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Distributed energy resources (DERs) such as responsive loads and energy storage systems are valuable resources available to grid operators for balancing supply-demand mismatches via load coordination. However, consumer acceptance of load coordination schemes depends on ensuring quality of service (QoS), which embodies device-level constraints. Since each device has its own internal energy state, the effect of QoS on the fleet can be cast as fleet-wide energy limits within which the aggregate "state of charge" (SoC) must be actively maintained. This requires coordination of DERs that is cognizant of the SoC, responsive to grid conditions, and depends on fast communication networks. To that effect, this paper presents a novel real-time grid-and-DER co-simulation platform for validating advanced DER coordination schemes and characterizing the capability of such a DER fleet. In particular, we present how the co-simulation platform is suitable for: i) testing real-time performance of a large fleet of DERs in delivering advanced grid services, including frequency regulation; ii) online state estimation to characterize the corresponding SoC of a large fleet of DERs; and iii) incorporating practical limitations of DERs and communications and analyzing the effects on fleet-wide performance. To illustrate these benefits of the presented grid-DER co-simulation platform, we employ the advanced DER coordination scheme called packetized energy management (PEM), which is a novel device-driven, asynchronous, and randomizing control paradigm for DERs. A fleet of thousands of PEM-enabled DERs are then added to a realistic and dynamical model of the Vermont transmission system to complete validation of the co-simulation platform.

Given increasing risk from climate-induced natural hazards, there is growing interest in the development of methods that can quantitatively measure resilience in power systems. This work quantifies resilience in electric power transmission networks in a new and comprehensive way that can represent the multiple processes of resilience. A novel aspect of this approach is the use of empirical data to develop the probability distributions that drive the model. This paper demonstrates the approach by measuring the impact of one potential improvement to a power system. Specifically, we measure the impact of additional distributed generation on power system resilience.

In this paper, we employ a bi-level control system to react to disturbances and balance power mismatch by coordinating distributed energy resources (DERs) under packetized energy management. Packetized energy management (PEM) is a novel bottom-up asynchronous and randomizing coordination paradigm for DERs that guarantees quality of service, autonomy, and privacy to the end-user. A hardware-in-the-loop (HIL) simulation of a cyber-physical system consisting of PEM enabled DERs, flexible virtual power plants (VPPs) and transmission grid is developed in this work. A predictive, energy-constrained dispatch of aggregated PEM-enabled DERs is formulated, implemented, and validated on the HIL cyber-physical platform. The energy state of VPPs, composed of a fleet of diverse DERs distributed in the grid, depending upon the distinct real-time usage of these devices. The experimental results demonstrate that the existing control schemes, such as AGC, dispatch VPPs without regard to their energy state, which leads to unexpected capacity saturation. By accounting for, the energy states of VPPs, model-predictive control (MPC) can optimally dispatch conventional generators and VPPs to overcome disturbances while avoiding undesired capacity saturation. The results show the improvement in dynamics by using MPC over conventional AGC and droop for a system with energy-constrained resource

Cascading blackouts typically occur when nearly simultaneous outages occur in k out of N components in a power system, triggering subsequent failures that propagate through the network and cause significant load shedding. While large cascades are rare, their impact can be catastrophic, so quantifying their risk is important for grid planning and operation. A common assumption in previous approaches to quantifying such risk is that the $k$ initiating component outages are statistically independent events. However, when triggered by a common exogenous cause, initiating outages may actually be correlated. Here, copula analysis is used to quantify the impact of correlation of initiating outages on the risk of cascading failure. The method is demonstrated on two test cases; a 2383-bus model of the Polish grid under varying load conditions and a synthetic 10,000-bus model based on the geography of the Western US. The large size of the Western US test case required development of new approaches for bounding an estimate of the total number of N-3 blackout-causing contingencies. The results suggest that both risk of cascading failure, and the relative contribution of higher order contingencies, increase as a function of spatial correlation in component failures.

With the continued deployment of synchronized Phasor Measurement Units (PMUs), high sample rate data are rapidly increasing the real time observability of power systems. Prior research has shown that the statistics of these data can provide useful information regarding network stability, but it is not yet known how this statistical information can be actionably used to improve power system stability. To address this issue, this paper presents a method that gauges and improves the voltage stability of a system using the statistics present in PMU data streams. Leveraging an analytical solver to determine a range of "critical" bus voltage variances, the presented methods monitor raw statistical data in an observable load pocket to determine when control actions are needed to mitigate the risk of voltage collapse. A simple reactive power controller is then implemented, which acts dynamically to maintain an acceptable voltage stability margin within the system. Time domain simulations on 3-bus and 39-bus test cases demonstrate that the resulting statistical controller can out-perform more conventional feedback control systems by maintaining voltage stability margins while loads simultaneously increase and fluctuate., Comment: Submitted to IEEE Transactions on Power Systems

Crowdsourcing has been successfully applied in many domains including astronomy, cryptography and biology. In order to test its potential for useful application in a Smart Grid context, this paper investigates the extent to which a crowd can contribute predictive hypotheses to a model of residential electric energy consumption. In this experiment, the crowd generated hypotheses about factors that make one home different from another in terms of monthly energy usage. To implement this concept, we deployed a web-based system within which 627 residential electricity customers posed 632 questions that they thought predictive of energy usage. While this occurred, the same group provided 110,573 answers to these questions as they accumulated. Thus users both suggested the hypotheses that drive a predictive model and provided the data upon which the model is built. We used the resulting question and answer data to build a predictive model of monthly electric energy consumption, using random forest regression. Because of the sparse nature of the answer data, careful statistical work was needed to ensure that these models are valid. The results indicate that the crowd can generate useful hypotheses, despite the sparse nature of the dataset., Comment: 11 pages, 7 figures

Identifying and communicating relationships between causes and effects is important for understanding our world, but is affected by language structure, cognitive and emotional biases, and the properties of the communication medium. Despite the increasing importance of social media, much remains unknown about causal statements made online. To study real-world causal attribution, we extract a large-scale corpus of causal statements made on the Twitter social network platform as well as a comparable random control corpus. We compare causal and control statements using statistical language and sentiment analysis tools. We find that causal statements have a number of significant lexical and grammatical differences compared with controls and tend to be more negative in sentiment than controls. Causal statements made online tend to focus on news and current events, medicine and health, or interpersonal relationships, as shown by topic models. By quantifying the features and potential biases of causality communication, this study improves our understanding of the accuracy of information and opinions found online.

Modeling power transmission networks is an important area of research with applications such as vulnerability analysis, study of cascading failures, and location of measurement devices. Graph-theoretic approaches have been widely used to solve these problems, but are subject to several limitations. One of the limitations is the ability to model a heterogeneous system in a consistent manner using the standard graph-theoretic formulation. In this paper, we propose a {\em network-of-networks} approach for modeling power transmission networks in order to explicitly incorporate heterogeneity in the model. This model distinguishes between different components of the network that operate at different voltage ratings, and also captures the intra and inter-network connectivity patterns. By building the graph in this fashion we present a novel, and fundamentally different, perspective of power transmission networks. Consequently, this novel approach will have a significant impact on the graph-theoretic modeling of power grids that we believe will lead to a better understanding of transmission networks.

While many large infrastructure networks, such as power, water, and natural gas systems, have similar physical properties governing flows, these systems tend to have distinctly different sizes and topological structures. This paper seeks to understand how these different size-scales and topological features can emerge from relatively simple design principles. Specifically, we seek to describe the conditions under which it is optimal to build decentralized network infrastructures, such as a microgrid, rather than centralized ones, such as a large high-voltage power system. While our method is simple it is useful in explaining why sometimes, but not always, it is economical to build large, interconnected networks and in other cases it is preferable to use smaller, distributed systems. The results indicate that there is not a single set of infrastructure cost conditions under which optimally-designed networks will have highly centralized architectures. Instead, as costs increase we find that average network sizes increase gradually according to a power-law. When we consider the reliability costs, however, we do observe a transition point at which optimally designed networks become more centralized with larger geographic scope. As the losses associated with node and edge failures become more costly, this transition becomes more sudden.

In a cascading power transmission outage, component outages propagate non-locally, after one component outages, the next failure may be very distant, both topologically and geographically. As a result, simple models of topological contagion do not accurately represent the propagation of cascades in power systems. However, cascading power outages do follow patterns, some of which are useful in understanding and reducing blackout risk. This paper describes a method by which the data from many cascading failure simulations can be transformed into a graph-based model of influences that provides actionable information about the many ways that cascades propagate in a particular system. The resulting "influence graph" model is Markovian, in that component outage probabilities depend only on the outages that occurred in the prior generation. To validate the model we compare the distribution of cascade sizes resulting from $n-2$ contingencies in a $2896$ branch test case to cascade sizes in the influence graph. The two distributions are remarkably similar. In addition, we derive an equation with which one can quickly identify modifications to the proposed system that will substantially reduce cascade propagation. With this equation one can quickly identify critical components that can be improved to substantially reduce the risk of large cascading blackouts., Comment: Accepted for publication at the IEEE Transactions on Power Systems

The modeling of cascading failure in power systems is difficult because of the many different mechanisms involved; no single model captures all of these mechanisms. Understanding the relative importance of these different mechanisms is an important step in choosing which mechanisms need to be modeled for particular types of cascading failure analysis. This work presents a dynamic simulation model of both power networks and protection systems, which can simulate a wider variety of cascading outage mechanisms, relative to existing quasi-steady state (QSS) models. The model allows one to test the impact of different load models and protections on cascading outage sizes. This paper describes each module of the developed dynamic model and demonstrates how different mechanisms interact. In order to test the model we simulated a batch of randomly selected $N-2$ contingencies for several different static load configurations, and found that the distribution of blackout sizes and event lengths from the proposed dynamic simulator correlates well with historical trends. The results also show that load models have significant impacts on the cascading risks. This dynamic model was also compared against a QSS model based on the dc power flow approximations; we find that the two models largely agree, but produce substantially different results for later stages of cascading., Comment: 8 pages, 9 figures, 5 tables, submitted to IEEE transactions

Increased coupling between critical infrastructure networks, such as power and communication systems, will have important implications for the reliability and security of these systems. To understand the effects of power-communication coupling, several have studied interdependent network models and reported that increased coupling can increase system vulnerability. However, these results come from models that have substantially different mechanisms of cascading, relative to those found in actual power and communication networks. This paper reports on two sets of experiments that compare the network vulnerability implications resulting from simple topological models and models that more accurately capture the dynamics of cascading in power systems. First, we compare a simple model of topological contagion to a model of cascading in power systems and find that the power grid shows a much higher level of vulnerability, relative to the contagion model. Second, we compare a model of topological cascades in coupled networks to three different physics-based models of power grids coupled to communication networks. Again, the more accurate models suggest very different conclusions. In all but the most extreme case, the physics-based power grid models indicate that increased power-communication coupling decreases vulnerability. This is opposite from what one would conclude from the coupled topological model, in which zero coupling is optimal. Finally, an extreme case in which communication failures immediately cause grid failures, suggests that if systems are poorly designed, increased coupling can be harmful. Together these results suggest design strategies for reducing the risk of cascades in interdependent infrastructure systems.

Prior research has shown that autocorrelation and variance in voltage measurements tend to increase as power systems approach instability. This paper seeks to identify the conditions under which these statistical indicators provide reliable early warning of instability in power systems. First, the paper derives and validates a semi-analytical method for quickly calculating the expected variance and autocorrelation of all voltages and currents in an arbitrary power system model. Building on this approach, the paper describes the conditions under which filtering can be used to detect these signs in the presence of measurement noise. Finally, several experiments show which types of measurements are good indicators of proximity to instability for particular types of state changes. For example, increased variance in voltages can reliably indicate the location of increased stress, while growth of autocorrelation in certain line currents is a reliable indicator of system-wide instability., Comment: 8 pages, 12 figures

The potential for cascading failure in power systems adds substantially to overall reliability risk. Monte Carlo sampling can be used with a power system model to estimate this impact, but doing so is computationally expensive. This paper presents a new approach to estimating the risk of large cascading blackouts triggered by multiple contingencies. The method uses a search algorithm (Random Chemistry) to identify blackout-causing contingencies, and then combines the results with outage probabilities to estimate overall risk. Comparing this approach with Monte Carlo sampling for two test cases (the IEEE RTS-96 and a 2383 bus model of the Polish system) illustrates that the new approach is at least two orders of magnitude faster than Monte Carlo, without introducing measurable bias. Moreover, the approach enables one to compute the sensitivity of overall blackout risk to individual component-failure probabilities in the initiating contingency, allowing one to quickly identify low-cost strategies for reducing risk. By computing the sensitivity of risk to individual initial outage probabilities for the Polish system, we found that reducing three line-outage probabilities by 50% would reduce cascading failure risk by 33%. Finally, we used the method to estimate changes in risk as a function of load. Surprisingly, this calculation illustrates that risk can sometimes decrease as load increases., Comment: IEEE Transactions on Power Systems

This paper shows that the variance of load bus voltage magnitude in a small power system test case increases monotonically as the system approaches a Hopf bifurcation. This property can potentially be used as a method for monitoring oscillatory stability in power grid using high-resolution phasor measurements. Increasing variance in data from a dynamical system is a common sign of a phenomenon known as critical slowing down (CSD). CSD is slower recovery of dynamical systems from perturbations as they approach critical transitions. Earlier work has focused on studying CSD in systems approaching voltage collapse; In this paper, we investigate its occurrence as a power system approaches a Hopf bifurcation., Comment: 5 pages, 7 figures, IEEE Power & Energy Society General Meeting 2014

Many dynamical systems, including power systems, recover from perturbations more slowly as they approach critical transitions---a phenomenon known as critical slowing down. If the system is stochastically forced, autocorrelation and variance in time-series data from the system often increase before the transition, potentially providing an early warning of coming danger. In some cases, these statistical patterns are sufficiently strong, and occur sufficiently far from the transition, that they can be used to predict the distance between the current operating state and the critical point. In other cases CSD comes too late to be a good indicator. In order to better understand the extent to which CSD can be used as an indicator of proximity to bifurcation in power systems, this paper derives autocorrelation functions for three small power system models, using the stochastic differential algebraic equations (SDAE) associated with each. The analytical results, along with numerical results from a larger system, show that, although CSD does occur in power systems, its signs sometimes appear only when the system is very close to transition. On the other hand, the variance in voltage magnitudes consistently shows up as a good early warning of voltage collapse. Finally, analytical results illustrate the importance of nonlinearity to the occurrence of CSD., Comment: 14 Pages, 22 figures

Industry reliability rules increasingly require utilities to study and mitigate cascading failure risk in their system. Motivated by this, this paper describes how cascading failure risk, in terms of expected blackout size, varies with power system load level and pre-contingency dispatch. We used Monte Carlo sampling of random branch outages to generate contingencies, and a model of cascading failure to estimate blackout sizes. The risk associated with different blackout sizes was separately estimated in order to separate small, medium, and large blackout risk. Results from $N-1$ secure models of the IEEE RTS case and a 2383 bus case indicate that blackout risk does not always increase with load level monotonically, particularly for large blackout risk. The results also show that risk is highly dependent on the method used for generator dispatch. Minimum cost methods of dispatch can result in larger long distance power transfers, which can increase cascading failure risk., Comment: Submitted to Transmission and Distribution Conference and Exposition (T&D), 2014 IEEE PES

Critical slowing down (CSD) is the phenomenon in which a system recovers more slowly from small perturbations. CSD, as evidenced by increasing signal variance and autocorrelation, has been observed in many dynamical systems approaching a critical transition, and thus can be a useful signal of proximity to transition. In this paper, we derive autocorrelation functions for the state variables of a stochastic single machine infinite bus system (SMIB). The results show that both autocorrelation and variance increase as this system approaches a saddle-node bifurcation. The autocorrelation functions help to explain why CSD can be used as an indicator of proximity to criticality in power systems revealing, for example, how nonlinearity in the SMIB system causes these signs to appear., Comment: Accepted for publication/presentation in Proc. North American Power Symposium, 2013

The 20th-century engineering feat that most improved the quality of human life, the electric power system, now faces discipline-spanning challenges that threaten that distinction. So multilayered and complex that they resemble ecosystems, power grids face risks from their interdependent cyber, physical, social and economic layers. Only with a holistic understanding of the dynamics of electricity infrastructure and human operators, automatic controls, electricity markets, weather, climate and policy can we fortify worldwide access to electricity., Comment: Pages 1--2 are the opinion article published in PNAS 110 (30) 12159 (2013). Pages 4--10 are supplementary material, with more explanation of the main components and feedbacks in electric power systems, as well as a list of useful sources of data on power grids

Generating models from large data sets -- and determining which subsets of data to mine -- is becoming increasingly automated. However choosing what data to collect in the first place requires human intuition or experience, usually supplied by a domain expert. This paper describes a new approach to machine science which demonstrates for the first time that non-domain experts can collectively formulate features, and provide values for those features such that they are predictive of some behavioral outcome of interest. This was accomplished by building a web platform in which human groups interact to both respond to questions likely to help predict a behavioral outcome and pose new questions to their peers. This results in a dynamically-growing online survey, but the result of this cooperative behavior also leads to models that can predict user's outcomes based on their responses to the user-generated survey questions. Here we describe two web-based experiments that instantiate this approach: the first site led to models that can predict users' monthly electric energy consumption; the other led to models that can predict users' body mass index. As exponential increases in content are often observed in successful online collaborative communities, the proposed methodology may, in the future, lead to similar exponential rises in discovery and insight into the causal factors of behavioral outcomes.

The topological (graph) structure of complex networks often provides valuable information about the performance and vulnerability of the network. However, there are multiple ways to represent a given network as a graph. Electric power transmission and distribution networks have a topological structure that is straightforward to represent and analyze as a graph. However, simple graph models neglect the comprehensive connections between components that result from Ohm's and Kirchhoff's laws. This paper describes the structure of the three North American electric power interconnections, from the perspective of both topological and electrical connectivity. We compare the simple topology of these networks with that of random (Erdos and Renyi, 1959), preferential-attachment (Barabasi and Albert, 1999) and small-world (Watts and Strogatz, 1998) networks of equivalent sizes and find that power grids differ substantially from these abstract models in degree distribution, clustering, diameter and assortativity, and thus conclude that these topological forms may be misleading as models of power systems. To study the electrical connectivity of power systems, we propose a new method for representing electrical structure using electrical distances rather than geographic connections. Comparisons of these two representations of the North American power networks reveal notable differences between the electrical and topological structure of electric power networks.