The development of algorithms for enhancing the resilience and efficiency of the power grid requires performance evaluation with real topologies of power transmission networks. However, due to security reasons, such topologies and particularly the locations of the substations and the lines are usually not publicly available. Therefore, we study the structural properties of the North American grids and present an algorithm for generating synthetic spatially embedded networks with similar properties to a given grid. The algorithm uses the Gaussian Mixture Model (GMM) for density estimation of the node positions and generates a set of nodes with similar spatial distribution to the nodes in a given network. Then, it uses two procedures, which are inspired by the historical evolution of the grids, to connect the nodes. The algorithm has several tunable parameters that allow generating grids similar to any given grid. Particularly, we apply it to the Western Interconnection (WI) and to grids that operate under the SERC Reliability Corporation (SERC) and the Florida Reliability Coordinating Council (FRCC), and show that it generates grids with similar structural and spatial properties to these grids. To the best of our knowledge, this is the first attempt to consider the spatial distribution of the nodes and lines and its importance in generating synthetic power grids.
The structural properties of various power grids (e.g., in North America, some European countries, and Iran) were studied in @cite_28 @cite_25 @cite_37 @cite_2 @cite_4 @cite_34 . Most of these studies considered one or two properties (e.g., average degree, degree distribution, average path length, and clustering coefficient) and computed it in a given power grid. In some cases (e.g., @cite_28 @cite_6 @cite_19 @cite_30 @cite_4 @cite_10 @cite_17 ) a certain class of graphs was suggested as a good representative of a power grid network, based on one or two structural properties. For example, Watts and Strogatz @cite_28 suggested the small-world graph as a good representative, based on the shortest path lengths between nodes and the clustering coefficient of the nodes. Barab ' a si and Albert @cite_6 showed that scale-free graphs are better representatives based on the degree distribution. However, by comparing the WI with these models, Cotilla-Sanchez, et al @cite_17 showed that none of them can represent the WI properly.
@cite_30 @cite_37 @cite_4 @cite_28 @cite_6 @cite_19 @cite_2 @cite_34 @cite_10 @cite_25 @cite_17
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In this article, we model electric power delivery networks as graphs, and conduct studies of two power transmission grids, i.e., the Nordic and the western states (U.S.) transmission grid. We calculate values of topological (structural) characteristics of the networks and compare their error and attack tolerance (structural vulnerability), i.e., their performance when vertices are removed, with two frequently used theoretical reference networks (the Erdos-Renyi random graph and the Barabasi-Albert scale-free network). Further, we perform a structural vulnerability analysis of a fictitious electric power network with simple structure. In this analysis, different strategies to decrease the vulnerability of the system are evaluated. Finally, we present a discussion on the practical applicability of graph modeling. Numerous recent papers have found important relationships between network structure and risks within networks. These results indicate that network structure can dramatically affect the relative effectiveness of risk identification and mitigation methods. With this in mind this paper provides a comparative analysis of the topological and electrical structure of the IEEE 300 bus and the Eastern United States power grids. Specifically we compare the topology of these grids with that of random [1], preferential-attachment [2] and small-world [3] 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 abstract models do not provide substantial utility for modeling power grids. To better represent the topological properties of power grids we introduce a new graph generating algorithm, the minimum distance graph, that produces networks with properties that more nearly match those of known power grids. While these topological comparisons are useful, they do not account for the physical laws that govern flows in electricity networks. To elucidate the electrical structure of power grids, we propose a new method for representing electrical structure as a weighted graph. This analogous representation is based on electrical distance rather than topological connections. A comparison of these two representations of the test power grids reveals dramatic differences between the electrical and topological structure of electrical power systems. 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, preferential-attachment, and small-world 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 structures of electric power networks. Many real-world domains can be represented as large node-link graphs: backbone Internet routers connect with 70,000 other hosts, mid-sized Web servers handle between 20,000 and 200,000 hyperlinked documents, and dictionaries contain millions of words defined in terms of each other. Computational manipulation of such large graphs is common, but previous tools for graph visualization have been limited to datasets of a few thousand nodes. Visual depictions of graphs and networks are external representations that exploit human visual processing to reduce the cognitive load of many tasks that require understanding of global or local structure. We assert that the two key advantages of computer-based systems for information visualization over traditional paper-based visual exposition are interactivity and scalability. We also argue that designing visualization software by taking the characteristics of a target user's task domain into account leads to systems that are more effective and scale to larger datasets than previous work. This thesis contains a detailed analysis of three specialized systems for the interactive exploration of large graphs, relating the intended tasks to the spatial layout and visual encoding choices. We present two novel algorithms for specialized layout and drawing that use quite different visual metaphors. The H3 system for visualizing the hyperlink structures of web sites scales to datasets of over 100,000 nodes by using a carefully chosen spanning tree as the layout backbone, 3D hyperbolic geometry for a Focus+Context view, and provides a fluid interactive experience through guaranteed frame rate drawing. The Constellation system features a highly specialized 2D layout intended to spatially encode domain-specific information for computational linguists checking the plausibility of a large semantic network created from dictionaries. The Planet Multicast system for displaying the tunnel topology of the Internet's multicast backbone provides a literal 3D geographic layout of arcs on a globe to help MBone maintainers find misconfigured long-distance tunnels. Each of these three systems provides a very different view of the graph structure, and we evaluate their efficacy for the intended task. We generalize these findings in our analysis of the importance of interactivity and specialization for graph visualization systems that are effective and scalable. The topological properties of high-voltage electrical power transmission networks in several UE countries (the Italian 380 kV, the French 400 kV and the Spanish 400 kV networks) have been studied from available data. An assessment of the vulnerability of the networks has been given by measuring the level of damage introduced by a controlled removal of links. Topological studies could be useful to make vulnerability assessment and to design specific action to reduce topological weaknesses. In order to design an efficient communication scheme and examine the efficiency of any networked control architecture in smart grid applications, we need to characterize statistically its information source, namely the power grid itself. Investigating the statistical properties of power grids has the immediate benefit of providing a natural simulation platform, producing a large number of power grid test cases with realistic topologies, with scalable network size, and with realistic electrical parameter settings. The second benefit is that one can start analyzing the performance of decentralized control algorithms over information networks whose topology matches that of the underlying power network and use network scientific approaches to determine analytically if these architectures would scale well. With these motivations, in this paper we study both the topological and electrical characteristics of power grid networks based on a number of synthetic and real-world power systems. The most interesting discoveries include: the power grid is sparsely connected with obvious small-world properties; its nodal degree distribution can be well fitted by a mixture distribution coming from the sum of a truncated geometric random variable and an irregular discrete random variable; the power grid has very distinctive graph spectral density and its algebraic connectivity scales as a power function of the network size; the line impedance has a heavy-tailed distribution, which can be captured quite accurately by a clipped double Pareto lognormal distribution. Based on the discoveries mentioned above, we propose an algorithm that generates random topology power grids featuring the same topology and electrical characteristics found from the real data. We show that nodes of high degree tend to occur infrequently in random graphs but frequently in a wide variety of graphs associated with real world search problems. We then study some alternative models for randomly generating graphs which have been proposed to give more realistic topologies. For example, we show that Watts and Strogatz's small world model has a narrow distribution of node degree. On the other hand, Barabasi and Albert's power law model, gives graphs with both nodes of high degree and a small world topology. These graphs may therefore be useful for benchmarking. We then measure the impact of nodes of high degree and a small world topology on the cost of coloring graphs. The long tail in search costs observed with small world graphs disappears when these graphs are also constructed to contain nodes of high degree. We conjecture that this is a result of the small size of their "backbone", pairs of edges that are frozen to be the same color. We find that scale-free random networks are excellently modeled by simple deterministic graphs. Our graph has a discrete degree distribution (degree is the number of connections of a vertex), which is characterized by a power law with exponent γ=1 + In 3 ln 2. Properties of this compact structure are surprisingly close to those of growing random scale-free networks with y in the most interesting region, between 2 and 3. We succeed to find exactly and numerically with high precision all main characteristics of the graph. In particular, we obtain the exact shortest-path-length distribution. For a large network ( In N>>1) the distribution tends to a Gaussian of width ∼ N centered at ∼ ln N. We show that the eigenvalue spectrum of the adjacency matrix of the graph has a power-law tail with exponent 2 + y. In this article, we propose a simple rule that generates scale-free networks with very large clustering coefficient and very small average distance. These networks are called random Apollonian networks (RANs) as they can be considered as a variation of Apollonian networks. We obtain the analytic results of power-law exponent gamma =3 and clustering coefficient C=(46 3)-36 ln (3 2) approx_equal 0.74, which agree with the simulation results very well. We prove that the increasing tendency of average distance of RANs is a little slower than the logarithm of the number of nodes in RANs. Since most real-life networks are both scale-free and small-world networks, RANs may perform well in mimicking the reality. The RANs possess hierarchical structure as C(k) approx k sup -1 that are in accord with the observations of many real-life networks. In addition, we prove that RANs are maximal planar networks, which are of particular practicability for layout of printed circuits and so on. The percolation and epidemic spreading process are also studied and the comparisons between RANs and Barabasi-Albert (BA) as well as Newman-Watts (NW) networks are shown. We find that, when the network order N (the total number of nodes) is relatively small (as N approx 10 sup 4 ), the performance of RANs under intentional attackmore » is not sensitive to N, while that of BA networks is much affected by N. And the diseases spread slower in RANs than BA networks in the early stage of the suseptible-infected process, indicating that the large clustering coefficient may slow the spreading velocity, especially in the outbreaks.« less We describe a methodology to examine bipartite relational data structures as exemplified in networks of corporate interlocking. These structures can be represented as bipartite graphs of directors and companies, but direct comparison of empirical datasets is often problematic because graphs have different numbers of nodes and different densities. We compare empirical bipartite graphs to simulated random graph distributions conditional on constraints implicit in the observed datasets. We examine bipartite graphs directly, rather than simply converting them to two 1-mode graphs, allowing investigation of bipartite statistics important to connection redundancy and bipartite connectivity. We introduce a new bipartite clustering coefficient that measures tendencies for localized bipartite cycles. This coefficient can be interpreted as an indicator of inter-company and inter-director closenesss but high levels of bipartite clustering have a cost for long range connectivity. We also investigate degree distributions, path lengths, and counts of localized subgraphs. Using this new approach, we compare global structural properties of US and Australian interlocking company directors. By comparing observed statistics against those from the simulations, we assess how the observed graphs are structured, and make comparisons between them relative to the simulated graph distributions. We conclude that the two networks share many similarities and some differences. Notably, both structures tend to be influenced by the clustering of directors on boards, more than by the accumulation of board seats by individual directorss that shared multiple board memberships (multiple interlocks) are an important feature of both infrastructures, detracting from global connectivity (but more so in the Australian case)s and that company structural power may be relatively more diffuse in the US structure than in Australia. We present an analysis of the topological structure and static tolerance to errors and attacks of the September 2003 actualization of the Union for the Coordination of Transport of Electricity (UCTE) power grid, involving thirty-three different networks. Though every power grid studied has exponential degree distribution and most of them lack typical small-world topology, they display patterns of reaction to node loss similar to those observed in scale-free networks. We have found that the node removal behavior can be logarithmically related to the power grid size. This logarithmic behavior would suggest that, though size favors fragility, growth can reduce it. We conclude that, with the ever-growing demand for power and reliability, actual planning strategies to increase transmission systems would have to take into account this relative increase in vulnerability with size, in order to facilitate and improve the power grid design and functioning. Considerable attention has been focused on the properties of graphs derived from Internet measurements. Router-level topologies collected via traceroute-like methods have led some to conclude that the router graph of the Internet is well modeled as a power-law random graph. In such a graph, the degree distribution of nodes follows a distribution with a power-law tail. We argue that the evidence to date for this conclusion is at best insufficient We show that when graphs are sampled using traceroute-like methods, the resulting degree distribution can differ sharply from that of the underlying graph. For example, given a sparse Erdos-Renyi random graph, the subgraph formed by a collection of shortest paths from a small set of random sources to a larger set of random destinations can exhibit a degree distribution remarkably like a power-law. We explore the reasons for how this effect arises, and show that in such a setting, edges are sampled in a highly biased manner. This insight allows us to formulate tests for determining when sampling bias is present. When we apply these tests to a number of well-known datasets, we find strong evidence for sampling bias. An electrical power grid is a critical infrastructure. Its reliable, robust, and efficient operation inevitably depends on underlying telecommunication networks. In order to design an efficient communication scheme and examine the efficiency of any networked control architecture, we need to characterize statistically its information source, namely the power grid itself. In this paper we studied both the topological and electrical characteristics of power grid networks based on a number of synthetic and real-world power systems. We made several interesting discoveries: the power grids are sparsely connected and the average nodal degree is very stable regardless of network size; the nodal degrees distribution has exponential tails, which can be approximated with a shifted Geometric distribution; the algebraic connectivity scales as a power function of network size with the power index lying between that of one-dimensional and two-dimensional lattice; the line impedance has a heavy-tailed distribution, which can be captured quite accurately by a Double Pareto LogNormal distribution. Based on the discoveries mentioned above, we propose an algorithm that generates random power grids featuring the same topology and electrical characteristics we found from the real data. The emergence of order in natural systems is a constant source of inspiration for both physical and biological sciences. While the spatial order characterizing for example the crystals has been the basis of many advances in contemporary physics, most complex systems in nature do not offer such high degree of order. Many of these systems form complex networks whose nodes are the elements of the system and edges represent the interactions between them. Traditionally complex networks have been described by the random graph theory founded in 1959 by Paul Erdohs and Alfred Renyi. One of the defining features of random graphs is that they are statistically homogeneous, and their degree distribution (characterizing the spread in the number of edges starting from a node) is a Poisson distribution. In contrast, recent empirical studies, including the work of our group, indicate that the topology of real networks is much richer than that of random graphs. In particular, the degree distribution of real networks is a power-law, indicating a heterogeneous topology in which the majority of the nodes have a small degree, but there is a significant fraction of highly connected nodes that play an important role in the connectivity of the network. The scale-free topology of real networks has very important consequences on their functioning. For example, we have discovered that scale-free networks are extremely resilient to the random disruption of their nodes. On the other hand, the selective removal of the nodes with highest degree induces a rapid breakdown of the network to isolated subparts that cannot communicate with each other. The non-trivial scaling of the degree distribution of real networks is also an indication of their assembly and evolution. Indeed, our modeling studies have shown us that there are general principles governing the evolution of networks. Most networks start from a small seed and grow by the addition of new nodes which attach to the nodes already in the system. This process obeys preferential attachment: the new nodes are more likely to connect to nodes with already high degree. We have proposed a simple model based on these two principles wich was able to reproduce the power-law degree distribution of real networks. Perhaps even more importantly, this model paved the way to a new paradigm of network modeling, trying to capture the evolution of networks, not just their static topology. Motivation: Analogous to biological sequence comparison, comparing cellular networks is an important problem that could provide insight into biological understanding and therapeutics. For technical reasons, comparing large networks is computationally infeasible, and thus heuristics, such as the degree distribution, clustering coefficient, diameter, and relative graphlet frequency distribution have been sought. It is easy to demonstrate that two networks are different by simply showing a short list of properties in which they differ. It is much harder to show that two networks are similar, as it requires demonstrating their similarity in all of their exponentially many properties. Clearly, it is computationally prohibitive to analyze all network properties, but the larger the number of constraints we impose in determining network similarity, the more likely it is that the networks will truly be similar. Results: We introduce a new systematic measure of a network's local structure that imposes a large number of similarity constraints on networks being compared. In particular, we generalize the degree distribution, which measures the number of nodes 'touching' k edges, into distributions measuring the number of nodes 'touching' k graphlets, where graphlets are small connected non-isomorphic subgraphs of a large network. Our new measure of network local structure consists of 73 graphlet degree distributions of graphlets with 2--5 nodes, but it is easily extendible to a greater number of constraints (i.e. graphlets), if necessary, and the extensions are limited only by the available CPU. Furthermore, we show a way to combine the 73 graphlet degree distributions into a network 'agreement' measure which is a number between 0 and 1, where 1 means that networks have identical distributions and 0 means that they are far apart. Based on this new network agreement measure, we show that almost all of the 14 eukaryotic PPI networks, including human, resulting from various high-throughput experimental techniques, as well as from curated databases, are better modeled by geometric random graphs than by Erdos--Reny, random scale-free, or Barabasi--Albert scale-free networks. Availability: Software executables are available upon request. Contact: natasha@ics.uci.edu Topological properties of "scale-free" networks are investigated by determining their spectral dimensions d(S), which reflect a diffusion process in the corresponding graphs. Data bases for citation networks and metabolic networks together with simulation results from the growing network model [A.-L. Barabasi and R. Albert, Science 286, 509 (1999)] are probed. For completeness and comparisons lattice, random and small-world models are also investigated. We find that d(S) is around 3 for citation and metabolic networks, which is significantly different from the growing network model, for which d(S) is approximately 7.5. This signals a substantial difference in network topology despite the observed similarities in vertex-order distributions. In addition, the diffusion analysis indicates that the citation networks are treelike in structure, whereas the metabolic networks contain many loops. (Less) Understanding the structure of the Internet graph is a crucial step for building accurate network models and designing efficient algorithms for Internet applications. Yet, obtaining its graph structure is a surprisingly difficult task, as edges cannot be explicitly queried. Instead, empirical studies rely on traceroutes to build what are essentially single-source, all-destinations, shortest-path trees. These trees only sample a fraction of the network's edges, and a recent paper by found empirically that the resuting sample is intrinsically biased. For instance, the observed degree distribution under traceroute sampling exhibits a power law even when the underlying degree distribution is Poisson.In this paper, we study the bias of traceroute sampling systematically, and, for a very general class of underlying degree distributions, calculate the likely observed distributions explicitly. To do this, we use a continuous-time realization of the process of exposing the BFS tree of a random graph with a given degree distribution, calculate the expected degree distribution of the tree, and show that it is sharply concentrated. As example applications of our machinery, we show how traceroute sampling finds power-law degree distributions in both δ-regular and Poisson-distributed random graphs. Thus, our work puts the observations of on a rigorous footing, and extends them to nearly arbitrary degree distributions. Based on the empirical analysis of the dependency network in 18 Java projects, we develop a novel model of network growth which considersboth: an attachment mechanism and the addition of new nodes with a heterogeneous distribution of their initial degree, k0. Empirically we find that the cumulative degree distributions of initial degrees and of the final network, follow power-law behaviors: P(k0) ∝ k01−α, and P(k) ∝ k1−γ, respectively. For the total number of links as a function of the network size, we find empirically K(N) ∝ Nβ, where β is (at the beginning of thenetwork evolution) between 1.25 and 2, while converging to ∼ 1 for large N. This indicates a transition from a growth regime with increasing network density towards a sustainable regime, which revents a collapse because of ever increasing dependencies. Our theoretical framework is able to predict relations between the exponents α, β, γ, which also link issues of software engineering and developer activity. These relations are verified by means of computer simulations and empirical investigations. They indicate that the growth of real Open Source Software networks occurs on the edge between two regimes, which are either dominated by the initial degree distribution of added nodes, or by the preferential attachment mechanism. Hence, the heterogeneous degree distribution of newly added nodes, found empirically, is essential to describe the laws of sustainable growth in networks. The statistical tools of Complex Network Analysis are of useful to understand salient properties of complex systems, may these be natural or pertaining human engineered infrastructures. One of these that is receiving growing attention for its societ al relevance is that of electricity distribution. In this paper, we present a survey of the most relevant scientific studies investigating the properties of different Power Grids infrastructures using Complex Network Analysis techniques and methodologies. We categorize and explore the most relevant literature works considering general topological properties, physical properties, and differences between the various graph-related indicators and reliability aspects. We also trace the evolution in such field of the approach of study during the years to see the improvement achieved in the analysis. We define a class of growing networks in which new nodes are given a spatial position and are connected to existing nodes with a probability mechanism favoring short distances and high degrees. The competition of preferential attachment and spatial clustering gives this model a range of interesting properties. Empirical degree distributions converge to a limit law, which can be a power law with any exponent τ>2 . The average clustering coefficient of the networks converges to a positive limit. Finally, a phase transition occurs in the global clustering coefficients and empirical distribution of edge lengths when the power-law exponent crosses the critical value τ=3 . Our main tool in the proof of these results is a general weak law of large numbers in the spirit of Penrose and Yukich.