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At least 37 records · Page 2

Integrating Deep Learning and Hydrodynamic Modeling to Improve the Great Lakes Forecast

The Laurentian Great Lakes, one of the world’s largest surface freshwater systems, pose a modeling challenge in seasonal forecast and climate projection. While physics-based hydrodynamic modeling is a fundamental approach, improving the forecast accuracy remains critical. In recent years, machine learning (ML) has quickly emerged in geoscience applications, but its application to the Great Lakes hydrodynamic prediction is still in its early stages. This work is the first one to explore a deep learning approach to predicting spatiotemporal distributions of the lake surface temperature (LST) in the Great Lakes. Our study shows that the Long Short-Term Memory (LSTM) neural network, trained with the limited data from hypothetical monitoring networks, can provide consistent and robust performance. The LSTM prediction captured the LST spatiotemporal variabilities across the five Great Lakes well, suggesting an effective and efficient way for monitoring network design in assisting the ML-based forecast. Furthermore, we employed an explainable artificial intelligence (XAI) technique named SHapley Additive exPlanations (SHAP) to uncover how the features impact the LSTM prediction. Our XAI analysis shows air temperature is the most influential feature for predicting LST in the trained LSTM. The relatively large bias in the LSTM prediction during the spring and fall was associated with substantial heterogeneity of air temperature during the two seasons. In contrast, the physics-based hydrodynamic model performed better in spring and fall yet exhibited relatively large biases during the summer stratification period. Finally, we developed a statistical integration of the hydrodynamic modeling and deep learning results based on the Best Linear Unbiased Estimator (BLUE). The integration further enhanced prediction accuracy, suggesting its potential for next-generation Great Lakes forecast systems.

Xue, Pengfei (ORCID:000000025702421X)↗

Chapter 7: Predictive Analytics in Future Power Systems: A Panorama and State-of-the-Art of Deep Learning Applications

The challenges surrounding the optimal operation of power systems are growing in various dimensions, due in part to increasingly distributed energy resources and a progression towards large-scale transportation electrification. Currently, the increasing uncertainties associated with both renewable energy generation and demand are largely being managed by increasing operational reserves - potentially at the cost of suboptimal economic conditions - in order to maintain the reliability of the system. This chapter looks at the big picture role of forecasting in power systems from generation to consumption and provides a comprehensive review of traditional approaches for forecasting generation and load in various contexts. This chapter then takes a deep dive into the state-of-the-art machine learning and deep learning approaches for power systems forecasting. Furthermore, a case study of multi-time-horizon solar irradiance forecasting using deep learning is discussed in detail. Smart grids form the backbone of the future interdependent networks. For addressing the challenges associated with the operations of smart grid, development and wide adoption of machine learning and deep learning algorithms capable of producing better forecasting accuracies is urgently needed. Along with exploring the implementation and benefits of these approaches, this chapter also considers the strengths and limitations of deep learning algorithms for power systems forecasting applications. This chapter, thus, provides a panoramic view of state-of-the-art of predictive analytics in power systems in the context of future smart grid operations.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Deep-Learning-Based Multi-Timescale Load Forecasting in Buildings: Opportunities and Challenges from Research to Deployment

Electricity load forecasting for buildings and campuses is becoming increasingly important as the penetration of distributed energy resources (DERs) grows. Efficient operation and dispatch of DERs require reasonably accurate predictions of future energy consumption in order to conduct near-real-time optimized dispatch of on-site generation and storage assets. Electric utilities have traditionally performed load forecasting for load pockets spanning large geographic areas, and therefore, forecasting has not been a common practice by buildings and campus operators. Given the growing trends of research and prototyping in the grid-interactive efficient buildings domain, characteristics beyond simple algorithm forecast accuracy are important in determining the algorithm's true utility for smart buildings. Other characteristics include the overall design of the deployed architecture and the operational efficiency of the forecasting system. In this work, we present a deep-learning-based load forecasting system that predicts the building load at 1-hour intervals for 18 hours in the future. We also discuss challenges associated with the real-time deployment of such systems as well as the research opportunities presented by a fully functional forecasting system that has been developed within the National Renewable Energy Laboratory's Intelligent Campus program.

building load forecasting↗

Empowering Machine Learning Forecasting of Labquake Using Event‐Based Features and Clustering Characteristics

Abstract Following recent advances of machine learning (ML), we present a novel approach to extract spatiotemporal seismo‐mechanical features from Acoustic Emission (AE) catalogs to empower ML‐based forecasting. The AE data were recorded during laboratory stick‐slip experiments on granite samples cut by rough faults. Based on the features computed for a past time window, a random forest (RF) classifier is used to forecast the occurrence of a large magnitude event ( M AE > 3.5) in the next time window. Event‐based features allow us to associate informative time‐space characteristics to each feature and nearest‐neighbor clustering analysis enables us to separate background and clustered seismicity and train individual models. The results show that the separation of AEs enhances the forecasting accuracy from 73.2% for the entire catalog up to 82.1% and 89.0% if background and clustered events are used separately. The presented new approach may be upscaled for applications to forecast tectonic earthquakes.

Karimpouli, Sadegh↗

Short-term apartment-level load forecasting using a modified neural network with selected auto-regressive features

Residential electricity load profiles and their diversity have become increasingly important to realize the benefits of Smart or Transactive Energy Networks (TENs). An important element of TENs will be practical, accurate, and implementable residential load forecasting techniques. While there have been many approaches to short-term load forecasting, few have included forecasting for individual households, partly because the high volatility and idiosyncrasies present in individual household load data can pose significant challenges. In this study, we develop a Convolutional Long Short-Term Memory-based neural network with Selected Autoregressive Features (termed a CLSAF model) to improve short-term household electricity load forecasting accuracy by employing three strategies: autoregressive features selection, exogenous features selection, and a “default” state to avoid overfitting at times of high load volatility. We include aggregations of apartments to floor and building level, because utilities may favor transactive approaches that rely on aggregator models, e.g., a cluster of consumers as opposed to an individual. We demonstrate that the CLSAF model, by virtue of its enhanced feature representation and modest computational resources, can accomplish load forecasting in a multi-family residential building across three spatial granularities (individual apartment/household, floor, and building levels), with an accuracy improvement of up to 25% compared to a persistence model. We propose a data screening technique to characterize time-series electricity-load data. This technique is suitable for integration into a TEN ecosystem and allows one to estimate confidence levels of the load forecasts to optimize computational resources and the risks associated with uncertain forecasts.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Analysis of Building Model Forecasts using Autonomous HVAC Optimization System for Residential Neighborhood

Heating, ventilation, and air conditioning (HVAC) systems account for the highest share of home energy consumption in the United States. Optimized HVAC control can provide thermal improved comfort to the occupants, improve energy efficiency, reduce energy cost, and support grid services. In this paper, we discuss a multi-agent and cloud-based software framework that has been deployed in occupied residential neighborhood. This system enables automatic data collection, learning, optimization, and dispatches signals to neighborhood devices. HVAC optimization is based on model predictive control (MPC). Since the operational performance of MPC depends on model forecasting accuracy, it is crucial to evaluate the model continuously and modify or retrain it as necessary. In this research, we developed an automated workflow to evaluate the performance of temperature and power forecasts based on measured data in the real world. This will provide researchers with a deeper understanding of the model and how it can be improved.

Lebakula, Viswadeep↗

Net Load Forecasting With Disaggregated Behind-the-Meter PV Generation

As worldwide use of residential photovoltaic (PV) systems grows, system operators and utilities will need to transition from forecasting pure demand to forecasting net load with behind-the-meter (BTM) PV generation. However, PV generation can be difficult to predict and the measurements of PV generation from BTM residential systems are often invisible behind a measurement of the net load, making net load forecasting challenging. This paper proposes a novel two-stage framework for net load forecasting in areas with limited observability and high BTM PV generation. First, the profiles of observable customers are used to disaggregate the net load measurements into the pure load and PV generation. Then, separate models are used to forecast the PV generation and pure load individually, and the results are combined for a net load forecast. Further, this paper also proposes a compensator for correcting the error of the net load forecast, using historical forecast errors of the PV generation, pure load, and net load. The proposed framework is tested through two case studies for areas with high BTM PV penetration and less than 10% observable customers. The two-stage forecasting model is compared to two benchmark methods - a time series forecasting model, and a model that forecasts the net load directly using historical net load measurements. Results show that the proposed disaggregation-forecasting framework reduces the error of the net load forecast compared to both benchmark models. In addition, when the net load forecast error is periodic, the compensator can correct the error to improve the forecast accuracy.

14 SOLAR ENERGY↗

The relative influences of hydrologic information and dams’ hydropower scheduling decisions on electricity price forecasts

Price dynamics in wholesale electricity markets are driven by supply and demand. In markets with hydroelectric dams, the timing and amount of hydropower offered can influence prices in similar ways to wind and solar power. Unlike variable renewable energy, however, the supply of hydropower in wholesale markets is a function of both water availability and operational decisions at dams. Dam operators maximize revenues in wholesale markets by aligning generation with the periods of highest expected prices, and these scheduling decisions may in turn influence prices. Here, we examine the relative importance of two types of information in predicting forward electricity prices: a) water availability at dams, in the form of short-to-medium-range hydrological forecasts; and b) hourly scheduling decisions at dams. Using softly coupled hydrologic, hydropower scheduling, and power systems models spanning the U.S. Western Interconnection, we quantify the importance of hydrologic forecast accuracy in correctly predicting wholesale electricity prices and compare this with the influence of dam operators’ own hourly scheduling decisions on realized market prices. We find that aligning hydropower generation schedules with the periods of high forecasted prices causes larger, inadvertent price forecast errors than imperfect hydrologic forecasts. This suggests that knowledge of how water is managed by dam operators within the week is more important than weekly inflow forecast errors when predicting forward electricity prices. Our findings have implications for optimal hydropower scheduling by region. Specifically, accounting for price effects is critical in markets dominated by hydropower capacity.

Electricity markets↗

Use of physics to improve solar forecast: Part III, impacts of different cloud types

Cloud-type impacts present a great challenge to solar forecasting due to diverse and complex cloud-radiation interactions. This third part of our paper sequence seeks to address this challenge by quantifying the forecast accuracies under eight cloud types: cumulus (Cu), stratified clouds (St), altocumulus (Ac), altostratus (As), cirrostratus/anvil (Cr), cirrus (Ci), congestus (Co), deep convective clouds (Dc) across four physics-informed persistence models reported in Part I. To generalize the cloud impacts, the eight cloud types are further grouped into three cloud categories based on their common features: weak convective clouds, stratiform clouds, and strong convective clouds. Here, the decade-long (2001 ~ 2014) collocated measurements of irradiances and cloud types at the U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) Program South Great Plain (SGP) Central Facility site are used for model evaluation. Results reveal a clear performance hierarchy for global horizontal irradiance (GHI) and direct normal irradiance (DNI): best for weak convective clouds and cirrus, intermediate for stratiform clouds, and worst for strong convective clouds. Performance for diffuse horizontal irradiance (DHI) is less influenced by cloud types. Cloud albedo dominates all three irradiances for Dc, while both cloud albedo and cloud fraction are influential for other cloud types. A 12 %~33 % improvement in accuracy at 6-hour lead time compared to the benchmark smart model confirms the effectiveness of incorporating physics into the models for various cloud types; further improvements are expected by directly integrating cloud type information into forecasting models by modifying the physical formulation of cloud-radiation interaction, and/or using more advanced machine learning models.

14 SOLAR ENERGY↗

Addressing delayed case reporting in infectious disease forecast modeling

Infectious disease forecasting is of great interest to the public health community and policymakers, since forecasts can provide insight into disease dynamics in the near future and inform interventions. Due to delays in case reporting, however, forecasting models may often underestimate the current and future disease burden. In this paper, we propose a general framework for addressing reporting delay in disease forecasting efforts with the goal of improving forecasts. We propose strategies for leveraging either historical data on case reporting or external internet-based data to estimate the amount of reporting error. We then describe several approaches for adapting general forecasting pipelines to account for under- or over-reporting of cases. We apply these methods to address reporting delay in data on dengue fever cases in Puerto Rico from 1990 to 2009 and to reports of influenza-like illness (ILI) in the United States between 2010 and 2019. Through a simulation study, we compare method performance and evaluate robustness to assumption violations. Our results show that forecasting accuracy and prediction coverage almost always increase when correction methods are implemented to address reporting delay. Some of these methods required knowledge about the reporting error or high quality external data, which may not always be available. Provided alternatives include excluding recently-reported data and performing sensitivity analysis. This work provides intuition and guidance for handling delay in disease case reporting and may serve as a useful resource to inform practical infectious disease forecasting efforts.

59 BASIC BIOLOGICAL SCIENCES↗

Local-thermal-gradient and large-scale-circulation impacts on turbine-height wind speed forecasting over the Columbia River Basin

Abstract. We investigate the sensitivity of turbine-height wind speed forecast to initial condition (IC) uncertainties over the Columbia River Gorge (CRG) and Columbia River Basin (CRB) for two typical weather phenomena, i.e., local-thermal-gradient-induced marine air intrusion and a cold frontal passage. Four types of turbine-height wind forecast anomalies and their associated IC uncertainties related to local thermal gradients and large-scale circulations are identified using the self-organizing map (SOM) technique. The four SOM types are categorized into two patterns, each accounting for half of the ensemble members. The first pattern corresponds to IC uncertainties that alter the wind forecast through a modulating weather system, which produces the strongest wind anomalies in the CRG and CRB. In the second pattern, the moderate uncertainties in local thermal gradient and large-scale circulation jointly contribute to wind forecast anomaly. We analyze the cross section of wind and temperature anomalies through the gorge to explore the evolution of vertical features of each SOM type. The turbine-height wind anomalies induced by large-scale IC uncertainties are more concentrated near the front. In contrast, turbine-height wind anomalies induced by the local IC thermal uncertainties are found above the surface thermal anomalies. Moreover, the wind forecast accuracy in the CRG and CRB is limited by IC uncertainties in a few specific regions, e.g., the 2 m temperature within the basin and large-scale circulation over the northeast Pacific around 140∘ W.

17 WIND ENERGY↗

Strategies for microgrid operation under real-world conditions

Microgrids are an increasingly relevant technology for integrating renewable energy sources into electricity systems. Based on a microgrid implementation in California, in this study we investigate microgrid operation under real-world conditions. These conditions have not yet been considered in combination and encompass energy charges, demand charges, export limits, as well as uncertainty about future electricity demand and generation in the microgrid. Under these conditions, we evaluate the performance of two frequently applied groups of strategies for microgrid operation. The first group is composed of proactive strategies that optimize decisions based on forecasts of future electricity generation and demand. The second group includes reactive strategies that make operational decisions based exclusively on the current state of the microgrid. We evaluate the performance of the strategies under varying operational parameters, forecast accuracies, and microgrid configurations—well beyond our Californian showcase. Our results confirm the expectation that proactive strategies outperform reactive ones in the majority of settings. Yet, reactive strategies can perform better under short control intervals or under moderate prediction errors of PV generation or demand. Furthermore, the interplay between real-world conditions and operational strategies reveals several additional insights for research on microgrid operation. First, we find that demand charges and export limits decisively affect microgrid performance. Second, the impact of forecast errors is highly non-linear and non-monotonous. Third, escalating negative interactions between forecast errors and demand charges make proactive strategies benefit from longer control intervals. This result is contrary to existing best practice, which promotes short control intervals to minimize the impact of uncertainty.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Enhancing Multi-Step Reservoir Inflow Forecasting: A Time-Variant Encoder–Decoder Approach

Accurate reservoir inflow forecasting is vital for effective water resource management. Reliable forecasts enable operators to optimize storage and release strategies to meet competing sectoral demands—such as water supply, irrigation, and hydropower scheduling—while also mitigating flood and drought risks. To address this need, in this study, we propose a novel time-variant encoder–decoder (ED) model designed specifically to improve multi-step reservoir inflow forecasting, enabling accurate predictions of reservoir inflows up to seven days ahead. Unlike conventional ED-LSTM and recursive ED-LSTM models, which use fixed encoder parameters or recursively propagate predictions, our model incorporates an adaptive encoder structure that dynamically adjusts to evolving conditions at each forecast horizon. Additionally, we introduce the Expected Baseline Integrated Gradients (EB-IGs) method for variable importance analysis, enhancing interpretability of inflow by incorporating multiple baselines to capture a broader range of hydrometeorological conditions. The proposed methods are demonstrated at several diverse reservoirs across the United States. Our results show that they outperform traditional methods, particularly at longer lead times, while also offering insights into the key drivers of inflow forecasting. These advancements contribute to enhanced reservoir management through improved forecasting accuracy and practical decision-making insights under complex hydroclimatic conditions.

58 GEOSCIENCES↗

Effects of Atmosphere and Ocean Horizontal Model Resolution on Tropical Cyclone and Upper-Ocean Response Forecasts in Four Major Hurricanes

A coupled atmosphere–ocean model is necessary for tropical cyclone (TC) prediction to accurately characterize ocean feedback on atmospheric processes within the TC environment. Here, the ECMWF coupled global model is run at horizontal resolutions from 9 to 1.4 km in the atmosphere, as well as 25 and 8 km in the ocean, to identify how resolution impacts forecast accuracy of four observed major TCs in the Atlantic: Irma, Florence, Teddy, and Ida. Most of the resolutions used here are unprecedented for global models. GOES-16 and synthetic aperture radar (SAR) satellite images and best track data are used for atmospheric validation. Salinity and temperature observations from Air-Launched Autonomous Micro-Observer (ALAMO) floats are used to validate modeled upper-ocean response, including mixed layer deepening, sea surface cooling, and near-inertial waves in the wakes of TCs. Increasing atmospheric resolution leads to more realistic TC structure and stronger winds, significantly improving TC intensity forecasts and modestly improving track errors. Ocean resolution impacts the upper-ocean response but does not influence atmospheric forecasts for the fast-moving TCs considered here. Stronger mixing, sea surface cooling, and near-inertial oscillations are found for both higher atmosphere and ocean resolutions, provided the initial upper-ocean state is the same for the two ocean resolutions. Whether this agrees better with the ALAMO observations also depends on the realism of the initial upper-ocean state in the model, emphasizing the importance of ocean initialization for the accurate upper-ocean response. Overall, the model at all resolutions correctly predicts stronger mixing, surface cooling, and near-inertial oscillation amplitudes to the right of a TC center, as observed by ALAMO floats.

Atmosphere-ocean interaction↗

Tropical Interbasin Interaction as Effective Predictors of Late-Spring Precipitation Variability in the Southern Great Plains

Abstract The southern Great Plains experience fluctuating precipitation extremes that significantly impact agriculture and water management. Despite ongoing efforts to enhance forecast accuracy, the underlying causes of these climatic phenomena remain inadequately understood. This study elucidates the relative influence of the tropical Pacific and Atlantic basins on April–May–June precipitation variability in this region. Our partial ocean assimilation experiments using the Community Earth System Model unveil the prominent role of interbasin interaction, with the Pacific and Atlantic contributing approximately 70% and 30%, respectively, to these interbasin contrasts. Our statistical analyses suggest that these tropical interbasin contrasts could serve as a more reliable indicator for late-spring precipitation anomalies than El Niño–Southern Oscillation. The conclusions are reinforced by analyses of seven climate forecasting systems within the North American Multi-Model Ensemble, offering an optimistic outlook for enhancing real-time forecasting of late-spring precipitation in the southern plains. However, the current predictive skills of the interbasin contrasts across the prediction systems are hindered by the lower predictability of the tropical Atlantic Ocean, pointing to the need for future research to refine climate prediction models further. Significance Statement Agriculture and infrastructure in the southern plains face challenges from severe late-spring precipitation extremes. Traditional predictors like El Niño–Southern Oscillation (ENSO) lose effectiveness during the critical spring-to-summer transition, creating a forecasting gap. This study introduces the concept of tropical interbasin interactions, known to enhance seasonal predictability for late-spring precipitation in the southern plains. Novel climate model experiments highlight contributions from the tropical Pacific and Atlantic, offering a promising predictability that potentially surpasses the limitations of ENSO-based predictions. These outcomes hold the potential for developing operational forecasts of late-spring precipitation anomalies in the southern plains, enabling proactive risk management.

Chikamoto, Yoshimitsu↗

Explainable machine learning model for multi-step forecasting of reservoir inflow with uncertainty quantification

We propose an explainable machine learning (ML) model with uncertainty quantification (UQ) to improve multi-step reservoir inflow forecasting. Traditional ML methods have challenges in forecasting inflows multiple days ahead, and lack explainability and UQ. To address these limitations, we introduce an encoder–decoder long short-term memory (ED-LSTM) network for multi-step forecasting, employ the SHapley Additive exPlanation (SHAP) technique for understanding the influence of hydrometeorological factors on inflow prediction, and develop a novel UQ method for prediction trustworthiness. We apply these methods to forecast 7-day inflow in snow-dominant and rain-driven reservoirs. The results demonstrate the effectiveness of the ED-LSTM model, with high forecasting accuracy for short lead times. Our UQ method provides reliable uncertainty estimates, covering 90% of data with a 90% confidence level. The SHAP analysis reveals the importance of historical inflow and precipitation as influential factors. These findings and methods may support reservoir operators in optimizing water resources management decisions.

54 ENVIRONMENTAL SCIENCES↗

Do Machine Learning Approaches Offer Skill Improvement for Short-Term Forecasting of Wind Gust Occurrence and Magnitude?

Abstract Wind gusts, and in particular intense gusts, are societally relevant but extremely challenging to forecast. This study systematically assesses the skill enhancement that can be achieved using artificial neural networks (ANNs) for forecasting of wind gust occurrence and magnitude. Geophysical predictors from the ERA5 reanalysis are used in conjunction with an autoregressive term in regression and ANN models with different predictors, and varying model complexity. Models are derived and assessed for the warm (April–September) and cold (October–March) seasons for three high passenger volume airports in the United States. Model uncertainty is assessed by deriving models for 1000 different randomly selected training (70%) and testing (30%) subsets. Gust prediction fidelity in independent test samples is critically dependent on inclusion of an autoregressive term. Gust occurrence probabilities derived using five-layer ANNs exhibit consistently higher fidelity than those from regression models and shallower ANNs. Inclusion of the autoregressive term and increasing the number of hidden layers in ANNs from 1 to 5 also improve the model performance for gust magnitudes (lower RMSE, increased correlation, and model standard deviations that more closely approximate observed values). Deeper ANNs (e.g., 20 hidden layers) exhibit higher skill in forecasting strong (17–25.7 m s −1 ) and damaging (≥25.7 m s −1 ) wind gusts. However, such deep networks exhibit evidence of overfitting and still substantially underestimate (by 50%) the frequency of strong and damaging wind gusts at the three airports considered herein. Significance Statement Improved short-term forecasting of wind gusts will enhance aviation safety and logistics and may offer other societal benefits. Here we present a rigorous investigation of the relative skill of models of wind gust occurrence and magnitude that employ different statistical methods. It is shown that artificial neural networks (ANNs) offer considerable skill enhancement over regression methods, particularly for strong and damaging wind gusts. For wind gust magnitudes in particular, application of deeper learning networks (e.g., five or more hidden layers) offers tangible improvements in forecast accuracy. However, deeper networks are vulnerable to overfitting and exhibit substantial variability with the specific training and testing data subset used. Also, even deep ANNs reproduce only half of strong and damaging wind gusts. These results indicate the need for future work to elucidate the dynamical mechanisms of intense wind gusts and advance solutions to their prediction.

54 ENVIRONMENTAL SCIENCES↗

An iterative bidirectional gradient boosting approach for CVR baseline estimation

Here this paper presents a novel Iterative Bidirectional Gradient Boosting Model (IBi-GBM) for estimating the baseline of Conservation Voltage Reduction (CVR) programs. In contrast to many existing methods, we treat CVR baseline estimation as a missing data retrieval problem. The approach involves dividing the load and its corresponding temperature profiles into three periods: pre-CVR, CVR, and post-CVR. To restore the missing load profile during the CVR period, the method employs a three-step process. First, a forward-pass GBM is executed using data from the pre-CVR period as inputs. Subsequently, a backward-pass GBM is applied using data from the post-CVR period. The two restored load profiles are reconciled, considering pre-calculated weights derived from forecasting accuracy, and only the leftmost and rightmost points are retained. The newly restored points are then included as inputs for the subsequent iteration. This iterative procedure continues until the original load data in the CVR period is fully restored. We develop IBi-GBM using actual smart meter and Supervisory Control and Data Acquisition (SCADA) data. Our results demonstrate that IBi-GBM exhibits robust performance across various data resolutions and in different seasons and outperforms existing methods by achieving a 1-2% reduction in normalized Root Mean Square Error (nRMSE).

42 ENGINEERING↗