SLED2011

An Introduction to Artificial
Intelligence and Its Applications to
Electric Drives
Dr. Shady Gadoue
Lecturer in Electric machines and Drives, Newcastle University, United Kingdom
E-mail: shady.gadoue@newcastle.ac.uk
http://www.ncl.ac.uk/eece/staff/profile/shady.gadoue
Contributors:
Dr Damian Giaouris, Prof. John Finch, Dr Salah Ethni and Idirs Musa (Newcastle Uni)
Amr Ashoush and Dr Ayman Samy (Alexandria University)

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Outline
Introduction to AI Techniques
Artificial Neural Networks
Fuzzy Logic
Genetic Algorithms
Particle Swarm Optimization
Applications of AI in Electric Drives
Controller Design
Sensolress Control of AC Drives
Fault Diagnosis and Fault Tolerant Control
Conclusions

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Artificial Intelligence Techniques

Artificial Neural
Networks

Fuzzy Logic

Applications
Control
Estimation
System Identification
Optimization

February 2011

Genetic
Algorithms

Particle Swarm
optimization

Solving Optimization Problems

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Artificial Neural Networks

ANN resembles human brain in learning through
training and data storage.
1
Small computing element: Neuron
x
1

w1

w3

net

f(net)

x3
Activation
function

Inputs

y f net f wi xi b
i 1

w2

x2

y
+1

xn

Inputs: x1 ,x2,x3,,xn

net

net

Weights w1 ,w2,w3,,wn

Linear

Tan-Sigmoid
-1

net wi xi b w1 x1 w2 x2 w3 x3 ....... wn xn b
i 1

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Classification of ANN Based on Architecture

Threshold
+1

Threshold
+1
b1

w112

o1
w112

w111

x1

w11

x1

b12
y1

y1

External
Inputs

y2

x2

o2

y2

x2

y3

o3

w431

w342

y3

x3
w431

w342

Delay

o4

Multi-layer feedforward NN
Applications
Estimation
System Identification (Static
mapping unless using tapped
delay inputs)
February 2011

Delay

Output
Layer

Recurrent NN

1
x1
w1

x2

w2

w3
Inputs

net

f(net)

x3
n

Hidden
Layer

Input
Layer

Activation
function

Applications
Control
System Identification
(Dynamic mapping)

xn

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Classification of ANN Based on Learning Strategy

Supervised Learning:
Teacher

System identification and control

Input/ Target data

Network weight correction

Learning algorithm

Minimize an error function

Mean-squared error (MSE)

Unsupervised Learning

Pattern recognition

Only input pattern provided

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Supervised Learning ANN

Non-Linear
Function

Back propagation

wij k wij k 1 wij (k )

+
x

error

Input
y^

Neural
Network

E
wij
wij
n: Learning Rate

wij k wij k 1 wij (k )

wij (k 1)

Learning
Algorithm

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Artificial Neural Networks

Advantages
Learning capabilities
Generalisation
No Mathematical model
Fault tolerance
Parallel processing

Applications
Control
Estimation
System Identification
Optimization

Drawbacks
Lack of design techniques
Computational effort

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Fuzzy Logic
Boolean and Fuzzy logic

A Temperatures B A, B Temperatures Hot

B Temperatures Temperatures 25
Membership
Function

Boolean

100%

Temperature=24.99 ???

0%
25

February 2011

Temperature

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Temperature=25

100 % Warm

Temperature=24

90 % Warm

Temperature=15

0 % Warm

Membership function, i.e.

How much an element
(Temperature) belongs to a set
(Warm)

C Temperatures, How Much Hot

Membership
Function

Fuzzy

100%

0%
15
February 2011

25

Temperature
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Membership Functions

Triangular

Trapezoidal
February 2011

Gaussian

Sigmoidal
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Fuzzy Logic

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Fuzzy Logic Control

Human Knowledge
And
Experience

Automatic Control
Strategy
If-Then Rules

Fuzzy Logic Control

Advantages

Disadvantages

Applications

Nonlinearity
Uncertainty
Imprecision
No Mathematical
Model
Noisy systems
Systems with time
delays

Design techniques
Computational effort

Control
Estimation
System
Identification
Optimization

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Fuzzy Logic Control

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Steps of FLC Design

Initially choose the number of inputs/outputs

Fuzzify the real inputs using appropriate Membership functions
Create the IF THEN rules using AND/OR operator
Defuzzify the output fuzzy to get the corresponding Crisp output

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Genetic Algorithms
Stochastic search technique that mimics the
mechanisms of natural selection.
Based on Evolution theory Survival of the Fittest.
GA is an effective and powerful technique to solve
optimization and search problems.
Advantages
Derivative free
Avoid local minimal

Applications
Optimization
Parameter tuning and estimation

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Genetic Algorithms
Start

Create Initial
Population

Generation
=0

Evaluate Fitness
Value
For each
Chromosome

Perform
Selection,
Crossover and
Mutation
Process

Gen = Gen+1

No

Gen > max

generation
Or min
performance
index reached

Yes
Stop

February 2011

Chromosome: Xi = [xi1,xi2 ,,xid] 1110010

Population:

pop = [X1, X2,,Xn].

Assume it is required to minimize the function: f x1, x2 x12 x22

And the population size is 4. Assuming that the
initial population consists of four individuals:
x1 10 ; x 2 10 1110010

f 200

x1 5 ; x 2 10 0001010

f 125

x1 1 ; x 2 1 1100101

f 2

x1 2 ; x 2 4 0111010

f 20

No copies (Die)
1 copy
2 copies
1 copy

4
3
1
2

Crossover points

Binary String
of individual 1

Binary String
of individual 2

Before Crossover
(Parents)

After Crossover
(Offsprings)

1101010 Before mutation

1101000 After mutation
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SLED2011

Particle Swarm Optimization

Evolutionary computation technique introduced in 1995
Behaviourally Inspired. Its idea is similar to bird flocks or fish schools
searching for food

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PSO is a population-based method, like Genetic algorithm.

However, the basic concept is cooperation instead of competition.
PSO is very similar to GA, but it does not have genetic operators
(crossover and mutation).
Each particle moves in the search space with a velocity that
depends on:
Its own experience,
Experience from all particles in the swarm.
Properties of Particles
ability to exchange information with its neighbors
ability to memorize a previous position
ability to use information to make a decision.

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Particle:
Population:

Xi = [xi1,xi2 ,,xid].
pop = [X1, X2,,Xn].

Particle best:

PBi =[ pbi1, pbi2, .,pbid ].

Global best:

GB=[gb1, gb2, ..,gbd ].

Particle velocity:

Vi = [ vi1,vi2,.., vid ].

The i-particle velocity and position is updated by

k 1 wk * v k c * rand * ( pb x k ) c * rand * ( gb x k )
Vid
1
1
2
2
id
id
id
id

k 1 x k v k 1
xid
id
id

c1 and c2 : (cognition constant and social

constant respectively)

wmax wmin
k
max
w w

* iter
iter max

February 2011

wk: inertial weight factor provide

Flexibility to control the balance
between global & local search
Space.

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Start

Initialize particles with random position

and velocity
Evaluate fitness value
Compare & update fitness value
with pbest and gbest
YES
Meet stopping
criterion?

End

NO

Update velocity and

position

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AI for Controller Design in DTC Induction

Motor Drives

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1. PI Tuning by GA (off-line) and FL (online)

2. PI completely replaced by FLC or FSM

1. Conventional Methods
a. Trial and Error
b. Ziegler Nichols (Both methods)
c. Frequency Response
d. Root Locus Pole Assignment
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AI for Sensorless Control of Induction Motors

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Introduction
Why sensorless control?
Sensorless control strategies
MRAS speed observer
Simple implementation
Less computational effort

Rotor flux MRAS

Problems at low speed
Artificial intelligence techniques

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Contributions andSLED2011
Novelty

Contributions and Novelty

New applications of ANN in MRAS schemes for sensorless control
applications:

Rotor Flux NN MRAS speed observer

NN-Based stator current MRAS observer
Using CM flux observer (Current MRAS-CM)

Using NN flux observer (Current MRAS-NN)

9 papers published from this work (International Conf. and IEEE
Journals)

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Introduction
SLED2011

Rotor Flux MRAS Speed Observer

vs

Reference Model
(Voltage Model)

is
Adaptive Model
(Current Model)

Voltage Model (VM)

r
+

L
prd r vsD RsisD Ls pisD
Lm

L
prq r vsQ RsisQ Ls pisQ
Lm

Current Model (CM)

r
Adaptation
Mechanism

Adaptation Mechanism
rq rd rd rq

L
1
p rd m isD rd r rq
Tr
Tr
L
1
p rq m isQ rq r rd
Tr
Tr

ki

r (k p )
p
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Problems at Low and Zero Speed

Parameter
Sensitivity
Stator resistance
Rotor resistance

Voltage Model

Current Model

Flux Open Loop

Integration

Stator Voltage
Acquisition

Reference voltages
LPF
Nonlinear feedback
Integrator

Inverter
Nonlinearity
Dead Time
Threshold and
voltage drop

r L r vs R s i s dt L s i s
Lm

j
r
r L m i s

T r

T r

28

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Rotor flux NN
MRAS

Rotor Flux NN MRAS Speed Observer

vs

Reference Model
(Voltage Model)

vs

is

is

Adaptive Model
(Current Model)

NN Flux Observer
Adaptive Model
(Current Model)

r
PI Controller

Conventional MRAS

February 2011

PI Controller

NN MRAS

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SLED2011
Rotor flux NN
MRAS

NN Flux Observer

VM Flux Observer

vsD k

L
prd r vsD RsisD Ls pisD
Lm

L
prq r vsQ RsisQ Ls pisQ
Lm

Pure integration

Parameter sensitivity
Stator voltage acquisition
CM performs well at low speed
No pure integration

vsD k 1

rd (k)

vsQ k
vsQ k 1

isD k

rq(k)

isD k 1
isQ k

isQ k 1

Input Layer
8 Inputs

Hidden Layer
25 Neurons

Output Layer
2 Outputs

CM Flux Observer

No stator resistance dependency

L
1
p rd m isD rd r rq
Tr
Tr

Harmonic free output

L
1
p rq m isQ rq r rd
Tr
Tr

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Rotor flux NN
MRAS

NN Rotor Flux Observer

Network Structure

Trial error
8-25-2 Multi-layer FF

Network Training

Training Data Collection

(Experimentally)

Network Testing

Data seen during training

Data not seen during training

Off-Line training

Using Matlab
Acceptable MSE

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Sensitivity to parameters variation

1.5

d-axis rotor flux (Wb)

Actual
VM
NN

0.5
0
-0.5
-1
-1.5

5.5

6.5

Actual
VM
NN

1
0.5
0
-0.5
-1
-1.5

5.5

6.5

Time (s)

Time (s)

Rs 25% variation (Simulations)

Rs 50% variation (Simulations)

1.5

d-axis rotor flux (Wb)

d-axis rotor flux (Wb)

1.5

Actual
NN

1
0.5
0
-0.5
-1
-1.5

5.5

6.5

Time (s)

Rr 50% variation (Simulations)

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The Experimental Setup

415 V, 50 Hz
3-phase supply

15 kW 4-quadrant
DC Drive
3-phase Inverter
Encoder
7.5 Kw
I.M

C1
C2

DC
Machine

Rectifier Bridge
PWM
TMS320F240
DSP
Host PC

February 2011

ADC DAC
Power PC
400 MHz

DS1103 DSP Control Board

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Open loop performance

NN MRAS
70
Reference
Encoder
Conv MRAS
NN-MRAS

60

40
Motor speed (rpm)

Motor speed (rpm)

50

Reference
Encoder
Conv MRAS
NN-MRAS

60

40
30
20

20
0
-20

10

-40
0

-60
-10
37

37.5

38

38.5

39
39.5
Time (s)

40

20% load torque disturbance

rejection at 25 rpm
February 2011

40.5

41

21

21.5

22

22.5
Time (s)

23

23.5

24

30 rpm speed reversal at

10% load
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MRAS outputs during speed reversal

2

2
Psird VM
Psird CM

1.5

1.5
1
d-axis rotor flux (wb)

1
d-axis rotor flux (wb)

Psird NN
Psird CM

0.5
0
-0.5

0.5
0
-0.5

-1

-1

-1.5

-1.5

-2
21

21.5

22

22.5

23

23.5

Conventional MRAS
February 2011

24

-2
21

21.5

22

22.5

23

23.5

24

NN MRAS
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Sensorless Performance
NN-MRAS
Test1: Stair case speed transients from 100rpm to 0rpm to -100 rpm at no
load
Reference
Conv MRAS
Encoder

100

Motor speed (rpm)

Motor speed (rpm)

100

50

-50

Reference
NN MRAS
Encoder

50

-50

-100

-100

10

15

20
25
Time (s)

30

Conventional MRAS
February 2011

35

40

10

15

20
25
Time (s)

30

35

40

NN MRAS
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Test2:25 rpm speed reversal at 10% load

40

40
Reference
Conv MRAS
Encoder

20
Motor speed (rpm)

Motor speed (rpm)

20

-20

-40

-60

-80

Reference
NN MRAS
Encoder

-20

-40

-60

10

15

20
Time (s)

Conventional MRAS
February 2011

25

30

-80

10

15

20

25

30

Time (s)

NN MRAS
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Conclusion
NN replacing Voltage model Flux observer: NN MRAS

Less sensitive to Rs variation

No initial condition and drift problems (No pure integration)
Better performance at very low and zero speed
Improving both transient and steady state performance

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NN-Stator Current MRAS Speed Observer

2
isd (k ) w1isd (k 1) w2 rd (k 1) w3 rq (k 1) w4vsd (k 1)

TRs
TLm

Ls Ls Lr Tr
TLm
w2
Ls Lr Tr

isq (k ) w1isq (k 1) w2 rq (k 1) w3 rd (k 1) w4vsq (k 1)

w3

TLm

Ls Lr r

w4

T
Ls

w1 1

Stator current equations

Z-1

Z-1

isQ (k 1)

isD (k 1)
w

rd (k 1)

rq (k 1)

w3

rq (k 1)

isD (k )

rd (k 1)

w3

isQ (k )

w4

w4

vsQ (k 1)

vsD (k 1)

Stator current observer: adaptive model

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NN-Stator Current MRAS Speed Observer

vs

Induction Motor
(Reference Model)

Weight adjustment law

is
+

Z-1
-1

Z-1

Neural Network
current observer
(Adaptive Model)

is

r
r

(back-propagation)
w3 (k ) iD (k ) rq (k 1) iQ (k ) rd (k 1)
w3 (k ) w3 (k 1) w3 (k ) w3 (k )

Rotor speed estimation

Learning Algorithm

r (k )
Current Model

Lm
1 j

is
r
r
r
Tr
Tr

February 2011

Ls Lr
TLm

w3 (k )

T=200 s
=0.0005
=0.001
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NN-Stator Current
MRAS

NN-Stator Current MRAS Speed Observer

vs

Induction Motor
(Reference Model)

is

vs

Induction Motor
(Reference Model)

is

-1

-1

Z
Z-1
Z-1

Neural Network
Current Observer
(Adaptive Model)

is

Neural Network
Current Observer
(Adaptive Model)

is

Learning Algorithm

Current Model

NN-Current MRAS-CM
February 2011

Z-1
Z-1

Learning Algorithm

Neural Network
Flux Observer

NN-Current MRAS-NN
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Experimental Results
40 rpm to 20 rpm step speed at no-load
80

80
Reference speed
Measured speed
Rotor Flux MRAS

70

70
60
Motor speed (rpm)

Motor speed (rpm)

60
50
40
30

50
40
30

20

20

10

10

0
19

Reference speed
Measured speed
Current MRAS-CM

20

21

22

23

24

Time (s)

Rotor flux MRAS

February 2011

25

26

0
19

20

21

22

23

24

25

26

Time (s)

NN-Stator current MRAS

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25% load torque disturbance rejection at 30 rpm

80

80

Reference speed
Measured speed
Rotor Flux MRAS

60
Motor speed (rpm)

Motor speed (rpm)

60

40

20

40

20

-20

-20

37

Reference speed
Measured speed
Current MRAS-CM

37.5

38

38.5

39

39.5
Time (s)

40

40.5

Rotor flux MRAS

February 2011

41

41.5

42

37

37.5

38

38.5

39

39.5
Time (s)

40

40.5

41

41.5

42

NN-Stator current MRAS

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Performance during Regeneration

Stair case speed change from 30rpm to - 30rpm to -60 rpm back
to 60 rpm at 25% load
Proposed scheme
120

Motor speed (rpm)

80
60
40
20
0
-20

50
0
-50

-40
-60

-100
40

-80
-100
40

42

44

46
Time (s)

48

Rotor flux MRAS

50

52

44

46
Time (s)

48

50

52

-CM
rd
-CM
rq

-1

-2
40

February 2011

42

2
Rotor flux componenets (Wb)

Motor speed (rpm)

Reference speed
Measured speed
Conv MRAS
Current MRAS-CM

100

Reference speed
Measured speed
Rotor Flux MRAS

100

42

44

46
Time (s)

48

50

52

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Proposed solution for instability

Replacing CM with a NN flux observer
Independent from speed estimation
Free from pure integration
Robust to parameter variation
vsD k
vsD k 1

rd (k)

vsQ k
vsQ k 1

isD k

rq(k)

isD k 1
isQ k

isQ k 1

Input Layer
8 Inputs

February 2011

Hidden Layer
25 Neurons

Output Layer
2 Outputs

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NN-Stator current MRAS

Using CM Flux Observer
Using NN Flux Observer
Reference speed
Measured speed
Conv MRAS
Current MRAS-CM

0
-50

42

44

46
Time (s)

48

50

52

rq

-1

42

44

February 2011

46
Time (s)

48

50

0
-50
-100
40

42

44

46
Time (s)

48

50

-CM
rd
-CM

-2
40

50

Rotor flux components (Wb)

-100
40

Reference speed
Measured speed
Conv MRAS
Current MRAS-NN

100
Motor speed (rpm)

50

Rotor flux componenets (Wb)

Motor speed (rpm)

100

52

52

-NN
rd
rq-NN

-1

-2
40

42

44

46
Time (s)

48

50

52

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Sensorless Performance
Using CM Flux Observer
Using NN Flux Observer
200

200
Reference speed
Measured speed
Current MRAS-CM

50
0
-50
-100

100
50
0
-50
-100

10

15

20
25
Time (s)

30

35

-150

40

Reference speed
Measured speed
Current MRAS-CM

100
50
0

10

15

20
25
Time (s)

30

35

40

Reference speed
Measured speed
Current MRAS-NN

100
50
0
-50

-50
-100

Sensorless performance for stair case

benchmark test at 12.5% load
150

150

Motor speed (rpm)

-150

Reference speed
Measured speed
Current MRAS-NN

150

Motor speed (rpm)

100

Motor speed (rpm)

Motor speed (rpm)

150

-100

10

15

20
Time (s)

25

30

10

15

20

25

30

Time (s)

Sensorless performance for 25 rpm speed reversal at 25% load

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Conclusion

A NN-based stator current MRAS observer

is proposed
Rotor flux estimation is obtained from CM
Improved low speed estimation performance
Instability during regeneration
Problem solution based on NN flux observer
Better low speed sensorless performance
using NN flux observer
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AI for Fault Diagnosis and Fault Tolerant

Control

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PSO for Fault Detection of 3-phase IM

PSO algorithm is used to identify the presence of a stator winding opencircuit and inter-turn short circuit faults.
This is achieved by estimating the values of the machine parameters, using
PSO, which give the best possible match between the performance of the
faulty experimental machine and its mathematical model, thus identifying
both the location and nature of the winding fault.
7

Stator winding open circuit fault

B

Particle: Xi = [RsA, RsB, RsC, Rra, Rrb, Rrc]

Swarm population consists of
C

8 particles (each with dimension of 6)

Number of evaluations required to

obtain convergence of the two data sets is 320
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20

20

18

18

16

16

Rrb

14

Rrc

Rotor resistances

Stator resistances

SLED2011

14
12
10
8
6
4
2
5

13

17

21

25

29

33

10
8
6
4

RsB

2
0

0
1

12

RsA
RsC

Rra

37

13

Number of accepted steps

17

21

25

29

33

37

Number of accepted steps

0.06
0.05

Error (A.s)

0.04
0.03
0.02
0.01
0
1

13

17

21

25

29

33

37

Num ber of accepted steps

The PSO algorithm successfully identifies the presence of the stator winding fault as
indicated by the high values of RsB, compared with RsA and RsC.
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PSO for Fault Diagnosis of 3-phase IM

3

Measured and calculated stator currents (A)

isA c

isA m

-3
0.06
3

0.08

0.1

isB c

0.12

0.14

0.16

0.18

0.2

0.12

0.14

0.16

0.18

0.2

0.12
0.14
time (sec)

0.16

0.18

0.2

isB m

-3
0.06
3

0.08

0.1

isC c

isC m

-3
0.06

0.08

0.1

Measured and calculated stator currents at final parameters obtained by PSO

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Stator winding Inter-turn short circuit fault

Particle: Xi = [RsA, RsB, RsC, LsA, LsB, LsC,
MAB, MBC, MCA]

Swarm population consists of

8 particles (each with dimension of 9)

Number of evaluations required to

B
C

obtain convergence of the two data sets is 1560

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1.2

12

LA

RsB

Stator resistances

10

RsC
8
6
4

Stator self inductances H

RsA

LB

LC
0.8

0.6

0.4

0.2

21

41

61

81

101

121

141

161

181

21

41

61

Number of accepted steps

81

101

121

141

161

181

Number of accepted steps

0.9
0.8
0.7

Error (A.s)

0.6
0.5
0.4
0.3
0.2
0.1
0
1

21

41

61

81

101

121

141

161

181

Num ber of accepted steps

The PSO algorithm successfully identifies the presence of the stator short-circuit
winding fault as indicated by the low value of RsA compared with RsB and RsC and the
low value of LsA compared with LsB and LsC.
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12

Measured and calculated stator currents (A)

isA c

isA m

-12
0.1
9

0.11

0.12
isB c

0.13

0.14

0.15

0.16

0.17

0.18

0.19

0.2

0.14

0.15

0.16

0.17

0.18

0.19

0.2

0.15
0.16
time (sec)

0.17

0.18

0.19

0.2

isB m

-9
0.1
9

0.11

0.12
isC c

0.13
isC m

-9
0.1

0.11

0.12

0.13

0.14

Measured and calculated stator currents at final parameters obtained by PSO

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Current Optimization for an Elevenphase Induction Machine under Fault

Conditions Using Genetic Algorithm

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Objective of the paper

Application of Genetic Algorithm to find the optimum distribution of stator
currents in a multi-phase machine following open circuit faults. Results are

compared with the conventional optimization method.

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Why multi-phase induction machines?

The use of inverter fed motor drives removed the limits of the number of

motor phases.
Lower voltage level per phase leads to lower insulation.
Reduced torque pulsation.

Reduced stator current per phase without increasing the voltage per phase
lowering the dc link current harmonics and higher reliability.
The multi phase machine is a fault tolerant machine.

Applications include: Electric ship propulsion and locomotive traction.

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Conventional Optimization Technique

The main concept is to maintain the same Magneto-Motive Force (MMF)
distribution unchanged after one or two phases are open circuited.
Conventional optimization method requires solving complex nonlinear
equations with suitable constraints.
The problem becomes complicated as the number of disconnected phases
is more than two.

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Genetic Algorithm optimization

The criterion used to solve the optimization problem with GA is to get the
maximum torque output from the machine which can be ensured by :

Maximizing the magnitude of the positive fundamental sequence

component (Is1).

A1 1

1
I s1 A1 I ph
11

a a

10

ae

2
11

Minimizing the magnitude of the negative sequence component (Is10).

I s10

1
A2 I ph
11

A2 1

a10

a9

a8

a7

a6

a5

a4

a3

a2

a1

The proposed objective function to be minimized by GA can be written as:

I
f s10
I s1

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Comparison between the results of the

two methods when two phases are opened
Xi = [1, 2, 3, 4, 5] (1 phase opened)
Conventional method
The magnitude of all phase currents
equals 1.36 pu

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Xi = [1, 2, 3, 4] (2 phases opened)

GA method
The magnitude of all phase currents
equals 1.3534 pu

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Comparison between the results of the

two methods when two phases are opened
GA method

Conventional method

1.5

1.5

0.5

0.5

MMF, pu

MMF, pu

-0.5

-0.5

-1

-1

-1.5

60

120
180
240
Peripheral Angle, deg

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300

360

-1.5

60

120
180
240
Peripheral Angle, deg

300

360

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The root locus of the MMF around the

machine peripheral

Conventional method

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GA method

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Conclusions
The paper presents a solution of optimum current distribution following
open phase fault for multi-phase machine using GA.
Comparison with the conventional method shows a good agreement
between both methods for the magnitude of the fundamental MMF and the
required phase current magnitude.
The solution obtained from GA method produces more sinusoidal and
more symmetrical flux distribution.
GA technique can be promoted to solve the problem with higher number
of disconnected phases to avoid complexity of the conventional method.

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Thank you for your attention

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