The growth of Distributed Energy Resources is accelerating, causing significant changes in utility distribution systems due to the bidirectionality of power flow. As a result, protection systems will require upgrades to operate with these new requirements. The current-only directional relay (CODR) is a novel proposal that detects the direction of fault currents without the need for new devices, but instead upgrades the software logic of existing devices, making it a cost-effective solution. This work provides a complete description of how to implement a hardware testbed to review the CODR method. Findings show that CODR performs successfully in a real environment, but its algorithm needs to be upgraded if used in distribution systems where lines have a non-negligible resistive component. / Master of Science / The use of renewable energy sources, such as solar panels and wind turbines, is growing rapidly. This is causing changes in the way electricity is distributed, as power can now flow in both directions. To keep up with these changes, the systems that protect the electricity grid need to be updated. One cost-effective solution is to use a new type of relay, called the current-only directional relay (CODR), which can detect the direction of fault currents without the need for new devices. This work describes how to test the CODR method using a hardware testbed. The results show that the CODR performs well in a real environment, but its algorithm needs to be updated for use in certain types of distribution systems.

Future generations of unmanned spacecraft, aircraft, ground, and submersible vehicles will require precise relative navigation capabilities to accomplish missions such as formation operations and autonomous rendezvous and docking. The development of relative navigation sensing and control techniques is quite challenging, in part because of the difficulty of accurately simulating the physical relative navigation problems in which the control systems are designed to operate. A hardware testbed that can simulate the complex relative motion of many different relative navigation problems is being developed. This testbed simulates near-planar relative motion by using software to prescribe the motion of an unmanned ground vehicle and provides the attached sensor packages with realistic relative motion. This testbed is designed to operate over a wide variety of conditions in both indoor and outdoor environments, at short and long ranges, and its modular design allows it to easily test many different sensing and control technologies. / Master of Science