ELEC-6411 Final Project Report

Bi-directional Cascaded Buck-Boost Converter

Design and simulation

Submitted to:
Dr Luiz A. C. Lopes

Submitted by:
Andrew Jensson, 40009961
Rajendra Thike, 27679319

Date of Submission: December 21, 2015

Term: Fall 2015

ABSTRACT
Power electronic converters are efficient in supplying power at a regulated voltage or regulated
current. Buck converters can supply power at a voltage level lower than the source while boost
converters can supply power at higher voltage level than the supply. Besides these converters,
there are converters which can source or sink the power depending on the requirement. In
general, these are bi-directional converters either with current reversal capability or voltage
reversal capability.
In this project, a cascade type bi-directional buck-boost converter has been analyzed and
designed for supplying power to charge an ultracapacitor or use the power stored in the
ultracapacitor. The converter is capable of changing the direction of the current and
incrementing the voltage level either lower or higher compared to the source voltage. Analytical
design of each components parameters including inductor, MOSFET rating, and harmonic filter
for safe operation of the selected 165 F ultracapacitor from Maxwell. The converter was
simulated in PSIM for four of its operating conditions, viz. buck charging of ultracapacitor, boost
charging of the ultracapacitor, buck discharge of ultracapacitor and boost discharge of
ultracapacitor. The harmonics from the simulation for each case was analyzed and a second
order LC filter was designed for the supply and load accordingly. The resulting current ripple
waveforms were found to have less harmonic magnitude as calculated.

TABLE OF CONTENTS
Abstract

Table of contents

ii

List of Figures

iii

List of Tables

iv

Chapter 1
1. Introduction
2. Scope

1
1
2

Chapter 2
1. Converter components
2. Converter Analysis
3. Converter Operation

3
3
5
5

Chapter 3
1. Specification of the ultracapacitor
2. Selection of the switch
3. Switching frequency
4. Inductor design
5. Battery

8
8
8
8
9
9

Chapter 4
1. PSIM simulation
2. Buck - Charge mode
3. Boost - Charge Mode
4.
Buck Discharge Mode
5. Boost - Discharge Mode

10
10
11
12
13
14

Chapter 5
1. Harmonic analysis
2. Numerical Fourier analysis
3. Filter design
4. Filter implementation
5. Simulation

15
15
15
16
17
17

Chapter 6
1. Results
2. Conclusions

20
20
21

Appendix
Datasheets
References

ii

LIST OF FIGURES
Figure 1. 1 Conceptual Bi-directional Cascaded Buck-Boost Converter topology _____________________________ 1
Figure 2. 1 MOSFET schematic diagram _____________________________________________________________ 3
Figure 2. 2 Inductor schematic diagram _____________________________________________________________ 4
Figure 2. 3 Schematic diagram of a battery __________________________________________________________ 4
Figure 2. 4 Basic structure of a capacitor ____________________________________________________________ 5
Figure 2. 5 Schematic diagram of the converter ______________________________________________________ 6
Figure 4. 1 Converter schematic in PSIM ___________________________________________________________ 10
Figure 4. 2 Buck - Charge waveforms ______________________________________________________________ 11
Figure 4. 3 Boost - Charge waveforms _____________________________________________________________ 12
Figure 4. 4 Buck - Discharge waveforms ____________________________________________________________ 13
Figure 4. 5 Boost - Discharge waveforms ___________________________________________________________ 14
Figure 5. 1 Ideal rectangular current waveform______________________________________________________ 15
Figure 5. 2 Current harmonic content without filter __________________________________________________ 16
Figure 5. 3 Harmonic filter implementation in simulation ______________________________________________ 17
Figure 5. 4 Current waveforms for Buck - Charge mode with filter _______________________________________ 18
Figure 5. 5 Current waveforms for Boost - Charge mode with filter ______________________________________ 18
Figure 5. 6 Current waveforms for Buck - Discharge mode with filter _____________________________________ 19
Figure 5. 7 Current waveforms for Boost - Discharge mode with filter ____________________________________ 19

iii

LIST OF TABLES
Table 2. 1 Converter modes of operation ____________________________________________________________ 6
Table 2. 2 Relation of drive-mode and switching state _________________________________________________ 6
Table 3. 1 Ultracapacitor parameters _______________________________________________________________ 8
Table 3. 2 MOSFET parameters ____________________________________________________________________ 8
Table 3. 3 Inductor parameters ____________________________________________________________________ 9
Table 6. 1 Design and simulated converter results ____________________________________________________ 20
Table 6. 2 Design and simulated filter results ________________________________________________________ 20

iv

CHAPTER 1
1. Introduction
Power electronics converters have a wide range of applications. One of particular interest
is the regulated dc supply. In many applications, the output voltage may be required to be
higher or lower compare to the source. Buck-Boost converters can be used to achieve this
requirement. However, in some applications, the direction of power flow should also be
reversible. For such conditions, bi-directional converters are used. There are many
different topologies for the bi-directional converters with each topology having certain
advantages over others.
The Bi-directional Cascaded Buck-Boost Converter, which for simplicity will be referred
to as converter from herein, is one topology of dc-dc converters that has unique
features and functions that make it an attractive option for certain applications. When
variable power must be sent and returned to a dc source (hence bi-directional), a dc-dc
converter may be selected; even providing a more stable operating dc source for critical
loads, a Bi-directional Cascaded Buck-Boost Converter may be utilized. The cascaded
component stems from the series connection of both types of converters. The converter
presented in this project has application in many systems.

Electric Vehicle Drive and Regenerative Brakingi

Back-up Power Supplyii

Photo-voltaic Systems

Energy Recovery Systems

Back-to-back Wind Power Systems

For the purpose of this project, the converter will be modeled in an electric vehicle
inspired application, with the load of the converter being an ultracapacitor. Depending on
the status of the ultracapacitor, it will be charged or discharged using a Buck or Boost
configuration. The topology for this converter is shown in figure 1.1iii.

Figure 1. 1 Conceptual Bi-directional Cascaded Buck-Boost Converter topology

2. Scope
This project is limited to the design of the inductor between the two legs, selection of the
switching devices and the rating of the switches based on the load. Additionally, a second
order LC filter is designed and component are selected for the battery side and the
ultracapacitor side. Design of the controller is out of the scope of this course project, so it
is not discussed in this report. The designed converter is simulated in PSIM software for
validation.

CHAPTER 2
1. Converter components
Before designing a functional converter, one must understand the fundamentals of
operation of the circuit, as well as fundamental components and concepts individually.
i. MOSFET
Based on the characteristics of different available power electronic switches, the
MOSFET was selected; the criteria which will be discussed in a later chapter of this
report. For the purpose of design and analysis of the converter, the MOSFET operates
as an idealized switch. This means that the MOSFET will not have a voltage drop
across it when closed and no current will leak through it when opened. The idealized
MOSFET will also have an instantaneous turn-on and turn-off time and is capable of
operating under all voltage and current conditions present in the converter. To operate
the MOSFET, a gate signal will be applied to the G node when a closed switch is
desired; under all other conditions, the gate signal will be grounded with 0 v.

Figure 2. 1 MOSFET schematic diagram

iv

ii. Inductor
The inductor plays a vital role in the converter circuit; namely to act as the energy
storage medium while the MOSFETs are switching to provide the desired output
voltage. The basic inductor is a simple component in that it has a magnetic or air core
with a wire coiled around. There are many other types of inductors, but the scope of
this project will not explore these configurations, rather the inductance is the only
parameter considered. When current passes through the coil of wire, the inductor
presents inertia, or resists the change of current, depending upon the current applied
and the inductance, measured in henries.

Figure 2. 2 Inductor schematic diagram

iii. Battery
Batteries are the portable source of power which can store and generate electrical
power as a result of a chemical reaction. For electrical vehicle and other applications
where power is bi-directional, rechargeable batteries are used. These batteries can go
through many charge and discharge cycles, however there is some limit on the
continuous current and the current should have low ripple to maintain expected life of
the battery.

Figure 2. 3 Schematic diagram of a battery

iv. Capacitor
The capacitor is another energy storing element in the converter to aid in reducing the
voltage ripple and is often applied on the supply and output of a converter. For the
design of the converter within the scope of this project, the capacitor will be
considered ideal, meaning that it contains no parasitic resistance. A capacitor acts as
an energy storage device and will oppose the change in voltage by drawing in the
ripple currents, so the current that is supplied to the capacitor is dependent on the rate
of change of the voltage applied, and the capacitance, measured in farads.

Figure 2. 4 Basic structure of a capacitor

vi

v. Ultracapacitor
An ultracapacitor is an energy storage device that is utilized in applications where
frequent bursts of power is required for short duration. The energy storage density
for ultracapacitor is very high compared to normal capacitors. Ultracapacitors
typically store 10 to 100 times more energy per unit volume or mass than
electrolytic capacitors, can accept and deliver charge much faster than batteries,
and tolerate many more charge and discharge cycles than rechargeable batteries.
2. Converter Analysis
i. Steady-state Analysis
Steady-state analysis is an important tool used by designers and engineers to allow for
certain assumptions that simplify the design process. The assumptions presume that
all analyses of the circuit will be done after any transient or sub-transient responses of
the components have been cleared. This is done to allow designers to calculate
parameters and components while utilizing simplified equations and processes.
ii. Continuous Conduction Mode
Also known as CCM, this describes the operation principle of the converter when the
inductor is not allowed to fully discharge its stored energy. Forcing the converter to
operate in CCM will simplify the design procedure and analysis of the circuit. This is
done by sizing the inductor so that the current flowing through the inductor never
reaches a zero-value and this allows for a designer to use common analysis and
design equations to create a converter that operates as expected.
iii. Discontinuous Conduction Mode
Known as DCM, this mode of operation is more difficult to analyze than CCM. DCM
occurs when the current flowing through the inductor is allowed to reach a zero-value
and therefore becomes discontinuous with respect to time. The converter used for this
project never operates in this condition.
3. Converter Operation
The converter in figure 2.5 operates in four modes as listed in table 2.1 where specific
nomenclature and the convention of current direction is outlined. Here, the terms
charging and discharging are used with respect to the ultracapacitor.

Figure 2. 5 Schematic diagram of the converter

Table 2. 1 Converter modes of operation

Mode
Buck - Charge
Boost - Charge
Buck - Discharge
Boost - Discharge

Current Source
Battery
Battery
Ultracapacitor
Ultracapacitor

Current Sink
Ultracapacitor
Ultracapacitor
Battery
Battery

Description
>


>

The relation of the drive-mode and switching states are shown in table 2.2.
Table 2. 2 Relation of drive-mode and switching state

Mode
Buck - Charge
Boost - Charge
Buck - Discharge
Boost - Discharge

Q1
PWM
ON
OFF
OFF

Q2
OFF
OFF
OFF
PWM

Q3
OFF
OFF
PWM
ON

Q4
OFF
PWM
OFF
OFF

Description
Charging Ultracapacitor
Charging Ultracapacitor
Charging Battery
Charging Battery

As table 2.2 has identified, the modulation of specific configurations of the switches
will result in measurable and distinct changes in the output voltage. This converter
requires relatively more complex control and a larger quantity of switching devices,
but is able to operate in a wide range of applications and maintain suitable
performance under all current and voltage conditions presented in this arrangement.
The critical modes of converter operation are discussed below.

i. Buck - Charge
In this mode the ultracapacitor voltage is less than the battery voltage. Switch Q1 is
switched in pwm mode to charge the ultracapacitor in current controlled mode. The
switching is based on the maximum current through the ultracapacitor.
ii. Boost - Charge
When the ultracapacitor voltage is greater than the battery voltage, switch Q1 is kept
on and switch Q4 will be switched on pwm mode to get higher output voltage than
the battery voltage. Here again the control is done based on the current through the
inductor.
iii. Buck - Discharge
To discharge the ultracapacitor when its voltage is greater than the battery voltage, the
converter is operated in current controlled mode operating the switch Q3 in pwm
mode.
iv. Boost - Discharge
When the ultracapacitor voltage is lower than the battery voltage, the converter is
operated in this mode to supply power to the battery. This is done by keeping Q3 on
all the time and switching Q2 in pwm mode with current through inductor being
controlled.

CHAPTER 3
1. Specification of the ultracapacitor
To specify the individual components that make the converter, a circuit consisting of a
battery and an ultracapacitor was selected. This type of load and source is an analogy to
an electric vehicle application. In this application, the current flowing is bi-directional
and the magnitude must be limited to a value within the tolerable levels of the
components. The Maxwell BMOD0165 P048 BXX ultracapacitor with the parametersvii
given in table 3.1 was selected as an appropriate load for this study.
Table 3. 1 Ultracapacitor parameters

Capacitance
165 F

Rated Voltage
48 V

Max Continuous Current

77 A

Leakage Current
5.2 mA

ESR
6.3 m

From the leakage current, the leakage resistance is calculated to be 9,231 .

2. Selection of the switch
From the rating of the ultracapacitor and the level of the operating voltage, the switching
device should be selected. The maximum voltage across each switch is 48 V and the
average current through each of the switch is maximum continuous current through the
ultracapacitor. Because of the low voltage, high current, high switching frequency
capability, a MOSFET is selected as the switching device. The MOSFET must be
capable of handling the application demands without damage; therefore the
STMicroelectronics STH185N10F3-2 MOSFETviii with 100% safety margin was
selected. The parameters of the MOSFET are listed in table 3.2.
Table 3. 2 MOSFET parameters

Voltage,
Continuous current,
Thermal resistance junction-case,
Turn on delay time, ,
Rise time,
Turn-off delay, ,
Fall time,
Resistance of drain-source, RDS(on) max

100 V
180 A
0.48 C/W
25.6 ns
97.1 ns
99.9 ns
6.9 ns
4.5 m

3. Switching frequency
The MOSFET must be able to dissipate the heat generated due to conduction and
switching losses. The switching frequency, of the converter, is calculate by balancing
the rate of heat generation and the rate of heat loss.
The conduction loss is given by Pcond= Rds(on)*ID2*duty_cycle (2.1)
For the worst case, duty_cycle is considered unity.

The switching loss is given by Psw= *VDS*IDS*(td(on)+ tr+td(off)+tf)*fsw (2.2)

The maximum allowable power loss can be calculated using equation (2.3)
Pallowable=

(2.3)

To limit the junction temperature to 100oC, the maximum allowable power loss is
calculated to be 156.25 watts. As per the datasheet, the drain to source resistance varies
with temperature, at 100oC, it is given by equation (2.4).
RDS(on)=1.5*RDS(normal) (2.4)
Considering the non-perfect junction between the MOSFET and the heat sink the
switching frequency is selected to be 1/5th of the switching frequency given by the
calculations using equations (2.1) to (2.4) which is 50 kHz.
4. Inductor design
Once the switching frequency is fixed, the size of the coupling inductor, L, can be
properly designed. In order to maintain the continuous current mode operation of the
converter, the inductor can be sized according to the following equationix:
=

8 ,

Using a fair assumption of maintaining continuous conduction mode at 5% of the safe

continuous current value, which is set at 80% of the maximum continuous allowable
current, the following values are obtained and are listed in table 3.3.
Table 3. 3 Inductor parameters

Switching Time,

Battery
Voltage,
24

80% Max Continuous

Current, Safe Operating Point
80% 77 = 61.6

Minimum Inductor
Current, ,

Induct
ance,
L

5% 61.6 = 3.08

20 H

5. Battery
For this project, an ideal battery in the PSIM software component library is selected. A
small resistance of 5 m is added in series with the battery to represent the internal
resistance of the battery. Other parasitic and intrinsic factors of the battery are not
considered in this project.

CHAPTER 4
1. PSIM simulation
A circuit shown in figure 4.1 is made in PSIM for simulation realization.

Figure 4. 1 Converter schematic in PSIM

2. Buck - Charge mode

Figure 4. 2 Buck - Charge waveforms

In this mode Q1 is operated in pwm mode with Q2, Q3 and Q4 turned off. For simulation
purpose, the battery voltage is fixed at 24 V and ultracapacitor voltage is set to 20 V. The
inductor current is forced to maintain 80% of rated ultracapacitor current i.e. 62 A. The
modulating triangular waveform, gate signal to transistor Q1, battery voltage,
ultracapacitor voltage, capacitor current, inductor current and the battery current are
plotted

3. Boost - Charge Mode

Figure 4. 3 Boost - Charge waveforms

In this mode Q1 is on all the time with Q4 operated in pwm mode while Q2 and Q3 are
turned off. For simulation purpose, the battery voltage is fixed at 24 V and the
ultracapacitor voltage is set to 40 V. The inductor current is forced to maintain an average
value of 62 A. The waveforms as in buck charge mode are plotted in figure 4.4 and figure
4.5. It shows that ultracapacitor current has a pulsed waveform while inductor current and
battery current has an average value of current close to 65 A.

4. Buck Discharge Mode

Figure 4. 4 Buck - Discharge waveforms

The ultracapacitor is discharging into the battery with current being maintained within a
ripple of approximately 3 A near an average value of 62 A. The voltage of the
ultracapacitor in this simulation is 40 V, and the battery voltage is 24 V; this gives a duty
cycle for the switching MOSFET (Q3) of 0.6, which can be seen in the gate voltage
waveform. The current in the ultracapacitor is pulsed waveform with a peak to peak
ripple of around 65 A.

5. Boost - Discharge Mode

Figure 4. 5 Boost - Discharge waveforms

The voltage of the ultracapacitor is measured to be 20 V and is slowly decreasing as it discharges

into the battery; this explains the negative values for current in figure 4.5. The duty cycle of the
switching MOSFET, Q2 is calculated as 0.2, which can be seen in the gate voltage waveform.
The inductor current is held within the 3 A ripple around 72 A, while the battery current is a
pulsed waveform with a peak to peak ripple of nearly 75 A.

CHAPTER 5
1. Harmonic analysis
From the waveforms shown in figure 4.2 to 4.5, the battery current is pulsed in buck
charge mode and boost discharge mode while the ultracapacitor current is pulsed in boost
charge mode and buck discharge mode. This is due to the nature of the circuit and the
switching operation required to obtain the buck and boost modes. To determine the
harmonic content present in the pulsed waveforms, the pulsed waveform is assumed to
have an ideal rectangular shape as shown in figure 5.1.

Figure 5. 1 Ideal rectangular current waveform

With the idealized rectangular waveform shown in figure 5.1, the Fourier series analysis
is simplified and using equation 5.1, the amplitude of the harmonic currents is calculated.
=

(sin ) (5.1)

When d is 0.5, the amplitude of harmonics is largest. The fundamental component, 1 ,

with a frequency of 50 kHz, which is the same as the switching frequency, , has a peak
to peak amplitude of

This large amplitude is undesirable for the life of the battery and ultracapacitor, and a
filter is needed to limit this value.
2. Numerical Fourier analysis
The fast Fourier transform (FFT) tool of the PSIM software used for buck charge mode
without filter results the graph in figure 5.2 showing the dominant harmonic to be 50
kHz.

Figure 5. 2 Current harmonic content without filter

3. Filter design
It is chosen to limit the peak to peak amplitude of the currents in the devices to 5% of the
peak amplitude. For that following equations are used to design the second order LC
filter.
=

_
_

(5.2)

() = 20log() (5.3)
log( ) log( ) =
=

()
1040/

()

40

(5.4)

(5.5)

Using equations 5.2 to 5.5, the resonant frequency of the filter, , is calculated to be
9.9 kHz. The angular frequency becomes = 2 = 62.25 /.
The resonant angular frequency of the second order harmonic filter can be written as
equation 5.6.

(5.6)

To limit the voltage ripple of the filter capacitor to 5% of the battery voltage, the size of
capacitance for the worst-case of duty cycle equal to 1, is calculated to be 1000 F using
equation 5.7.
=

(5.7)

Now the filter inductance is determined from equation 5.6 to be 260 nH.
4. Filter implementation
The converter with the battery and load second order filters implemented is shown in
figure 5.3.

Figure 5. 3 Harmonic filter implementation in simulation

5. Simulation
For the same cases in chapter 4 sections 2 to 5, PSIM simulation with filter results the
waveforms shown in figure 5.4 to figure 5.7. The waveforms shows that the peak to peak
ripple of the fundamental harmonics were reduced. However, harmonics at the resonant
frequency of the filter were introduced.

Figure 5. 4 Current waveforms for Buck - Charge mode with filter

Figure 5. 5 Current waveforms for Boost - Charge mode with filter

Figure 5. 6 Current waveforms for Buck - Discharge mode with filter

Figure 5. 7 Current waveforms for Boost - Discharge mode with filter

Comparing the results in figure 4.2 to figure 4.5 with figure 5.4 to figure 5.7 respectively, the
current waveforms have lost their pulsed rectangular shape and are now much closer to an ideal
dc voltage. There is still a ripple due to the sizing of the filter, which was necessary to maintain
designed operation characteristics after implementation, while removing as much of the
harmonic current content as possible. There is a possible resonance effect shown in the
waveform shape, but this impact on the components is much less than the large pulsed current
waveform that was present prior to filter implementation.

CHAPTER 6
1. Results
The average inductor current was designed to sustain 80% of the maximum continuous
current rating of the ultracapacitor with a maximum ripple of 5% at a switching
frequency of 50 kHz. The second order LC filters were designed to limit the current
ripple in the battery and ultracapacitor to 5% of the battery voltage and 5% peak-to-peak
of the current amplitude. A summary of the results are listed in table 6.1 and table 6.2.
Table 6. 1 Design and simulated converter results

Mode of
Operation
Buck - Charge
Boost - Charge
Buck - Discharge
Boost - Discharge

Inductor Average
Current,

Inductor Ripple
Current,

Designed

Simulated

Designed

Simulated

61.6 A
61.6 A
61.6 A
61.6 A

62 A
64 A
60 A
72 A

3.08 A
3.08 A
3.08 A
3.08 A

2.2 A
7.0 A
9.0 A
4.0 A

Comments
Simulation as designed
higher than designed
higher than designed
IL,design< < IL,max

Inspiration for the controller came from a similar projectx that utilized separate
controllers for each mode. However, a single controller was implemented for every mode
of operation which may have influenced the switching control. This controller does not
have precise control over the controlled variable.
Table 6. 2 Design and simulated filter results

Mode of
Operation
Buck - Charge
Boost - Charge
Buck - Discharge
Boost - Discharge

Battery Ripple
Current,

Ultracapacitor Ripple
Current,

Designed

Simulated

Designed

Simulated

3.5 A
3.5 A
3.5 A
3.5 A

3.0 A
1.2 A
0.4 A
4.5 A

3.5 A
3.5 A
3.5 A
3.5 A

0.5 A
4.5 A
2.5 A
0.5 A

Comments
Simulation as designed
higher than designed
Simulation as designed
higher than designed

As table 6.2 indicates, the peak-to-peak amplitude of the currents are limited near 5% of
the peak amplitudes of the battery and ultracapacitor currents, as designed using the
simulated results in figures 4.2 to 4.5. The rectangular wave assumption used to size the
filter may have introduced the deviation from 5% limit in the Boost modes listed above.
The effects seen in the resulting waveforms in figures 5.5 and 5.7 seem to identify a
resonance scenario within the filter design.

2. Conclusions
The Bi-directional Cascaded Buck-Boost Converter topology was analyzed and designed
for a specific application supplying power to charge the ultracapacitor or use the power in
the ultracapacitor. The size of the switches, inductor and filter were determined using
analytical equations. The converter was simulated in PSIM to verify its operation. The
harmonics in current was analyzed using both Fourier series method and numerical
Fourier transform in software. Designing a second order LC filter, the dominant harmonic
current was limited to with 5% of the peak amplitude which was verified in simulation.

APPENDIX

DATASHEETS

REFERENCES
i

Study of Bi-Directional Buck-Boost Converter Topologies for Application in Electrical Vehicle Motor Drives F.
Caricchi, F. Crescimbini, F. Giulii Capponi, L. Solero.
ii
Modelling and Control for a Bidirectional Buck-Boost Cascade Inverter Honglin Zhou, Shuai Xiao, Geng Yang, Hua
Geng.
iii
Study of Bi-Directional Buck-Boost Converter Topologies for Application in Electrical Vehicle Motor Drives F.
Caricchi, F. Crescimbini, F. Giulii Capponi, L. Solero.
iv
http://wps.prenhall.com/chet_paynter_introduct_6/6/1664/426188.cw/index.html
v
https://en.wikipedia.org/wiki/Inductor#/media/File:InductorSignalFilter1.png
vi
http://www.electronics-tutorials.ws/capacitor/cap_1.html
vii
https://www.maxwell.com/images/documents/hq_48v_ds10162013.pdf
viii
http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/DM00133320.pdf
ix
Power Electronics: Converters, Applications, and Design - Ned Mohan, Tore M. Undeland, William P. Robbins
x
Seamless Controlled Parallel Bi-directional DC-DC Converter for Energy Storage System - Takayuki Ouchi, Akihiko
Kanouda, Naoya Takahashi and Minoru Moteki