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IEEE TRANSACTIONS ON SMART GRID, VOL. 5, NO.

3, MAY 2014 1421

PV Integrated Smart Charging of PHEVs Based on


DC Link Voltage Sensing
Preetham Goli, Student Member, IEEE, and Wajiha Shireen, Senior Member, IEEE

Abstract—With the proliferation in the number of PHEVs coupled with smart charging strategies which can reduce the
the demand on the electric grid increases appreciably. A smart stress imposed on the grid. One way is to use renewable energy
charging station is proposed in which the charging of the PHEVs resources to charge the PHEVs. Photovoltaic systems would
is controlled in such a way that the impact of charging during peak
load period is not felt on the grid. The power needed to charge be the best choice among the available options because of the
the plug in hybrids comes from grid-connected photovoltaic following reasons:
(PV) generation or the utility or both. The three way interaction • The PVs can be installed on the roof top of a commercial
between the PV, PHEVs and the grid ensures optimal usage of parking lot for charging PHEVs during peak time as they
available power, charging time and grid stability. The system can be made dispatchable by employing external storage
designed to achieve the desired objective consists of a photovoltaic
system, DC/DC boost converter, DC/AC bi-directional converter units. This improves the energy efficiency of the utility as
and DC/DC buck converter. The output of DC/DC boost converter the PHEV load during peak time is reduced.
and input of DC/AC bi-directional converter share a common DC • PV technology is expected to be practical and cost — ef-
link. A unique control strategy based on DC link voltage sensing fective at the kW scale and as a result it is a good candidate
is proposed for the above system for efficient transfer of energy. for grid-connected photovoltaic charging stations [2], [3].
Index Terms—Battery management system, energy storage unit, A review of the literature suggests that research on PHEV
photovoltaic, plug-in hybrid electric vehicle, smart grid. charging and their impact felt on the grid is being carried out
around the world with keen interest. Many pilot ventures on PV
charging stations are also being undertaken [4]. In most of the
I. INTRODUCTION cases AC charging is employed because AC system has been
used for years and there are well developed standards and tech-

T HE ONGOING research in the field of plug-in hybrid


electric vehicles (PHEVs) and the growing global aware-
ness for a pollution free environment, will lead to an increase
nologies. DC charging on the other hand increases the overall
efficiency by reducing the number of power conversion stages
and also offers the advantage of fast charging [5]–[7]. As shown
in the number of PHEVs in the near future. The proliferation of in Fig. 1 PHEVs are directly connected to the DC link by em-
these PHEVs will add stress to the already overloaded U.S grid ploying a DC/DC buck converter. The proposed architecture is
creating new challenges for the distribution network. Though an effective solution for charging PHEVs using a photovoltaic
it is always advantageous to charge the EV’s during night system.
time there will be considerable PHEV load during the day and Several DC charging station architectures have been pro-
even during the hours of peak demand [1]. Transmission and posed by the researchers [8]–[10]. In case of [8] the control
distribution systems can be upgraded to meet the peak demand of the individual electric vehicle charging processes is decen-
but this may result in capacity surplus during normal operating tralized, while a separate central control deals with the power
conditions. There is also a potential risk of night-charging transfer from the AC grid to the DC link. The authors conclude
challenge as the TOU (time-of-use) pricing is designed to dis- that DC fast charging of multiple EVs is possible but the impact
courage charging during the daytime. This would overload the of fast charging on the grid and ways to eliminate or reduce the
distribution transformers which are otherwise designed to cool stress on the grid are not discussed.
overnight. Though installing transformers with higher power An intelligent energy management system (IEMS) is pro-
rating would solve the problem, it is a rather expensive option. posed in [11]. The IEMS allocates power to the vehicle battery
Hence, it’s time to develop charging station infrastructure chargers through real time monitoring, to ensure optimal usage
of available power, charging time and grid stability. However,
Manuscript received April 23, 2013; revised July 24, 2013; accepted October control and architecture of the power electronic interface needed
02, 2013. Date of publication January 16, 2014; date of current version April
to implement the IEMS is not discussed.
17, 2014. This work was supported by CentrePoint Energy, Houston, TX, USA.
Paper no. TSG-00317-2013. In reference [12] the authors proposed a plug-in hybrid elec-
P. Goli is with Department of Electrical Engineering, University of Houston, tric vehicle (PHEV) solar carport charging station concept fea-
Houston, TX 77004 USA (e-mail: preethamgoli@gmail.com; preetham-
turing a multi-port power electronic interface connecting pho-
goli@yahoo.com).
W. Shireen is with University of Houston, Electrical and Computer En- tovoltaic modules, PHEVs, and the power grid. Reference [6]
gineering & Engineering Technology, Houston, TX 77004 USA (e-mail: proposes a solar carport with direct DC/DC interface to increase
wshireen@uh.edu).
the overall efficiency. Though both the above papers deal with
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org. energy conversion systems featuring three-way energy flow in-
Digital Object Identifier 10.1109/TSG.2013.2286745 volving the power grid, PV modules, and plug-in hybrid vehi-

1949-3053 © 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
1422 IEEE TRANSACTIONS ON SMART GRID, VOL. 5, NO. 3, MAY 2014

Fig. 1. Detailed block diagram showing the PCU and controller.

cles, the paper did not implement smart charging techniques to reducing the size of the battery [18]. The proposed charging sta-
reduce the impact on distribution transformers. tion will charge the PHEVs from the photovoltaic system, thus
The concept of DC bus signaling (DBS) has been employed reducing the stress on the grid. When the grid is at peak demand
to supply power to the DC loads. DBS induces dc bus voltage and solar power is insufficient to charge the PHEVs then the
level changes to realize the communications between different charging station would enable vehicle charging to be delayed or
source/storage interface converters [12], [13]. Though DBS is temporarily interrupted. The charging station also includes an
a novel idea it does not take the change in sun’s insolation into energy storage unit (ESU) which consists of a battery bank to
consideration which in turn impacts the DC bus voltage level. store energy during off peak hours. The control of the charging
In [14] the dc link voltage level changes due to the change station is based on the change in DC link voltage level due to the
in sun’s insolation but the feasibility of the proposed control change in irradiation of the sun. The proposed control method
strategy was not validated experimentally. This paper validates is simple and unique.
the practical feasibility of the proposed control strategy in [14] The goal of the proposed architecture is: to charge the PHEVs
through experimental results using a laboratory prototype. The using minimum energy from the utility with a kind of demand
change in irradiation of the sun induces changes in the DC link side management to improve the energy efficiency. Smart
voltage level. Based on the change in DC link voltage level and charging techniques like the one proposed in this paper will be
the loading condition of the distribution transformer the opera- required to avoid major expense to upgrade the transformers
tion of the charging station can be categorized into 4 modes: and other substation equipment [19]–[21]. Also, according to
grid-connected rectification, PV charging and grid-connected the data gathered by National Household Travel Survey, 60%
rectification, PV charging and grid-connected inversion. of vehicles are parked at the workplace for more than 4 hrs
[22]. In view of this, the proposed charging station will be
appropriate for parking facilities at a workplace.
II. SIGNIFICANCE OF THE PROPOSED CHARGING STATION
It is predicted that there will be one million plug-in hybrid III. ARCHITECTURE OF THE CHARGING STATION
electric vehicles on the road by the year 2015[15], [16]. This will Fig. 1 shows a detailed block diagram of the proposed
add extra load to the already overloaded U.S grid. Extensive re- charging station architecture. The main components of the
search on design and implementation of a smarter grid is going charging station are the PCU, photovoltaic array, energy
to play an important role in the integration of PHEVs to the ex- storage unit and the controller. The PCU consists of a DC/DC
isting electric power system [17]. Smart grid technologies may boost converter which also performs the function of maximum
be a solution to manage the charging rates and time scheduling power point tracking (MPPT), a DC/DC buck converter with
of the PHEVs which have a significant impact on the system battery management system embedded in the controller, an
load curve. A PHEV with smart or controlled mid-day charging energy storage unit (ESU) and a DC/AC bi-directional grid
may provide overall improved vehicle performance, increasing tied converter. The ESU will support the charging of PHEV
the drive time travelled using low cost electricity and potentially when there is no power available either from the grid or the PV
GOLI AND SHIREEN: PV INTEGRATED SMART CHARGING OF PHEVS BASED ON DC LINK VOLTAGE SENSING 1423

system. The battery pack in the ESU can be charged from the
grid during off peak hours.
The block diagram in Fig. 1 and the following control descrip-
tion is based on charging requirements of a single PHEV. Mul-
tiple PHEVs can be charged by increasing the corresponding
ratings of the charging station components like the PV panels
and the associated power converters. Each PHEV must have a
separate buck converter installed for each charge point.
The controller monitors and controls the power flow in the
system. As shown in Fig. 1 the controller operation is based on
eight inputs. , SOC and are used to determine
the direction of power flow. and are used to imple-
ment MPPT by means of incremental conductance algorithm. Fig. 2. Change in the DC link voltage and Power generated by the PV with the
is the magnitude of the voltage at the DC link, is change in sun condition.
the detected battery voltage of the PHEV which is the measure
of state-of-charge (SOC). is the loading condition of the
distribution transformer, is the current flowing through levels have been chosen as ,
the boost switch, is the current fed into the grid by the and . The modes of operation of the charging
DC/AC converter, is the voltage across the PV array and station are classified depending on the change in the DC link
is the current flowing from the PV array. voltage. As the DC link voltage is the only criteria for switching
Based on the control signals the controller performs the fol- between various modes the overall complexity of the system is
lowing tasks: reduced.
• Controls the DC/DC boost converter to extract the max-
imum power from the PV emulator by implementing the A. Modes of Operation
incremental conductance algorithm. The operation of the charging station can be categorized into
• Manages the charging of the PHEV by monitoring its state four modes: Mode-1 (grid-connected rectification), Mode-2
of charge (SOC). The controller disconnects the buck con- (PV charging & grid-connected rectification), Mode-3 (PV
verter from the PHEV based on the loading of distribution charging) and Mode-4 (grid-connected inversion). A set of
transformer and the state of charge (SOC) of the battery. variables , , , , ,
• Generates PWM signals at 20 kHz to facilitate the and are used to describe the modes of operation.
switching of the inverter switches. PWM signals at high represents the distribution transformer load and rep-
switching frequency ensures a sinusoidal voltage at the resents the peak load condition of the transformer.
inverter output. is the voltage at the DC link. , and
• The controller changes the modes of operation based on the are the three chosen reference voltage levels of the DC link.
DC-link voltage. Based on the change in DC-link voltage is the detected battery voltage of the PHEV. is the
the converters are controlled to manage the direction of battery voltage corresponding to the threshold value of the
power flow in each mode. state-of-charge. The charging of PHEV should be terminated
once the battery voltage is equal to . Fig. 3 shows the
IV. CONTROL ALGORITHM AND MODES OF OPERATION direction of power flow during various modes of operation of
The control of the PCU is based on DC link voltage sensing the charging station.
and the switching between various modes of operation occurs The four modes of operation are described as follows:
due to the change in the voltage level at the DC link. Mode-1: : Grid-connected rectification
The DC link voltage level varies with the change in the ir- Case-1: and
radiation on the PV panel. Fig. 2 shows the variation in the In this mode the photovoltaic system does not generate any
DC link voltage and the power from the PV array with step power either due to low radiation or bad weather conditions.
changes in irradiation. A PV panel of rating 5.5 kW was mod- The DC/DC boost converter is isolated by means of the iso-
eled in Matlab taking the battery capacity of a single PHEV into lating switch shown in Fig. 1 and the power required to charge
consideration (as shown in Fig. 1). The reference DC link volt- the PHEV is provided by the grid. The isolating switch is
ages have been chosen taking into consideration the change in digitally controlled by the controller based on the change in
sun conditions from early morning to late evening. As shown in DC link voltage. Anytime during this mode if the DC link
Fig. 2 the PV array starts delivering power when the DC link voltage exceeds the switch is closed and the con-
voltage is greater than 50 V. At 250 V the PV system delivers trol shifts to Mode-2. The DC/DC buck converter regulates
4500 W which is the power requirement of standard PHEV bat- the output voltage to charge the PHEV. As the grid is at off
tery. Between 300 V and 350 V the power delivered by the PV peak, it continues to supply power till the vehicle is completely
array is greater than 5000 W, exceeding the power requirement charged. The controller terminates the charging of PHEV by
of the PHEV. This excess power can be sent to the grid. By disabling the DC/DC buck converter when exceeds
taking the DC link voltage and the corresponding power deliv- and the grid supplies power to charge the battery pack in the
ered by the PV array into consideration, three reference voltage ESU.
1424 IEEE TRANSACTIONS ON SMART GRID, VOL. 5, NO. 3, MAY 2014

Fig. 4. Control diagram of DC/DC boost converter.

is isolated from the grid. The PV system continues charging the


PHEV where as the grid caters the peak load demand.
Mode-3: : PV charging mode
Case-1: and

In this mode the PV system generates all the power required


to charge the PHEV. As the distribution transformer is not over-
loaded the PV system need not deliver any power to the grid.
The controller ensures that the PHEV is not over charged by
terminating its charging once exceeds (voltage cor-
responding to 95% state of charge of the PHEV battery). This
mode occurs as long as the DC link voltage is in between
and .
Case-2: and

This mode is similar to Case-1 but with an overload on


the distribution transformer. Once the controller senses the
overloading of distribution transformer (through the parameter
) it halts the charging of PHEVs temporarily. The charging
station now acts as a grid connected PV system and supports
the grid.
Mode-4: : PV charging mode and Grid
inversion mode
The PV array generates excess power once the DC link
voltage exceeds as shown in Fig. 2. This
Fig. 3. Direction of power flow during the operation modes (a) Mode –1 Grid additional power generated by the PV array is sent to the grid
connected rectification, (b) Mode –2 PV charging and grid connected rectifica-
tion, (c) Mode –3 PV charging, (d) Mode –4 Grid connected inversion. via the bi-directional DC/AC converter. Once the PHEVs are
charged, all the power from the PV source is sent to the grid.
Case-2: and
B. Control Description
This mode is similar to Case-1 but with an increase in local
demand on the distribution transformer. In order to reduce 1) DC/DC Boost Converter: The control method for DC/DC
the stress on the grid, the charging of PHEV is terminated boost converter is summarized in Fig. 4. A single phase boost
temporarily by de-activating the grid-connected bi-directional stage is used to boost the PV voltage and track the MPP of the
DC/AC converter. As the distribution transformer is relieved panel. To track the MPP, input voltage and input current
from the additional burden of charging the PHEV, it can are sensed. The two values are then used by the MPPT
continue supplying power to the local loads during the peak algorithm.
time. During this period the PHEV can be charged by the ESU The MPPT is realized using an outer voltage loop that reg-
if the stored energy is sufficient to cater the needs of PHEV ulates the input voltage i.e., panel voltage by modulating the
charging. Once the grid is back to off peak condition (i.e., current reference for the inner current loop of the boost stage.
) the charging of the PHEV is restored and Two 2-pole 2-zero controllers, and are used
the controller monitors its charging. to close the inner DC-DC boost current loop and the outer
Mode-2: : PV charging and input voltage loop. MPPT algorithm provides reference input
grid- connected rectification voltage, to the boost stage to enable panel operation at
In this mode the power generated by the photovoltaic system maximum power point. The sensed input voltage is compared
is less than the power required to charge the PHEV. Therefore with the voltage command , generated by MPPT
all the power generated by the PV is transferred to the PHEV controller, in the voltage control loop. The voltage controller
and the deficit is supplied by the grid. The DC link voltage output, is then compared with the output current
varies with the change in irradiation. This instantaneous change feedback in the current controller. The current loop
in the DC link voltage is sensed by the controller to generate controller output determines the PWM duty cycle so as to
an equal voltage at the output of the DC/AC bi-directional regulate the input voltage indirectly.
converter through the process of rectification. If at any point 2) DC/AC Inverter: The control method for grid-connected
exceeds the bi-directional DC/AC converter DC/AC converter is shown in Fig. 5. This stage uses two nested
GOLI AND SHIREEN: PV INTEGRATED SMART CHARGING OF PHEVS BASED ON DC LINK VOLTAGE SENSING 1425

Fig. 5. Control diagram of DC/AC inverter.

Fig. 7. Experimental outputs describing the loading of distribution transformer


in Mode-1.

for the PV stage and the inverter is a part of the solar explorer
kit; and the DC-DC buck converter for PHEV charging is the
Power-Pole board from Hirel. A synchronous buck boost stage
which is integrated on the board (solar explorer kit) is used
Fig. 6. Experimental setup.
to emulate the PV panel. In the place of a PHEV a 9 V 1200
mAh battery is used. By changing the value of irradiation dif-
control loops — an outer voltage loop and an inner current loop. ferent modes of operation are emulated. Since this is a scaled
is the reference voltage for the DC link, is the down version the DC link reference voltage levels are chosen
detected DC link voltage, is the voltage at the secondary as , and . The
of the distribution transformer, è is the grid phase angle, value of is chosen as 1.5 A. Depending on the refer-
is the reference current for the DC/AC converter generated by ence voltage levels the different modes of operation are classi-
the voltage loop and is the current fed into the grid by the fied as follows:
DC/AC converter.
Two PID controllers, and are used to close the
outer voltage loop and the inner current loop. The voltage loop
generates the reference command for the current loop as
increasing the current command will load the stage and hence
cause a drop in the DC link voltage the sign for reference and the
feedback are reversed. The current command is then multiplied
Experimental tests have been carried out in terms of
by the AC angle to get the instantaneous current reference. Since
steady-state performance and transient-performance between
the inverter is grid connected the grid angle is provided by the
different modes and the results are provided below. Fig. 7
PLL. The instantaneous current reference is then used by the
through 15 explain the experimental results for the various
current compensator along with the feedback current to
modes of operation.
provide duty cycle for the full bridge inverter.
3) DC/DC Buck Converter: The control method for DC/DC A. Experimental Results for Mode-1
buck converter for PHEV charging is based on , ,
and . is the detected battery voltage, is the Experimental results for Mode-1 are shown in Fig. 7. With
battery voltage corresponding to 95% SOC. is the load on the increase in the loading of distribution transformer, in-
the distribution transformer and represents the peak creases from 1 A to 1.5 A as shown in Fig. 7 and accordingly
load condition. The control mode is determined by the detected the PHEV is turned off so that the grid can cater to other loads
battery voltage of the PHEV and the loading condition of the without overloading the distribution transformer (assuming that
distribution transformer. The charging of the PHEV is turned off ). The turning-off of the PHEV is illustrated
once the battery voltage reaches or the distribution trans- by the fact that and go to zero with the increase in dis-
former reaches the peak load condition. tribution transformer loading. This is done by generating a duty
cycle of zero for the buck converter switch.

V. EXPERIMENTAL VERIFICATION B. Experimental Results for Mode-2


To verify the practical feasibility and effectiveness of the pro- Fig. 8 shows the steady state experimental results of Mode-2.
posed control strategies experimental tests have been carried out The DC link voltage is 15.7 V and power is drawn from both the
in the laboratory. TMS320F28035 piccolo card is used to gen- grid as well as PV. Current flowing from the PV,
erate all the required control signals. and current flowing from the grid, (0.3 A RMS) are shown
Fig. 6 shows the experimental setup of the system. The com- in Fig. 8.
ponents include the Solar Explorer Kit by TI (Texas Instru- Experimental results for the transition between Mode-2 to
ments), power pole board in buck configuration by Hirel, an Mode-3 are shown in Fig. 9. In the initial state, the DC link
isolation transformer and a battery. The DC-DC boost converter voltage is around 15.7 V and current flows from both the PV as
1426 IEEE TRANSACTIONS ON SMART GRID, VOL. 5, NO. 3, MAY 2014

Fig. 8. Experimental outputs for Mode-2. Fig. 11. Experimental outputs describing the loading of distribution trans-
former in Mode-3.

Fig. 9. Experimental outputs for transition from Mode-2 to Mode-3.

Fig. 12. Experimental outputs for transition from Mode-3 to Mode-4.

Fig. 10. Experimental outputs for Mode-3.


Fig. 13. Experimental outputs describing the transition in state of charge.
well as the grid to charge the PHEV. Once the DC link voltage
increases to 22.4 V (Mode-3) no power is drawn from the grid.

C. Experimental Results for Mode-3


Fig. 10 shows the steady state experimental results of
Mode-3. The DC link voltage is 22.4 V and the power is
delivered by the PV alone which is 10.7 W.
Fig. 11 represents the condition when the distribution trans-
former gets overloaded in Mode-3. With the overloading of dis-
tribution transformer, the buck converter is turned off (to halt
the charging of PHEV) and the inverter starts operating. Fig. 14. Experimental outputs for Mode-4.
Transition from Mode-3 to Mode-4 is shown in Fig. 12 . With
the change in DC link voltage from 22.4 V to 29.9 V the bi-di- and hence the entire power generated by the PV is delivered to
rectional converter goes from off-state to on-state. the grid.
Fig. 13 shows the turning-off of the PHEV charging when Fig. 14 shows the steady state experimental results of
the state of charge reaches the threshold value. To turn off the Mode-4. The DC link voltage is 29.9 V and the output voltage
PHEV, the duty cycle of the buck converter is made zero and of the inverter is a sine wave. The peak to peak value of the
hence and become zero as shown in Fig. 13. inverter output voltage is maintained at 15 V irrespective of the
variation in DC link voltage from 25 V to 30 V. This is ensured
D. Experimental Results for Mode-4 by controlling the modulation index of the inverter. Fig. 15
Mode-4 resembles the normal operation of a grid connected shows the experimental results of Mode-4 when the DC link
PV system. In this case the battery has been completely charged voltage is 26.9 V. The sinusoidal output voltage is maintained
GOLI AND SHIREEN: PV INTEGRATED SMART CHARGING OF PHEVS BASED ON DC LINK VOLTAGE SENSING 1427

strategy has been validated by experimental results from a


laboratory prototype. The proposed control method based on
the change in DC link voltage level due to the change in irradi-
ation of the sun, is simple and unique. The charging algorithm
facilitates charging of the PHEVs using minimum energy from
the utility with a kind of demand management to improve
the energy efficiency. Smart charging techniques like the one
proposed in this paper will help avoid major expense to upgrade
distribution transformers and other substation equipment with
the increase in PHEV loads on the distribution system.

Fig. 15. Experimental outputs for Mode-4 with a change in DC link voltage.
ACKNOWLEDGMENT
The authors would like to thank CentrePoint Energy,
Houston, TX, USA, for funding the research.

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1428 IEEE TRANSACTIONS ON SMART GRID, VOL. 5, NO. 3, MAY 2014

[17] A. S. Masoum, S. Deilami, P. S. Moses, and A. Abu-Siada, “Impacts Preetham Goli was born in Visakhapatnam, India. He received his B.Eng. de-
of battery charging rates of plug-in electric vehicle on smart grid distri- gree from the Electrical and Electronics Engineering Department at Gandhi In-
bution systems,” in Proc. IEEE PES Innov. Smart Grid Technol. Conf. stitute of Technology and Management. Currently, he is working as a Graduate
Eur. (ISGT Eur.), , Oct. 11–13, 2010, pp. 1–6. Research Assistant at the University of Houston, TX, USA.
[18] P. Denholm, M. Kuss, and R. M. Margolis, “Co-benefits of large scale
plug-in hybrid electric vehicle and solar PV deployment,” J. Power
Sources, pp. 1–7, 2012.
[19] K. Kathy, “Going electric : Things to consider,” The Institute, Sep. 2011
[Online]. Available: http://theinstitute.ieee.org/technology-focus/tech- Wajiha Shireen received her B.S. degree in electrical engineering from
nology-topic/going-electric-things-to-consider Bangladesh University of Engineering and Technology, Dhaka, and the M.S.
[20] S. J. Jeff, “EPRI plugs smart grid for energy savings,” Dec. 4, and Ph.D. degrees from Texas A&M University, College Station, TX, USA.
2008 [Online]. Available: http://www.greentechmedia.com/arti- She then joined the Engineering Technology Department at University of
cles/read/epri-plugs-smart-grid-for-energy-savings-5308/ Houston, Houston, TX, USA, where she is currently a Professor holding a joint
[21] L. Russell, “Smart grid needs energy efficiency” [Online]. Available: appointment with the Electrical and Computer Engineering Department. Her
http://smartgrid.ieee.org/resources/smart-grid-news/17-ieee-smart- primary research interests are in power electronics, power conversion, PWM
grid-news/13-smart-grid-needs-energy-efficiency. techniques, and alternate energy systems. She is engaged in teaching, research,
[22] “Summary of travel trends 2009,” National Household Travel Survey and consulting in the area of power electronics.
(NHTS) [Online]. Available: http://nhts.ornl.gov/2009/pub/stt.pdf

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