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Event to start shortly Scheduled time: 11:00 USA Eastern Standard Time
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June 8th, 2016 Presenter: Prof. Zeljko Pantic, Utah State University Tile: Review of Recent Advances in Dynamic and Omnidirectional Wireless Power Transfer
10 June 2016 IAS Webinar Series 2
Webinar Presenter Dr. Zeljko Pantic • B.S, M.S., Belgrade University, Serbia • Ph.D., North Carolina State University, 2013 • Utah State University, Assistant Professor • Associate Director of the Electrified Vehicles
and Roadways (EVR) research facility at USU
• Associate Editor for the IEEE Transactions on Transportation Electrification (TTE) Special Issue on Dynamic Charging Systems
• Program Chair for Conference on Electric Roads and Vehicles (CERV), 2015-2016
Concept and Basic Theory of Inductive Wireless Power Transfer
Dynamic Wireless Power Transfer
Challenges of Dynamic Wireless Power Charging for Electric Vehicle (EV) Applications
State-of-the-Art Solutions for Dynamic Charging of EVs
Dynamic Charging Research at Utah State University
Omnidirectional Wireless Power Transfer: Directional Power Transfer Achieved Through the Transmitter Current Amplitude Modulation
10 June 2016 IAS Webinar Series 3
Outline
Features of Wireless Power Transfer (WPT) Systems: Convenience Reliability Tolerance to snow, water, dust, nonmetal chemicals, and dirt Easy integration into urban landscape Offer a noninvasive solution for powering/recharging medical implants
Key factors for the recent progress in WPT technology: improved magnetic materials high-efficient power switching components operating in VLF/LF range advance in embedded systems novel control algorithms
10 June 2016 IAS Webinar Series 4
Motivation for WPT
Wireless Inductive Power Transfer
Wireless (Inductive) Power Transfer: the transfer of electrical power from one system to another over an air gap, without wires
Based on near-field (non-radiative) magnetic coupling between two (or more) loosely coupled coils
The coils are loosely coupled if the distance between the coils is NOT much less than the equivalent diameter of the coils
Radiative power transfer (microwaves and lasers) dominates in the long-range wireless power transfer applications, while W(I)PT dominates in the short-range applications
Strongly coupled magnetic resonance (SCMR) as subcategory of inductive WPT
10 June 2016 IAS Webinar Series 5
Ferromagnetic
I1 d
r
k < 0.7
k
k > 0.9transmitter receiver load
6
"Tesla coils" - high voltage resonant transformer circuits Innovative approaches:
A spark gap “switch” to control the power supply to the primary resonant circuit
Coil parasitic capacitance used to tune the coil Direct LF AC to HF AC power conversion to energize the
primary coil
Tesla’s WPT world
References and Photo Credit: [R1]
10 June 2016 IAS Webinar Series 7
Faraday’s and Ampere’s laws:
22 2 2
1 2 1 1 22
out s sMP I Q I L k QL
ω ω= =
Compensation capacitors added:
22
s
Load
LQRω
=Receiver quality factor:
Coil quality factors:
11
1
22
2
sc
L
sc
L
LQR
LQR
ω
ω
=
=
( )2
1 22
21 21 1
c c
c c
k Q Q
k Q Qη =
+ +
1L 2L
2LR1LR
Mk
2C1C1I 2I
LoadR1( )V ac
outk P↑⇒ ↑
1 2c ck Q Q η↑⇒ ↑
For a tuned system:
Inductive WPT Concept
Coils made of: Litz wire Tubular conductors
Fe material is used to: Shape magnetic field Enhance power transfer Suppress leakage flux
Compensation tank
Rectifier + PFC +
HF inverter
Compensation tank
Power conditioner
Load
Ferromagnetic
Ferromagnetic
I1
I2
8
Q1+
D1+
Q1-
D1-
Q2+
D2+
Q2-
D2-
VdcVinv
Vinv
+Vdc
-Vdct
“Reservoir” of the reactive power for the coil inductance
Helps in filtering current harmonics Shapes the inverter output current
Typical Inductive WPT - Topology
Compensation tank
Rectifier + PFC +
HF inverter
Compensation tank
Power conditioner
Load
Ferromagnetic
Ferromagnetic
I1
I2
9
x Q2
LC filter Boost Buck
Rectifier +
Compensation: Parallel Series Series-Parallel CCL
Typical Inductive WPT - Topology
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WPT - Applications
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Dynamic Wireless Power Transfer
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“No More New Gas-Powered Cars by 2050?” (5 countries and 7 the US states)
25-mile EV 79.8% real world driving cycles satisfied (J. Quinn et al., CERV 2016, to be published)
One possible solution: Tesla’s superchargers. Example: 90 kWh Model S battery and 120 kW supercharger:
40 min: 70 kWh of energy - 80% of charge
80 min: 90 kWh of energy – fully charged
25-mile EV 97.8% real world driving cycles satisfied with the US interstates electrified with 50 kW dynamic WPT (J. Quinn et al., CERV 2016, to be published)
Why Dynamic Charging of EVs?
References and Photo Credit: [R2]
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Inductive Wireless Power Transfer
Capacitive Wireless Power Transfer Conductive Charging – Overhead Line
Conductive Charging – Rail
Why Dynamic Charging of EVs?
References and Photo Credit: [F1]-F[3]
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Early Development of Dynamic WPT
Santa Barbara Electric Bus Project and Partners for Advanced Transit and Highways (PATH) Program: 1979 - 1993
Investigate the technical feasibility of EV dynamic charging (buses and passenger cars)
Project limitations: • 400 Hz operation frequency • Low efficient ferromagnetic material • Bulky and heavy pads
The PATH results: • Power: 60 kW • Efficiency: 60% • Vertical gap: 7.6 cm
References and Photo Credit: [R3]
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Dynamic Charging – Key Challenges Dynamic WPT
Impact on the electrical grid
Optimum sizing of segments, coils/rails, power requirements
In-road installation and maintenance
Power conversion and power control
Operation of the vehicle energy storage unit
Communication requirements
Standardization and interoperability
6/10/2016 16
Modeling assumption about the EV penetration: 30% light vehicle/ 50% heavy vehicle
Dynamic WPT – Electric Grid Impact
Power demand per mile (at 55 mph)
References and Photo Credit: [R4]
6/10/2016 17
A market ready solution (TRL 9) – demonstrated at test tracks and in an operational environment
Fifth generation of technology Innovative I-type rail structure for the primary side:
maximum power: 27 kW (for a double pick-up coil) module width: 10 cm vertical gap: 20-cm air gap lateral misalignment: 24-cm active and passive compensation techniques
Potential disadvantages lower efficiency due to longer segments, leakage field, distributed compensation
KAIST/OLEV– Segmented Rail Concept
References and Photo Credit: [R5-R7]
6/10/2016 18
FABRIC (Feasibility analysis and development of on-road charging solutions for future electric vehicles)
Charging solutions and pilot programs (constructions in progress)
EU – FABRIC Project
Segment Length (m)
Segment Power (kW)
Number of Coils
Distribution Voltage
Activated coils Location
25 25 14 DC (?) Single VeDeCom-Qualcomm (France)
25 ? 25 DC (600 V) Single Polito (Italy) 25 50 20 AC (400V) Multiple SAET (Italy) 20 200 1 DC (750 V) Single Scania (Sweden)
Polito (Italy)
References and Photo Credit: [R8]
6/10/2016 19
Lumped IPT EV highway with Double-Coupled Systems (DCS) for power distribution
Work on development of the new pad structures: Circular DD DDQ Bipolar
Power null points were eliminated via the DDQ coil structure
Preferred configuration: DD (primary) and DDQ (vehicle)
Bidirectional WPT
Auckland University – WPT Research
References and Photo Credit: [R9-R11]
6/10/2016 20
A working prototype demonstrated in laboratory conditions
GEM vehicle laboratory tests : 20 kHz, 2.2 kW with an efficiency of 74% (limited by the 72 V DC battery)
Toyota RAV 4 laboratory tests: 20 kHz, peak power 9kW, SS and SP compensation configurations
Passive and active parallel electrochemical capacitors and lithium-capacitor (LiC) for in-vehicle and grid power smoothing
Oak Ridge National Laboratory (ORNL)
References and Photo Credit: [R12-R13]
6/10/2016 21
Integration into existing road and highway infrastructure Durability and reliability (to match 20 years (in the US)
road lifetime) Maintenance (pavement resurfacing) Impact of the concrete and asphalt to the pad magnetic
properties
In-Road Installation and Maintenance
6/10/2016 22
Improving inverter devices by evaluating wide bandgap device materials to reduce the thermal stress.
New resonant converters and compensation topologies
System modeling – to improve the reference tracking for the primary coil current
Modeling techniques suitable for low order resonant type converters (GSSA of GUFT)
Independent power regulation/protection provisions at the vehicle and the charger side: limited input power for supplying
multiple receivers control of the battery charging power
Power Conversion and Power Control
6/10/2016 23
While moving over road-embedded pads, the vehicle energy storage system is exposed to short-duration, high-energy bursts delivered from the road-embedded equipment.
High current form factor (F=Irms/Iavg) reduces the battery charge
capacity reduces the battery specific energy
Time [s]10 20 30 40 50 60 70
Powe
r [W
]
0
500
1000
1500
2000
2500
3000
Operation of the Vehicle Energy Storage
References and Photo Credit: [R14-R15]
6/10/2016 24
A hybrid energy storage (Battery – supercapacitor (SC))
Proposed solution 1: Parallel passive connection of SC-battery modules
Proposed solution 2: a SC bank integrated in the secondary resonant circuit
Proposed solution 3: battery and SC modules actively connected to an internal DC bus. Full active topology provides the operation of the SC as a power buffer for the power delivered from the WPT system.
Battery
DC/AC Inverter
Traction motor
DC/DC (Boost)
Supercapacitor
DC Bus
DC/DC (Boost)
WPT Power Input
Operation of the Vehicle Energy Storage
References and Photo Credit: [R13, R16-R17]
6/10/2016 25
Peer to peer communication between the roadside controller and the onboard controller
Message types: control commands, event-based messages and monitoring data Small packet size Low-rate wireless personal area network (PAN) (ZigBee (IEEE 892.15.4) and
Bluetooth (802.15.1)) are not adequate for dynamic WPT systems due to low data rate and small range.
DSRC (Dedicated Short Range Communication) based on 802.11(n) IEEE standard: 75 MHz bandwidth at 5.9 GHz Vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication Supported by the US Department of Transportation (USDOT) Low latency Data rate 3-27 Mbps and range 300-1000 m
Recommended by SAE J2954: DSRC+GPS +Cellular
Communication Requirements
References and Photo Credit: [R18-R19]
6/10/2016 26
Society of Automotive Engineers (SAE) published Technical Information Report (TIR) J2954 for wireless power transfer and alignment standard for stationary charging applications
TIR (2016) Standard (2018) Frequency range 81.38-90.00 kHz Maximum input power levels (3.7/7.7/11/22 kW) Minimum target efficiency (aligned) : 85% 3 ground clearance categories for above the ground
mounting Master/reference coils (circular and DD topology)
There is no standard or TIR for dynamic charging applications FABRIC: 10/20/40/200 kW, 85 kHz, and lateral misalignment 20 cm Recommendation: when possible, maintain compliance with J2954
3.7 kW 250 mm x 190 mm
Standardization and Interoperability
References and Photo Credit: [R19-R20]
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Dynamic Charging Research at USU
6/10/2016 28
EVR Research Facility at USU
Specialized research laboratory for vehicle and roadway systems integration
Technology areas: dynamic WPT, EV drivetrain, roadway construction and materials, automation, security
Resources: 4800 ft2 high bay, 750 kVA utility, a quarter-
mile track/ 2x120 ft. electrified. High voltage capabilities: 480V 3P4W AC, +/-
600V DC, and 208 V single-phase AC. Power distribution rated at 400A each
Indoor trench with grating cover identical to outdoor ones
Vehicle dynamometer, motor-generator group, Li-ion battery packs (55 kWh)
References and Photo Credit: [R21]
6/10/2016 29
USU - Dynamic charging demonstration
Technical Specifications: Maximum power: 25 kW (for 8 inch (20 cm) nominal gap) Constant power range 15 cm (6 inches) around the point of best alignment 20 kHz operation frequency Maximum efficiency > 91 % and energy efficiency > 85% for nominal gap Compliance with ICNIRP health and safety recommendations Multi-coil charging operation Independent power regulation/protection provisions at the vehicle and the
charger side.
6/10/2016 30
Hardware – Primary (Charger)
Primary charging subsystem acting as an intelligent power switch: fast, reliable, and safe
Single phase IGBT-based inverter unit with LCC compensation for load-independent primary coil current
Multi-coil system with shared portion of the primary compensation circuit. Relay/contactor based coil sequencer Vehicle detection system based on magnetic sensors
6/10/2016 31
Hardware – Primary (Charger)
Contactor-based sequencer allows sharing the portion of the compensation circuit (series inductor and parallel capacitor)
Contactors position in the circuit is selected with the objective to minimize total cost of the compensation system
6/10/2016 32
Hardware – Secondary (Electric Bus)
2x30 kWh battery packs; 350 V rated voltage CCL compensation to provide an effective quality
factor ranged from 3 - 6 Output current regulated buck converter to
control the charging current Extensive protection scheme to prevent the
unloaded operation of the receiver
6/10/2016 33
Power Transfer Control
The primary side controller consists of two loops: • Power controller (outer control loop) controls the amount of power transferred • Current controller (inner control loop) controls the RMS current of the primary
coil.
Gc1(s) Giv(s)Gc2(s) Gpi(s)PDCP*Ref
PDC
error
Power Controller
I*ref Itrack, RMS
Small signal model of LCC
Track Current Controller Small signal
model of LCC & DC link
error VBF,RMS
The current controller at the secondary adjusts the duty cycle of the buck converter in a way to limit the received power to 25 kW
6/10/2016 34
Power Transfer Control
Fully energized system in less than 5 ms with no overshoot Optimum control is provided at no load. Establishing the track current
under the full load is demonstrated, as well The bandwidth of this controller is about 60 Hz
DC link and primary coil currents Battery current
6/10/2016 35
Vehicle/speed/misalignment detection
Magnetic sensors are used for the vehicle and speed detection Magnetic sensors: expensive, limited reliability, susceptible to saturation and
damage in case of high magnetic field exposure New detection system testing is in progress:
based on induction principle between a coil on the vehicle and coils in the road
Provides vehicle detection, as well as, the misalignment information Both driver and foreign object detection system can activate/deactivate
system remotely and control magnetic “detectability” of the vehicle
6/10/2016 36
Foreign Object Detection System
Computer Vision (CV) is used for real-time detection of a metallic clutters on the charging path
Infrared cameras for night object detection Picture processed by Canny edge detector and probabilistic Hough Transform Contour analysis is applied to detect contours Future Work: distributed image processing and sensor fusion (for different
weather conditions)
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Omnidirectional Wireless Power Transfer (“directional” power flow control through current amplitude control)
References and Photo Credit: [F4]
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Introduction
IMPLANTABLE biomedical devices - monitoring, diagnostic, therapeutic and interventional applications body sensors for monitoring of various health parameters brain implants and brain-computer interface (BCI) capsules for transcutaneous endoscopy treatments retinal prosthesis Ventricular Assist Devices (VADs) cardiac pacemakers
Military applications Powering sensor nodes
Ranged few mWs for brain implants to 15-20 W for VADs. Power range limited due to recommended maximum limits for the field exposure.
References and Photo Credit: [R22-R23]
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Uni-directional Bi-directional Omni-directional
Receiver with three orthogonal coils wound on a ferrite cube
Transmitter with three orthogonal coils
Unnecessary power flow directed to the regions with no load
Magnetic field is not uniform
Omnidirectional WPT systems
References and Photo Credit: [R23-R24]
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Identical and Non-Identical Currents
Non-identical currents
Identical Currents
References and Photo Credit: [R25-R27]
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Omnidirectional WPT for 2D systems
amplitude modulation to control directivity of the maximum field and efficiency
θ is the physical angle of resulting magnetic field vector
E.g. if the receiver is located at 450, then select θ=45˚ for maximum power transfer
If the plane of the receiver coil is parallel to the 2D plane of the 2D WPT system, the receiver will not receive any power
References and Photo Credit: [R25-R27]
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Omnidirectional WPT for 3D systems
New method to enhance the power delivery performance. The power delivered to the N points can be determined first. Then, according to the power demand, a weight time-sharing scheme is proposed.
References and Photo Credit: [R25-R27]
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Thank you!
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References and Photo Credit [R1] N. Tesla, “Apparatus for transmitting electrical energy,” U.S. Patent 1 119 732, Dec. 1, 1914. [R2] https://www.teslamotors.com/supercharger, accessed: 06/07/2016 [R3] California PATH Program, “Roadway powered electric vehicle project: Track construction and testing program, phase 3D,” California Partner for Advanced Transportation Technology (PATH), USA, California PATH Res. Rep., Mar. 1994. [R4] Feasibility study: Powering electric vehicles on England’s major roads”, Highways England, http://assets.highways.gov.uk/specialist-information/knowledge-compendium/2014-2015/Feasibility+study+Powering+electric+vehicles+on+Englands+major+roads.pdf, , accessed: 06/07/2016 [R5] S. Y. Choi, B. W. Gu, S. Y. Jeong and C. T. Rim, "Advances in Wireless Power Transfer Systems for Roadway-Powered Electric Vehicles," in IEEE Journal of Emerging and Selected Topics in Power Electronics, vol. 3, no. 1, pp. 18-36, March 2015. [R6] C.-T. Rim, “The development and deployment of on-line electric vehicles (OLEV),” in Proc. IEEE Energy Convers. Congr. Expo. (ECCE), Sep. 2013. [R7] S. Y. Choi, J. Huh, W. Y. Lee, S. W. Lee, and C.-T. Rim, “New cross-segmented power supply rails for roadway powered electric vehicles,” IEEE Trans. Power Electron., vol. 28, no. 12, pp. 5832–5841, Dec. 2013. [R8] http://www.fabric-project.eu/images/Presentations/midterm_event/2._FABRIC_Conference_Session1_02022016_Peter_Vermaat.pdf, accessed: 06/07/2016 [R9] M. Budhia, J. T. Boys, G. A. Covic, and C.-Y. Huang, “Development of a single-sided flux magnetic coupler for electric vehicle IPT charging systems,” IEEE Trans. Ind. Electron., vol. 60, no. 1, pp. 318–328, Jan. 2013. [R10] G. A. Covic and J. T. Boys, “Modern trends in inductive power transfer for transportation applications,” IEEE J. Emerg. Sel. Topics Power Electron., vol. 1, no. 1, pp. 28–41, Mar. 2013. [R11] U. K. Madawala and D. J. Thrimawithana, "A Bidirectional Inductive Power Interface for Electric Vehicles in V2G Systems," in IEEE Transactions on Industrial Electronics, vol. 58, no. 10, pp. 4789-4796, Oct. 2011. [R12] J. M. Miller, P. T. Jones, J. M. Li and O. C. Onar, "ORNL Experience and Challenges Facing Dynamic Wireless Power Charging of EV's," in IEEE Circuits and Systems Magazine, vol. 15, no. 2, pp. 40-53, Second quarter 2015. [R13] J. M. Miller et al., "Demonstrating Dynamic Wireless Charging of an Electric Vehicle: The Benefit of Electrochemical Capacitor Smoothing," in IEEE Power Electronics Magazine, vol. 1, no. 1, pp. 12-24, March 2014.
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References and Photo Credit [R14] F. Savoye, P. Venet, M. Millet and J. Groot, "Impact of Periodic Current Pulses on Li-Ion Battery Performance," in IEEE Transactions on Industrial Electronics, vol. 59, no. 9, pp. 3481-3488, Sept. 2012. [R15] R. Miller, A.F. Burke. Electrochemical Capacitors: Challenges and Opportunities for Real-World Applications. The Electrochemical Society Interface, Spring (2008), 53-57. [R16] A. Azad, T. Saha, R. Zane and Z. Pantic, "Design of Hybrid Energy Storage Systems for Wirelessly Charged Electric Vehicles," Vehicular Technology Conference (VTC Fall), 2015 IEEE 82nd, Boston, MA, 2015, pp. 1-5. [R17] S. I. Ruddell, D. J. Thrimawithana, U. K. Madawala, D. S. B. Weerasinghe and M. Neuburger, "A novel single-phase AC-AC BD-IPT system with zero power ripple," 2016 IEEE Power and Energy Conference at Illinois (PECI), Urbana, IL, 2016, pp. 1-6. [R18] A. Gil, P. Sauras-Perez and J. Taiber, "Communication requirements for Dynamic Wireless Power Transfer for battery electric vehicles," Electric Vehicle Conference (IEVC), 2014 IEEE International, Florence, 2014, pp. 1-7. [R19] http://standards.sae.org/j2954_201605/, , accessed: 06/07/2016 [R20] http://www.fabric-project.eu/images/Presentations/midterm_event/2._FABRIC_Conference__Feb2_Session_2.NicholasKeeling_Qualcomm.pdf, accessed: 06/07/16 [R21] http://evr.usu.edu/, accessed: 06/07/2016 [R22] I. C. on Non-Ionizing Radiation Protection et al., "Guidelines for limiting exposure to time-varying electric and magnetic fie lds (1 hz to 100 khz)," Health Physics, vol. 99, no. 6, pp. 818-836, 2010. [R23] B. Lenaerts and R. Puers, Omnidirectional Inductive Powering for Biomedical Implants, Springer, 2008. [R24] K. O'Brien, "Inductively coupled radio frequency power transmission system for wireless systems and devices," PhD Thesis, TU Dresden, 2005. [R25] W. M. Ng, C. Zhang, D. Lin, and S. Y. R. Hui, "Two- and Three- Dimensional Omnidirectional Wireless Power Transfer," IEEE Transactions on Power Electronics, vol. 29, pp. 4470-4474, 2014. [R26] D. Lin, C. Zhang, and S. Y. R. Hui, "Mathematic Analysis of Omnidirectional Wireless Power TransferPart-I 2-Dimensional Systems," IEEE Transactions on Power Electronics, Early Access. [R27] D. Lin, C. Zhang, and S. Y. R. Hui, "Mathematic Analysis of Omnidirectional Wireless Power TransferPart-2 3-Dimensional Systems," IEEE Transactions on Power Electronics, Early Access.
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References and Photo Credit
[F1] https://www.youtube.com/watch?v=FVRclpJbItM, accessed: 06/07/2016 [F2] http://www.alstom.com/us/products-services/product-catalogue/rail-systems/Infrastructures/products/srs-ground-based-static-charging-system/,accessed: 06/07/2016 [F3] http://w3.siemens.com/topics/global/en/electromobility/Pages/ehighway.aspx, accessed: 06/07/2016 [F4] http://electronics.howstuffworks.com/everyday-tech/wireless-power2.htm, accessed: 06/07/2016
10 June 2016 IAS Webinar Series 47
IAS WEBINAR SERIES Questions and Answers
If you have any question for the presenter: Use the Webex Q&A tab to send your question to the moderator
June 8th, 2016 Presenter: Prof. Zeljko Pantic, Utah State University Tile: Review of Recent Advance in Dynamic and Omnidirectional Wireless Power Transfer
10 June 2016 IAS Webinar Series 48
IAS WEBINAR SERIES CONCLUSION
We thank the presenter, Prof. Pantic, and we thank you for your attention
This session was recorded and will be posted on line at: www.ias.ieee.org
Next webinar: September 7th, 2016
Presenter: Marcelo Valdes, GE Industrial Solutions
Tile: Modern Selectivity Techniques for LV & MV Systems, Beyond the Time-Current-Curve