Advanced Rail Clamping PWM Based Space Vector Algorithm PDF

Trends in Electrical Engineering
ISSN: 2249-4774 (Online), ISSN: 2321-4260 (Print)

Volume 7, Issue 3
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Advanced Rail Clamping PWM Based Space Vector

Algorithm for DTC Induction Motor Drive
C. Harinatha Reddy1,2*, T. Brahmananda Reddy3
1
Research Scholar, Electrical and Electronics Engineering, Rayalaseema University, Kurnool,
Andhra Pradesh, India
2
Department of Electrical & Electronics Engineering, G.Pulla Reddy Engineering College, Kurnool,
Andhra Pradesh, India.
3
Department of Electrical and Electronics Engineering, G. Pulla Reddy Engineering College, Kurnool,
Andhra Pradesh, India
Abstract
This paper proposes a generalized method to pulse generation using advanced rail clamping
pulse width modulation (ARCPWM) sequences. The proposed space vector approach to pulse
generation is generalized for various PWM sequences. The present paper considers two
advanced PWM sequences viz, 0121 and 7212. The performance of various ARCPWM
methods utilizing these two sequences is analyzed on a direct torque controlled (DTC)
induction motor drive for a superior steady state response . Comparison of steady state
performance of the ARCPWM based DTC drives is made with reference conventional DTC
(CDTC), conventional space vector PWM (SVPWM) based DTC drives.
Keywords: ARCPWM (advanced rail clamping pulse width modulation), conventional space
vector PWM, ARCPWM, space vector approach, direct torque controlled, total harmonic
distortion (THD)
*Author for Correspondence E-mail: charinathr@gmail.com
INTRODUCTION and flux are high. Many researchers paid

Nowadays the extensive use of voltage source attention to overcome this problem and
inverters (VSIs) in high power and high resulted in several pulse width modulation
voltage applications has attracted the (PWM) methods among which space vector
researchers to investigate the performance of pulse width modulation (SVPWM) is well-
VSIs with various PWM methods. The popular known [4, 5]. Hence SVPWM based DTC
control strategies such as constant v/f control, became popular and replaced the CDTC based
vector control or field oriented control (FOC), speed/torque controlled drives. In SVPWM
direct torque control (DTC), etc. for VSI fed based DTC conventional hysteresis current
induction motor drives has become very much controllers are not required as it selects the
significant during the last few decades. voltage vectors based on the errors in flux and
Researchers focused on induction motor torque. Even though better steady state
control to give a solution having the features performance and constant switching frequency
of simple, precise and quick torque response are achieved with SVPWM based DTC, it still
and good steady state and dynamic behavior has some drawbacks such as intense
[1]. A viable solution to these requirements is mathematical computations, increased
DTC of induction motor as mentioned by memory requirement especially when higher
Takahashi and Noguchi [2] and Titinen and output levels are essential. Hence, to elude
Surandra [3]. Traditional usage of hysteresis these drawbacks an attempt is made in this
current controllers in the CDTC gives sluggish paper to employ the concept of fictitious
response. Also with CDTC the switching switching times (FST) [6–10].
frequency is not constant within a sampling
period and it changes with the rotor speed, To enhance the drive performance at higher
load and bandwidth of the current controllers modulation indices various PWM sequences
and consequently steady state ripples in torque such as rail clamping or bus clamping
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Advanced Rail Clamping PWM Based Space Vector Algorithm Reddy and Reddy
sequence based space vector pulse width

modulation (RCPWM/BCPWM) methods for Sin(600   )
pulse generation are reported [11–13]. All T1  M * *Ts (1)
these pulse generation methods can be Sin 600
implemented through triangular comparison or Sin 
space vector approaches. But space vector T2  M * *Ts (2)
Sin 600
approach of pulse generation is more
prominent due to its inherent advantages. In
this paper the later approach is used for T z  Ts  T1  T 2 (3)
implementing different advanced rail clamping
PWM (ARCPWM) methods. Performance of Here, ‘M’ is the modulation index, given by M
these ARCPWM methods depend on the 3V R EF
selection of voltage vectors and vary = .
depending on the modulation index [14–16]. 2V dc
These ARCPWM methods are proposed for a
DTC induction motor drive utilizing the two
sequences 0121 and 7212 and are obtained by
changing the zero state (0 and 7) at any spatial
angle. By employing these ARCPWM
methods an optimal advanced rail clamping
sequence based DTC induction motor is
proposed. This results in reduction of steady
state line current distortion as well as inverter
switching losses to a significant extent,
thereby improving the overall performance
and efficiency of the drive compared with the
conventional DTC (CDTC) and conventional
SVPWM (CSVPWM) based DTC drives.
The aim of this paper is to combine the

concepts of space vector based approach to
pulse generation for a two level inverter with Fig. 1: Three Phase Two Level Inverter
the popular DTC technique to control the Switching States and their Corresponding
speed of induction motor at higher modulation Voltage Vectors. I, II, III, IV, V, VI are the
or during high speed operation of the drive Sectors.
using FST that defer high performance with
reduced complexity. To validate the proposed
algorithms numerical simulation has been 0 1 2 7
carried out in Matlab/Simulink environment. 0.5Tz T1 T2 0.5Tz
PRINCIPLE OF SPACE VECTOR 0 2 1

1
APPROACH TO PWM GENERATION
In space vector approach to PWM, the Tz 0.5T1 T2 0.5T1
reference vector is sampled once in every
subcycle, Ts, and an average vector equal to 7 2 1 2
the sampled reference vector is generated by Tz 0.5T2 T1 0.5T2
time-averaging of the different voltage vectors
Fig. 2: CSVPWM and ARCPWM Sequences in
produced by the inverter. For a sample in
sector I as shown in Figure 1, the durations for Sector-I.
which the active state 1 (100), the active state
2 (110), and the two zero states (000,111) The division of Tz between the two zero states
together must be applied are given by T1, T2, is a degree of freedom in the design of PWM
and Tz, respectively and are given by strategies in the space vector domain [13–20].
Eqs. (1)–(3). In general, an equal division of Tz leads to
Volume 7, Issue 3
lesser ripple current during low modulation. changing k. The present work mainly focuses
Sequence 0127 with such an equal on a new approach for generating k. k is the
apportioning of Tz, are used in conventional zero state division variable defined in Eq. (4).
space vector modulation to generate a given A generalized algorithm to generate various
sample insector I. Sequences like 012, or 721, ARCPWM methods, referred hereafter as
which use only one zero state, can also be used GARCPWM in which only the instantaneous
to generate the same sample. Usage of these values of two sets of reference phase voltages
sequences in little higher modulation region defined in Eqs. (5) and (6) are used to generate
will reduce current ripple. Further, it is also different ARCPWM methods. In other words,
possible to reduce current ripple in higher a generalized procedure through which any of
modulation regions by using the sequences the stated ARCPWM methods can be
0121, 7212, 2721 or 1012 to generate the generated using a constant variable k is
sample, dividing one of the active statetimes, proposed in this paper. The generated value of
T1 or T2, into two equal intervals [10]. The k further decides the type of ARCPWM
switching time division and placement of method by controlling the zero state times
switching states with 0127, 0121 and 7212 are T0and T7. The division of zero state times with
shown in Figure 2. The ARCPWM methods the aid of k is shown in the Figure 3.
generated with 0121 and 7212 sequences are
hereafter referred as ARCPWM-1 to T0 =(1-k)Tz ;T0 =kTz (4)
ARCPWM-6. Depending on the choice of the
zero state used and or the instant of varying

the zero stateone of the phase gets clamped to V i  V ref cos(  2(r  1) ) (5)
the positive rail or to the negative rail for 60° 3
in every half cycle either continuously or
π π
discontinuously. Based on these criteria the Vix =Vref cos (θ-2(r-1) 3 - 6) (6)
different possible ARCPWM methods can be
generated. The zero state used, and the for i = a, b, c and r= 1, 2, 3
position of zero state switching is depicted in
Figure 3. The execution of the sequences in The time durations for dwelling the active and
the sector above is tabulated in Table 1. In the zero states can be found by using the
case of ARCPWM-3 to ARCPWM-6 methods instantaneous phase voltages and are given in
the sequences shown should reverse in even Eqs. (7)–(9). It may be observed that these
sectors. equations do not rely on the position
information of Vref . These indeed eliminate the
Table 1: Sequences to be Executed in Sector-1. tedious calculations containing sine, cosine
ARCPWM 00 ≤α≤300 300 ≤α≤600 and or inverse tangent (trigonometric)
ARCPWM-1 7212 7212 functions that take large memory and delay the
ARCPWM-2 0121 0121 execution time. Eqs. (7) and (8) depend on the
instantaneous line voltages. Hence these are
ARCPWM-3 7212 0121
referred as fictitious switching times (FSTs).
ARCPWM-4 7212 7212
T
ARCPWM-5 0121 7212 T1 = (V s ) (vmax -vmin ) (7)
dc
ARCPWM-6 0121 0121
T
T2 = (V s ) (vmid -vmin ) (8)
ARCPWM, advanced rail clamping pulse dc
width modulation
Tz =Ts -T1 -T2 (9)
EXTENSION OF SPACE VECTOR
APPROACH TO GARCPWM USING Here Vmax, Vmin and Vmid are maximum,
minimum and other than maximum or
FICTITIOUS SWITCHING TIMES
minimum values of Vin, at a given sampling
With space vector approach it is easy to
instant. In the proposed GARCPWM
generate different PWM methods just by
algorithm, by varying the zero voltage vector Table 2 shows the various PWM methods
time distribution parameter k between 0 and 1, obtained by varying the k value.
various PWM methods can be generated.
K=1 K=0
K=1 K=1 K=0

K=0
K=1 K=0
K=1 K=0
K=1 K=0
(a) (b)
K=1 K=0 K=1
K=1 K=0
K=0 K=0
K=0 K=1
K=0 K=1
K=1 K=1
K=1 K=0
K=1 K=0 K=0

(c) (d)
K=0 K=1 K=0
K=0 K=1
K=1 K=1
K=1 K=0
K=1 K=0
K=0 K=0
K=0 K=1
K=0 K=1 K=1
(e) (f)
Volume 7, Issue 3
Fig. 3: Schematic Diagrams showing the Instant of Variation of k to Generate Various ARCPWM
methods (a) ARCPWM-1 (b) ARCPWM-2 (c) ARCPWM-3 (d) ARCPWM-4 e) ARCPWM-5 (f)
ARCPWM-6.
Table 2: Generation of Various PWM Vmin is Vc and so Vmid is Vb. The condition
Methods by varying the Value of k. Vmax + Vmin≥ 0 is satisfied up to θ equals to 0°
ARCPWM Methods Value of k to 30° and Vmax+Vmin< 0 satisfies for θ equals
CSVPWM 0.5 to 30° to 60°. Hence implementing the logic
ARCPWM-1 1
shown in Table 1, k can be made to change
from ‘0’ to ‘1’ without the need of reference
ARCPWM-2 0
vector position. Similarly implementing the
If Vmax + Vmin< 0 then k=0 logic specified in Table 2 will generate other
ARCPWM-3
If Vmax + Vmin ≥ 0 then k=1
PWM methods. Modulating waveforms and
If Vmax,x + Vmin,x< 0 then k=0 zero sequence signals of the considered
ARCPWM-4
If Vmax,x + Vmin,x ≥ 0 then k=1
ARCPWM methods are shown in Figure 4. In
If Vmax + Vmin< 0 then k=1 the CSVPWM method modulating wave do
ARCPWM-5
If Vmax + Vmin ≥ 0 then k=0 not clamp to DC rail and so continuous pulses
If Vmax,x + Vmin,x< 0 then k=1 are generated making this PWM method a
ARCPWM-6
If Vmax,x+ Vmin,x≥ 0 then k=0 continuous PWM method and the considered
ARCPWM methods will have modulating
To generate CSVPWM pulses using waves clamped to either of the DC rails for
GARCPWM algorithm in all sectors of the 120° in every fundamental cycle of output
space plane in which Vref lies, k takes 0.5. voltage. Hence switching losses will come
Similarly, for k equals to 0 and 1 pulses same down to one-third with respect to any
as that generated by comparing the modulating continuous PWM methods.
waveforms (in carrier comparison approach)
shown in Figure 4(a) and (b) with a triangular DTC PRINCIPLE
wave could be generated. These two space DTC is widely known, and therefore, it is
vector based PWM methods are referred as appropriate to give a brief description of its
ARCPWM-1 and ARCPWM-2 respectively. basic principles that can help the reader to
But for generating ARCPWM-4 and better understand the principle of DTC is
ARCPWM-6 pulses, the odd and even sectors considered in this section. As shown in Figure
need to be distinguished for keeping k equals 6, according to the DTC principles, the error
to 0 and 1, respectively. So to distinguish between the estimated torque Teand the
odd/even sectorsthree phase reference voltage reference torque T*e for a three three-level
waveforms Va, Vb, Vc are phase shifted by 30° hysteresis comparator, whereas the error
to get Vax, Vbx, Vcx as shown in Figure 5. between the estimated stator flux magnitude
Using the logic shown in Table 2, space vector Ψs and the reference stator flux magnitude
pulses similar to that obtained by comparing
Ψ *s is the input of a two level hysteresis
the modulating waveforms shown in Figure
comparator. Figures 7 and 8 illustrate the
4(d) and (f) with a high frequency carrier wave
torque and flux comparators, respectively. The
may be synthesized. To generate ARCPWM-3
selection of the appropriate voltage vector to
and ARCPWM-5 pulses, in every odd and
feed the induction motor is based on the
even sectorsfor00 ≤α≤300 , k is made equal to 0 optimal switching table given in Table 3,
or 1 and for 30°≤α≤60°, k is made equal to 1 depending on the sector information of the
or 0, respectively. For finding the instant at stator flux vector [10]. The vectors V1, V2,
which the reference vector crosses the 30° V3…V6 represent the six active vectors that
angular positions in each sector the can be generated by a VSI, whereas V0 and V7
instantaneous reference voltage components are the two zero voltage vectors. Figure 9
Va, Vb, Vc are used as specified in Table 2. shows the space plane containing voltage
vectors and sector -1. In DTC applications, it
For instance, consider a switching instant AA’ is usual to call “zero configurations” the
at which the reference voltage vector Vref lies inverter states corresponding to zero voltage
in sector-I. At this switching instant Vmax is Va, vectors, “direct configurations” the ones
corresponding to the voltage vectors that proposed in order to improve the system
increase the torque and “inverse performance in terms of current ripple, torque
configurations” the ones that decrease it. The ripple, or inverter switching frequency [4, 5,
fact that a new voltage vector is selected for 21–23]. However, as this paper is mainly
each sampling period or cycle period Ts makes focused on the effect of ARCPWM methods
the DTC particularly suitable for the digital these performance parameters are considered
implementation. It is worth noting that several in a combined way and comparison will be
variants of the basic DTC scheme were discussed in the consequent sections.
Fig. 4: Modulation Waveforms and Zero Sequence Signals of Some Popular Existing RCPWM
methods: (a) ARCPWM-1 (b) ARCPWM-2 (c) ARCPWM-3 (d) ARCPWM-4 e) ARCPWM-5 (f)
ARCPWM-6.
Volume 7, Issue 3
A 3-Phase waveforms
Va Vax Vb Vbx Vc Vcx

Voltages
30 60 90 120 150 180 210 240 270 300 330 360
I A’ II III IV V VI
θ in degrees
Fig. 5: Three Phase Votlage Waveform with Sectors and ARCPWM1 Sequence as an Example.
Reference
Speed Te* Te
+
e PI Optimal
+ _ _
Switching
Te
Motor Table
 *  s
Speed s
+ Vds,Vqs
_
s Sector Calculation
Calculation
Adaptive
Motor 3
Model 2
IM
Fig. 6: CDTC Scheme for Induction Motor Drive.
+1
0 ∆Te = Te - Te *
0
-1
Fig. 7: Torque Hysteresis Comparator.
+1
∆ᵩs = ᵩs - ᵩ *
s
0
-1
Fig. 8: Flux Hysteresis Controller.
V3(010) V2(110)
V4(011) Sector-1
V1(100)
V0(000)
V7(111)
V5(001) V6(101)
Fig. 9: Space Vector Plane showing Inverter Voltage Space Vectors.

Table 3: Optimum Voltage Switching Vector Look-up Table.
d dTe Sector-I Sector-II Sector-III Sector-IV Sector-V Sector-VI
-30° to 30° 30° to 90° 90° to 150° 150° to 210° 210° to 270° 270° to -30°
1 V2 V3 V4 V5 V6 V1
0 V7 V0 V7 V0 V7 V0
1
1 V6 V1 V2 V3 V4 V5
1 V3 V4 V5 V6 V1 V2
0 V0 V7 V0 V7 V0 V7
0
1 V5 V6 V1 V2 V3 V4
PROPOSED GARCPWM BASED DTC their extension to a greater number of levels is

One of the accepted speed or torque control not easy. In this paper the proposed
methods that have been used by a majority of GARCPWM based DTC can mitigate these
the VSI manufacturers is DTC, which is problems efficiently with an additional
known today as a high-performance control advantage of extending the same for MLIs
strategy for AC drives [10–13]. Several [23–25]. But in this paper discussion is limited
authors have addressed the problems of with reference to a two level inverter only.
improving the behavior of DTC AC motors,
particularly by reducing the torque ripple and The block diagram of the proposed
maintaining constant switching frequency. GARCPWM based DTC induction motor
Different approaches have been proposed [14– drive is shown in Figure 10. With the proposed
20, 24]. Although these approaches are well method steady state ripples in torque and flux
suitable for the classical two-levels inverter, during high speed operations are reduced
Volume 7, Issue 3
significantly maintaining constant switching strategy, using zero state switching variable
frequency. The proposed DTC retains all the parameter k. The sampling frequency for the
advantages of the CDTC, in addition to this DTC control is 10 µs. The motor parameters
gives enhanced performance in high used in the simulations are given in Appendix.
modulation regions which is a limitation with The steady state behavior of the motor speed,
CSVPWM based DTC. stator currents, electromagnetic torque
developed and stator flux is presented. In order
Addition of slip speed to the actual speed to achieve good performance, it has been
generated by the adaptive motor model block verified that the DTC sampling
generates reference stator flux vector. The frequencyshould be, at least, 20 times greater
reference d and q axis voltages are calculated than the fundamental frequency of the
by the reference voltage vector calculator reference voltage. The average switching
using Eqs. (10) and (11). Taking these two as frequency of the inverter is taken as 3 kHz.
inputs the magnitude and position of the Simulation results for different ARCPWM
reference voltage vector are calculated. The based DTC including CDTC, showing the locus
GARCPWM block generates gating pulses to of stator flux and steady state plots are given in
the inverter based on space vector approach. Figures 11 to 18. It is observed that compared
The adaptive motor model estimates the torque with the CDTC the performance in terms of
and speed from the d and q axis voltages and ripple in torque and flux is significantly
currents. The dynamic model of the induction improved with the proposed ARCPWM
motor is modeled in stationary reference frame methods. Also, from the observation of
[22]. measured no load current waveforms and
%THD’s in line current, it can be concluded
 ds that the performance of the different ARCPWM
V ds*  R s ids  (10)
Ts based DTC methods is superior to CDTC and
CSVPWM based DTC. Among the various
 qs ARCPWM methods ARCPWM-5 gives less
V qs*  R s iqs  (11) %THD in line current. The performance of any
Ts PWM method is judged based on the no-load
where, current ripple. Hence the steady state
performance under no-load condition is
 ds   ds*   ds (12) presented for validating the effectiveness of the
drive in which space vector based rail clamping
 qs   qs*   qs (13) PWM method is integrated with the popular
DTC for speed control of induction motor. It
SIMULATION RESULTS AND concludes that during high speed operation of
DISCUSSION the drive ARCPWM-5 gives comparable
Numerical simulations have been carriedout to performance than both continuous and any
confirm the efficacy of the ARCPWM RCPWM methods.
Vdc
T
sl e e Vds
e Reference
PI
+
PI
+  Voltage
A
R
Ref
_ C
speed Te r + Ve ctor
P
+  *
s
Calculator W
M
_ Vqs*
Speed
V ds, Vqs
s Calculation
Adaptive
3
Motor Model
2
IM
Fig. 10: Block Diagram of Proposed ARCPWM based DTC Induction Motor Drive.
psiqsc
psidsc
Fig. 11: (a) CSVPWM DTC: Locus of Stator Flux. Fig. 11: (b) ARCPWM-5 based DTC: Locus of
Stator Flux.
Volume 7, Issue 3
Fig. 12: (a) CSVPWM based DTC: Steady State Plots.
Fig. 12: (b) CSVPWM based DTC: Harmonic Spectra (% of Fundamental).
Fig. 13: (a) ARCPWM-1 based DTC: Steady State Plots.
Fig. 13: (b) ARCPWM-1 based DTC: Harmonic Spectra (% of fundamental).
Volume 7, Issue 3
Volume 7, Issue 3
Fig. 17: (b) RCPWM-5 based DTC: Harmonic Spectra (% of fundamental).
Volume 7, Issue 3
Volume 7, Issue 3
CONCLUSIONS of G. Pulla Reddy Engineering College,

SVPWM based DTC has become popular as it Kurnool for giving me consent and support to
overcome the drawbacks that are inherent with my research work. I would like to express my
CDTC like, significant steady state ripples in sincere thanks to Prof. V. Narsimhulu, the
torque and flux, variable switching frequency. Vice Chancellor, Prof. B. Amarnath, the
Though SVPWM based DTC has many Registrar & Dr. S. Madhusudana Verma,
advantages, its deteriorated performance Director of Research Studies, Rayalaseema
during high modulation indices i.e., during University, Kurnool for providing me an
medium to high speed operations is a opportunity to pursue doctoral research.
significant drawback. Several researchers find
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I am greatly indebted to Dr. T. Brahmananda system with fixed switching frequency,
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APPENDIX
Induction Motor Parameters: 3-  , 400V, 1.5 Cite this Article
C. Harinatha Reddy, T. Brahmananda
kW, 4-pole, 1460 RPM, 50 Hz
Reddy. Advanced Rail Clamping PWM
Based Space Vector Algorithm for DTC
Stator Resistance, Rs 1.57 Ω Induction Motor Drive. Trends in
Rotor Resistance, Rr 1.21 Ω Electrical Engineering. 2017; 7(3):
Magnetizing Inductance, Lm 0.165 H
Stator inductance, Ls 0.17 H
Rotor inductance, Lr 0.17 H
Moment of Inertia, J 0.089 Kg - m2
Viscous friction coefficient, B 0 N-m.sec/rad

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Trends in Electrical Engineering

ISSN: 2249-4774 (Online), ISSN: 2321-4260 (Print)

Advanced Rail Clamping PWM Based Space Vector

*Author for Correspondence E-mail: charinathr@gmail.com

INTRODUCTION and flux are high. Many researchers paid

sequence based space vector pulse width

The aim of this paper is to combine the

PRINCIPLE OF SPACE VECTOR 0 2 1

K=1 K=1 K=0

K=1 K=0 K=1

K=1 K=0 K=0

K=0 K=1 K=0

K=0 K=1 K=1

Va Vax Vb Vbx Vc Vcx

30 60 90 120 150 180 210 240 270 300 330 360

Fig. 6: CDTC Scheme for Induction Motor Drive.

Fig. 7: Torque Hysteresis Comparator.

Fig. 8: Flux Hysteresis Controller.

Fig. 9: Space Vector Plane showing Inverter Voltage Space Vectors.

PROPOSED GARCPWM BASED DTC their extension to a greater number of levels is

Fig. 12: (a) CSVPWM based DTC: Steady State Plots.

Fig. 12: (b) CSVPWM based DTC: Harmonic Spectra (% of Fundamental).

Fig. 13: (a) ARCPWM-1 based DTC: Steady State Plots.

Fig. 13: (b) ARCPWM-1 based DTC: Harmonic Spectra (% of fundamental).

Fig. 14: (a) ARCPWM-2 based DTC: Steady State Plots.

Fig. 14: (b) ARCPWM-2 based DTC: Harmonic Spectra (% of fundamental).

Fig. 15: (a) ARCPWM-3 based DTC: Steady State Plots.

Fig. 15: (b) ARCPWM-3 based DTC: Harmonic Spectra (% of fundamental).

Fig. 16: (a) ARCPWM-4 based DTC: Steady State Plots.

Fig. 16: (b) ARCPWM-4 based DTC: Harmonic Spectra (% of fundamental).

Fig. 17: (a) ARCPWM-5 based DTC: Steady State Plots.

Fig. 17: (b) RCPWM-5 based DTC: Harmonic Spectra (% of fundamental).

Fig. 18: (a) ARCPWM-6 based DTC: Steady State Plots.

Fig. 18: (b) ARCPWM-6 based DTC: Harmonic Spectra (% of fundamental).

CONCLUSIONS of G. Pulla Reddy Engineering College,

9. Ahmet M. Hava, Russel J. Kerkman, Neural Networks, AIML J. June, 2007;

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