A Project Report on

DC-DC Converters for Space Applications

For requirement of ELEC 6461 (Power Electronics II) course

Under Dr. Akshay Kumar Rathore

Department of Electrical and Computer Engineering

Concordia University

Submitted by:

Richard Eiser

Date: April 9th, 2022

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Table of Contents
1. INTRODUCTION 4
2. HIGH-VOLTAGE ISOLATED DC–DC CONVERTERS 4
3. TWO-STAGE TOPOLOGY 6
3.1. Three Port Converter – Type I 6
3.1.1. Components 6
3.1.2. Switching and Modes of Operation 6
3.2. Three Port Converter – Type II 10
3.2.1. Components 10
3.2.2. Switching and Modes of Operation 10
3.2.3. Losses 15
3.2.4. Compactness 15
3.2.5. Efficiency 15
3.3. Three Port Converter – Type III 16
3.3.1. Components 16
3.3.2. Switching and Modes of Operation 16
3.3.3. Losses 19
3.3.4. Efficiency 20
4. COMPARISON OF THE TPCs 21
4.1. Converter Components 21
4.2. Types of switching and modulation 21
4.3. System Specifications 21
5. CONCLUSION 22
6. REFERENCES 22

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Table of Figures
Figure 1: Non-Isolated Buck-Boost Converter [1] 4

Figure 2: Isolated Flyback Converter derived from Buck Boost Converter [1] 4

Figure 3: A Standard Three Port Converter [2] 5

Figure 4: Topology of Type-I TPC 6

Figure 5: Steady State Waveforms of TPC Type-I 8

Figure 6: Voltage Stress during Soft Switching 9

Figure 7: Voltage Stress during Hard Switching 9

Figure 8: Hard Switched and Soft Switched Efficiencies 9

Figure 9: Topology of Type-II TPC 10

Figure 10: ZVS Conditions for primary side MOSFETs 11

Figure 11: Steady State Waveforms of TPC Type-II 13

Figure 12: Input Current Waveforms without Interleaving of converter 14

Figure 13: Input Current Waveforms with Interleaving of converter 14

Figure 14: System Losses 15

Figure 15: Measured Efficiency versus output power in different power flow 15

Figure 16: Topology of Type-III TPC 16

Figure 17: Steady State Waveforms of TPC Type-III 18

Figure 18: Experimental results of gate voltage and drain voltage of M3 and M4 20

Figure 19: Measured Efficiency curves of the converter 20

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 1. INTRODUCTION
There are different applications where the use of high level dc voltages (thousands of volts) is
necessary. Typical examples are laser-based systems, medical and industrial x-rays and
telecommunications equipment with travelling wave tubes (TWT), utilized in communication
satellites. Therefore, several high-voltage dc–dc switching power converters are used in different
types of electronic equipment. The designer of high voltage power supplies faces many problems
that are not present in low voltage designs, and the choosing the most adequate solution depends
on the design requirements of each specific application.

2. OVERVIEW OF CONVERTERS
2.1. About isolated and non-isolated converters
A non-isolated converter does not have an isolation between the input and output. Although
low cost and simple, these converters have a disadvantage of a direct electrical connection between
the input and output, whereas an ideal converter requires a separation from the applied input
voltage and the output voltage, in order to provide safety to the user.

Figure 1: Non-Isolated Buck-Boost Converter [1]

Isolated DC-DC converter will have a high frequency transformer providing a separation between the
input and the output side. This separation can withstand voltages ranging a few hundred volts to
several thousand volts. Although the converter has a couple of disadvantages like complex and bulky

circuit, the advantages like safety, efficiency and so on makes it more desirable.

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 Figure 2: Isolated Flyback Converter derived from Buck Boost Converter [1]
2.2. About renewable applications
Power electronics DC-DC converters are being widely used in various applications like hybrid
energy systems, hybrid vehicles, aerospace, satellite applications and portable electronics devices.
Three Port Converters (TPC) are needed to interface renewable energy sources with the load along
with energy storage in stand-alone or grid-connected residential, commercial and automobile
applications. TPCs are also used in renewable energy based smart grid applications and the battery
storage unit that stores energy is a major application.

2.3. A brief on Three Port Converter

Figure 3: A Standard Three Port Converter [2]

A Three Port Converter has two input sources (one renewable and a battery source) and an
output port. Generally, a TPC can deliver power to the load independently or the two sources
combined. However, the renewable energy source can also charge the battery in case of
excess power generation in comparison to the load requirement.

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 3. ANALYSIS OF THREE PORT CONVERTERS
3.1. Three Port Converter – Type I
This paper [3] deals with the working of isolated three port bi-directional DC-DC converter
specifically designed for simultaneous power management of multiple energy sources.

Figure 4: Topology of Type-I TPC

The proposed topology is split into 2 separate converters for easy analysis:
● LCL resonant circuit
● Battery -related buck and boost converter consisting of L2, S2, and S2

3.1.1. Components
On the low voltage side (LVS), there are two sources, PV and battery, two parallel capacitors
C1 and C2 and two inductors L1 and L2. There are three switches S1, S2 and S3. An LCL resonant circuit
consisting of two inductors Lr and Lp and a capacitor Cr. Where Lp includes the added inductance Lp1
and the leakage inductance of the transformer L’p. An energy storage capacitor CS and magnetizing
inductance Lm.

On the High voltage side (HVS), there is a full bridge converter consisting of four diodes DS1,
DS2, DS3 and DS4 , a capacitor C and an output port. A high frequency transformer separates the LVS
and HVS sides of the topology.

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3.1.2. Switching and Modes of Operation
The modulation technique used in the proposed converter in Figure 4 is Pulse Width
Modulation (PWM). This modulation technique is employed such that switch 1 achieves soft
switching. The type of soft switching employed in the paper is Zero Current Switching (ZCS).
Necessary condition to achieve ZCS is that Lp > Lr
Before mode 1: S1 – OFF ; Current through Lr, Lp = zero
I1 = Positive ; i(t1) = 0

Mode 1 [t1,t2]: S1- ON ; Lr – current increases ; Cr – Voltage decreases

Lm – current increases ; iT2 – positive ; DS1, DS3 – ON
Vp – polarity changes from positive to negative

Mode 2 [t2,t3]: i(t) > 0, ip(t) = im(t), DS1 , DS2 , DS3 and DS4 – Reverse biased [i(t) = 0]
At the end of mode 2, DS2, DS4 - ON

Mode 3 [t3,t4]: iT2 < 0 ; Lr – Releases energy to charge Cr

At the end of mode 3 (at t4), Lr – current becomes zero

Mode 4 [t4,t5]: ids1 – negative, at t5 S1 – OFF 🡪 under ZCS condition

At the end of mode 4, i(t5) = 0

Mode 5 [t5,t6]: Lr and S1 – neglected ; ip = negative to positive

At the end of mode 5, iT2 at t6 = 0
Vp – polarity from negative to positive

Mode 6 [t6,t7]: DS1, DS2, DS3 and DS4 = Reverse biased [iT2= 0]
Cr – charges

Mode 7 [t7,t8]: DS1, DS3 – ON

At the end of mode 7 (at t8), S1 – ON
Converter switches back to mode 1

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 Figure 5: Steady State Waveforms of TPC Type-I

The converter works on two modes, buck and boost. Where the converter operates in buck
mode when PV power > load 🡪 S3 – OFF, S2 – ON, surplus PV power charges battery and when PV
power < load 🡪 S3 – ON, S2 – OFF, Battery discharges to CS which is the boost mode of operation.

Incurring from the experimental results of the paper, it shows soft switching is beneficial over
hard switching. This can be justified with the below results in Figure 6 and Figure 7. The main
advantage of soft switching in the proposed converter is that main switch S1 is turned off under the
ZCS condition, by using the LCL-resonant circuit implemented in Port 1, thereby reducing the voltage
stress to 35.8V, shown in Figure 6. Whereas hard switching does not have an LCL circuit which causes
an increase in voltage stress across switch S1 which is 65.9V, shown in Figure 7. The di/dt value in the
hard switched converter is 118A/µs and for soft switching it is 10A/µs. From the Figure 8, the
efficiency of soft switching is better than hard switching. The maximum efficiency of the converter
under soft switching is close to 94.5%.

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 Figure 6: Voltage Stress during Soft Switching

Figure 7: Voltage Stress during Hard Switching

Figure 8: Hard Switched and Soft Switched Efficiencies

As seen in the Figure 4, the converter uses lesser number of switches which is three.
However, it is possible that the LCL circuit makes the topology bulkier.

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3.2. Three Port Converter – Type II
This paper [4] deals with isolated three port converter topology derived from interleaved
boost topology and active six-folder. The battery current increases immediately and the battery
power compensates the decrease of PV power to keep P0 constant. The battery current decreases
immediately and the battery power compensates the increase of PV power to keep P0 constant.

Figure 9: Topology of Type-II TPC

3.2.1. Components
On the primary side, there are two voltage sources VPV and Vbat (PV and battery) and two
inductors L1 and L2. Four power switches (MOSFETs) S1, S2, S3 and S4. The transformer turns ratio is
1:n. The secondary side derived from passive six-folder rectifier, which has six capacitors (C1 – C6).
The secondary-side capacitances are sufficiently large with ignorable voltage ripples, four diodes (D1
– D4) and two switches (S5 and S6). And leakage inductance Llk. There is a load connected to the
secondary side (V0).

3.2.2. Switching and Modes of Operation

The modulation technique used in the proposed converter in Figure 9 is Pulse Width
Modulation (PWM) and Phase Shift Modulation (PSM).

The type of soft switching employed in the paper is Zero Voltage Switching (ZVS) on the
primary side and Zero Current Switching (ZCS) on the secondary side. Therefore, the switches are
turning ON with ZVS and diodes are turning OFF with ZCS.

Generally, small inductance leads to a wider ZVS range. The battery charging mode with Pbat >
0 is featured with a wider ZVS in the lower MOSFETs. In the proposed converter, the DCM operation
is naturally avoided. Therefore, the light load ZVS performance is enhanced. Refer to Figure 10 for
ZVS conditions.

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 It should be noted that the ZVS conditions for S1 and S3 are identical. So it is with S2 and S4.
The ZVS condition for the proposed converter is rather different from the traditional PSFB converter.
This is mainly due to the existence of L1 and L2 . The ZVS boundary of the upper MOSFETs (S1 and S3)
is higher than the power line (P0 = Pbat). ZVS for the lower MOSFETs (S2 and S4) is determined by the
output/battery power. Therefore, ZVS of the lower switches is more important.

Meanwhile, the secondary side diodes turn OFF and di/dt is constrained by Llk. This ensures a
secure ZCS turn OFF of the diodes. Hence, the reverse recovery issues can be effectively mitigated.

Figure 10: ZVS Conditions for primary side MOSFETs

The conventional pulse width and phase-shift hybrid modulated TPCs are prone to operate in
the DCM in light load condition. In the proposed converter, the DCM operation is naturally avoided.
Therefore, the light load ZVS performance is enhanced.

The two parallel phase legs are driven in an interleaved manner with 180° phase-shift. The
duty cycle of S1’s gate signal is defined as D. The power flow from the PV panel to the battery can be
regulated by D. The transformer turns ratio is defined as 1:n. On the secondary side, S5 and S6 are
driven complementarily with fixed 0.5 duty cycle. Certain phase-shift (β) between the switch
patterns of S1 and S6 is enforced to regulate the power delivered to the load. The phase shift ratio is
defined as Dph = β/π.

There are 14 modes of operation in total. Modes 1-7 belong to the first half of the switching
period and modes 8-14 belong to second half of the switching period, which is symmetrical to the
first half.
Mode 1: [t0-t1)

Before t0 🡪 S2, S4, S5 – ON ; D2,D4 – ON ; iLlk - Negative

L1,L2 – charges ; C5,C6 – charges ; C4 – discharges

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At t0 🡪 S2 – OFF ; L1 – discharges to battery via S1

During deadband COSS of S1 and S2 – discharges

Mode 2: [t1-t2)

At t1 🡪 S1 – ON (with ZVS)

At end of mode 🡪 D2, D4 – OFF (without Reverse recovery losses) ; iLlk – Decreases via S5

Mode 3: [t2-t3)

At t2 🡪 C1 – charges; C2 – Discharges

Mode 4: [t3-t4)

At t3 🡪 iLlk - Positive; iS5 – Positive

At t4 🡪 S5 - OFF; S6 – ON; D1 , D3 - ON

Mode 5: [t4-t5)

iS6 – Negative (This means the ZVS for the secondary-side MOSFETs occurs naturally without
any dead band); iLlk – Decreases

At end of mode 🡪 S1 - OFF

Mode 6: [t5-t6)

COSS of S2 – discharges (creates ZVS condition for S2)

At t5🡪 L1 – charges by PV

Mode 7: [t6-t7)

At t6🡪 S2 – ON;

At end of mode 🡪 S4 – OFF; Body diode of S3 - ON

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 Figure 11: Steady State Waveforms of TPC Type-II
In [0, Dπ), Po increases with the increase of phase shift angle. While in [Dπ, Dπ + 0.5π), Po
decreases with the increase of phase-shift angle. Practically, the phase-shift angle is constrained in
one specific range. The reactive power leads to increased conduction loss and current stresses.

Q increases with the increase of β. Since Po corresponds to two symmetric β, the smaller β is
preferred; k also affects Q. When β is small, Q is minimized around k = 1; When D = 0.5, α equals
zero. This results in increased Q; Small Q corresponds to large Llk .

As indicated, although the transformer turns ratio and the duty cycle are moderate, a general
high voltage gain is achieved with passive voltage multiplier rectifier. As aforementioned, β is
constrained in [0, Dπ) to minimize Q. In this range, the voltage gain increases as β increases.

Furthermore, when the gate signals of the secondary-side MOSFETs are high, phase-shift
control is activated. Due to the added control degree of freedom, the voltage gain regulation range is

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changed from a single curve to a two-dimension plane. Compared with passive voltage multiplier
rectifier, the regulation flexibility of voltage gain is enhanced. Therefore, a higher step-up ratio can be
achieved.
𝑛𝑉𝑏𝑎𝑡
( )
𝑖𝑚𝑎𝑥 = 𝑖𝐿𝑙𝑘 𝑡4 = 4𝐿𝑙𝑘𝑓𝑠
(𝑘 − 2𝐷 + 4𝐷𝑝ℎ𝑘)

From the above formula, choosing a large Llk results in a small current stress and in order to
maintain lower current stress (β) should be maintained between [0, Dπ). Due to the voltage sixfolder
rectifier structure, the voltage stresses of the secondary-side components are remarkably reduced.
Moreover, the voltage stresses of secondary-side MOSFETs and diodes are reduced to one-third of
the output voltage. Additionally, voltage stresses can be further reduce by choosing Silicon MOSFETs
with low on-resistance and silicon Schottky diodes with low forward voltage drops

The voltage stresses of the secondary-side switches and capacitors are much smaller than
the conventional structures. This makes the proposed converter more suitable for high-voltage
applications.

As seen in Figure 12 and Figure 13, the input current ripple is significantly reduced due to
interleaved structure of the converter.

Figure 12: Input Current Waveforms without Interleaving of converter

Figure 13: Input Current Waveforms with Interleaving of converter

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3.2.3. Losses
The main losses include MOSFET turn OFF loss, conduction loss, and the magnetic loss. The
loss percentages can be seen in Figure 14.

Figure 14: System Losses

3.2.4. Compactness
While the use of interleaved structure reduces the input current ripple it also helps in
avoiding the usage of the bulky electrolytic capacitors on the PV terminal placed on the primary side.
And on the secondary side the voltage sixfolder rectifier is employed to boost the step-up ratio,
reduces the transformer’s secondary side turns number.

3.2.5. Efficiency
The conversion efficiency is evaluated in three different power transfer paths (PV to battery,
battery to load, and PV to load). Power from PV to battery via interleaved boost converter – Peak
efficiency 98.2%. Power from battery to load via transformer and secondary side rectifier – Peak
efficiency 96.1%. Power from PV to load voltage stepped up and then via transformer and secondary
side rectifier – Peak efficiency 95.9%

Figure 15: Measured Efficiency versus output power in different power flow

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3.3. Three Port Converter – Type III
This paper [5] deals with the working of an isolated DC-DC three port converter based on
interleaved boost full bridge converter with Pulse Width modulation (PWM) and phase-shift control
for hybrid renewable energy systems.

Figure 16: Topology of Type-III TPC

3.3.1. Components
On the primary side, there are two voltage sources V1 and V2 (renewable source and battery
storage) and two capacitors C1 and C2 connected in parallel to V1 and V2 respectively. There are two
input inductors L1 and L2 and four power MOSFETs M1, M2, M3 and M4.

On the secondary side, there is an AC inductor Lac and four diodes D1, D2, D3 and D4. There is
capacitor connected in parallel to the load. The primary side is connected to the secondary side by a
high frequency transformer with turns ratio 1:n.

3.3.2. Switching and Modes of Operation

The modulation technique used in the proposed converter in Figure 16 is Pulse Width
Modulation (PWM) along with Phase shift control (PSC).

The type of soft switching employed in the paper is Zero Voltage Switching (ZVS) on the
primary side and Zero Current Switching (ZCS) on the secondary side.

For the MOSFET to operate in ZVS the antiparallel diode of the MOSFET must conduct before
the MOSFET is triggered. Therefore, the current flowing through MOSFETs M1 – M4 must be negative
when the corresponding MOSFET is triggered. The primary-side MOSFETs can achieve

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zero-voltage-switching (ZVS) operation without additional circuitry. Due to the use of an ac inductor,
the diodes on the secondary side always turn off under ZCS conditions, which avoids the reverse
recovery losses and makes it possible to use conventional silicon (Si) diodes

The converter has six modes where modes 1,2 and 3 are symmetrical to modes 4,5 and 6
Mode 1 [0-t1]:
M2, M3 – ON ; L1 – charges ; L2 – discharges; Lac – charges ; iLac – negative; D2,D3 - ON

Mode 2 [t1-t2]:
M4 – ON; L1,L2 – charges; Lac – discharges;
At the end of mode 2, iLac – Zero, D2,D3 – OFF

Mode 3 [t2-t3]: At t3, M2 – OFF

As iLac is still zero so no power transfer between primary and secondary sides

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 Figure 17: Steady State Waveforms of TPC Type-III
Depending on the load demand, the converter operating mode changes between SISO V1, DI
mode, and DO mode, as presented in Table I and Table II.

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During constant output load:

● SISO V1 mode – The renewable energy source can supply the complete load, hence
battery not in use.
● SISO V2 mode – There is no output from the renewable energy source, hence the battery
completely supplies to the load.
● DI mode - The renewable energy supplies its maximum power at that instant and the
remaining power is supplied by the battery.
● DO mode - The renewable energy generates excess power in comparison to the load
requirement and the excess power is used to charge the battery.

Table I: Power at the ports for transitions between operating modes under constant output load

SISO V1 SISO V2 DI DO
P1 (W) 250 0 125 375
P2 (W) 0 250 125 -125
P0 (W) 250 250 250 250

Constant power at renewable energy source:

● SISO V1 mode – Load requirement is same as the power generated by the renewable
energy source; therefore, the renewable energy source can supply the complete load,
hence battery not in use.
● DI mode - Load requirement is higher than the power generated by the renewable
energy source, therefore the renewable energy supplies its maximum power at that
instant and the remaining power is supplied by the battery.
● DO mode - Load requirement is lower than the power generated by the renewable
energy source, therefore the excess power is used to charge the battery.

Table II: Power at the ports for transitions between operating modes under constant power at the
renewable energy source
SISO V1 DI DO
P1 (W) 250 250 250
P2 (W) 0 125 -125
P0 (W) 250 375 125

3.3.3. Losses
The voltage transient spike across the current-fed bridge is suppressed by using the capacitor
C2 and high side switches M1 and M3 as an active clamp circuit.

The energy stored in the diodes’ parasitic capacitance will be dissipated in the circuit as
conduction losses. According to the waveforms of ZVS operation shown in Figure 18, the drain to

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source voltage VDS−M3 and VDS−M4 have completely decreased to zero before switches M3 and M4 are
turned on, and there are no transient voltage spikes and rings across the switches. Therefore, the
converter will have close to zero switching losses and low electromagnetic emissions.

Figure 18: Experimental results of gate voltage and drain voltage of M3 and M4

3.3.4. Efficiency
In DI mode and the operation changes from SISO V1V0 to SISO V2V0. In this case, SISO V2V0
shows higher efficiency than SISO V1V0 due to the energy being processed once through the
phase-shift isolated stage instead of being boosted from V1 to V2 and then transferred to the output
through the isolated stage.

Three experimental cases were taken to measure the efficiency of the converter under DI mode.
Case 1: V1 = 75%; V2 = 25%; Maximum efficiency ≈ 94.9%
Case 2: V1 = 50%; V2 = 50%; Maximum efficiency ≈ 95.4%
Case 3: V1 = 25%; V2 = 75%; Maximum efficiency ≈ 95.9%

Figure 19: Measured Efficiency curves of the converter

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 4. COMPARISON OF THE TPCs
4.1. Converter Components
Table III: Table of components
Topology TPC 1 TPC 2 TPC 3
Number of Switches 3 6 4
Number of Diodes 4 4 4
Number of Capacitors 5 8 3
Number of Inductors 6 3 3

4.2. Types of switching and modulation

Table IV: Table of switching and modulation techniques
Topology TPC 1 TPC 2 TPC 3
Types of soft switching ZVS ZVS/ZCS ZVS/ZCS
(primary/secondary)
Modulation PWM PWM+PSM PWM+PSM

4.3. System Specifications

Table V: Table of system specifications
Topology TPC 1 TPC 2 TPC 3
Renewable Source Voltage - 20 - 40 V 25 -60 V
Battery Voltage - 60 V 120 V
Output Voltage - 760 V 300 – 380 V
Transformer turns ratio 5:14 1:2 4:16
Input Inductors (L1 , L2) 320µH 40µH 155µH
Leakage Inductance (Llk) 75µH 35µH 28µH
Capacitors (C1, C2) 1000µF - 10µF , 22µF
Switching frequency (kHz) 100-170 100 60
Efficiency in % 94.5 95.9 95.9

By analysing and comparing the three TPC topologies and their system parameters, TPC Type – II is
comparatively beneficial by the following points.

● The secondary side-step up ratio is increased

● The turns ratio of the converter is comparatively lesser, thereby reducing the size of the
transformer
● Soft Switching ranges are increased and smooth transitions between modes are obtained
● The input inductor current ripple is greatly reduced due to the interleaved structure of the
converter
● The converter has a higher output voltage and efficiency
● The voltage stresses on the secondary-side components are largely reduced due to the
voltage sixfolder rectifier structure

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 5. CONCLUSION
Two alternatives for the implementation of a high-efficiency isolated dc-dc converter with
high-output voltage for TWTA applications were proposed and studied. Both structures present
several operational characteristics suitable for high output voltage applications supplied by an
unregulated input voltage.

The operational characteristics were verified by the implementation of laboratory prototypes

operating with a variable input voltage (26/44 V) and with a 3.2 kV total output voltage.

The lowest efficiency obtained, operating with nominal output power, is equal to 94.1% for the
single-stage topology and equal to 93.4% for the two-stage topology.

6. REFERENCES
[1] B. Tala-Ighil, J.-M. Nyobe-Yome, and C. Glaize, “High-voltage variable-frequency
double-resonant dc-dc converters utilizing the transformer parasitic elements,” in Proc. Eur.
Space Power Conf., Aug. 1993, pp. 245–250.

[2] J. Uceda, C. Blanco, M. A. Pérez, and M. Rico, “Design of the delay line power supply of a
TWT,” in Proc. Eur. Space Power Conf., Aug. 1995, pp. 2123–2128.

[3] L. Ceruti, M. Gambarara, and D. Vigano, “New generation EPC for medium power TWTs,” in
Proc. Eur. Space Power Conf., Sep. 1998, pp. 299–316.

[4] A. H. Weinberg and L. Ghislanzoni, “A new zero-voltage zero-current power switching

technique,” IEEE Trans. Power Electron., vol. 7, pp. 655–665, Nov. 1992.

[5] F. J. Nome and I. Barbi, “A ZVS clamping mode current-fed push pull dc-dc converter,” in Proc.
IEEE Int. Symp. Ind. Electron. (ISIE’98), July 1998, pp. 617–621.

[6] I. Arens and F. Tonicello, “Conductance control with a boost regulator for a high-voltage
power conditioner for a TWTA,” in Proc. Eur. Space Power Conf., Sept. 1991, pp. 343–350.

[7] P. Delporte, P. Fayt, and E. Pequet, “EPC and TWTA for telecommunication satellites,” in Proc.
Eur. Space Power Conf., Sept. 1998, pp. 305–310.

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[8] R. Gules and I. Barbi, “Isolated dc-dc converters with high-output voltage for TWTA
telecommunication satellite applications,” in Proc. IEEE Appl. Power Electron. Conf. (APEC’01),
Mar. 2001, pp. 296–302

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