text: 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.
  @cite_30: The magnitude of the August 2003 blackout affecting the United States has put the challenges of energy transmission and distribution into limelight. Despite all the interest and concerted effort, the complexity and interconnectivity of the electric infrastructure precluded us for a long time from understanding why certain events happened. In this paper we study the power grid from a network perspective and determine its ability to transfer power between generators and consumers when certain nodes are disrupted. We find that the power grid is robust to most perturbations, yet disturbances affecting key transmision substations greatly reduce its ability to function. We emphasize that the global properties of the underlying network must be understood as they greatly affect local behavior.
  @cite_37: The power grid defines one of the most important technological networks of our times and sustains our complex society. It has evolved for more than a century into an extremely huge and seemingly robust and well understood system. But it becomes extremely fragile as well, when unexpected, usually minimal, failures turn into unknown dynamical behaviours leading, for example, to sudden and massive blackouts. Here we explore the fragility of the European power grid under the effect of selective node removal. A mean field analysis of fragility against attacks is presented together with the observed patterns. Deviations from the theoretical conditions for network percolation (and fragmentation) under attacks are analysed and correlated with non topological reliability measures.
  @cite_4: Large-scale blackouts are an intrinsic drawback of electric power transmission grids. Here we analyze the structural vulnerability of the Italian GRTN power grid by using a model for cascading failures recently proposed in (Phys. Rev. E 69 (2004)).
  @cite_28: Networks of coupled dynamical systems have been used to model biological oscillators1,2,3,4, Josephson junction arrays5,6, excitable media7, neural networks8,9,10, spatial games11, genetic control networks12 and many other self-organizing systems. Ordinarily, the connection topology is assumed to be either completely regular or completely random. But many biological, technological and social networks lie somewhere between these two extremes. Here we explore simple models of networks that can be tuned through this middle ground: regular networks ‘rewired’ to introduce increasing amounts of disorder. We find that these systems can be highly clustered, like regular lattices, yet have small characteristic path lengths, like random graphs. We call them ‘small-world’ networks, by analogy with the small-world phenomenon13,14 (popularly known as six degrees of separation15). The neural network of the worm Caenorhabditis elegans, the power grid of the western United States, and the collaboration graph of film actors are shown to be small-world networks. Models of dynamical systems with small-world coupling display enhanced signal-propagation speed, computational power, and synchronizability. In particular, infectious diseases spread more easily in small-world networks than in regular lattices.
  @cite_6: Systems as diverse as genetic networks or the World Wide Web are best described as networks with complex topology. A common property of many large networks is that the vertex connectivities follow a scale-free power-law distribution. This feature was found to be a consequence of two generic mechanisms: (i) networks expand continuously by the addition of new vertices, and (ii) new vertices attach preferentially to sites that are already well connected. A model based on these two ingredients reproduces the observed stationary scale-free distributions, which indicates that the development of large networks is governed by robust self-organizing phenomena that go beyond the particulars of the individual systems.
  @cite_19: We study the statistical properties of a variety of diverse real-world networks. We present evidence of the occurrence of three classes of small-world networks: (a) scale-free networks, characterized by a vertex connectivity distribution that decays as a power law; (b) broad-scale networks, characterized by a connectivity distribution that has a power law regime followed by a sharp cutoff; and (c) single-scale networks, characterized by a connectivity distribution with a fast decaying tail. Moreover, we note for the classes of broad-scale and single-scale networks that there are constraints limiting the addition of new links. Our results suggest that the nature of such constraints may be the controlling factor for the emergence of different classes of networks.
  @cite_2: 
  @cite_34: Many multiplex networks are embedded in space, with links more likely to exist between nearby nodes than distant nodes. For example, interdependent infrastructure networks can be represented as multiplex networks, where each layer has links among nearby nodes. Here, we model the effect of spatiality on the robustness of a multiplex network embedded in 2-dimensional space, where links in each layer are of variable but constrained length. Based on empirical measurements of real-world networks, we adopt exponentially distributed link lengths with characteristic length ζ. By changing ζ, we modulate the strength of the spatial embedding. When ζ → ∞, all link lengths are equally likely, and the spatiality does not affect the topology. However, when only short links are allowed, and the topology is overwhelmingly determined by the spatial embedding. We find that, though longer links strengthen a single-layer network, they make a multi-layer network more vulnerable. We further find that when ζ is longer than a certain critical value, , abrupt, discontinuous transitions take place, while for the transition is continuous, indicating that the risk of abrupt collapse can be eliminated if the typical link length is shorter than .
  @cite_10: The reliability of electric transmission systems is examined using a scale-free model of network topology and failure propagation. The topologies of the North American eastern and western electric grids are analyzed to estimate their reliability based on the Barabasi–Albert network model. A commonly used power system reliability index is computed using a simple failure propagation model. The results are compared to the values of power system reliability indices previously obtained using standard power engineering methods, and they suggest that scale-free network models are usable to estimate aggregate electric grid reliability.
  @cite_25: 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.
  @cite_17: 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.
summary: 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.