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HarDWR - Harmonized Water Rights Records
For a detailed description of the database of which this record is only one part, please see the HarDWR meta-record. Here we present a new dataset of western U.S. water rights records. This dataset provides consistent unique identifiers for each spatial unit of water management across the domain, unique identifiers for each water right record, and a consistent categorization scheme that puts each water right record into one of 7 broad use categories. These data were instrumental in conducting a study of the multi-sector dynamics of intersectoral water allocation changes through water markets (Grogan et al., in review). Specifically, the data were formatted for use as input to a process-based hydrologic model, WBM, with a water rights module (Grogan et al., in review). While this specific study motivated the development of the database presented here, U.S. west water management is a rich area of study (e.g., Anderson and Woosly, 2005; Tidwell, 2014; Null and Prudencio, 2016; Carney et al, 2021) so releasing this database publicly with documentation and usage notes will enable other researchers to do further work on water management in the U.S. west. The raw downloaded data for each state is described in Lisk et al. (in review), as well as here. The dataset is a collection of objects stored within an RDate file, stateWaterRightsHarmonized.RData. Each object either describes how one should interact with the other objects, or contains the harmonized water rights data. Here is each object described in detail: states: A character vector containing the state names for those states in which data was collected for. More importantly, the index of the state name is also the index in which that state's data can be found in the various following list objects. For example, if California is the third index in this object, the data for California will also be in the third index for each accompanying list. rightsByState_ground: A list of data frames with the cleaned ground water rights collected from each state. The column headers for each data frame are: waterRightID - The unique identifying ID of the water right, the same identifier as its state uses. basinNum - The alpha-numeric identifier of the WMA the record belongs to. priorityDate - The priority date associated with the right. allocatedFlow - The maximum flow of the allocation in cubic feet per second (ft3s-1). source - Whether the right is for surface water or groundwater. origWaterUse - The original stated water use from the state. waterUse - The water use category under the unified use categories established here. rightsByState_surface: A list of the cleaned surface water rights collected from each state. See rightsByState_ground for more details on how the data is formatted. fullRightsRecs: A list of the combined groundwater and surface water records for each state. Essentially, these lists are the merging of rightsByState_ground and rightsByState_surface by state. See rightsByState_ground for more details on how the data is formatted. projProj: The spatial projection used for map creation in the beginning of the project. Specifically, the World Geodetic System (WGS84) as a coordinate reference system (CRS) string in PROJ.4 format. wmaStateLabel: The name and/or abbreviation for what each state legally calls their WMAs. h2oUseByState: A list of spatial polygon data frames which contain the area(s) in which each water right is claimed to be used. It should be noted that not all water right records have a listed area(s) of use in this object. Currently, only Idaho and Washington provided valid data to be included in this object. h2oDivByState: A list of spatial points data frames which identifies the location of the Point of Diversion for the state's water rights. It should be noted that not all water right records have a listed Point of Diversion in this object. spatialWMAByState: A list of spatial polygon data frames which contain the spatial WMA boundaries for each state. The only data contained within the table are identifiers for each polygon. It is worth reiterating that Arizona is the only state in which the surface and groundwater WMA boundaries are not the same. wmaIDByState: A list which contains the unique ID values of the WMAs for each state. plottingDim: A character vector used to inform mapping functions for internal map making. Each state is classified as either "tall" or "wide", to maximize space on a typical 8x11 page.
Systemic stomatal responses in plants: Coordinating development, stress, and pathogen defense under a changing climate
To successfully survive, develop, grow and reproduce, multicellular organisms must coordinate their molecular, physiological, developmental and metabolic responses among their different cells and tissues. This process is mediated by cell-to-cell, vascular and/or volatile communication, and involves electric, chemical and/or hydraulic signals. Within this context, stomata serve a dual role by coordinating their responses to the environment with their neighbouring cells at the epidermis, but also with other stomata present on other parts of the plant. As stomata represent one of the most important conduits between the plant and its above-ground environment, as well as directly affect photosynthesis, respiration and the hydraulic status of the plant by controlling its gas and vapour exchange with the atmosphere, coordinating the overall response of stomata within and between different leaves and tissues plays a cardinal role in plant growth, development and reproduction. Here, we discuss different examples of local and systemic stomatal coordination, the different signalling pathways that mediate them, and the importance of systemic stomatal coordination to our food supply, ecosystems and weather patterns, under our changing climate. Importantly, we further discuss the potential biotechnological implications of regulating systemic stomatal responses for enhancing agricultural productivity in a warmer and CO 2 -rich environment.
Online task-space motion control for positioner-coordinated multi-robot manufacturing systems
Incorporating multiple robotic manipulators into large-scale manufacturing systems enhances production efficiency and expands manufacturing capabilities beyond those of single-robot systems. Workpiece positioners in robotic manufacturing have demonstrated significant benefits for process optimization, but coordination strategies for multi-robot systems with shared positioners have received limited attention. This work presents a task-space coordinated trajectory-tracking control framework for multi-robot manufacturing systems, in which robots coordinate their motions within a shared, dynamic workpiece positioning frame. A workpiece positioner actively adjusts the pose of the manufactured component to enable greater operational concurrency and improve overall production efficiency. The proposed motion-coordination scheme employs a distributed and scalable architecture, supporting coordination across heterogeneous multi-robot systems. Two optimization methodologies are introduced to manage kinematic redundancies and maintain continuous, near-optimal operation throughout the manufacturing process. The first strategy exploits a task-space dimensionality reduction to achieve locally optimal configurations by leveraging symmetry-axis rotations of the tool. The second strategy utilizes the workpiece positioner to drive the coordinated robots toward stable and kinematically favorable configurations. For both optimization strategies, multiple objectives are defined to improve key performance metrics, including manipulability, configuration consistency, proximity to mechanical limits, and motion efficiency. Addressing a key limitation of existing coordination approaches, the framework is designed around online setpoint modification, allowing coordinated robots to respond effectively to in-situ process feedback. The proposed control framework is validated using the Robot Operating System (ROS) middleware on a combination of physical and simulated multi-robot system hardware.
Technical Impacts of Light-Duty and Heavy-Duty Transportation Electrification on a Coordinated Transmission and Distribution System
In this study, we propose a strategy to model the required spatiotemporal charging demand from light-duty (LD) and medium- and heavy-duty (MHD) electric vehicles (EVs) using actual transportation data by mapping the demand for the required EV charging to a realistic and coordinated distribution and transmission electric grid at the predicted times of the day to study their impact on the power system in a variety of load, weather, and EV penetration scenarios. This work is the first study that includes the actual weather data and transportation data with realistic and coordinated distribution and transmission grid data in a large industry-scale level study. The main goal of this study is to identify possible issues and required upgrades in the electric grid, caused by an increase in EV integration. The transmission case study is a large grid with 6717 buses over a Texas footprint, and the distribution grid is over Houston, a city in Texas, covering over three million customers. The resulting overloads and voltage violations experienced in the system are discussed, and required planning upgrades to avoid these issues are suggested.
Probability Density Function Control of Frequency Fluctuations in Renewable-Rich Power Systems
The stochastic nature of renewable energy sources (RESs) necessitates treating power system frequency response as a random process with a nonstationary probability density function (PDF). Here, based upon the stochastic distribution control theory originated by the second author, this paper proposes a novel stochastic controller to improve the frequency PDF in power grids when integrating a large amount of RESs, thereby minimizing the effects of uncertainties and enhancing overall system stability. The key idea is to manipulate the controllable power generation resources so that the frequency PDF is make to follow a target PDF by using the stochastic distribution control theory originated by the second author. The proposed method can easily be plugged into existing automatic generation controls for multi-area transmission grids. The proposed method is validated via a modified Kundar's two area system and 240-bus Western Electricity Coordinating Council systems. The simulation results show that the proposed control shapes the frequency PDF narrower and sharper, leading to a notable improvement toward minimizing the effects of randomness and uncertainty during grid operation.
Electric sector impacts of renewable policy coordination: A multi-model study of the North American energy system
Not Available
Overview and Commentary on Applying the Coordinated Vulnerability Disclosure Process to Photovoltaic System Devices
The rapid expansion of photovoltaic (PV) systems, particularly inverters, has introduced new cybersecurity challenges that threaten both local operations as well as the broader electrical grid’s stability. PV inverters, integrated into critical energy infrastructure are potential targets for cyber attacks due to vulnerabilities in firmware, remote access systems, and communication protocols. The Coordinated Vulnerability Disclosure (CVD) process, as defined by the Cybersecurity and Infrastructure Security Agency (CISA), provides a framework for identifying, reporting, and addressing these vulnerabilities in a transparent and collaborative manner. This report outlines the CVD process as it applies to PV systems, detailing the roles of key stakeholders, such as manufacturers, grid operators, and security researchers. The report also highlights specific challenges in managing vulnerabilities for new and legacy PV systems, which includes those introduced by insecure communications and third-party supply chain components. By adhering to the CVD process, the PV industry can mitigate cybersecurity risks, ensure regulatory compliance, and maintain consumer trust, while safeguarding the operational resilience of the energy grid. Ultimately, the effective coordination of vulnerability management is crucial for securing the future of PV systems within the critical electric grid infrastructure landscape.
Uranium Attenuated by a Wetland 50 Years after Release into a Stream
: Wetlands have several important roles in the hydrological cycle, including maintaining water quality by removing surface and groundwater contaminants. Over time, the wetlands themselves can become contaminated, posing a secondary environmental threat. The objective of this study was to calculate the inventory of uranium (U) remaining in a wetland 50 years after the Fuel Fabrication Facility on the Savannah River Site located in South Carolina released 43.5 Mg of U into the nearby environment. Over 232 700 gamma spectra and their associated global positioning system (GPS) coordinates were collected and collated into a map of the contaminated land area. Five core samples were also collected that contained U concentrations as high as 14 099 mg/kg (background levels are about 2.7 mg/kg U). The contaminated area was 278 000 m2 , and it contained 36.2 Mg U, about 83% of the U released. About 80% of the U in the wetland was concentrated in a former beaver pond, a 73 000 m2 area (26% of the contaminated area). This contaminated wetland area was almost 2 km from the source, indicating that it comprised unique hydro-biogeochemical properties for immobilizing the released U. To the best of our knowledge, this is the first data-rich study to quantify the long-term effectiveness of a wetland to immobilize inorganic contaminants. Significant environmental changes to the system, such as those associated with hydrology, forest fires, or anthropogenic land use, may alter the complex hydro-biogeochemical interactions necessary for the long-term immobilization of the U.
Projected Urban Morphology of the Los Angeles Area by the Year 2100
This dataset provides projections of urban building morphologies for the Los Angeles urban area at 30-meter spatial resolution. It contains 192 raster files that detail two primary building attributes: building footprint fractions (ranging from 0 to 1) and average building heights (ranging from 0 to 75 meters). The projections account for a wide range of future pathways, covering two Shared Socioeconomic Pathway (SSP) scenarios (SSP3 and SSP5), two population scenarios, two developed land intensification scenarios, and four distinct levels of intensification. The dataset was created using dual Generative Adversarial Networks (GANs) trained on 2015 land cover and building properties from the National Land Cover Database (NLCD) and Model America datasets. Supporting information on the dataset has been described in the LAUrbanAreaMorphologyProjections2100_README.txt file.
Component Importance and Interdependence Analysis for Transmission, Distribution and Communication Systems
For critical infrastructure restoration planning, the real-time scheduling and coordination of system restoration efforts, the key in decision-making is to prioritize those critical components that are out of service during the restoration. For this purpose, there is a need for component importance analysis. While it has been investigated extensively for individual systems, component importance considering interdependence among transmission, distribution and communication (T&D&C) systems has not been systematically analyzed and widely adopted. In this study, we propose a component importance assessment method in the context of interdependence between T&D&C networks. Analytic methods for multilayer networks and a set of metrics have been applied for assessing the component importance and interdependence between T&D&C networks based on their physical characteristics. The proposed methodology is further validated with integrated synthetic Illinois regional transmission, distribution, and communication (T&D&C) systems, the results reveal the unique characteristics of component/node importance, which are strongly affected by the network topologies and cross-domain node mapping.
Power System Wildfire Risks and Potential Solutions: A Literature Review & Proposed Metric
Several fire risk evaluation, fire tracking, and fire response resources are available. The risk metrics and fire response programs are sometimes modified to include a power system context. The risk metrics often evaluate the risk of fires causing power system faults or outages, especially on transmission systems. The response programs are modified to ensure the safety of power system equipment and first responders as well as to coordinate power system outages to both ensure safety during an active fire and prevent fire ignition during high risk periods. Although some aspects of wildfire responses have been adapted to include power system concerns, adaptations to power system operations and maintenance to include wildfire risks and responses are still nascent. In particular, a risk metric that evaluates the potential for power system components to ignite wildfires is needed to help guide power system upgrade efforts and power system fire safety measures. This document serves as a brief literature review of wildfire risk metrics and response programs and how they relate to power systems. It also includes a proposed risk metric and structure for describing the risk of a power system component igniting a fire.
A data-driven network optimisation approach to coordinated control of distributed photovoltaic systems and smart buildings in distribution systems
The increasing integration of distributed energy resources, including demand-side resources and distributed photovoltaics (PVs), into distribution systems has resulted in more complicated power system operation. A data-driven network optimisation approach is proposed to coordinate the control of distributed PVs and smart buildings in distribution networks considering the uncertainties of solar power, outdoor temperature and heat gain associated with building thermal dynamics. These uncertain parameters have a significant impact on the operation and control of distributed PVs and smart buildings, bringing challenges to the distribution system operation. In the proposed data-driven distributionally robust optimisation (DRO) approach, the Wasserstein ball is used to construct an ambiguity set for the uncertain parameters, which does not require the probability distributions to be known. Furthermore, a conditional value-at-risk is incorporated into the Wasserstein-based DRO model and converted into a computationally tractable mixed-integer convex optimisation problem. Benchmarked with robust optimisation and chance-constrained programming, the proposed data-driven model can give a less conservative robust solution.
WM26 Paper Multi-Robot Collaboration for Hazardous Environments
Hazardous nuclear and industrial facilities are rarely designed for robots. Work in these domains demand precise manipulation and robust mobility in cluttered, constrained spaces where off-the-shelf platforms struggle and “one-size-fits-all” machines become costly and complex. Idaho National Laboratory (INL) is developing an autonomous, multi-robot inspection system that coordinates task-specific platforms rather than relying on a single omni-tool robot. An electric truck serves as a power and compute hub for a custom manipulator co-developed with Florida International University (FIU), a commercial mini crawler, a pan–tilt–zoom camera, and a Nexxis Argus LiDAR mapping system. Working in concert, these robots generate spatial, radiation, and temperature maps of the pit environments at the Hanford Waste Tank Farms. These systems will capture visual records and environmental telemetry to allow for analysis post inspection. The system architecture uses Robot Operating System 2 (ROS 2) for publish/subscribe integration, NVIDIA Isaac Sim and Unity for simulation and visualization, and algorithms such as NVBlox to fuse data into unified 3D overlays. This robot-agnostic approach reduces operator burden by enabling autonomy across heterogeneous platforms and lets each robot be used where it is strongest. Having autonomous functions means operators don’t have to fully control multiple different components. The ease of use could allow for more widespread adoption of advanced robotics at waste management sites that see continued use. By coordinating simpler, purpose-built mechanisms, the approach lowers design and manufacturing complexity, reduces capital risk in contaminated settings, and improves controllability for complex inspection and manipulation tasks. We present the architecture, early results, and lessons learned from building and deploying this coordinated multi-robot system, with the goal of accelerating safe, cost-effective adoption of advanced robotics at waste-management sites.
A Statistics-Based Threshold for the RMS-Energy Oscillation Detector
System operators and reliability coordinators currently rely on extensive baselining studies to set thresholds for their oscillation detectors. The resulting thresholds are based largely on engineering judgment and may vary significantly between organizations. In this paper, statistical distribution theory is used to derive a detection threshold for the widely deployed root-mean-square (RMS)-energy detector. This expression provides a theoretical basis for the detector's configuration, simplifies the process of selecting the threshold, and enables improved consistency among organizations that need to coordinate during system-wide events. Three methods for calculating the threshold using synchrophasor measurements are also proposed. These methods ensure that the threshold can be calculated reliably for various applications. Tests with simulated and field-measured data demonstrate that the statistics-based threshold provides consistent detection of grid disturbances while maintaining a low probability of false alarm.
Mass Property Calculator
A mass property calculator has been developed to compute the moment of inertia properties of an assemblage of parts that make up a system. The calculator can take input from spreadsheets or Creo mass property files or it can be interfaced with Phoenix Integration Model Center. The input must include the centroidal moments of inertia of each part with respect to its local coordinates, the location of the centroid of each part in the system coordinates and the Euler angles needed to rotate from the part coordinates to the system coordinates. The output includes the system total mass, centroid and mass moment of inertia properties. The input/output capabilities allow the calculator to interface with external optimizers. In addition to describing the calculator, this document serves as its user's manual. The up-to-date version of the calculator can be found in the Git repository https://cee-gitlab.sandia.gov/cj?ete/mass-properties-calculator.
Predictive Coordinated and Cooperative Voltage Control for Systems With High Penetration of PV
In this paper, we propose a predictive coordinated and cooperative voltage control method in a power distribution system with high penetration of photovoltaic (PV) units. First, an integrated coordinated voltage control of voltage regulators (VRs) tap positions and cooperative distributed control of the reactive power output from PV inverters are used to maintain system voltages within an appropriate bandwidth. Next, solar power forecasting is applied to predict voltage changes, which are used to set the VR tap positions and capacitor switch status to prevent large voltage fluctuations. The fine tuning of voltage adjustment is then achieved by cooperative control of PV inverters to maintain a uniform voltage profile across the system. The proposed method is tested on a modified IEEE 123-node test feeder with high penetration of PVs using real measurement data and compared with the base case. Simulation results demonstrate the effectiveness of the integrated voltage control, as well as the enhancement from the predictive control through solar power forecasting-enabled voltage change estimates. Comparison to previous work in the literature shows significant improvement in terms of voltage deviation and reduction in excessive tap changes.
Transactive Energy Systems: The Market-based Coordination of Distributed Energy Resources
This paper synthesizes a unifying framework that captures a large class of transactive energy systems studied in the literature. The framework consists of four key elements: agent preferences, control decisions, information structure, and solution concept. Among them, agent preference specifies the preferred outcome by each agent and models the conflict of interest in decision making. Control decision specifies the set of decisions for each agent to maximize its payoff. Information structure describes the information available to each agent before it makes a decision. Solution concept encodes the rationality assumptions of each agent in the system. These elements are important in identifying and distinguishing different transactive energy systems. In this paper, we use them to analyze a number of important ones, including the competitive equilibrium, Stackelberg game, reverse Stackelberg game, and mechanism design. Each class of these problems is formulated as a special case of the proposed transactive energy systems. Their connections and differences are discussed. Available tools and results for each category of problems are surveyed.