energy consumption, where EVs equipped with heat pumps demonstrated lower energy consumption for heating compared to those relying solely on resistance heaters. Ambient temperature also influenced motor energy consumption due to increased frictions, powertrain losses and tire rolling resistance at lower temperatures; consequently, regenerative braking energy decreased in cold conditions. Combining these effects influenced the overall energy consumption and driving range of EVs. At −18 °C, the driving range saw a substantial decrease of up to 60 % compared to 22 °C, while a slight decrease was observed at 35 °C.

Ambient Temperature↗

DOE OSTI2024

BENEFIT with Northeastern University: HVAC Hardware-in-the-Loop Experimental Testing of a Heat Pump and Air Conditioner

This dataset includes HVAC Hardware-in-the-Loop (HIL) experimental results for a single stage, SEER 16, HSPF 9.5, 3-ton single-speed air source heat pump with 15 kW of backup auxiliary heating tested in both cooling and heating mode, and a two stage, SEER 21, 2-ton central air conditioner tested in cooling mode for a set of outdoor temperatures and indoor setpoint temperatures. In addition to these tests, experimental tests focused on the operation of auxiliary heating for the heat pump for winter condition were also conducted. The laboratory experiments for transient testing of the heat pump and air conditioner were conducted using the two HIL systems in the Systems Performance Laboratory (SPL) at NREL’s Energy Systems Integration Facility (ESIF). Further information on laboratory design and capabilities of the SPL along with the architecture of HVAC HIL system can be found in: Sparn, B. F. 2018. Laboratory Resources and Techniques to Evaluate Smart Home Technology (No. NREL/CP-5500-71696). National Renewable Energy Laboratory (NREL), Golden, CO (United States). https://www.nrel.gov/docs/fy18osti/71696.pdf and the experimental setup and validation of HVAC HIL platform can be found in: Ramaraj, S. and Sparn, B. 2022. Validation of HVAC Hardware-In-the-Loop Simulation for Advanced Control Strategies in Smart Homes (No. NREL/CP-5500-82562). National Renewable Energy Lab (NREL), Golden, CO (United States). https://www.nrel.gov/docs/fy22osti/82562.pdf. These experimental results can be used to validate how we currently model the cycling behavior of heat pumps and air conditioners. Additionally, many demand response programs implement heat pump and air conditioner control by changing the thermostat set point – these data may also be used to verify our models for heat pump and air conditioner demand response control are implemented correctly. The Test_Matrix file describes all the indoor and outdoor test conditions for heat pump and air conditioner and the file names of data sets include information about the test conditions. A wide range of outdoor air temperatures were chosen to accommodate summer and winter conditions. In addition to operating the HVAC equipment with different outdoor temperatures, we also operate the system with different indoor temperature set points to represent different grid signals or different operating conditions. For cooling conditions, the baseline set point is 72°F. To represent Load Up signals, the setpoint is changed to 68°F. The Load Shed set point is 76°F. For heating conditions, the baseline set point was assumed to be 68°F. The Load add set point is 72°F and the Load shed set point is 64°F. The starting indoor temperature for cooling conditions was set ~2°F above the indoor setpoint temperature so that the equipment turned on quickly. Similarly, the initial indoor temperature was set ~2°F lower than setpoint for heating mode tests to ensure that heating began quickly. The return air temperature was assumed to be equal to the indoor setpoint temperature in all cases. The experimental data are sampled at 1-second intervals. The data from ecobee thermostat at 5-minute interval are resampled and added to the corresponding file. The content of each data set is as follows: • T_Return (C): Measured return air temperature [C] • T_Return_SP (C): Return air temperature setpoint from E+ model, sent to HIL [C] • T_Supply (C): Measured supply air temperature at evaporator outlet [C] • T_Outdoor (C): Measured outdoor air temperature [C] • T_Outdoor_SP (C): Outdoor air temperature setpoint from weather file, sent to HIL [C] • T_Indoor (C): Measured indoor air temperature [C] • T_Indoor_SP (C): Indoor air temperature setpoint from E+ model, sent to HIL [C] • Outdoor Unit Power (W): Measured power of the outdoor unit [W] • Indoor Unit Power (W): Measured power of the indoor unit [W] • Evaporator Airflow Rate (CFM): Measured evaporator or indoor unit airflow rate sent to E+ model [CFM] • Cooling/Heating Capacity (kW): Calculated cooling/heating capacity sent to E+ model [kW] • T_SP_Thermostat (C): Thermostat cooling/heating setpoint temperature [C] • T_Indoor_Thermostat (C): Thermostat indoor air temperature [C]

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2025

PATHS: Career Pathways to Advance the Trades in HVAC Services

The Career Pathways to Advance the Trades in HVAC Services (“PATHS”) project was designed to advance EERE/BTO goals of dramatically reducing the energy consumed in homes nationwide. Installing HVAC systems correctly and going back to provide tune-ups (maintenance) can improve their performance by at least 30%, so HVAC Technicians are critical to achieving GHG goals. However, there is a lack of trained technicians: residential HVAC installers and service technicians are retiring faster than they are being recruited, and workers with the advanced skills needed to install and service more complicated heat pump systems are even more scarce. Paradoxically, at the same time, unemployment and underemployment are still problems, particularly in disadvantaged communities.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Evaluating Thermostats' Deadbands Using HVAC Hardware-In-the-Loop Experiment for Advanced Control Strategies

Smart thermostats have gained significant popularity due to their potential for optimizing energy consumption and enhanced user control while ensuring occupants' comfort. The deadband, also referred to as temperature differential, is defined as the temperature difference between the desired setpoint and upper threshold or lower threshold for the HVAC equipment to turn on. It is a key factor influencing energy efficiency and user satisfaction. This paper presents a comparative analysis of the deadbands of five different smart thermostats, tested with a heat pump, aiming to identify variations in their deadband settings and implications for energy management. The experimental study was conducted using a HVAC hardware-in-theloop (HIL) system that integrates smart thermostats with physical HVAC equipment in a simulated house environment. The study explores the trade-offs between energy efficiency and occupant comfort and highlights how different thermostats participating in demand response event cycle differently based on their deadband settings. The findings offer valuable insights into how selecting the right thermostat or configuring smart thermostat with appropriate deadband settings can be leveraged to enhance demand response capabilities, shift loads effectively and improve operational flexibility in HVAC systems.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Evaluating Thermostats' Deadbands Using HVAC Hardware-In-the-Loop Experiment for Advanced Control Strategies: Preprint

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Designing reinforcement learning algorithms for building HVAC control: From experimental observation to simulation comparisons

Advanced supervisory-level control with reinforcement learning (RL) is regarded as a promising solution for HVAC systems to minimize energy consumption while maintaining thermal comfort and indoor air quality. However, most RL applications were conducted in the simulation environment rather than real-world HVAC systems. This paper developed a value-based RL controller termed Deep Q-Network (DQN) for a typical central HVAC system and evaluated its performance in a building test facility. By comparing DQN with a rule-based controller, the study not only demonstrated the cases where DQN could properly maintain indoor comfort but also discussed possible reasons why DQN failed in some other situations. Recognizing the limitations of value-based RL algorithms from the experimental tests, a simulation study was conducted to compare DQN with an alternative RL approach, an actor–critic algorithm termed Deep Deterministic Policy Gradient (DDPG). In scenarios with a relatively large action space, DDPG outperformed DQN by requiring fewer computational resources and achieving better thermal comfort, lower energy consumption, and more stable control actions. The findings suggest that the ability of DDPG to handle continuous control variables more effectively allows for faster convergence in training and more precise control in practice, which enhances the overall efficiency and reliability of the HVAC system.

Guo, Fangzhou↗

DOE OSTI2026

Influence of overhead HVAC and aerosol control strategies on coarse mode particle dispersion and exposure in a full-scale room experiment

Coarse mode respiratory aerosols can carry viral loads over long distances and have very different dynamics than submicron particles, but experimental studies under realistic conditions remain limited. Here, to study the differential impacts on exposure under different mixing conditions, we co-released 7–10 µm particles and carbon dioxide (CO 2 )—which served as an indicator of gas and submicron particle dynamics—in a 158 m 3 room at LBNL's FLEXLAB facility with an overhead heating, ventilation, and air conditioning (HVAC) system. The room was arranged as a distanced meeting then a classroom with eight heated manikins and a researcher. Spatial variability was measured using 16 particle counters and 22–26 CO 2 sensors throughout the space. Conditions included: HVAC off or supply air at 1000-1060 m 3 h -1 at neutral, cooling, or heating temperatures; with and without 20% outdoor air; and added HVAC filtration, portable air cleaners (PACs), or a physical barrier between the speaker and occupants. We found that good mixing via neutral or cooling supply air or use of PACs under heating lowered coarse particle exposure at some locations, but increased exposure for one-quarter to two-thirds of manikins compared to poor mixing under heating. A physical barrier reduced direct transfer of coarse particles during heating, but less during cooling. High spatial variability shows that a single measurement cannot represent occupant exposure. Instantaneous air mixing assumptions overstate the effectiveness of ventilation, HVAC filtration, and upper-room germicidal ultraviolet disinfection for coarse particles, as relatively few particles reach the return grille or upper room under most conditions.

Air mixing↗

DOE OSTI2025

Efficient and assured reinforcement learning-based building HVAC control with heterogeneous expert-guided training

Abstract Building heating, ventilation, and air conditioning (HVAC) systems account for nearly half of building energy consumption and $$20\%$$ of total energy consumption in the US. Their operation is also crucial for ensuring the physical and mental health of building occupants. Compared with traditional model-based HVAC control methods, the recent model-free deep reinforcement learning (DRL) based methods have shown good performance while do not require the development of detailed and costly physical models. However, these model-free DRL approaches often suffer from long training time to reach a good performance, which is a major obstacle for their practical deployment. In this work, we present a systematic approach to accelerate online reinforcement learning for HVAC control by taking full advantage of the knowledge from domain experts in various forms . Specifically, the algorithm stages include learning expert functions from existing abstract physical models and from historical data via offline reinforcement learning, integrating the expert functions with rule-based guidelines, conducting training guided by the integrated expert function and performing policy initialization from distilled expert function. Moreover, to ensure that the learned DRL-based HVAC controller can effectively keep room temperature within the comfortable range for occupants, we design a runtime shielding framework to reduce the temperature violation rate and incorporate the learned controller into it. Experimental results demonstrate up to 8.8 X speedup in DRL training from our approach over previous methods, with low temperature violation rate.

Xu, Shichao↗

DOE OSTI2025

An Optimization-Based HVAC Load and PV Disaggregation Methodology With Contextual Supervision

Here, this letter presents an optimization-based Heating, Ventilation, and Air Conditioning (HVAC) and PV disaggregation approach. This letter builds on the previous works of authors, which discuss HVAC disaggregation strategy for aggregated levels without requiring sub-metered information. This letter expands on previous works to discuss optimization-based HVAC disaggregation by varying PV penetration scenarios with joint disaggregation of HVAC load and PV.

Analytics↗

DOE OSTI2025

Evaluating Thermostats’ Deadbands Using HVAC Hardware-In-the-Loop Experiment for Advanced Control Strategies

Thermostats play a crucial role in energy consumption, user control, and occupant comfort by serving as the interface between the heating, ventilation, and air conditioning (HVAC) system and the building's occupants. The deadband, also referred to as temperature differential, is defined as the temperature difference between the desired setpoint and upper threshold or lower threshold for the HVAC equipment to turn on or off. It is a key factor influencing energy efficiency and user satisfaction. This paper presents a comparative analysis of the deadbands of five different thermostats, tested with a residential heat pump, aiming to identify variations in their deadband settings and implications for energy usage and management. The experimental study was conducted using a HVAC hardware-in-the-loop (HIL) system that allows thermostats to be connected with physical HVAC equipment, driven by conditions in a simulated residential building. The study explores the trade-offs between energy efficiency and occupant comfort and highlights how different thermostats cycle differently based on their deadband settings. The findings offer valuable insights into how thermostat deadband affects comfort and energy use, as well as the cycling frequency of a heat pump.

Ramaraj, Sugirdhalakshmi [National Renewable Energ↗

DOE OSTI2026

Challenges and Opportunities for HVAC + Phase Change Material Thermal Energy Storage in Buildings

Phase-change material (PCM) thermal-energy storage (TES) integrated with HVAC and domestic hot water (DHW) can shift a large share of building thermal loads. By flattening and shifting loads, PCM TES reduces peak electricity use, eases stress on local and grid infrastructure, and lowers costs. It can also defer costly upgrades to service panels, distribution, and transmission. Higher energy density relative to chilled or hot water storage makes PCM TES practical for small, space limited, and retrofit projects, while packaged HVAC-integrated systems expand cost-effective load shifting to commercial buildings that previously lacked options. Despite this promise, deployment faces barriers. This paper presents challenges, opportunities, and lessons learned from lab and field integrations of PCM TES with packaged HVAC systems. Key challenges include misalignment between default heat pump controls tuned for direct-to-load operation and TES charge/discharge objectives, PCM properties that diverge from manufacturer claims and evolve with cycling, and high integration and deployment costs with off-the-shelf products. These studies underscore the need for factory built, integrated systems that arrive as prepackaged modules with proven controls, reducing design and installation effort and delivering predictable performance across projects. The paper outlines steps to enable viable and scalable PCM TES HVAC and DHW systems, including 1) validated methods that can be used to characterize PCM properties and TES system performance, 2) supervisory controls that optimize charge/discharge scheduling, and 3) factory integrated packaging that eliminates bespoke field engineering.

Dutton, Spencer↗

DOE OSTI2024

Dialogue Between Lighting and HVAC Systems: Improving building system integration

Lighting systems have long been capable of sensing when someone enters or exits a room and using that knowledge to turn lights on or off. More recently, connected lighting systems with sensors integrated into every luminaire have become broadly available, facilitating highly granular occupancy detection. Similarly, HVAC systems have long been able to use an understanding of building occupancy to adjust temperature setpoints and reduce energy use without significant impacts to occupant comfort. Energy codes (e.g., ASHRAE/IES Standard 90.1, IECC, Title 24) now require “occupied standby HVAC control,” whereby systems adjust both temperature and ventilation setpoints in zones that are determined to be unoccupied during normal occupancy hours. Here, this article discusses current issues that stymie the integration of Lighting and HVAC systems, and DOE activities focused on addressing them.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2024

Long-Term field testing of the accuracy and HVAC energy savings potential of occupancy presence sensors in A Single-Family home

The energy-saving potential of occupancy-centric smart thermostats has been extensively explored in simulations but lacked field testing for energy savings quantification and sensor performance assessment in real buildings. This paper presents a long-term field study conducted in a single-family home in Texas, U.S. to evaluate the performance of occupancy-centric controls (OCC) of HVAC (heating, ventilation, and air-conditioning) system in terms of energy savings, sensor accuracy, and impact on electric peak demand. The test site was equipped with a commercial off-the-shelf (COTS) smart thermostat and multiple occupancy presence sensors for OCC implementation. Additionally, a sub-metering system was installed to monitor electricity consumption of various end-use equipment, including the HVAC system. A supplementary device was installed to track the ground-truth occupancy for the accuracy evaluation of the occupancy presence sensor. Scenarios of baseline and OCC controls were alternated weekly over the 20-month testing period. The results indicated an effective OCC execution, as evidenced by indoor temperature profiles. During the 2023 cooling season, OCC achieved total energy savings of 1,958 kWh, corresponding to a 17.6% energy savings ratio. Under certain conditions, daily HVAC energy savings reached as high as 17 kWh, with a savings ratio of 35%. Sensor performance showed an overall accuracy of 83.8%, a False Positive Rate (FPR) of 12.8%, and a False Negative Rate (FNR) of 47.4%. A key limitation was the sensor’s inability to detect stationary occupants during sleep, leading to a midnight FNR of nearly 100% and significantly compromising thermal comfort. Additionally, the implementation of OCC resulted in extended periods of high electricity demand on summer afternoons, affecting occupant’s thermal comfort and posing potential challenges to community-level grid operations if OCC were widely adopted. Furthermore, this study addresses a critical research gap by empirically investigating energy-saving potential and occupancy sensor performance in residential buildings. Through a comprehensive field-testing study, the research examines the interrelationship between sensor accuracy, energy savings, and thermal comfort, an area that has received limited attention in the current literature.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2025

Evaluation of HVAC & refrigeration system fault behaviors and impacts: A systematic review

Achieving the goals of green buildings critically depends on the fault-free operation of heating, ventilation and air conditioning and refrigeration (HVAC&R) systems. However, faults frequently occur in these systems, causing a range of negative consequences, including increased energy consumption, diminished operational performance, compromised indoor environmental quality, higher operational costs, and shortened system lifespan. The evaluation of fault behaviors and impacts plays a critical role in revealing fault characteristics and consequently supports many research areas, including the design of the high-performance equipment, development of fault detection and diagnostics (FDD) and robust control approaches, as well as the enhancement of maintenance decision-making activities. This paper systematically reviews 112 research publications that reported the analysis and evaluation of fault behaviors and impacts in HVAC&R systems over the past thirty years. Here, we designed a review approach to address five crucial research questions, namely: 1) the objectives of analysis and evaluation of fault behaviors and impacts, 2) data sources, 3) equipment/system types and fault types, 4) evaluation methods including evaluation measures and associated metrics, and 5) challenges and future directions in the research on evaluating of fault behaviors and impacts. In-depth discussions on these questions help bridge the gap between the evaluation of fault behaviors and impacts and their practical applications, such as the development of high-performance systems, fault models, FDD methods, and maintenance decision-making tools within the HVAC&R FDD domain.

Chen, Yimin [Oak Ridge National Laboratory (ORNL),↗