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2000 Survey of Distributed Spacecraft Technologies and Architectures for NASA's Earth Science Enterprise in the 2010-2025 Timeframe

The study investigates NASA's Earth Science Enterprise needs for Distributed Spacecraft Technologies in the 2010-2025 timeframe. In particular, the study focused on the Earth Science Vision Initiative and extrapolation of the measurement architecture from the 2002-2010 time period. Earth Science Enterprise documents were reviewed. Interviews were conducted with a number of Earth scientists and technologists. fundamental principles of formation flying were also explored. The results led to the development of four notional distribution spacecraft architectures. These four notional architectures (global constellations, virtual platforms, precision formation flying, and sensorwebs) are presented. They broadly and generically cover the distributed spacecraft architectures needed by Earth Science in the post-2010 era. These notional architectures are used to identify technology needs and drivers. Technology needs are subsequently grouped into five categories: Systems and architecture development tools; Miniaturization, production, manufacture, test and calibration; Data networks and information management; Orbit control, planning and operations; and Launch and deployment. The current state of the art and expected developments are explored. High-value technology areas are identified for possible future funding emphasis.

Ticker, Ronald L.↗

Systems Architecture for Fully Autonomous Space Missions

The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.

Esper, Jamie↗

An Operations System for a Planetary Rover Prototype

A distributed operations system, the Web Interface for Telescience (WITS), is being developed for use in future planetary lander and rover mission operations.

Ground operations manipulator control Internet pla↗

Harmonized Emissions Component (HEMCO) 3.0 as a Versatile Emissions Component for Atmospheric Models: Application in the GEOS-Chem, NASA GEOS, WRF-GC, CESM2, NOAA GEFS-Aerosol, and NOAA UFS Models

Emissions are a central component of atmospheric chemistry models. The Harmonized Emissions Component (HEMCO) is a software component for computing emissions from a user-selected ensemble of emission inventories and algorithms. It allows users to re-grid, combine, overwrite, subset, and scale emissions from different inventories through a configuration file and with no change to the model source code. The configuration file also maps emissions to model species with appropriate units. HEMCO can operate in offline stand-alone mode, but more importantly it provides an online facility for models to compute emissions at runtime. HEMCO complies with the Earth System Modeling Framework (ESMF) for portability across models. We present a new version here, HEMCO 3.0, that features an improved three-layer architecture to facilitate implementation into any atmospheric model and improved capability for calculating emissions at any model resolution including multiscale and unstructured grids. The three-layer architecture of HEMCO 3.0 includes (1) the Data Input Layer that reads the configuration file and accesses the HEMCO library of emission inventories and other environmental data, (2) the HEMCO Core that computes emissions on the user-selected HEMCO grid, and (3) the Model Interface Layer that re-grids (if needed) and serves the data to the atmospheric model and also serves model data to the HEMCO Core for computing emissions dependent on model state (such as from dust or vegetation). The HEMCO Core is common to the implementation in all models, while the Data Input Layer and the Model Interface Layer are adaptable to the model environment. Default versions of the Data Input Layer and Model Interface Layer enable straightforward implementation of HEMCO in any simple model architecture, and options are available to disable features such as re-gridding that may be done by independent couplers in more complex architectures. The HEMCO library of emission inventories and algorithms is continuously enriched through user contributions so that new inventories can be immediately shared across models. HEMCO can also serve as a general data broker for models to process input data not only for emissions but for any gridded environmental datasets. We describe existing implementations of HEMCO 3.0 in (1) the GEOS-Chem “Classic” chemical transport model with shared-memory infrastructure, (2) the high-performance GEOS-Chem (GCHP) model with distributed-memory architecture, (3) the NASA GEOS Earth System Model (GEOS ESM), (4) the Weather Research and Forecasting model with GEOS-Chem (WRF-GC), (5) the Community Earth System Model Version 2 (CESM2), and (6) the NOAA Global Ensemble Forecast System – Aerosols (GEFS-Aerosols), as well as the planned implementation in the NOAA Unified Forecast System (UFS). Implementation of HEMCO in CESM2 contributes to the Multi-Scale Infrastructure for Chemistry and Aerosols (MUSICA) by providing a common emissions infrastructure to support different simulations of atmospheric chemistry across scales.

Haipeng Lin↗

Cyber risk assessment and investment optimization using game theory and ML-based anomaly detection and mitigation for wide-area control in smart grids

The electric power grid is increasingly becoming susceptible to cyber attacks that exploit vulnerabilities in the smart grid control, information, and physical layers. Successful cyber attacks can have catastrophic impacts on the social and economic well-being of any nation all over the globe. It has, thus, become imperative to secure the smart grid against such adversarial actions to ensure stable, secure, and reliable operation of the grid. The existing research and industry practices prove to be inadequate in terms of providing pragmatic and effective defense methodologies and measures for long-term cybersecurity planning and real-time cybersecurity for grid operation. For example, existing works lack models that incorporate uncertain behavior of cyber-attackers and pragmatic defense measures for cyber risk assessment and cybersecurity investment optimization which often provide unreliable and strictly qualitative solutions to these problems. At the same time, with the growing number of cyber incidents in the grid, there still exists a need to develop attack-resilient algorithms for wide-area monitoring, protection, and control (WAMPAC) applications like the wide-area voltage control systems (WAVCS) for Flexible AC Transmissions Systems (FACTS) that lack in scalable and feasible solutions from the cybersecurity perspective. This dissertation proposes novel models and methodologies for: (1) Cybersecurity planning, and (2) Cybersecurity for system operation. The cybersecurity planning is achieved through cyber risk assessment and cybersecurity resource investment optimization for long-term cybersecurity of the grid using game theory and attack-defense trees. Cybersecurity for system operation consists of development of cyber anomaly detection and mitigation algorithms for flexible AC transmission system (FACTS) controller-based wide-area voltage control systems (WAVCS) using machine learning (ML), and software defined networking-based moving target defense network routing for achieving real-time cyber-physical security for grid operations. This is followed by hardware-in-the-loop (HIL) implementation and evaluation of these attack prevention, detection, and mitigation algorithms and methodologies showcasing their feasibility in a close to real-world environment. For cybersecurity planning, a novel approach involving a combination of game theory and attack defense trees (ADT) for optimal cybersecurity resource allocation in the smart grid is proposed. This methodology involves modeling of the cyber-physical smart grid substations as ADTs, defining attacker costs, defense costs, and attack probabilities for attack access points. Using game theoretical formulation, optimal defense strategies for the defender of the system to invest cybersecurity resources in the grid are obtained. Additionally, a game-theoretic framework is developed for quantitative cyber-physical risk assessment of the grid under a dynamically changing cyber threat space and uncertain behavior of cyber attackers which is further used to optimize investments in the smart grid's cybersecurity resources. The attacker, defender, and the smart grid system are modeled while incorporating attacker-stochasticity and federal guidelines for smart grid cybersecurity. This allows quantification of threat, vulnerabilities, and attack impact of the grid for quantitative risk assessment. The defender's budget to invest in the security resources in the grid is optimized based on the strategies leading to minimum system risk. The evaluation of the proposed solutions highlight the feasibility for practical implementation of these methodologies and algorithms in the smart grid, while taking the federal requirements and guidelines for smart grid security into consideration. For achieving cybersecurity for system operation, attack prevention, detection, and mitigation algorithms and methodologies are developed specifically for FACTS-based WAVCS. Anomaly detection and mitigation in the WAVCS are achieved using algorithms based on machine learning which involves offline training and testing of ML models with CPS datasets incorporating physics-based features that allow accurate distinction between system faults and cyber attacks. For attack prevention, a methodology based on software defined network (SDN)-based moving target defense (MTD) network routing is proposed that enables prevention of Denial of Service (DoS) type attacks on the smart grid communication system. Subsequently, these methodologies and algorithms are implemented and evaluated on an HIL testbed that allows for real-time attack prevention, detection, and mitigation of emulated cyber attacks on the WAVCS in a close to real-world environment. The results show highly accurate and efficient performance of the implemented algorithms and methodologies with the smart grid system operating within the NERC's system operation limits even in the presence of DoS and data integrity cyber attacks. This work opens up future research opportunities in other directions such as (1) Expanding cybersecurity planning methodologies to real-time cyber contingency analysis with different game formulations; and (2) Applying the cybersecurity for system operation algorithms to broader categories of wide-area control applications.

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Resource Planning Model: An Integrated Resource Planning and Dispatch Tool for Regional Electric Systems

This report introduces a new capacity expansion model, the Resource Planning Model (RPM), with high spatial and temporal resolution that can be used for mid- and long-term scenario planning of regional power systems. Although RPM can be adapted to any geographic region, the report describes an initial version of the model adapted for the power system in Colorado. It presents examples of scenario results from the first version of the model, including an example of a 30%-by-2020 renewable electricity penetration scenario.

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A Distributed Trajectory-Oriented Approach to Managing Traffic Complexity

In order to handle the expected increase in air traffic volume, the next generation air transportation system is moving towards a distributed control architecture, in which ground-based service providers such as controllers and traffic managers and air-based users such as pilots share responsibility for aircraft trajectory generation and management. While its architecture becomes more distributed, the goal of the Air Traffic Management (ATM) system remains to achieve objectives such as maintaining safety and efficiency. It is, therefore, critical to design appropriate control elements to ensure that aircraft and groundbased actions result in achieving these objectives without unduly restricting user-preferred trajectories. This paper presents a trajectory-oriented approach containing two such elements. One is a trajectory flexibility preservation function, by which aircraft plan their trajectories to preserve flexibility to accommodate unforeseen events. And the other is a trajectory constraint minimization function by which ground-based agents, in collaboration with air-based agents, impose just-enough restrictions on trajectories to achieve ATM objectives, such as separation assurance and flow management. The underlying hypothesis is that preserving trajectory flexibility of each individual aircraft naturally achieves the aggregate objective of avoiding excessive traffic complexity, and that trajectory flexibility is increased by minimizing constraints without jeopardizing the intended ATM objectives. The paper presents conceptually how the two functions operate in a distributed control architecture that includes self separation. The paper illustrates the concept through hypothetical scenarios involving conflict resolution and flow management. It presents a functional analysis of the interaction and information flow between the functions. It also presents an analytical framework for defining metrics and developing methods to preserve trajectory flexibility and minimize its constraints. In this framework flexibility is defined in terms of robustness and adaptability to disturbances and the impact of constraints is illustrated through analysis of a trajectory solution space with limited degrees of freedom and in simple constraint situations involving meeting multiple times of arrival and resolving a conflict.

Idris, Husni↗

A development framework for distributed artificial intelligence

The authors describe distributed artificial intelligence (DAI) applications in which multiple organizations of agents solve multiple domain problems. They then describe work in progress on a DAI system development environment, called SOCIAL, which consists of three primary language-based components. The Knowledge Object Language defines models of knowledge representation and reasoning. The metaCourier language supplies the underlying functionality for interprocess communication and control access across heterogeneous computing environments. The metaAgents language defines models for agent organization coordination, control, and resource management. Application agents and agent organizations will be constructed by combining metaAgents and metaCourier building blocks with task-specific functionality such as diagnostic or planning reasoning. This architecture hides implementation details of communications, control, and integration in distributed processing environments, enabling application developers to concentrate on the design and functionality of the intelligent agents and agent networks themselves.

Adler, Richard M.↗

A Secure and Adaptive Hierarchical Multi-Timescale Framework for Resilient Load Restoration Using a Community Microgrid

Distribution system integrated community microgrids (CMGs) can partake in restoring loads during extended duration outages. At such times, the CMGs are challenged with limited resource availability, absence of robust grid support, and heightened demand-supply uncertainty. Here, this paper proposes a secure and adaptive three-stage hierarchical multi-timescale framework for scheduling and real-time (RT) dispatch of CMGs with hybrid PV systems to address these challenges. The framework enables the CMG to dynamically expand its boundary to support the neighboring grid sections and is adaptive to the changing forecast error impacts. The first stage solves a stochastic extended duration scheduling (EDS) problem to obtain referral plans for optimal resource rationing. The intermediate near-real-time (NRT) scheduling stage updates the EDS schedule closer to the dispatch time using new obtained forecasts, followed by the RT dispatch stage. To make the decisions more secure and robust against forecast errors, a novel concept called delayed recourse is designed. The approach is evaluated via numerical simulations on a modified IEEE 123-bus system and validated using OpenDSS and hardware-in-loop simulations. The results show superior performance in maximizing load supply and continuous secure distribution network operation under different operating scenarios.

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Decarbonization scenarios of the U.S. Electricity system and their costs

Decarbonizing the electricity system to zero-carbon emission is crucial for climate change mitigation. Previous studies have shown that such a transition in the United States (U.S.) may lead to higher system cost compared to a business-as-usual case, but it is not well-known how the cost of electricity generation varies at sub-regional level under the transition, and studies have rarely evaluated the trade-off between the cost and avoided climate damages, as well as the potential roles of negative emission technologies (NETs) in the electricity decarbonization. In this work, we present a regionally resolved national model to quantify the cost of decarbonizing the U.S. electricity system under a set of possible scenarios. The results show that, compared to the reference scenario without a decarbonization policy, reaching zero CO 2 emission by 2050 would incur, depending on the scenarios, 335-494 billion USD additional cost to the U.S. electric power sector during 2020-2050. The regional costs of electricity generation ranges from 2.4 to 4.7 cent/kWh, largely due to the generation profiles and renewable resources availability of those regions. The additional costs can be translated to an average CO 2 abatement cost of 29-59 USD/metric ton CO 2 (with 2%-7% discount rates), which are comparable to the social cost of carbon in the literature at around 4% discount rate. The results also show that the cost of mitigating the last few percent CO 2 emission from the U.S. electricity system may exceed the costs of NETs, indicating an opportunity for NETs to contribute to electricity decarbonization.

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Jamaica National Net-Billing Pilot Program Evaluation

This technical report discusses the effectiveness of the Jamaica Public Service Company Limited Net-Billing Pilot Program. The National Renewable Energy Laboratory (NREL) collected and analyzed data from a wide range of stakeholders, conducted in-country research, and compared program elements to common interconnection practices to form programmatic recommendations for the Jamaica context. NREL finds that the net-billing pilot program has successfully contributed to the support of the emerging solar market in Jamaica with the interconnection of 80 systems under the program for a total of 1.38 megawatts (MW) at the time of original analysis.

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Power Aware Dynamic Provisioning of HPC Networks

Future exascale systems are under increased pressure to find power savings. The network, while it consumes a considerable amount of power is often left out of the picture when discussing total system power. Even when network power is being considered, the references are frequently a decade or older and rely on models that lack validation on modern inter- connects. In this work we explore how dynamic mechanisms of an Infiniband network save power and at what granularity we can engage these features. We explore this within the context of the host controller adapter (HCA) on the node and for the fabric, i.e. switches, using three different mechanisms of dynamic link width, frequency and disabling of links for QLogic and Mellanox systems. Our results show that while there is some potential for modest power savings, real world systems need to improved responsiveness to adjustments in order to fully leverage these savings. This page intentionally left blank.

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Ultra-Large-Scale Power System Control and Coordination Architecture: A Strategic Framework for Integrating Advanced Grid Functionality

Electric power grids are being stressed by integration of intermittent renewable resources and significant adoption of distributed energy resources. The complexity of the grid is growing rapidly as we attempt to support technical, business, and societal goals for which power grids were not originally designed. Today, we largely take stability of the grid for granted. Stability could significantly degrade or collapse because of new dynamics introduced to the grid, and because the emerging extreme complexity makes traditional control analysis intractable, so that grid behavior is more unpredictable than in the past. This paper describes emerging issues in grid control and provides reasons why the present path of grid control evolution is problematic and presents an ultra-large scale framework for grid control that can solve today’s problems and those expected over the next 30 years. Failure to address these issues in the short term will result in rapidly escalating system deployment and maintenance costs, potential stranded assets related to replacement of the “ad hoc” systems, along with substantial operational risks that are unacceptable under current utility and regulatory practices.

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The Impacts on California of Expanded Regional Cooperation to Operate the Western Grid (Final Report)

Policy makers in California and other western states are exploring options for greater regional cooperation in managing the western power grid to better achieve public policy goals. This report, requested by the California State Assembly and commissioned by the California Independent System Operator (CAISO), reviews and summarizes recent proposals, studies, and papers addressing various modes of regional cooperation.

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NREL Price Series Developed for the ARPA-E FLECCS Program

The price data for four regions (CAISO, ERCOT, MISO-W, and PJM-W) are developed using the ReEDS to PLEXOS conversion as described in (Gagnon et al. 2020). The reference ReEDS case chosen is based on the 2020 Standard Scenario Mid-case, which uses the 2020 ReEDS model version (Cole et al. 2020; Ho et al. 2021). All ReEDS model inputs use 2020 Standard Scenarios Mid-case assumptions except for CO2 prices, which are implemented as linearly increasing CO2 price trajectories beginning at $0/tCO2 in 2020 and ending at either $100/tCO2 or $150/tCO2 in 2035 to dive capacity expansion towards a low-carbon system that could support CCS deployment. However, these scenarios also prohibit CCS deployment in this time frame so that resulting price data are not influenced by the deployment and operation of CCS itself. Implementing the ReEDS to PLEXOS conversion tool, PLEXOS is then simulated using the 2035 ReEDS infrastructure for both CO2 price scenarios, with the following model version and setup: PLEXOS Version: 8.2 Solver: Xpress-MP 35.01.01 Mixed integer optimization relative gap 1% System configuration: • Total number of nodes: 134 (consistent with ReEDS balancing areas) • Line losses enforced using piecewise linear approximation • Energy dump was enabled Price data is aggregated to the ISO/RTO level using load-weighted averages. References: Cole, Wesley, Sean Corcoran, Nathaniel Gates, Daniel Mai, Trieu, and Paritosh Das. 2020. “2020 Standard Scenarios Report: A U.S. Electricity Sector Outlook.” NREL/TP-6A20-77442. Golden, CO: National Renewable Energy Laboratory. https://www.nrel.gov/docs/fy21osti/77442.pdf. Gagnon, Pieter, Will Frazier, Elaine Hale, and Wesley Cole. 2020. “Cambium Documentation: Version 2020.” NREL/TP-6A20-78239. National Renewable Energy Lab. (NREL), Golden, CO (United States). https://doi.org/10.2172/1734551. Ho, Jonathan, Jonathon Becker, Maxwell Brown, Patrick Brown, Ilya (ORCID:0000000284917814) Chernyakhovskiy, Stuart Cohen, Wesley (ORCID:000000029194065X) Cole, et al. 2021. “Regional Energy Deployment System (ReEDS) Model Documentation: Version 2020.” NREL/TP-6A20-78195. Golden, CO: National Renewable Energy Laboratory. https://doi.org/10.2172/1788425.

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Building the Case for Hybrid Energy Developments: Webinar Recording Day 2

INL, PNNL, and NREL, with support from our academic and industry partners, hosted a 2-day webinar to learn more about the benefits of hybrid energy systems, considerations for designing the right system for communities, and practical tools that can help with the design and development process. In Day 2 of this webinar, the focus was on tools that can be used to help inform design decisions for hybrid systems, including resource analysis, siting, resilience, valuation, and resource optimization. Day 2 also highlighted funding opportunities for hybrid systems.

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Building the Case for Hybrid Energy Developments: Webinar Recording Day 2

INL, PNNL, and NREL, with support from our academic and industry partners, hosted a 2-day webinar to learn more about the benefits of hybrid energy systems, considerations for designing the right system for communities, and practical tools that can help with the design and development process. In Day 2 of this webinar, the focus was on tools that can be used to help inform design decisions for hybrid systems, including resource analysis, siting, resilience, valuation, and resource optimization. Day 2 also highlighted funding opportunities for hybrid systems.

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