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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 55 records · Page 3

Reducing Uncertainty of Fielded Photovoltaic Performance (Final Technical Report)

Improved analysis and reporting of photovoltaic (PV) field performance increases the certainty of owners and financiers that systems will perform as expected. Advanced module technologies (e.g., PERC, HJT, and bifacial) introduce new degradation mechanisms and performance characteristics. The FY19-21 Reducing Uncertainty project leveraged data from the ever-increasing PV fleet to develop models and understanding of the field performance of existing and new technologies. Specifically, we accomplished: report on field performance and degradation rates for high-efficiency silicon (HJT, PERC, IBC) and more conventional technologies; developed automated analysis techniques to quantify system performance (performance ratio, energy yield) and production shortfalls (soiling, degradation, availability); refined the RdTools software toolkit to bring standard, validated analysis techniques to bear on third-party data; analyzed and reported on large datasets including Treasury data and Lawrence Berkeley National Laboratory's Utility-Scale dataset to expand the high-quality degradation-rate histogram published previously; worked with industry partners and the DuraMAT data hub to enable private parties to share and aggregate PV production data anonymously, leveraging cloud-based data analysis infrastructure and publishing on US fleet-scale performance comprising over 7GW of operating systems. (https://www.nrel.gov/pv/fleet-performance-data-initiative.html). Through our industry collaborations we have engaged in NDA-covered data transfer with twelve PV fleet owners as of January 2022, with more agreements in negotiation. Our scalable cloud-based time series database contains over 30 billion rows (20TB) of PV time series data, representing over 1700 commercial and utility-scale systems, and over 7.2 GW of DC capacity (Fig 1). Initial field performance results have been distributed in several public reports. Because our fleet composition and data quality methods are continually improving, annual updates to these results are published to our PV Fleet webpage [ https://www.nrel.gov/pv/fleet-performance-data-initiative.html ] and DuraMAT data hub [DOI: 10.21948/1842958]. Another existing dissemination channel used for observed soiling losses is a map we maintain for soiling losses. Additional products developed include a report detailing fleet-wide performance index, availability, startup loss and snow loss factors, a detailed report on the 1603 grant dataset comprising over 100,000 PV systems with failure and performance details and a utility-scale report coauthored with LBNL on 31 GW of system performance.

14 SOLAR ENERGY↗

2022 Component Innovation Awardee: Windurance

Combining battery energy storage with distributed wind energy systems can increase production, ability to meet local electricity demands, interconnection capacity, and potential sales of surplus energy back to the grid, while reducing demand charges and the overall levelized cost of energy (LCOE). Energy storage options for distributed wind energy systems can vary widely in terms of power level and energy storage capacity, and their potential benefits depend on factors including wind resource, turbine design, connection requirements, use patterns, utility rates, and regulations. Windurance received a 2022 Competitiveness Improvement Project (CIP) funding award to add battery energy storage capabilities to the company's bidirectional DC converter. The energy storage component will complete a comprehensive portfolio of power conversion and control electronics that can be seamlessly integrated with distributed wind systems. The company received earlier CIP awards to fund prototype design and construction of wind turbine pitch actuators, inverters, and controllers.

CIP↗

Evaluating Utility-Scale PV-Battery Hybrids in an Operational Model for the Bulk Power System

Systems that combine solar photovoltaic and battery energy storage technologies (PV-BES) are increasingly being proposed and deployed on the bulk power system. The operations and value of PV-BES systems have been extensively studied from the project developer's perspective through analyses that maximize plant-level revenue. However, PV-BES hybrids' operational characteristics are seldom studied from the perspective of bulk power system operators, who seek to optimize the performance of a suite of generation and storage assets that are connected via the transmission network. This work presents modeling approaches for representing and evaluating PV-BES hybrids in a model that optimizes operations across the bulk power system. Its novel contributions include demonstrating a technique to modify a unit commitment and dispatch model to represent the operational synergies of PV-BES hybrids. In particular, we describe the challenges and an approach for representing so-called DC-coupled PV-BES - which utilize a single bi-directional inverter - as a dispatchable resource in a commercial, production cost model (PCM), PLEXOS. We demonstrate this technique in a PCM study of the Los Angeles Department of Water and Power (LADWP) test system, by replacing existing PV and battery generators on the test system with our PV-BES hybrids. We then pursue scenario analysis that is designed to isolate the various drivers of operational strategies for DC-coupled PV-BES hybrids, including the nature of coupling, PV penetration on the system, and varying inverter loading ratios (or degrees of over-sizing of the PV field). Results from the analysis include utilization profiles for the PV DC energy across available pathways, dispatch profiles for the battery component, and the hybrid technologies' impacts on system-wide production costs. The approach presented in this paper can be used in any PCM that is looking to study PV-BES hybrids as a resource in different power system configurations and services.

14 SOLAR ENERGY↗

Cost and Efficiency Analysis for Hybrid AC/DC Distribution System Planning with PV and Battery

Distribution system planning is one of the main tasks for the electric utilities. Cost and energy efficiency are two main concerns in the distribution planning process. In this work, cost and efficiency analyses are conducted for the hybrid AC and DC distribution grids for the planning purposes. The IEEE 34-bus feeder has been applied for the case studies. The investment cost, operation and maintenance cost, replacement cost, etc., have been considered in the life cycle cost analysis. Power losses of both the AC and DC section are calculated with an open source simulation tool, the Open Distribution Simulator Software (OpenDSS). The proposed framework can be applied to quantitatively evaluate the cost and efficiency of hybrid AC and DC distribution grids and help comparing different planning options.

AC/DC hybrid system planning↗

Aggregate data‐driven dynamic modeling of active distribution networks with DERs for voltage stability studies

Abstract Electric distribution networks increasingly host distributed energy resources based on power electronic converter (PEC) toward active distribution networks (ADN). Despite advances in computational capabilities, electromagnetic transient models are limited in scalability because of their reliance on exact data about the distribution system and each of its components. Similarly, the use of the DER_A model, which is intended to examine the combined dynamic behavior of many DERs, is limited by the difficulty in parameterization. There is a need for improved dynamic models of DERs for use in large power system simulations for stability analysis. This paper proposes an aggregate model‐free, data‐driven approach for deriving a dynamic partitioned model (DPM) of ADNs. Detailed residential distribution feeders were first developed, including PEC‐based DERs and composite load models (CMLDs), from which the aggregated DPM was derived. The performance was evaluated through various case studies and validated against the detailed ADN model and state‐of‐the‐art DER_A model with CMLD. The data‐driven DPM achieved a of over 90%, accurately representing the aggregated dynamic behavior of ADNs. Furthermore, the DPM significantly accelerated the simulation process with a computational speedup of 68 times compared to the detailed ADN and a 3.5 times speedup compared to the DER_A CMLD model.

42 ENGINEERING↗

Optimized V1G and V2G Electric Vehicle Fleet Management and Grid Transaction at Marine Corps Air Station Miramar in San Diego, CA

The overall technical goal of the project was to demonstrate an all-electric bi-directional non-tactical fleet at Marine Corps Air Station (MCAS) Miramar that was integrated and controlled with other distributed energy resources (DERs) (i.e., PV, stationary battery, and building loads) to provide resilience to critical electric loads in the event of grid outages, to minimize charging costs, and to provide economic energy resources to electricity markets. In this project, the specific, technical objectives were: 1. Demonstrate that bi-directional electric vehicles can provide critical complementary services to fixed storage batteries in microgrid applications while performing function as non-tactical vehicles. 2. Demonstrate participation of bi-directional (V2G) and unidirectional (V1G) PEVs for demand management and minimization of charging costs. 3. Demonstrate integration of multiple DERs for grid service participation. US Marine Corps Air Station (MCAS) Miramar in San Diego was the site of this electric vehicle-to-microgrid-utility grid test and demonstration project. Existing microgrid assets in this study included (1) a public works building; (2) a 30-kW rooftop photovoltaic (PV) system and (3) a separate 250 kW carport PV system. In this project, six bi-directional V2G vans were located at the MCAS Miramar’s showcase building-scale microgrid to develop and test technical capabilities that V2G can provide in microgrid applications (e.g., cost reduction and resiliency). These resources provided aggregated demand management and simulated participation in current retail DR programs. The vehicles used in this demonstration were selected because they provided functionality that MCAS Miramar needed, 15 passenger transport and facilities work cargo carrying capacity, and bi-directional charging capability that the research project required. All vehicles in this study were manufactured and distributed by VIA Motors, Inc. There were six vehicles total and each was VIA’s VTRUX eREV V2G model, a modified General Motors Chevrolet 2500 2WD van. Three of the vans were configured as passenger vans and the other three were configured as cargo vans. Each van had an on-board bi-direcrtional inverter/charger, Bel Power Solutions model 350INVCHGT150-120-240-8G nominally rated at +/-15 kW. The VIA van’s charging connector follows the J1772 charging protocol. The bi-directional EVSEs demonstrated in this study were manufactured by Coritech, Inc. Each VGI-80-AC charging station enabled enhanced V2G charging capability to a Clipper Creek CS-100 charging module. The enhanced capabilities included ethernet communication following the SEP2.0 protocol with a distributed energy resource function set and an operator screen displaying real-time SOC, voltage, and current. The VGI-80-AC charging stations are classified as level 2 with a maximum current output of 80 A or effectively 19 kW. The VIA van’s onboard charger limited the charging and discharging power to 15 kW in each direction. A control computer was installed in the EWOC and connected to an existing monitor. The V2G control communication network was a completely stand-alone closed system that did not have any connection to any other networks on the base. A cybersecure remote communication connection was created with a cellular modem, firewall hardware, and a virtual private network configuration.

24 POWER TRANSMISSION AND DISTRIBUTION↗

A General Method for Estimating Zonal Transmission Interface Limits from Nodal Network Data: Preprint

Capacity expansion models for the electric power system often employ zonal (rather than nodal) resolution, necessitating estimates of aggregate power transfer limits across the interfaces between model zones. Interface limits between planning areas are sometimes published, but they are not generalizable to arbitrary zone shapes. There is thus a need for a reproducible method for estimating interface transfer limits (ITLs) between user-defined zones directly from nodal transmission system data. Here, we present a simple method for estimating ITLs using a DC power flow approximation via the power transfer distribution factor (PTDF) matrix. Linear optimization is performed to identify the distribution of power flows that maximizes the total flow on interface-crossing lines, subject to individual line ratings, limits on bus injection/withdrawal, and the relationships among flows, injections, and withdrawals imposed by the PTDF matrix. We demonstrate the application of the method on a 134-zone ~65000-bus system, and we explore the influence of flow direction, contingency level, and zone size on the estimated ITLs. There is significant heterogeneity in the ratio of the ITL to the sum of interface-crossing line ratings, which highlights the importance of accounting for the physical constraints on power flows imposed by Kirchhoff's laws when estimating zonal ITLs.

17 WIND ENERGY↗

Learning-Accelerated ADMM for Distributed DC Optimal Power Flow

We suggest a novel data-driven method to accelerate the convergence of Alternating Direction Method of Multipliers (ADMM) for solving distributed DC optimal power flow (DC-OPF) where lines are shared between independent network partitions. Using previous observations of ADMM trajectories for a given system under varying load, the method trains a recurrent neural network (RNN) to predict the converged values of dual and consensus variables. Given a new realization of system load, a small number of initial ADMM iterations is taken as input to infer the converged values and directly inject them into the iteration. We empirically demonstrate that the online injection of these values into the ADMM iteration accelerates convergence by a significant factor for partitioned 14-, 118-and 2848-bus test systems under differing load scenarios. The proposed method has several advantages: it maintains the security of private decision variables inherent in consensus ADMM; inference is fast and so may be used in online settings; RNN-generated predictions can dramatically improve time to convergence but, by construction, can never result in infeasible ADMM subproblems; it can be easily integrated into existing software implementations. While we focus on the ADMM formulation of distributed DC-OPF in this paper, the ideas presented are naturally extended to other distributed optimization problems.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Learning-Accelerated ADMM for Distributed DC Optimal Power Flow

We propose a novel data-driven method to accelerate the convergence of Alternating Direction Method of Multipliers (ADMM) for solving distributed DC optimal power flow (DC-OPF) where lines are shared between independent network partitions. Using previous observations of ADMM trajectories for a given system under varying load, the method trains a recurrent neural network (RNN) to predict the converged values of dual and consensus variables. Given a new realization of system load, a small number of initial ADMM iterations is taken as input to infer the converged values and directly inject them into the iteration. We empirically demonstrate that the online injection of these values into the ADMM iteration accelerates convergence by a significant factor for partitioned 14-, 118- and 2848-bus test systems under differing load scenarios. The proposed method has several advantages: it maintains the security of private decision variables inherent in consensus ADMM; inference is fast and so may be used in online settings; RNN-generated predictions can dramatically improve time to convergence but, by construction, can never result in infeasible ADMM subproblems; it can be easily integrated into existing software implementations. While we focus on the ADMM formulation of distributed DC-OPF in this paper, the ideas presented are naturally extended to other distributed optimization problems.

alternating direction method of multipliers↗

A Lyapunov-Based Generalized Dc-Side Controller Design for PV-Connected Systems: Preprint

The objective of this paper is to realize a universal dc-side controller for photovoltaic (PV) systems where the control is agnostic to the downstream converter configuration. To achieve this, the downstream power converter and its controls are manipulated into an effective power control loop that is then cast into a generalized multi-loop design framework. On the dc side, a nonlinear small-signal model of the PV input is realized exclusively in terms of PV datasheet parameters (i.e., open-circuit voltage, short-circuit current, and maximum power point). Finally, a linear controller is used to modulate the dc-side PV system with the generic downstream power controller. A Lyapunov candidate is proposed to analyze the stability of the interconnected system and provide a streamlined approach for the controller design. The proposed design is validated on a 1-kVA experimental setup that interfaces a PV module to the grid.

dc-dc control↗

Resilient, Rural, and Revolutionary: Salisbury Square's Direct-Current Affordable Microgrid Community: Preprint

The technology to interconnect buildings with a dedicated direct-current (DC) power distribution network is in place today; what is missing is a turnkey approach to designing a DC microgrid - and the business models allowing such systems to be deployed, owned, and operated at scale. To close this gap, the Salisbury Square Development Team, comprising clean-energy experts, has engineered a resilient community DC microgrid for an affordable housing community in Randolph, Vermont. Ten single-family, occupant-owned residences and 12 multifamily rental units will share locally generated and stored solar energy via a DC power distribution bus capable of operating during extended grid outages. With a DC power distribution network in place, each home will be equipped with high-efficiency DC lighting and appliances, operating alongside alternating current (AC) appliances, even during an islanded mode of operation. To obtain a comprehensive understanding of what is possible and achievable, the Team collaborated with the local utility, regulatory agencies, a national laboratory, energy-as-service providers, and vendors. The collaborators evaluated microgrid typologies, business models, and energy modeling, and analyzed electrification and resilience. Further, the Team applied the URBANoptTM (Urban Renewable Building and Neighborhood optimization, NREL 2022) software development kit (SDK) to Salisbury Square's single-family and multifamily buildings to validate workflows and identify needs for advanced capability. This paper addresses the barriers to entry, scalability, and impact on residents and system ownership. It also examines the analysis that informed the design and engineering of the DC microgrid and the opportunities to streamline the process.

DER↗

Current-Source Solid-State DC Transformer Integrating LVDC Microgrid, Energy Storage, and Renewable Energy Into MVDC Grid

Solid-state DC transformer to integrate low-voltage DC (LVDC) microgrid, wind turbine (WT) generator, photovoltaic (PV), and energy storage (ES) into medium-voltage (MV) direct-current (MVDC) distribution grids is attractive. This paper proposes current-source DC solid-state transformer (SST) for MVDC collection system in WT, PV, and ES farms or as an interface between the MVDC grid and the LVDC microgrid. Compared to conventional current-source converter (CSC) based SSTs, a switch reduction scheme on reverse-blocking device bridges is proposed to reduce device count and the number of devices on the DC-link current path. Importantly, the proposed switch reduction scheme is generic and can be applied to the DC ports of DC-AC, AC-DC, or DC-DC hard-switching or soft-switching CSC-based SSTs. Based on this scheme, the proposed current-source DC SSTs are derived, which have reduced electrolytic-capacitor-less DC-link. The proposed DC SSTs also achieve single-stage isolated DC-DC or DC-AC conversion, full-range zero-voltage switching (ZVS) for main switches, zero-current switching (ZCS) for resonant switches, and controlled dv/dt. The proposed DC SSTs, operating principles, predictive control method, the ZVS, and the controlled dv/dt under voltage buck-boost ranges are verified with MV simulations and an experimental prototype based on SiC MOSFETs, diodes, and a nanocrystalline transformer.

14 SOLAR ENERGY↗

Hybrid Energy Management with Real-Time Control of a High-Power EV Charging Site

Decarbonization of transportation systems is driving higher capacity energy storage and faster charging power requirements in electric vehicles (EVs). Given the potential advantages - such as increased efficiency, reduced inverter capacity, and less total cable mass - there is a demand in the industry for more DC distribution for high-power charging (HPC) hubs. However, the cost-effective, adaptive, and robust operation of the DC-coupled HPC hub necessitates a robust site energy management system (SEMS). Validating SEMS operation using a digital twin of an HPC hub in a real-time simulator (RTS) platform is crucial before field deployment. In this study, we propose a hybrid energy management site controller designed to achieve high-level, long-term operational objectives while managing low-level power sharing control between hub assets. We develop a centralized model predictive controller (MPC) to optimize hub operating points and use these points to update the droop parameters of the site energy storage system (ESS). This approach ensures the hub follows an optimal operating point while maintaining the flexibility to respond to load surges. We tested and verified our proposed approach both offline and on a Controller Hardware-in-the-loop (C-HIL) simulation platform integrated with a SEMS framework, demonstrating real-time site operation and validating a cost-effective and robust site controller.

ADVANCED PROPULSION SYSTEMS↗

High-Power Electric Vehicle Charging Hub Integration Platform (eCHIP): Site Energy Management System Platform Development

A site energy management system is a critical component of future high-power EV charging hubs. It monitors and supervises all inter-hub operations, coordinates grid interactions, and implements energy management strategies and load-sharing controls at various levels and time scales. This report provides a comprehensive high-level overview and guidelines on the essential elements of such energy management systems. These elements primarily focus on the core functions, architecture, and monitoring aspects of site energy management. The core functions define the grid services and operational objectives that a charging hub is expected to provide and achieve. The architectural section investigates the coordination between hub assets, different control schemes, and their potential benefits and drawbacks. Lastly, the report discusses the needs, types, and functionalities of a monitoring and visualization system.

24 POWER TRANSMISSION AND DISTRIBUTION↗

SuperLab 2.0 Showcase: Connecting Five Labs to Tackle Grid Complexity and Unlock Unique Grid Asset Potential

SuperLab 2.0 (5-Lab Demo) is a collaborative, national-scale experiment showcasing the coordination of geographically distributed energy assets in real time. The demonstration integrates 25 physical and digital assets, spanning wind, PV, batteries, electrolyzers, DC fast chargers, microgrid controllers, building automation systems, small modular reactor (SMR), control centers, and gas turbines, across five DOE national laboratories-NLR, INL, NETL, LBNL, and SNL. These assets are unified using Energy Sciences Network (ESnet), a low-latency, high-performance U.S. Department of Energy's (DOE) network, and controlled via a centralized energy controller hosted at NLR's ARIES facility. The demonstration validates the ability to stress-test hybrid energy systems under dynamic scenarios to de-risk advanced control strategies for greater resilience and flexibility. SuperLab 2.0 (5-Lab Demo) showcased a major advancement in federated national laboratory collaboration, enabling real-time, cross-laboratory experimentation to coordinate geographically dispersed distributed energy resources (DERs) using various communication protocols and networks. SuperLab 2.0 (5-Lab Demo) built on previous demonstrations conducted between NLR-PNNL and NLR-INL connecting diverse assets including distant protection devices, a SMR simulator, and a high temperature electrolyzer (HTE). Previous demos were based on a single connection between two labs with minimal coordination challenges. The 5-Lab demo with a centralized controller, distributed testbeds across different geographical locations, and use of protocols-based communication represents a scenario closer to real-world grid operations that coordinate resources across a region to meet system needs. This experiment studied how local DER controllers interact with a centralized energy controller during normal and abnormal events to maintain reliability. The SuperLab team across the five labs implemented a notional power system model equivalent of transmission and distribution lines, represented by the data networks interconnecting the labs. Each lab continuously exchanged local parameters (such as P and Q) from its Hardware-In-Loop (CHIL) and Power Hardware-In-Loop (PHIL) assets through centralized energy controller at NLR, enabling real-time interaction and coordination across sites. By leveraging ESnet as the communication backbone, the team successfully operated the distributed assets as a unified power system, with each bus represented by a different laboratory. This setup mirrors how assets interact in real-world power systems across dispersed locations with various protocols and latencies. At each lab site, assets were operated using their own local controllers which were coordinated through an overarching operation and control layer of centralized energy controller, equivalent to how an energy management system (EMS) orchestrates assets across a regional or national grid. SuperLab's federated connectivity utilized a Digital Real-Time Simulators (DRTS)-type gateway to connect Controller Hardware-In-Loop (CHIL) and PHIL assets between labs. To enable this federated connection through ESnet, a deterministic network was established where latency variations were consistent. This consistency allowed the development of digital filters for the power system assets across CHIL and PHIL interfaces to avoid unstable and unreliable grid conditions. This report provides an overview of the cross-laboratory configuration and offers insights into interconnecting geographically distributed research assets to test them as if they were co-located. This experiment represents a step toward linking nine DOE national laboratories, enabling nation-wide simulations that can address utility-driven challenges with grid resilience, flexibility, and modernization.

24 POWER TRANSMISSION AND DISTRIBUTION↗

A Comprehensive Strategy for Grid Forming Control in DC Coupled Photovoltaic and Battery Energy Storage Inverters

This paper presents an integrated DC-DC and DCAC grid-forming control strategy for DC-coupled photovoltaic (PV) plus battery energy storage systems, considering the effect of DC link voltage variations caused by direct PV connections. A power reference algorithm determines power distribution between the PV and battery to the grid while observing device power ratings to prevent the over-rating of components and keep the battery's state of charge within an acceptable range. The simulated utility-scale model in MATLAB/Simulink illustrates its ability against extreme phase angle variation contingencies in the grid while controlled through grid-forming control with a fast dynamic on DC link voltage. The simulation results confirm the effectiveness of the proposed control in integrating PV plus battery configurations with grid forming control and maintaining reliable grid operation under severe grid disturbances.

battery, boost, control, energy storage, grid form↗

Cybersecurity Enhancement for Multi-Infeed High-Voltage DC Systems

Composed of multiple two-terminal high-voltage DC (HVDC) transmission systems, a multi-infeed HVDC (MIDC) system exchanges massive power among multiple asynchronous AC systems. However, as an intrinsically cyber-physical system, an MIDC system could suffer from cyber-attacks, leading to massive power mismatches in multiple AC systems, and resulting in catastrophic consequences. Since the sequential responses of an MIDC system and interconnected AC systems are in different timescales, this paper first establishes a two-timescale model to evaluate the sequential impacts caused by cyber-attacks. Then, an event-triggered cyber-defense strategy is proposed to enhance the cybersecurity of an MIDC system by mitigating multiple non-simultaneous cyber-attacks. Whenever new cyber-attack events occur, the proposed cyber-defense strategy, which is mathematically modeled as a mixed-integer quadratic programming problem, is executed on-line and updated in an event-triggered manner. Here, simulation results on an MIDC system demonstrate that the low-cost and almost blind cyber-attacks can cause severe frequency deviations, and the proposed strategy can mitigate multi-cyber-attacks effectively.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Stability Analysis of Parallel Connected Bidirectional WPT System

This paper presents a stability analysis of parallel-connected bi-directional series-series resonant network wireless power transfer (WPT), optimized for Electric Vehicle (EV) charging and vehicle-to-grid (V2G) applications. The study addresses critical stability challenges in systems integrated with diverse distributed energy resources (DERs), including photovoltaics, fuel cells, wind turbines, energy storage systems, and the AC grid. The stability of such integrated DC grid systems is paramount for ensuring reliable operation, particularly under varying power flow conditions and dynamic interactions between parallel WPT systems. The analysis included system impedance characterization, state-space modeling, and open and closed-loop stability evaluations. The results demonstrated that the integration of a robust control architecture effectively mitigates instability risks and supports scalable, efficient operation. This work underscores the converter's adaptability and its potential for large-scale deployment in wireless EV charging infrastructures and integrated DC grid systems.

Asa, Erdem [ORNL] (ORCID:0000000190884812)↗