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IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 19, NO.

4, NOVEMBER 2004 1911

Fixed-Speed Wind-Generator and Wind-Park


Modeling for Transient Stability Studies
Daniel J. Trudnowski, Senior Member, IEEE, Andrew Gentile, Member, IEEE, Jawad M. Khan, Student Member, IEEE,
and Eric M. Petritz, Student Member, IEEE

AbstractIncreasing levels of wind-turbine generation in common in the wind industry. In this paper, we focus on mod-
modern power systems is initiating a need for accurate wind-gen- eling the fixed-speed unit and an equivalent model of several
eration transient stability models. Because many wind generators fixed-speed units in a wind park.
are often grouped together in wind parks, equivalence modeling
The first-mode mechanical frequency of a typical wind tur-
of several wind generators is especially critical. In this paper, a
reduced-order dynamic fixed-speed wind-generator model appro- bine is in the 0- to 10-Hz range; this is also the range for electro-
priate for transient stability simulation is presented. The model mechanical oscillations. Consequently, the mechanical vibra-
is derived using a model reduction technique of a high-order fi- tions of the wind turbine interact with the electromechanical
nite-element model. Then, an equivalencing approach is presented dynamics. Examples of this interaction are shown in this paper.
that demonstrates how several wind generators in a wind park can Therefore, in order to create an accurate model of a wind gener-
be combined into a single reduced-order model. Simulation cases ator to be used in transient stability studies, the first-mode me-
are presented to demonstrate several unique properties of a power
system containing wind generators. The results in this paper focus chanical turbine dynamics must be accurately represented.
on horizontal-axis turbines using an induction machine directly The wind-generator model presented here is derived by con-
connected to the grid as the generator. ducting model reduction on a detailed 650th-order finite-ele-
Index TermsTransient stability simulation, wind-generator ment model of a typical horizontal-axis turbine. Aerodynamic
modeling, wind-park modeling, wind-turbine modeling. and mechanical dynamics are reduced resulting in a nonlinear
4th-order two-inertia turbine model combined with a standard
generator model. Simulations are presented to demonstrate the
I. INTRODUCTION accuracy of the model.
A wind park consists of several wind generators connected to
R ECENTLY, wind-energy development has experienced a
significant level of interest. The rise in the use of wind
generators is accompanied by a need to evaluate their impact
the transmission system through a single bus. Because modeling
each individual turbine for transient stability is overly cumber-
on power-system dynamics for electrical power transmission some, our goal is to lump the wind park into a minimal set
planning. The first goal of this paper is to present an accu- of equivalent wind-generator models. Our approach for equiva-
rate low-order dynamic model of a wind generator which is lence modeling of a wind park involves combining all turbines
compatible with modern electromechanical transient simulation with the same mechanical natural frequency into a single equiv-
computer programs. The model developed here focuses on a alent turbine. Simulation results demonstrate this approach pro-
horizontal-axis, up-wind, or down-wind machine directly con- vides accurate results.
nected to the synchronous grid using an induction generator.
This encompasses many modern large-scale systems. Because II. PREVIOUS RESULTS
large wind installations consist of many wind generators, wind- A representative example of published results for modeling
park modeling is a critical need. Consequently, the second goal wind generators for transient stability is contained in [2][10].
is to present a methodology for combining several wind gener- Results for modeling fixed-speed wind generators have focused
ators connected to the grid through a common bus into a single on two primary approaches. The first approach represents the
equivalent model. turbine and generator rotor as a single inertia thus ignoring the
Wind generators are primarily classified as fixed speed or systems mechanical natural frequency [2][5]. The second ap-
variable speed. With most fixed-speed units, the turbine drives proach represents the turbine blades and hub as one inertia con-
an induction generator that is directly connected to the grid. nected to the generator inertia through a spring [6][9]. In all of
The turbine speed varies very little due to the steep slope of the these papers, the spring stiffness is calculated from the systems
generators torque-speed characteristic; therefore, it is termed shaft.
a fixed-speed system. With a variable-speed unit, the generator Our research indicates that representing the first-mode me-
is connected to the grid using power-electronic converter tech- chanical frequency is critical to an accurate model. Finite-ele-
nology. This allows the turbine speed to be controlled to max- ment analysis has shown that the first-mode dynamics are pri-
imize performance (e.g., power capture). Both approaches are marily a result of the flexibility of the turbine blades not the shaft
as assumed by others [11]. The modeling approach presented in
Manuscript received February 3, 2004. This work was supported in part by this paper centers on the fact that the primary flexible mechan-
the Western Area Power Administration. Paper no. TPWRS-00388-2003. ical component is the turbine blade.
The authors are with Montana Tech, University of Montana, Butte, MT 59701
USA (e-mail: dtrudnowski@mtech.edu). The results in [7] focus on reduced-order wind-park mod-
Digital Object Identifier 10.1109/TPWRS.2004.836204 eling. The authors use a standard induction generator equiva-
0885-8950/04$20.00 2004 IEEE
1912 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 19, NO. 4, NOVEMBER 2004

lencing method to combine several wind generator systems. But,


the authors do not address the problem of combining the tur-
bines in such a way to preserve the mechanical natural frequen-
cies. Our research indicates this is critical to having an accurate
wind park model.
A thorough discussion of reduced-order modeling of vari-
able-speed turbines is contained in [10]. The authors argue the
turbine mechanics can be represented as a single inertia be-
cause the variable-speed connection decouples the mechanical
dynamics from the electromechanical dynamics. Our results do
not consider the variable-speed case.
The work described in [2][10] focuses on low-order turbine
models that can be easily implemented in large-scale transient
stability codes. Considerable research has focused on modeling
at a more detailed level. An excellent overview and literature re-
view is contained in [17]. Detailed modeling approaches range
from highly-detailed finite-element models to more simplified
six-mass, five-mass, and three-mass turbine models. The ma- Fig. 1. ADAMS/WT simulation result.
jority of these models use momentum theory [13] to calculate
aerodynamic forces. large turbines. Modern wind-turbine blades are very large and
flexible, and tend to vibrate at their first mode when excited from
III. TURBINE DYNAMICS the hub. Prony analysis of the oscillation in Fig. 1 shows it pri-
marily contains a 4-Hz component [12]. This is also typical of
Our approach for developing a reduced-order model consists large-scale turbines, which usually have a first-mode natural me-
of starting with a highly-detailed mechanical and aerodynamic chanical frequency in the 0- to 10-Hz range. Because this range
turbine model and then removing all dynamic effects outside is also typical for electromechanical oscillations, it is critical to
the electromechanical range. In this reduction process, all represent the mechanical oscillations of the wind-turbine as they
analysis is done from the perspective of the turbine shaft that will tend to interact with the electromechanical oscillations.
drives the generator. The goal is to accurately represent shaft The mode shape of the first-mode oscillation that dominates
speed and torque characteristics with minimal model order and the response in Fig. 1 dictates that the model can be repre-
complexity. sented by a two-inerta, single spring-damper system as depicted
To numerically investigate and demonstrate the aerodynamic in Fig. 2. This is the basis for the reduced-order model that fol-
and mechanical effects, an example test system was imple- lows. One inertia represents the outer portion of the blades (the
mented in a finite-element modeling environment. The system blade tips in Fig. 2). The blade tips are rigidly connected as de-
is an up-wind horizontal-axis machine consisting of three picted in Fig. 2 with a massless blade ring. The blade tips
31.7-m blades with a set-point pitch angle of 2.6 , an 82.5-m act as a single inertia because all transient disturbances equally
tower, and is rated at 18.2-RPM and 1.5 MW in a 15-m/s act on all blades through the generator shaft. The other inertia
wind. The turbine is directly connected to a 60-Hz infinite bus represents the combined effect of the blade roots, hub, turbine
through a simple induction generator model. Simulations were shaft, gearing, generator shaft, and generator inertia. For a typ-
conducted using the ADAMS finite-element software package ical system, the inner inertia is dominated by the blade roots and
(from Mechanical Dynamics, Inc.) coupled with WT (from generator inertia.
National Renewable Energy Laboratory) software. These two The reduced turbine model depicted in Fig. 2 is considerably
together are termed ADAMS/WT. All model parameters for the different than what other researchers have proposed [2][9].
test system were developed to represent a realistic large-scale Many have lumped the entire turbine and generator into a single
machine and are contained in [12]. The overall system contains inertia and ignored the mechanical first-mode dynamics [2][5].
325 degrees-of-freedom and includes highly detailed modeling Others have considered first-mode dynamics, but do not model
of aerodynamic and external forces. Because the mechanical the blade flexibility [6][9]. Instead, these authors have assumed
design of the majority of horizontal-axis turbines is very sim- the blades to be a single inertia and model the turbine shaft as
ilar, the results of the approach are widely applicable. a spring. But, in a typical system, the blades are much more
The ADAMS/WT system was studied extensively with re- flexible than the shaft. Our research indicates that the blades
spect to the systems transient response to a braking pulse. The dominate the mechanical first mode and the shaft acts as a rigid
disturbance was designed to mimic a three-phase short-circuit body. Our research also indicates that correctly modeling the
lasting for 0.1 s. The generators shaft response is then analyzed. mechanics is critical to obtaining accurate transient simulation
The response of the ADAMS/WT generator shaft to the distur- results.
bance is shown in Fig. 1. As seen in Fig. 1, the response is a
damped oscillation.
IV. SINGLE WIND-GENERATOR MODEL
Detailed modal analysis of the system shows that the oscil-
lation is the result of the outer portions of the blades vibrating The single wind-generator model consists of two primary
against both the inner portions of the blades and all other iner- components: the reduced-order two-inertia turbine model from
tias on the shaft [11], [12]. Such a result is typical, especially for the previous section driven by a wind torque; and a standard
TRUDNOWSKI et al.: FIXED-SPEED WIND-GENERATOR AND WIND-PARK MODELING FOR TRANSIENT STABILITY STUDIES 1913

Fortunately, most modern blade manufactures or blade-


testing facilities (such as the facility at the National Renewable
Energy Laboratory in the United States) have the required
information to determine the blade break point. The power
engineer simply needs to request this information. Once one
has the blade break point, the inertia parameters can easily be
calculated from typical manufactures data.
The stiffness in (1) can be calculated from knowledge of
the systems first-mode mechanical natural frequency using

(2)

where is the first-mode mechanical lead-lag natural fre-


quency with the system connected to infinite bus. For example,
in the system in the previous section, .
Typically, manufactures can provide this frequency. It can be
easily calculated by applying a brake pulse on the turbine and
analyzing its response (for example, Fourier analysis of the
generators speed). In most cases the blade damping is very
Fig. 2. Reduced-order turbine.
small and assumed to be zero.
The spring stiffness is a measure of the blades stiffness in
the rotational plane which is a combination of the blades edge
electric generator. For this paper, we assume the generator to be stiffness and flat stiffness [12]. Relating to the edge and flat
a standard induction machine directly connected to the grid as results in
this is the most common configuration.

A. Turbine Model (3)


The two-inertia reduced-order turbine in Fig. 2 is the basis where is the edge stiffness, is the flat stiffness, and is
for the turbine model. The equations of motion for the system the pitch angle. Both and are constant. As can be seen in
in Fig. 2 are (3), is dependent on the pitch angle . Typically, is limited
to be between zero and ten degrees. Analysis of (3) under this
restriction shows that varies very little for different pitch set
points. This implies, and experiments support, that the accuracy
(1) of the turbine model has very small sensitivity to variations in
the systems pitch angle [12].
where The wind torque is calculated assuming an ideal rotor disk
number of blades; from the equation [13]
effective gear ratio = /rated-turbine-speed;
electrical frequency base;
inertia of each blade tip; (4)
inertia of each blade root
+ inertia of where is the velocity of the blade tip sections reflected
+ inertia of turbine shaft and gearing/ through the gearing, is the air density, is the sweep area of
+ inertia of generator shaft and rotor; the blades, is the free wind velocity, and is the turbines
blade stiffness; power coefficient.
blade damping; Unfortunately, is not a constant. However, the majority
aerodynamic wind torque; of turbine manufactures supply the owner with a curve. The
generator electrical torque; curve expresses as a function of the turbines tip-speed ratio.
blade tip angle reflected through the gearing; Tip-speed ratio is defined to be the ratio of the turbine blades
generator shaft angle. tip speed to the free winds velocity; it is expressed as
Calculating the inertias and in (1) requires knowledge of
the blade break point where the spring-damper is placed (see
Fig. 2). If the blade is not broken at the correct position, then (5)
the mechanical mode shape will not be correct. The break point
is primarily a function of the blade mechanics and can be deter- where is the unitless tip-speed ratio and is the blade sweep
mined from finite-element analysis or testing of the blade and radius. Fig. 3 shows a curve for a typical wind turbine. Our
seems to occur at the second bending node of the blade. In the research has shown that for transient stability studies, can be
example cases studied in [12], the reduced-order systems sen- assumed constant except under extremely high wind conditions
sitivity to improper placement of the break point is significant. [14]. This is because the typical variation of the tip-speed ratio
This is demonstrated in the example section. under a 10 second transient simulation is very small [14]. This
1914 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 19, NO. 4, NOVEMBER 2004

and the stators current is calculated from

(6c)

The generator model parameters used in (6) are calculated


from

(7a)

(7b)
(7c)

where is the stator leakage reactance, is the rotor leakage


reactance, is the magnetizing reactance, is the rotor
phase resistance, is the generators terminal voltage, and
is the synchronous speed.
Fig. 3. C versus tip-speed ratio ().

V. WIND PARK MODELING


assumes that the wind does not significantly change over the A wind park consists of several wind generators connected
simulation time period. to the transmission system through a single bus. Because mod-
The torque that is induced on the turbine shaft is actually a eling each individual turbine for transient stability can be overly
modulated version of (4). The modulation is well known and cumbersome, our goal is to lump the wind park into a minimal
is caused primarily by tower shadowing and unbalanced me- set of equivalent models. The equivalence modeling of a wind
chanics. Typical modulation frequencies are at the 1P and 3P park involves combining all turbines with the same mechanical
modes (note: 1P is once per revolution of a turbine blade) [6]. natural frequency into a single equivalent turbine. Each of these
We do not include these effects as we assume that the torque equivalenced turbines is then connected to an equivalent induc-
induced from the transient fault is much larger than the modu- tion generator.
lation torque. This assumption has been made by many other
researchers (for example, [7]). Future research will focus on A. Equivalent Turbine Model
testing this assumption.
The premise for our approach is the following: because the
In general, the two-inertia turbine model proposed here is a
turbines are all tied to a common bus, each turbine within the
relatively robust model that covers many turbine operating con-
park is subject to the same disturbance torque. Therefore, tur-
ditions. All model parameters are relatively constant with very
bines of similar properties will oscillate in phase with each other.
little sensitivity to the pitch angle. Because the main compo-
Therefore, the turbines can be combined as a mechanical par-
nent of energy in a transient is due to turbine inertial energy,
allel combination. Modal analysis of wind park systems sup-
stall-controlled turbines can be accurately modeled using this
ports this hypothesis [15]. For example, consider the case where
approach.
turbines of the same natural mechanical frequency are to be
combined. Then the equivalent turbine modeling equations are
B. Generator Model (1) where
Standard practices are well established for modeling the
generator [1]. A standard detailed two-axis induction machine
model is used to represent the induction generator [1]. The
resulting equations are
(7)

where , , , and are the inertia, spring, and damping


(6a) terms for turbine , respectively.
The wind torque for the equivalent turbine is obtained using
(4) and forcing the equivalent turbine to have the same output
where is the transient open-circuit time constant, is the power as the sum of the turbines. This results in
slip speed, is the synchronous reactance, is the transient
reactance, and are the d-axis and q-axis stator voltages,
and and are the d-axis and q-axis per-unit stator currents.
The torque is calculated from

(8)
(6b)
TRUDNOWSKI et al.: FIXED-SPEED WIND-GENERATOR AND WIND-PARK MODELING FOR TRANSIENT STABILITY STUDIES 1915

where is the sweep area, is the free wind velocity, and


is the turbines power coefficient for turbine .

B. Equivalent Generator Model


The equivalenced induction generator parameters are ob-
tained using the weighted admittance averaging method in
[16]. With this method, the equivalent machine parameters ,
, , and are calculated by taking the weighted average
admittances of each branch of the induction machine equivalent
circuit. The weighting for the averages are calculated using the
rated power of the generators.

VI. SIMULATION RESULTS


Many example test cases have been studied to evaluate the
properties of the modeling approach; these are contained in [12],
[14], [15]. A select few are presented in this section. Fig. 4. Finite-element model versus two-inertia reduced-order model response
for example 1.

A. Example 1
For this example, we compare the response of the two-inertia
reduced-order turbine in (1) to the response of the finite-ele-
ment model and a detailed five-inertia model. Each model is
connected to an infinite bus through an induction generator.
The response of the finite-element model is shown in Fig. 1.
The five-inertia model represents each blade with edge and flap
spring-dampers; the slow-speed shaft spring stiffness is also
represented; and the aerodynamics are modeled using Glauert
vortex momentum theory [13]. The five-inertia model also con-
tains the centrifugal, gravity, and coriolis effects. Derivation of
the five-inertia model is contained in [11], [12]. The turbine
properties are described in Section III. It is directly connected to
a 60-Hz infinite bus through the 1.68-MW induction generator.
Turbine and induction-generator model parameters for the
reduced-order model are provided in the Appendix. The sim-
ulation is compared to the ADAMS finite-element simulation Fig. 5. Five-inertia model versus two-inertia reduced-order model response
which includes highly detailed aerodynamic and mechanical for example 1.
modeling. The two-inertia reduced-order model is a 6th-order
model [(1), (4), and (6)] while the finite-element model is
approximately 650th-order, and the five-inertia model is 18th
order.
Simulation results are shown in Fig. 4 and Fig. 5. As can be
seen, the two-inertia reduced-order model closely matches the
highly detailed finite-element and five-inertia models.

B. Example 2
In this example, we demonstrate the sensitivity of the two-
turbine model to the choice of the blade break point. The re-
sponses of three modeling cases are shown in Fig. 6. The 50%
break-point places the blade spring at the center of the blade ra-
dius and is the same model used in example 1. This response
is compared to a 43% break point and a 56% break point. The
percentage indicates the location from the hub where the blade
spring is placed along the blade radius. The differences between
the responses are significant enough to merit careful selection of Fig. 6. Two-inertia model break point comparison for example 2.
the blade break point.
inertia model often used by researchers (e.g., [2][5]). The one-
C. Example 3 inertia turbine model is
For this example, we compare the transient behavior of the
two-inertia turbine model in (1) with the more simplified one- (9)
1916 IEEE TRANSACTIONS ON POWER SYSTEMS, VOL. 19, NO. 4, NOVEMBER 2004

Fig. 8. Two-inertia versus the one-inertia turbine response. Real power flowing
from bus 17 to 16 for example 3.

Fig. 7. Example test system.

The wind generator is connected to the test system in Fig. 7


at the wind park location. The system consists of the wind
generator connected to a 230-kV transmission system through
two 69-kV parallel lines. The wind generator is the same as
used in example 1 and the wind velocity is 12 m/s. The system
also has four synchronous generators. Each of the synchronous
generators is equipped with a speed governor and an excita-
tion system. Standard subtransient models are used for the syn-
chronous generators along with excitation and speed-governor
models and can be found in [1]. All of the following simu-
lations were implemented in a modified version of the Power
System Toolbox (from Cherry Tree Scientific Software, On-
tario, Canada). The Toolbox was modified to allow for simu-
lation of wind generators.
Fig. 8 shows the real power out of the wind generator for the Fig. 9. Wind park versus the equivalent model response. Real power flowing
two modeling cases for a disturbance consisting of a 5-cycle from bus 17 to 16 for example 4.
fault at bus 15 followed by a line opening at bus 15. Prony anal-
ysis of the two-inertia turbine response shows two modes in the sists of 21 wind generators, each connected to bus 17 through a
oscillation: a 4.5-Hz mode and a 2.0-Hz mode. The 4.5-Hz mode short transmission line. All wind generators are the same as the
is due to the mechanical mode of the turbine and the 2.0-Hz two-inertia system used in example 2. Two modeling cases are
mode is the electromechanical mode. Similar analysis of the compared. The first case is a detailed model where each wind
one-inertia response indicates only one mode at 2.4 Hz, which generator in the park is modeled individually; this effectively
is an electromechanical mode. results in a 126th-order model for the park. The first seven wind
Because of the errors in the first-swing and oscillatory re- generators are driven by a wind velocity of 14 m/s and are con-
sponse of the single inertia system in Fig. 8, a power engineer nected to bus 17 through a 1-km distribution line; the second
would likely come to a different conclusion concerning the tran- seven are driven by a wind velocity of 11 m/s and are connected
sient and small-signal stability properties of the system. The to bus 17 through a 2-km line; and the last seven are driven
one-inertia response indicates a more stable system with a lower by a 8 m/s wind and connected to bus 17 through 3-km line.
first-swing deviation and higher oscillatory damping. Other ex- For the second case, the park is modeled as a single equiva-
amples in [14] demonstrate cases where the single-inertia re- lent wind-generator using the method in Section V (a 6th-order
sponse is stable and the more accurate two-inertia response is model).
unstable. Fig. 9 shows the wind-park real power and Fig. 10 shows the
bus 17 voltage for the two cases. The disturbance is the same as
D. Example 4 in example 3. As can be seen, the equivalent model very accu-
This example demonstrates the effectiveness of the wind-park rately represents the detailed one. Other simulation cases also
equivalent modeling approach. The wind park in Fig. 7 now con- demonstrate the accuracy of the approach [15].
TRUDNOWSKI et al.: FIXED-SPEED WIND-GENERATOR AND WIND-PARK MODELING FOR TRANSIENT STABILITY STUDIES 1917

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studies, M.S. thesis, Montana Tech, Univ. Montana, Butte, 2002.
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Fig. 10. Wind park versus the equivalent model response. Per unit voltage at sign. New York: Van Nostrand, 1987.
bus 17 for example 4. [14] E. Petritz, Impacts of wind generators on power system transient sta-
bility, M.S. thesis, Montana Tech, Univ. Montana, Butte, 2003.
[15] J. Khan, Modeling a wind generator farm for transient stability using
VII. CONCLUSION equivalencing, M.S. thesis, Montana Tech, Univ. of Montana, Butte,
MT, 2003.
A reduced-order dynamic wind generator model appropriate [16] F. Nozari, M. D. Kankam, and W. Price, Aggregation of induction mo-
for transient stability has been presented. The model represents tors for transient stability load modeling, IEEE Trans. Power Syst., vol.
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wind turbines, Ph.D. dissertation, Delft Univ., Delft, The Netherlands,
generator electrical equations used for transient stability. An 2003.
equivalencing approach was also presented that demonstrates
how several wind generators in a wind park can be combined
into a single model. Simulation cases are presented to demon-
strate the accuracy of the approaches. Future research will focus
Daniel J. Trudnowski (M91SM99) received the B.S. degree in engineering
on testing the effects of modulation torques such as tower shad- science from Montana Tech, University of Montana, Butte, in 1986, and the
owing on the modeling approaches. M.S. and Ph.D. degrees in electrical engineering from Montana State University,
Bozeman, in 1988 and 1991, respectively.
From 19911995, he was with Battelle, Pacific Northwest National Labo-
APPENDIX ratory, where he was a Senior Research Engineer working on control system
and power system dynamic problems. From 1992 to 1995, he also served as an
Model parameters for example 1: Adjunct Lecturer in the Electrical Engineering Department, Washington State
Turbine: , , University, Tri-Cities. In 1995, he joined the Engineering Department at Mon-
, , , . Gen- tana Tech, where he is currently a Professor of Electrical Engineering.
erator: , , ,
, , .

Andrew Gentile (M02) received the B.A. degree in english from Southern
ACKNOWLEDGMENT Illinois University, Edwardsville, in 1989 and the M.S. degree in general en-
The authors gratefully acknowledge the guidance of Mr. E. gineering, control system option from Montana Tech, University of Montana,
Butte, in 2002.
Weber of the Western Power Administration (WAPA). From 1990 to 1997, he worked as a Carpenter/Independent Contractor in
western Montana. He is currently the Laboratory Director in the Engineering
Department of Montana Tech.
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IEEE Power Engineering Society Summer Meeting, Vancouver, Canada, trol system option) in 2001 from Montana Tech, University of Montana, Butte,
July 2001, pp. 1519. where he is currently pursuing the M.S. degree in electrical engineering.
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