In
te
r
n
ation
a
l Jou
rn
al
o
f Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJ
PED
S
)
V
o
l.
11, N
o.
1, Mar
ch 20
20,
p
p.
451~
4
5
8
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
4
51-
45
8
451
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Dual axi
s solar tr
acker with I
oT monit
oring system
using
arduino
M
o
h
a
mad
N
u
r
A
i
m
a
n
M
o
hd
S
ai
d
,
S
iti A
m
el
y Ju
maat,
C
l
are
n
ce
R
imon
g
An
a
k
Jawa
G
r
een an
d
S
u
s
tainab
le E
nerg
y Fo
cus
Grou
p, F
acult
y
o
f
Electri
cal
a
n
d
E
lect
roni
c E
ngi
neeri
ng,
U
n
i
v
ers
i
ti
Tu
n
Hus
sei
n
O
nn M
a
lay
s
ia
(
UTH
M
), M
alay
si
a
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
c
e
i
v
e
d
Au
g
2
7
,
2
019
Re
vise
d O
c
t
2
7
,
20
1
9
Ac
ce
p
t
ed
No
v
1
1
,
2
019
Th
is
p
roj
ect
a
im
s
to
d
evel
op
d
u
al
a
x
i
s
s
o
l
a
r
tracker
w
ith
I
O
T
m
on
itori
ng
sy
st
e
m
u
sin
g
A
rdu
i
n
o
.
General
l
y,
s
olar
e
nerg
y
i
s
t
h
e
t
ech
nol
og
y
t
o
g
e
t
use
f
u
l
energ
y
f
ro
m
sunl
ig
h
t
.
S
o
l
a
r
energ
y
h
as
b
een
u
sed
i
n
m
an
y
t
r
adit
ional
tech
no
log
i
es
over
th
e
c
e
nt
uries
and
has
b
een
w
i
d
ely
us
ed
i
n
t
h
e
a
b
s
en
ce
of
ot
her
energ
y
s
up
pl
ies.
I
ts
u
s
e
f
u
l
n
ess
is
w
i
d
es
pread
w
hen
awar
e
n
es
s
o
f
t
h
e
cos
t
o
f
the
env
i
ro
nm
ent
an
d
th
e
s
upp
ly
i
s
lim
i
te
d
b
y
o
t
h
er
e
n
e
r
gy
s
ou
rces
su
ch
a
s
f
u
el.
Th
e
so
lar
t
r
ackin
g
sy
ste
m
i
s
th
e
mos
t
e
ff
ec
t
i
v
e
t
e
c
hn
olog
y
to
im
p
r
ove
t
h
e
e
fficien
cy
o
f
s
o
l
a
r
p
a
nel
s
by
track
in
g
and
f
o
l
l
owi
n
g
th
e
s
u
n
'
s
m
o
v
e
men
t
.
W
ith
t
h
e
h
elp
of
t
hi
s
sy
ste
m
,
solar
pa
nel
s
can
i
m
p
rov
e
t
h
e
w
a
y
o
f
sunlight
d
et
ec
tion
so
t
hat
more
e
lect
ricit
y
can
b
e col
l
ect
ed
a
s
s
o
l
ar panel
s
can
m
a
i
n
t
a
i
n
a
s
u
n
n
y
p
o
s
i
t
i
o
n
.
T
h
u
s
t
h
e
p
r
o
j
e
c
t
d
i
s
c
u
s
s
e
s
t
h
e
d
e
v
e
l
op
m
e
nt
o
f
tw
o-ax
is
s
olar-t
rackin
g
dev
e
lo
pe
rs
u
sin
g
A
rduin
o
U
n
o
a
s
mai
n
c
o
ntrol
l
e
r
t
he
sy
st
e
m
.
F
o
r
develo
ps
t
h
i
s
project
,
f
o
ur
l
ig
h
t
-depen
den
t
r
es
is
to
rs
(
L
D
R
s
)
hav
e
been
u
s
e
d
f
o
r
sun
l
i
ght
d
e
t
ecti
o
n
and
a
m
a
ximum
li
ght
i
n
t
ensity.
T
w
o
s
e
r
v
o
m
o
t
o
rs
h
ave
bee
n
u
sed
to
r
ot
ate
t
h
e
s
o
l
a
r
panel
accord
in
g
t
o
t
h
e
sun's
ligh
t
so
urce
det
e
cted
b
y
th
e
L
D
R.
N
e
x
t
a
W
I
F
I
E
SP
8
266
d
evi
ce
is
u
sed
as
a
n
in
term
edi
a
ry
b
etween
d
evi
c
e
and
IO
T
m
o
n
i
t
o
ri
ng
s
y
s
te
m.
T
he
I
OT
mo
ni
to
r
i
ng
s
y
s
te
m
is
a
w
e
b
s
i
t
e
t
ha
t
fu
n
c
ti
on
s
to
s
to
r
e
d
a
t
a
.
T
h
e
effi
ciency
o
f
th
is
sy
s
t
e
m
has
b
een
tes
ted
and
c
o
m
p
ared w
ith
a
s
in
g
l
e axi
a
l s
o
l
a
r track
er.
As
a
res
u
l
t
,
th
e
t
w
o
-
a
x
is
s
ol
ar
t
rac
k
in
g
sy
s
t
em
g
enerates
m
ore
po
w
er,
vo
lt
a
g
e
and
curren
t
.
K
eyw
ord
s
:
Du
al
axi
s
Interne
t
of
th
in
gs (
i
o
t)
Phot
o
v
o
lta
ic
S
o
lar
ene
r
gy
Tracker
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Siti A
m
ely Ju
m
aat,
G
r
e
e
n a
nd S
u
st
aina
ble
Ener
g
y
F
oc
us G
roup,
Fa
cult
y
o
f
E
l
e
c
t
rica
l
and
E
l
e
c
t
r
on
ic E
n
g
i
n
ee
rin
g
,
U
n
i
v
ersi
ti
T
un
H
u
ssei
n
O
nn
Ma
lays
ia (
U
T
H
M
),
8640
0, P
ar
i
t
R
a
j
a
B
a
t
u
P
a
hat,
Joh
or, Ma
l
ays
i
a
Em
ail:
am
ely
@
u
t
hm
.e
du.my
1.
I
N
TR
OD
U
C
TI
O
N
Du
e
t
o
t
h
e
s
h
o
r
t
ag
e
o
f
e
le
c
t
ri
ci
ty
,
t
h
e
ma
n
k
i
nd
a
l
w
a
y
s
lo
ok
ed
f
or
t
he
m
ost
a
v
ail
a
b
l
e
an
d
env
i
ro
nm
en
tal
frie
n
d
l
y
ty
pe
o
f
t
h
e
e
l
ec
tric
pow
e
r
i
n
t
h
e
w
a
y
o
f
d
ev
elop
men
t
[
1
]
.
R
e
n
e
wa
bl
e
e
n
ergy
i
s
an
ene
r
g
y
w
hic
h
c
om
es
f
rom
natura
l
resourc
e
s
s
uc
h
a
s
s
u
n
li
gh
t,
w
in
d,
t
i
d
e
s
,
hydr
o,
b
i
o
m
a
ss
a
nd
ge
othe
rm
al,
w
h
ic
h
a
r
e
na
t
u
ral
l
y
r
e
ple
n
is
h
e
d
[2]
.
N
o
w
a
day
s
,
Ma
lays
ia
h
a
v
e
l
o
o
k
a
t
s
ol
a
r
e
nerg
y
as
o
ne
o
f
re
ne
w
a
b
l
e
ene
r
g
y
t
hat
use
f
u
l
b
ec
a
u
se
M
alay
sia’s
elec
t
r
i
c
i
t
y
ga
in
r
at
i
o
n
t
ota
l
e
d
a
t
3
0
,87
5
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3
M
W
i
nc
lu
din
g
s
ol
a
r
s
ystem
w
h
ic
h
c
o
ntri
b
u
t
e
0.
55%
[
3].
Th
is
i
s
pro
v
i
n
g
t
hat
Mala
ys
i
a
h
as
t
h
e
h
ig
he
r
sol
a
r
rad
i
a
t
i
o
n
t
h
at
can
b
e
u
s
ed
t
o
gene
ra
te
e
l
e
c
t
rici
t
y
.
Besi
des
tha
t
,
so
l
a
r
ene
r
gy
i
s
o
ne
o
f
t
h
e
be
st
p
ow
e
r
s
ource
s
si
nce
it
is
a
va
il
ab
le
i
n
n
a
t
u
re
and
n
o
t
ge
ne
rate
s
a
ny
po
l
l
u
t
i
on
i
n
t
his
w
o
rl
d.
I
t
is
t
he
c
on
ver
sion
of
e
ne
r
gy
from
su
nl
ig
ht
i
nt
o
e
l
ec
t
r
i
c
i
t
y
a
n
d
th
i
s
p
roce
ss
i
s
k
now
n
as
t
he
p
ho
t
o
ele
c
t
r
i
c
effec
t
.
T
h
is
r
enew
ab
le
e
nerg
y
had
be
e
n
w
ide
l
y
use
a
n
d
k
e
e
p
o
n
impro
v
i
n
g
co
n
t
i
n
uo
usl
y
.
D
e
spi
t
e
o
f
s
o
l
ar
e
nerg
y
be
i
n
g
a
go
o
d
s
o
ur
ce
of
e
ner
gy,
i
t
is
n
e
e
ded
to
i
m
p
ro
ve
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
451
–
45
8
45
2
me
tho
d
s
t
o
h
a
r
ness
t
h
i
s
e
ner
gy.
T
his
ca
n
be
a
c
h
ie
v
i
n
g
by
us
in
g
dua
l
sola
r
tra
c
k
i
n
g
s
ys
tem
tha
t
h
as
t
w
o
degre
e
s
o
f
f
r
eedom
t
hat
ac
t
a
s
a
xes
of
r
ot
a
t
i
o
n.
T
he
a
x
i
s
tha
t
i
s
f
i
x
e
d
w
i
t
h
r
e
s
p
e
c
t
t
o
t
h
e
g
r
o
u
n
d
c
a
n
b
e
c
o
nsid
e
r
ed
a
p
ri
ma
ry
a
x
i
s
and
t
h
e
oth
e
r
axi
s
t
h
a
t
i
s
r
e
f
ere
n
ce
d
t
o
th
e
pri
m
ary
a
x
i
s
can
b
e
co
nsid
e
r
e
d
a
seco
nda
ry
a
x
i
s
[4]
.
S
olar
t
ra
cke
r
i
s
a
de
vic
e
w
i
t
h
t
he
o
r
i
e
n
ta
t
i
o
n
of
f
ol
l
o
w
i
ng
t
h
e
s
u
n
’
s
pa
th
t
o
m
a
x
i
m
i
z
e
ene
r
g
y
c
ap
ture
.
I
t
h
el
ps
t
o
minimi
ze
t
he
a
ng
le
o
f
inc
i
de
nce
w
h
i
c
h
w
ill
ma
ke
a
g
rea
t
e
r
p
e
r
for
m
a
n
ce
of
Phot
o
v
o
lta
ic
p
a
n
el.
A
so
l
a
r
tr
acke
r
c
a
n
b
e
c
o
mple
te
d
w
i
t
h
t
he
p
re
se
nce
of
t
he
P
LC,
s
e
r
vo
m
o
tors,
w
o
rm
-
gea
r
s, phot
o-se
nsor
s,
e
nc
oder
s
a
nd pow
er
r
e
l
a
y
s. In
pa
per [2] d
i
s
c
u
ss
a
d
ev
el
op
me
n
t
o
f
du
a
l
s
ol
ar
t
rac
k
er
t
h
a
t
has
h
i
g
h
e
ffic
i
e
ncy
on
tr
ace
t
he
m
a
x
i
m
um
s
un
l
i
g
h
t
s
o
u
rc
e
to
pow
e
r
t
he
s
olar
p
a
n
e
l
.
The
re
sear
cher
h
a
s
b
e
e
n
us
i
n
g
l
i
g
h
t
d
ep
ende
n
t
r
e
s
i
s
t
o
r
(LD
R
),
t
w
o
s
e
r
vo
m
o
tor
t
h
a
t
c
on
t
rol
by
A
r
d
u
i
no
UNO
to
m
o
v
e
t
h
e
s
o
l
ar
p
an
el
direc
t
l
y
t
o
t
h
e
sun
l
i
g
h
t
.
The
s
e
re
sear
ch
a
r
e
c
om
pari
ng
a
d
ua
l
s
olar
t
ra
ck
er
w
ith
s
tat
i
c
s
o
l
a
r
pa
ne
l
.
T
h
i
s
pa
pe
r
[5],
d
e
c
i
d
ed
t
o
desi
gn
a
nd
c
o
nstruc
t
dua
l
sola
r
t
r
acke
r
t
ha
t
co
nt
rol
b
y
A
rd
uin
o
UNO.
T
h
e
c
on
st
r
u
ction
on
d
u
a
l
so
l
a
r
t
r
a
c
k
e
r
wil
l
b
e
c
ons
id
ere
d
o
n
t
ypes
of
m
ot
o
r
,
nu
mb
e
r
s
of
l
i
ght
d
ep
end
e
nt
r
e
s
i
s
t
o
rs
w
i
l
l
b
e
u
se
a
nd
com
p
ressi
o
n
u
sing
L
a
b
V
I
E
W
s
of
t
w
are
.
T
hi
s
pape
r
[6]
d
i
sc
u
sse
d
of
a
d
e
s
ign
a
n
d
b
u
il
d
in
terne
t
o
f
th
i
n
gs
o
n
so
l
a
r
tra
c
ker
.
T
he
p
l
a
tform
tha
t
h
as
b
ee
n
use
in
t
his
pr
ojec
t
i
s
R
a
s
p
b
e
r
r
y
P
i
3
(
R
P
i
3
)
.
I
n
t
h
i
s
p
a
p
e
r
[
7
]
,
the
re
se
arc
h
er
i
s
focu
si
n
g
o
n
bu
il
d
d
u
a
l
-ax
i
s
so
la
r
trac
k
i
n
g
s
y
st
em
u
si
ng
p
rog
r
a
mma
b
l
e
lo
gi
cal
c
ontro
ll
er
(P
LC)
based
on a
u
tom
a
t
i
c
t
r
acki
n
g sys
t
em
.
T
h
e
f
u
n
c
t
i
o
n
o
f
P
L
C
i
n
t
h
i
s
r
e
s
e
a
r
c
h
i
s
t
o
c
o
n
t
r
o
l
t
h
e
m
o
v
e
m
e
n
t
o
f
so
lar
trac
ker.
I
n
pa
per
[8],
t
he
rese
arc
h
er had
c
om
p
a
re
t
he dua
l-a
x
is s
o
l
ar t
rac
k
ing sys
t
em
w
i
t
h
fix-a
ng
le
sola
r
tra
cki
n
g sys
t
e
m
and
the
re
sult
sh
o
w
t
h
e
e
l
ectri
c
i
t
y
g
en
e
r
at
ed
b
y
d
u
a
l
-
axi
s
s
ol
a
r
t
ra
c
k
er
h
a
s
a
n
overa
l
l
i
ncr
ease
o
f
8
%
un
t
il
25%
m
or
e
tha
n
t
h
e
fi
x
-
an
gl
e
so
l
a
r
t
r
a
c
k
er.
Th
is
p
ap
er
[
9
]
u
s
e
s
a
n
A
TM
eg
a328
a
s
a
c
o
ntr
o
l
l
er
t
o
m
o
ve
t
he
d
ua
l-
ax
is
s
o
l
ar
trac
ker.
T
he
A
TMe
g
a3
2
8
i
s
a
sin
g
l
e-c
h
i
p
m
ic
roco
ntro
l
l
er
t
hat
cr
eat
e
d
b
y
At
me
l
.
T
h
e
A
TM
eg
a
328
i
s
c
a
p
a
ble
w
i
t
h
8
-
b
i
t
A
l
f
V
e
g
a
r
d
’
s
R
i
s
c
(
A
V
R
)
a
n
d
i
t
c
o
m
b
i
n
e
s
w
i
t
h
3
2
k
B
I
n-
S
y
stem
P
rogra
m
m
i
ng
(
I
P
S
)
f
las
h
me
mor
y
.
The
com
p
aris
on
o
n
dua
l-a
x
is
s
ola
r
t
rac
k
er
s
how
a
vera
ge
out
put
vol
t
a
g
e
t
h
a
t
wa
s
3
7
%
h
i
gher
t
h
a
n
fi
x
s
o
lar
trac
ke
r.
T
he
se pro
ve t
he
d
ua
l-a
x
i
s
s
ol
a
r
tra
cke
r
is m
ore
a
ffe
c
tio
n to use
tha
n fi
x sola
r
tra
c
ke
r b
a
se
o
n
ou
tpu
t
vol
ta
ge
.
Th
is
j
o
u
rna
l
[
1
0
]
,
a
re
f
ocus
o
n
e
f
fic
i
e
n
c
y
o
n
s
o
lar
p
a
ne
l
a
nd
t
h
e
re
a
re
a
f
ew
m
e
t
h
ods
t
o
m
a
xim
i
z
e
the
e
ffic
i
enc
y
u
s
i
n
g
m
ic
roco
ntr
o
l
l
er
c
h
i
p.
B
e
s
ide
t
h
a
t
t
he
r
ese
a
r
che
r
a
lso
m
e
nt
i
o
n
a
b
o
u
t
a
sola
r
trac
k
e
r
is
a
n
elec
tr
ome
c
han
i
ca
l
de
vic
e
a
n
d
v
a
r
i
ous
m
i
c
ro
p
r
oce
s
sor
s
s
uc
h as
L
P
C
21
4
8
a
nd
A
TM
EG
A
32
t
ha
t
usua
l
l
y
u
se
d
in
a
s
o
l
ar
t
rac
k
er.
The
m
a
in
r
ole of
a
s
o
l
ar
t
ra
cker
i
s
t
o
i
nc
r
ea
se
t
he
i
nte
n
s
ity of lig
h
t
f
a
lli
ng o
n
i
t
or
r
e
t
a
i
n
t
h
e
l
i
g
h
t
i
nt
e
n
sity
b
y
c
ont
ro
l
th
e
p
o
s
iti
on
i
n
g
sy
st
e
m
o
f
th
e
sol
a
r
trac
ker.
T
he
r
e
s
ear
cher
c
o
n
c
l
u
d
es
t
hi
s
re
sea
r
ch
i
s
the
m
o
st
f
eas
i
b
le
f
orm
of
e
n
e
rgy
a
n
d
an
e
d
u
c
a
t
i
ona
l
ins
t
i
t
ute.
In
t
hi
s
p
a
p
e
r
[1
1]
d
isc
u
ss
of
c
om
par
i
n
g
a
t
w
o
gene
r
i
c
sys
t
e
m
s
usi
n
g
g
e
ne
ra
l
fa
ilure
d
ist
r
ib
ut
ions
f
or
m
ec
hani
ca
l
h
a
rdw
a
re
a
nd
reali
s
tic
d
istri
b
u
tio
n
for
restora
t
i
ons.
O
t
her
t
h
a
n
t
ha
t
the
a
n
al
yses
i
nc
lude
s
e
n
s
i
tivi
t
y
st
u
d
ie
s
o
f
t
he
dow
n-
tim
e
distri
b
u
t
i
ons
a
n
d
conc
l
ude
t
ha
t
the
am
ou
n
t
o
f
hardw
a
re
r
end
e
red
a
s
u
n
a
va
i
l
a
ble
d
u
ring
res
t
or
ation
f
o
r
the
linked-rows
d
esign
impa
ct
s the
po
w
e
r
p
r
oduct
i
on
.
C
o
m
b
i
n
in
g
t
h
e
fr
eq
uenc
y
of
f
ai
l
u
re
o
r
re
lia
bi
l
ity
w
ith
t
he
l
og
i
c
of
d
e
p
e
nde
nc
ies,
o
u
t
a
g
e
durat
i
o
n
,
a
n
d
re
st
o
r
a
tio
n
t
i
me
(
ma
i
n
t
a
in
a
b
il
ity
)
re
su
lt
s
i
n
t
h
e
c
on
c
e
p
t
c
a
lled
a
v
ai
l
a
bi
l
i
t
y
.
In
t
he
e
nd
of
t
h
i
s
pa
per,
t
he
rese
arc
h
er arc
hive
s
t
o
a
nal
y
ze
i
l
l
us
tra
t
e
t
h
e i
m
porta
nc
e o
f
a
va
il
ab
il
it
y
in
ste
a
d
o
f
re
li
a
b
ili
ty
.
Thi
s
p
ap
er
[
1
2
]
t
o
deve
l
op
a
s
i
n
g
l
e
axis
s
ola
r
t
r
a
cke
r
f
or
s
ola
r
p
a
n
e
l
us
i
n
g
m
i
c
r
oc
o
n
tro
l
ler
A
t
me
ga32
8P
,
t
w
o
de
pe
n
d
e
n
t
r
e
sistors
(LD
R
)
and
a
se
rvo
mot
o
r.
T
he
purp
o
se
o
f
t
h
is
r
e
s
e
a
rc
h
i
s
t
o
o
b
s
e
r
ve
c
om
par
i
s
on
of
v
o
l
ta
ge
r
e
a
di
n
g
b
e
t
w
e
e
n
fi
xe
d
an
d
trac
kin
g
s
ol
a
r
p
a
n
e
l
.
N
e
xt,
in
p
a
p
e
r
[
1
3
]
pr
o
p
o
s
e
d
d
u
al
a
x
i
s
tra
c
ki
n
g
m
eth
o
d
t
o
trac
k
the
m
a
ximum
su
nl
ig
ht
w
il
l
be
d
i
r
e
c
tly
s
hi
ne
o
n
th
e
p
a
n
e
l
a
t
a
ny
g
iv
e
n
t
ime
of
t
he
d
ay
a
nd
ye
ar.
In
p
a
p
er
[
1
4
]
to
d
e
s
i
gn
a
so
l
a
r
trac
ker
s
y
s
t
e
m
t
o
e
n
s
u
res
t
h
e
o
p
t
im
iza
t
i
o
n
o
f
t
he
c
o
nve
rs
i
on
o
f
s
o
l
a
r
e
nergy
i
n
t
o
e
lec
t
r
i
ci
ty
b
y
proper
l
y
move
a
nd
t
urn
the
P
V
p
ane
l
i
nt
o
t
h
e
re
al
p
o
s
i
tio
n
of
t
h
e
s
u
n
l
i
g
ht
.
Th
is
p
ap
e
r
[
1
5
]
di
sc
uss
on
t
h
e
i
mp
o
r
tan
t
o
f
us
i
n
g
sola
r tra
c
ki
n
g
sys
t
e
m
fo
r
extra
c
tin
g
sola
r e
n
ergy
usin
g
L
abVIEW so
f
twar
e.
The
o
b
jec
t
ive
s
o
f
th
i
s
p
ro
jec
t
a
re
t
o
des
i
gn
dua
l-
a
xis
sola
r
t
ra
cker
w
it
h
c
o
ntr
o
l
b
y
se
n
s
or
a
nd
moni
t
o
r
the
m
o
v
e
me
n
t
o
f
so
lar
pa
ne
l
base
d
o
n
t
h
e
i
nte
n
si
ty
o
f
t
h
e
l
i
g
h
t
.
S
e
c
o
n
d
l
y
,
t
o
d
e
v
e
l
o
p
a
t
r
a
c
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m
t
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o
n
i
t
o
r
i
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WI-F
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.
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i
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t
o
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y
z
e
t
h
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t
p
u
t
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m
a
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e
o
f
s
o
l
a
r
p
a
n
e
l
parameters,
I-V and
P
-
V
curves.
2.
RESEARCH
M
ETH
O
DOLOGY
F
i
rst
p
a
rt
e
xpla
i
ns
a
bo
ut
t
h
e
p
ro
c
e
ss
t
o
d
eve
l
op
o
f
du
a
l
a
x
i
s
s
o
l
ar
t
ra
ck
er.
N
e
xt,
t
h
e
s
o
ftwa
re
a
nd
hardw
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re
deve
l
opm
en
t w
i
l
l
d
i
s
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n
de
t
a
i
l
.
2.1.
P
roce
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o
f d
u
a
l
axis
so
l
a
r
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r
Th
is
p
r
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c
t
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ys
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rne
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o
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In
th
i
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p
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o
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a
l
s
o
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i
v
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de
i
nt
o
t
w
o
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t
s,
F
irst
l
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,
the
so
ft
w
a
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o
p
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t
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d
secon
d
l
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s
t
he
h
a
r
dw
ar
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deve
l
opm
en
t. The F
i
gure 1 show
s
t
h
e
b
l
oc
k
di
a
g
ram
of
s
y
s
tem
.
Th
e
system
i
s
st
arts
w
ith
t
h
e se
ns
ors
d
e
t
e
ct
e
d
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
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&
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IS
S
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:
2088-
86
94
D
u
a
l
axi
s
sol
a
r
tracke
r
w
ith
I
o
T
m
onito
ri
n
g
system
usin
g ardu
i
n
o
(M
oh
am
a
d
Nur Aim
an Mo
hd
S
a
i
d)
45
3
the
su
n
pos
iti
o
n
a
n
d
s
e
n
d
t
h
e
data
t
o
a
n
A
rdui
n
o
[1
6-18]
.
A
f
ter
t
h
a
t
t
he
A
r
d
u
i
no
proce
s
s
t
h
e
i
n
form
at
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fr
om
the
se
ns
or
t
o
c
o
mm
and
t
h
e
1
80-
degre
e
s
erv
o
m
otor
t
ha
t
h
o
l
d
t
he
p
h
o
t
o
v
o
lta
ic
t
o
move
t
ow
a
r
d
the
s
u
n
.
N
e
x
t
,
the
ph
o
t
o
v
o
lta
i
c
g
at
her
t
h
e
e
n
e
r
gy
fr
om
t
he
s
un
a
nd
c
h
arg
e
s
t
h
e
b
at
tery
a
nd
se
nd
t
h
e
v
a
lue
to
t
he
A
rdu
i
no.
Last
ly,
t
h
e
A
r
d
u
i
n
o
w
ill
se
n
d
t
he
d
a
t
a
tha
t
h
a
s
b
e
e
n
t
a
k
ing
by
p
h
o
t
ov
o
lta
i
c
t
o
WIF
I
m
odule
[19]
a
n
d
s
e
nd
to
the
IO
T
m
o
n
i
t
o
ri
ng
s
y
ste
m
f
or
r
ec
ords
a
s
show
n
i
n
F
ig
ur
e
1.
T
he
I
O
T
m
oni
tor
i
ng
s
y
s
t
e
m
w
il
l
be
u
p
d
ate
t
h
e
data
e
ve
r
y
3 se
c
on
d [
20].
F
i
gure
1. P
roc
e
ss of
s
o
l
a
r
tra
cke
r
system
2.2.
S
oftw
are d
e
velop
m
e
n
t
T
h
e
d
u
a
l
a
x
i
s
s
o
l
a
r
t
r
a
c
k
e
r
h
a
s
b
e
e
n
c
o
n
d
u
c
t
s
t
a
r
t
i
n
g
f
r
o
m
s
i
m
u
la
tio
n
t
e
s
tin
g
b
y
u
s
i
n
g
P
ro
teu
s
Soft
ware
[
21-23].
The
soft
wa
re
u
sed
t
o
d
e
s
ig
n
si
mu
l
a
t
i
on
c
i
rcui
t
to
t
e
s
t
i
n
g
the
mo
vem
e
nt
m
echa
n
ism
of
t
h
i
s
pro
j
ec
t
.
O
n
t
h
is
p
a
r
t
th
e
m
ove
me
nt
a
n
d
r
o
t
a
t
i
o
n
of
s
olar
t
ra
cke
r
w
i
ll
b
e
t
e
s
tin
g
t
o
f
i
n
d
ou
t
the
s
y
ste
m
i
n
t
h
e
rig
h
t
or
der.
T
he
F
igure
2
s
h
o
w
s
the
fl
ow
ch
a
r
t
of
m
o
v
e
m
e
n
t
t
h
e
s
o
l
ar
t
ra
cker.
Star
t
i
n
g
f
r
o
m
four
s
e
n
so
r
s
t
ha
t
detec
t
i
ng
t
h
e
pos
it
ion
of
t
he
s
un.
T
he
d
ata
tha
t
h
as
b
ee
n
re
cei
ve
f
rom
th
e
sensor
w
ill
b
e
c
on
ver
t
t
he
a
na
lo
g
d
a
t
a
t
o
di
gi
t
a
l
d
a
t
a
a
nd
t
h
e
d
at
a
wil
l
b
e
r
e
ad
i
n
Ardu
ino
UNO
t
o
ma
de
a
c
ompar
i
son
for
p
o
si
t
i
o
n
t
he
s
o
l
ar
pane
l
direc
t
l
y
t
ow
a
r
d
the
su
n
r
a
y.
T
he
s
ys
te
m
w
ill
be
a
n
a
l
y
z
e
t
h
e
d
a
t
a
i
n
o
rd
e
r
t
o
d
e
t
e
rmi
n
e
th
e
di
re
cti
o
n
of
t
he
s
un
a
nd
m
a
de
hor
i
z
o
n
ta
l
a
n
d
ve
rt
i
c
a
l
s
e
r
vo
mot
o
r
move
a
c
c
o
rd
in
g
l
y
t
o
t
he
c
om
me
nd
tha
t
h
as
b
e
e
n
set
in A
rdu
i
no I
D
E.
T
able
1
sho
w
s
the
m
e
a
nin
g
of
w
o
rd
t
ha
t
use i
n
f
lo
w
chart.
F
i
gure
3
sh
ow
s
circu
it
for
movi
n
g
t
he
s
o
l
ar
t
rac
k
er.
Whe
n
t
he
p
ow
e
r
s
up
p
l
y
i
s
s
up
pl
ie
d
t
o
t
he
ci
rcui
t
,
i
t
wil
l
t
u
r
n
on
t
h
e
A
r
d
u
i
no
UNO
an
d
serv
o
mo
to
r.
T
h
e
A
rdu
i
no
use
d
a
s
t
h
e
m
a
i
n
p
roce
ssor
u
n
it
a
n
d
servo
m
o
t
o
r
u
s
ed
a
s
the
ha
r
d
w
a
r
e
c
om
p
one
nt
t
o
r
o
t
a
te
t
he
s
o
l
ar
tra
c
ke
r.
T
hi
s
pro
j
ec
t,
u
se
t
w
o
1
8
0
d
egre
e
angles
s
ervo
motor
which
for
hori
z
o
n
t
a
l
a
nd
vert
ica
l
.
Th
e
se
rvo
m
oto
r
[
24
]
wi
ll
b
e
op
era
t
ed
a
cc
o
r
di
ng
t
o
LD
R
sens
or
t
h
a
t
ha
s
bee
n
d
e
t
e
c
t
i
n
g
the
sun
ray
[25]
.
The
se
nsor
h
a
s
f
iv
e
con
d
i
t
i
o
n
s
to
m
a
d
e
servo
moto
r
r
o
t
a
t
e
d
.
F
i
r
s
t
,
w
h
e
n
s
e
n
s
o
r
L
T
a
n
d
R
T
d
e
t
e
c
t
e
d
s
u
n
r
a
d
i
a
t
i
o
n
m
o
r
e
t
ha
n
LD
a
nd
RD
t
h
e
v
er
tica
l
s
e
r
v
o
m
o
t
or
w
ill
be
t
ur
n
fr
o
m
0
-de
g
r
ee
t
o
1
2
0
-de
g
ree
a
n
gl
e
.
S
e
c
o
n
d
l
y,
w
hen
L
T
an
d RT
l
ess
t
h
a
n
L
D
and R
D
t
he vert
i
cal
servo
m
o
t
o
r
w
i
l
l
r
o
t
a
t
es
f
r
o
m
0-de
gree
t
o
1
5
-de
g
r
ee
a
n
g
l
e
.
T
hir
d,
w
h
e
n
sens
or
LT
an
d
LD
m
o
r
e
than
s
ens
o
r
RT
a
n
d
R
D
th
e
horiz
o
n
ta
l
se
rvo
m
o
tor
w
i
l
l
b
e
rota
te
t
o
65-
de
gre
e
a
n
gl
e.
F
o
r
t
h
,
wh
en
s
en
so
r
LT
an
d
LD
l
es
t
tha
n
s
e
n
sor
RT
a
nd
RD
t
he
hor
i
z
o
n
t
a
l
se
rvo
mo
tor
w
i
l
l
b
e
t
u
rn
1
8
0
-de
g
re
e
ang
l
e
an
d
last
l
y
w
he
n
a
l
l
th
e
sens
or
i
n
e
qua
l
w
h
ic
h
me
an
a
ll
t
h
e
se
ns
or
d
e
t
ec
te
d
s
u
n
ra
y
the
m
o
tor
w
i
l
l
b
e
s
t
o
p
.
A
l
l
thi
s
c
on
d
i
t
i
o
n
s
a
r
e
depe
n
d
i
n
g
on
pos
i
tio
n
o
f
t
he
s
un
a
nd
w
e
a
t
h
e
r
the
sens
or
c
an
d
e
t
e
c
t
th
e
s
u
n
o
r
n
ot
.
Th
e
s
y
st
e
m
w
i
l
l
b
e
l
oop
t
o
get t
h
e
bes
t
p
o
s
i
t
i
o
n of su
n
.
Table
1. Table of sens
or
C
ode
N
a
m
e
Func
tion
L
T
L
e
f
t
Top
LD
L
e
f
t Do
wn
R
T
R
ight
T
op
R
D
R
ight
D
ow
n
2.3.
Har
d
war
e
d
evelop
men
t
The
des
i
g
n
o
f
the
pr
ot
ot
y
p
e
h
a
s
bee
n
d
r
a
w
i
n
g
u
si
n
g
S
ke
tc
h
U
p
s
o
f
t
w
a
re
[
26].
The
ide
a
o
f
des
i
g
n
i
s
to
h
o
l
d
a
n
d
m
o
ve
t
he
s
o
l
ar
p
a
n
e
l
t
ow
ar
d
th
e
sun
p
o
si
tio
n.
T
he
b
as
ic
p
ar
t
o
f
t
his
de
s
i
g
n
is
us
ing
m
o
tor
bra
c
k
e
t
t
o
h
old
t
h
e
mot
o
r
a
n
d
pho
t
ovo
lt
ai
c
.
O
t
h
er
t
han
th
at
i
s
bl
ack
p
r
o
j
e
c
t
box
i
s
u
s
ed
a
s
s
t
o
r
ag
e
f
o
r
al
l
co
mpon
e
n
t
.
T
h
e
F
i
g
u
r
e
4
,
F
i
g
u
r
e
5
a
n
d
F
i
g
u
r
e
6
a
r
e
a
f
r
o
n
t
v
i
e
w
,
i
s
o
m
e
t
r
i
c
v
i
e
w
an
d
t
o
p
vi
e
w
o
f
t
h
e
p
r
oj
ect
d
esi
gn
u
s
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN: 2088-
8694
I
nt
J
P
ow
Elec
& Dr
i
S
y
st V
ol.
11,
N
o.
1
, Ma
r
202
0
:
451
–
45
8
45
4
S
k
e
t
c
h
U
p
so
ftw
a
re.
A
F
i
gur
e
7
an
d
F
i
g
u
r
e
8
a
r
e
t
he
a
c
t
ual
pro
t
ot
ype
t
ha
t
ha
s
bee
n
d
e
v
el
o
p
s
d
u
ri
n
g
th
i
s
pro
j
ec
t
.
Fi
g
u
re
2
.
Fl
o
w
c
h
a
r
t
o
f
t
h
e
s
y
s
t
e
m
F
i
gur
e 3.
S
imulat
i
on o
f
c
irc
u
i
t
F
i
gur
e 4.
F
ront
view
F
i
gure
5.
I
some
tric v
iew
F
i
gure
6.
Top vie
w
St
a
r
t
In
p
u
t
fro
m
s
e
n
s
o
r
C
onve
r
t
a
na
l
og t
o
di
gi
r
t
a
l
R
e
a
d
t
h
e
s
ys
t
e
m
(
LT
+
R
T
)
> (
L
D
+
R
D
)
(
LT
+
R
T
)
< (
L
D
+
R
D
)
(
LT
+
L
D
)
> (
R
T
+
R
D
)
(
LT
+
L
D
)
< (
R
T
+
R
D
)
S
e
r
vo m
o
t
o
r
ve
r
t
i
c
a
l
=
12
0
de
gr
e
e
S
e
r
vo m
o
t
o
r
ve
r
t
i
c
a
l
=
15
de
gr
e
e
S
e
r
vo m
o
t
o
r
hor
i
z
o
n
t
a
l
=
65 de
gr
e
e
S
e
r
vo m
o
t
o
r
hor
i
z
o
n
t
a
l
=
180 de
gr
e
e
YE
S
YE
S
YE
S
YE
S
NO
NO
NO
(
LT
+
L
D
)
= (
R
T
+
R
D
)
S
e
r
vo m
o
t
o
r
ho
r
i
z
ont
a
l
a
nd
v
e
r
t
i
c
a
l
s
t
o
p
at
s
e
v
er
al
a
ngl
e
YE
S
NO
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
P
o
w
Elec
&
D
r
i
S
y
st
I
S
S
N
:
2088-
86
94
D
u
a
l
ax
i
s
sola
r t
r
ac
ker wi
th
I
o
T
m
oni
to
rin
g
sy
st
e
m
us
in
g
a
r
du
i
n
o
(
M
oh
a
m
ad Nur Ai
m
a
n Mo
hd
S
a
i
d)
45
5
F
i
gur
e
7.
I
some
tr
ic
v
iew
F
i
gur
e
8.
F
r
ont
v
i
e
w
3.
RESU
L
T
S
A
ND DIS
C
U
S
S
I
ON
Th
is
p
a
r
t
pr
esent
s
t
he
r
esul
t
a
nd
a
n
a
l
ys
is
o
f
t
h
e
r
e
se
ar
c
h
.
The
o
ut
d
oor
e
x
p
e
r
i
me
nt
h
a
s
b
e
e
n
co
nd
uc
t
in
P
a
r
it
Je
lut
o
ng,
P
arit
R
a
ja,
Joh
o
r,
M
a
l
a
y
s
i
a
for
t
h
ree
day
s
:
6,
7
a
nd
8
D
e
c
e
m
b
er
201
8.
T
he
e
x
p
er
i
m
e
n
t
ha
s
be
en
c
o
n
duc
t
s
t
ar
t
at
8
.
00
am
un
t
il
6.
0
0
p
m.
3.
1.
R
e
su
lt
s
f
r
om
u
b
i
d
o
t
s
p
l
a
t
f
orm
F
r
om
t
he
e
xpe
r
i
me
nt
t
ha
t
ha
s
be
en
d
on
e,
t
h
e
s
olar
p
a
n
el
w
as
u
se
d
t
o
p
r
o
d
u
ce
t
he
o
u
t
c
o
m
e
w
hic
h
i
s
vo
l
t
age,
c
urr
e
nt,
a
n
d
p
o
we
r.
Bes
i
d
es
m
ea
sur
i
ng
from
t
h
e
so
lar
p
a
n
e
l
,
t
h
e
pa
ram
e
ter
can
b
e
mo
ni
t
o
r
from
se
r
i
al
m
o
n
i
t
or
i
n
A
r
d
u
i
n
o
I
D
E.
A
f
t
e
r
a
f
e
w
s
e
c
on
d,
t
h
e
d
ata
s
t
r
ea
m
cr
eate
d
a
n
d
s
a
v
e
d
i
n
t
h
e
Ubi
dots
pla
t
for
m
.
F
i
gu
r
e
s
sh
ow
t
he
e
xa
mple
o
f
da
ta
s
tr
ea
m
f
r
o
m
U
b
i
d
o
t
s
pla
t
f
o
r
m
.
The
da
t
a
t
h
a
t
se
nt
t
o
t
h
e
U
b
i
dots
p
l
atf
o
rm
w
il
l
sa
v
e
i
n
t
h
e
d
a
t
a
s
t
r
ea
m.
A
l
l
t
h
e
d
at
a
t
h
at
s
av
ed
in
d
ata
strea
m
wil
l
c
o
m
p
ile
a
n
d
s
h
o
w
i
n
g
r
a
ph i
n
F
i
g
u
r
e
9
,
F
i
g
u
r
e
10
an
d
F
i
gur
e
11
d
i
d
sh
ow
a
f
ew
o
u
t
p
u
t
t
ha
t
ga
i
n
f
r
o
m
so
lar
pane
l.
T
he
r
esult
a
n
d
gr
a
ph
is
se
p
a
r
a
t
e
d
by
a
ccor
d
i
n
g
to
v
o
lta
ge,
cur
r
ent
a
nd
p
o
w
e
r
.
F
i
gur
e
9.
R
e
s
u
l
ts
o
f
v
o
l
ta
ge
v
s
t
i
m
e
us
i
n
g
u
b
id
ots
p
l
at
f
o
r
m
F
i
gur
e
1
0
.
Resul
t
s
o
f
c
u
r
r
e
n
t
v
s
t
i
m
e
u
sing
u
b
id
ot
s
pla
t
for
m
F
i
gur
e
1
1
.
R
e
sults
o
f
pow
er
v
s
tim
e
usi
ng
u
b
i
d
o
t
s
p
l
at
for
m
3
.
2
. Resu
l
ts
fro
m o
u
td
o
o
r
ex
p
erimen
t
F
r
om
t
he
g
r
a
ph
f
o
r
thr
e
e
da
y
s
,
the
sa
me
r
esul
ts
o
f
a
d
u
al
a
xi
s
sol
a
r
tracker
sy
stem
t
h
a
t
reco
rd
ed
by
I
O
T
m
onit
o
r
i
n
g
s
ys
t
e
m.
T
he
F
igur
e
1
2
s
how
s
t
h
e
gr
a
p
h
o
f
v
ol
t
a
ge
v
s
t
i
m
e
w
h
e
r
e
t
h
e
p
a
r
a
m
e
t
e
r
o
u
t
p
u
t
h
a
d
be
en
r
e
c
o
rde
d
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I
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,
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202
0
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–
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8
45
6
F
i
gur
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1
2
.
R
e
sults
of
v
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l
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ge
v
s
t
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F
i
g
u
r
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1
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.
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l
t
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n
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ti
me
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i
gur
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1
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sul
t
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o
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pow
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time
3.
3.
C
o
mp
ari
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f
solar
p
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t
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gl
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axi
s
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d
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axis
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.
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om
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Track
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fro
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U
T
HM
[
27
][28
]
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h
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a
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r
acke
r
system
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
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w
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D
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r
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m
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oh
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CONCL
U
S
ION
A
s
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onc
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d
u
a
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a
xis
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s
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odule
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t
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f
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m
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o
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T
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ystem
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o
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ar
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ra
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t
o
ha
v
e
t
wo
ang
l
e.
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re are
2 move
me
nt
s
i
n
t
his so
la
r tra
c
ker
tha
t
can
b
e
class
i
f
i
e
s
a
s horiz
on
ta
l a
n
d
ver
t
ic
a
l
. Bo
t
h of t
he
move
me
nts
ar
e
used
t
w
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er
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ot
or
180-
d
e
gre
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le.I
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to
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er
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ne
t
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unc
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ona
lit
y
of
t
he
s
ys
tem,
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nt
d
one
t
o
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r
m
ine
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i
t
h
er
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h
e
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ens
o
r
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t
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h
e
n
t
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t
ra
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i
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te
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g
i
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o
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.
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o
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put
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i
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t
o
rage
o
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syst
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c
a
n
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m
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rov
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th
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tur
e
by
im
pro
v
e
or
c
h
a
n
g
e
t
h
e
p
l
a
t
form
.
Last
ly,
the
s
o
la
r
trac
ker
c
a
n
have
m
a
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e
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g
a
m
e
c
han
g
er
t
o
our
w
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d
a
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b
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c
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s
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t
d
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s
no
t ha
ve
any
p
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ACKNOW
LEDG
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MEN
T
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Th
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aut
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s
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e
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e
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ch
M
an
ag
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m
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t
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en
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r
(RMC
),
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ni
ver
s
iti
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u
n
Hu
sse
in
O
n
n
M
a
l
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a
(UTHM
)
,
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a
tu
P
ah
at
,
Joh
o
r,
M
al
ay
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a
fo
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th
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f
in
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u
ppo
rt
o
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th
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ea
rc
h.
T
his
rese
arc
h
is pa
rtl
y
b
y R
M
C u
n
d
e
r
the
U
86
1 (Tie
r 1)
Gra
nt.
REFE
RENCES
[1]
S
.
A
.
S
a
dyrb
a
yev
,
A
.
B.
B
ek
bay
e
v
,
S
.
O
r
yn
bayev
,
Z
.
Z.
K
a
liy
ev.,
"
Des
i
g
n
a
nd
re
search
o
f
d
u
al-a
x
i
s
s
o
l
a
r
t
r
ack
in
g
sy
st
e
m
i
n
co
nditi
on
o
f
town
a
lma
t
y.
I
nt
rod
u
c
t
i
on
at
p
res
e
nt
t
he
s
h
a
re
o
f
s
o
l
a
r
energ
y
i
n
th
e
en
ergy,"
Mid
d
le
-Eas
t J
.
Sci
.
Res
,
vo
l. 17
,
Vo
l
. 12
, pp
.
1
74
7–
1
7
5
1
, 20
1
3
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[2]
M
.
Z
o
l
k
a
p
l
i
,
S
.
A
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M
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A
l
-
J
u
n
i
d
,
Z
.
O
t
h
m
a
n
,
A
.
M
a
n
u
t
,
M
.
A
.
M
o
h
d
Z
u
l
k
i
fli.
,
"Hi
g
h
-
eff
i
c
i
en
cy
d
u
a
l-axi
s
s
olar
track
ing
d
e
vel
opem
e
n
t
u
sing
A
rd
u
i
no
,
"
P
r
o
c
.
2
013 In
t.
Conf.
T
echn
o
l
.
Info
rmati
cs,
M
a
n
a
g
.
En
g.
En
v
i
ro
n
.
T
I
ME
-E
20
13
, p
p.
43
-
47
,
20
13
.
[3]
S
u
ru
hanj
aya
Te
n
a
ga
E
n
e
rgy
C
o
mmi
ss
io
n
,
"
M
a
lays
ia
e
nerg
y
st
ati
s
ti
cs
h
and
boo
k
2
015
,
"
Su
r
u
ha
n
j
a
y
a T
e
na
ga
Energy Comm
,
pp.
84,
2
0
1
5
.
[4]
Ceyd
a
Ak
so
y
Tirm
ik
c
i
&
C
enk
Yav
u
z,
"
Com
p
ariso
n
o
f
s
o
l
a
r
track
er
s
an
d
ap
pl
icati
o
n
o
f
a
s
en
s
o
r
les
s
d
ua
l
axi
s
so
lar t
r
acker,"
J. E
n
er
gy P
o
wer
Eng
.
, vo
l
. 9
, Vo
l
.
6
,
p
p.
55
6
-
56
1,
2
0
1
5
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[5]
T.
K
au
r,
S
.
M
a
haj
a
n,
S
.
Verm
a,
P
ri
yan
k
a,
J
.
Ga
m
b
hi
r.
,
"
A
rdui
n
o
b
a
sed
lo
w
cos
t
activ
e
d
u
al
a
x
i
s
so
lar
track
e
r
,
"
1st
IEEE Int.
C
o
n
f
.
P
o
wer Electron.
Int
e
ll.
Cont
rol
E
n
ergy Syst
.
ICPEICES
2
01
6,
pp
.
2-6
,
2
0
1
7
.
[6]
K.
W
illi
a
m
s
&
A.
Q
oun
eh,
"Internet
of
T
h
i
n
g
s:
s
o
l
ar
a
rray
t
r
ack
er,"
Midwe
s
t S
y
mp. Ci
rc
u
its
S
y
st
,
v
o
l
.
20
17
-
Au
gu
st,
pp.
1
057-10
60
,
2
017
.
[7]
T.
S
.
Zhan
,
W.
M
.
L
i
n
,
M
.
H.
T
sai,
G
.
S
.
W
a
n
g
.,
"Desig
n
an
d
imp
lem
e
ntati
o
n
o
f
t
he
d
u
a
l-ax
is
s
o
l
ar
t
rack
in
g
syst
e
m
,
"
Proc. -
Int. Compu
t
.
Softw.
A
ppl
.
Con
f
,
vol
.
2
,
p
p
.
2
76
-27
7
,
2
01
3.
[8]
S.
M
ak
hi
j
a
.,
‘
D
u
a
l
-Axis
So
l
a
r Tr
a
cker wi
th
Da
ta
-L
ogg
in
g
,
",
n
o.
1
,
pp.
4
-7,
2
017.
[9]
P
.
S
h
ubh
ang
i
ni & S
. Kam
ble, "Sol
a
r track
er with im
p
ro
ved
effici
ency
u
s
i
ng
p
o
w
e
r
s
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",
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J. G.
Elerat
h.,
"
S
o
l
ar T
racker E
ffectiv
enes
s : It ’ s All
A
bo
u
t
Ava
ilab
i
l
i
t
y
,
"
,
p
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. 1
56
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2
, 2
01
7.
[11]
P
.
S
h
ubh
ang
i
ni & S
. Kam
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l
e, "Sol
a
r track
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p
ro
ved
effici
ency
u
s
i
ng
p
o
w
e
r
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ng,
"
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4
3
,
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0
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7
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[12]
Al
ok
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ti
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.
"
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l
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r sola
r pa
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F
a
cu
lt
y
o
f
eng
i
neer
in
g dep
a
r
t
ment
of
electr
i
ca
l and
informati
on engi
neering
,"
.
U
n
iv
e
r
si
ti
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f
N
a
ir
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,
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0
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Ay
us
hi
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i
t
i
n
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n
g
ole.
,
"
Ar
duino based
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king
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"
Intern
ati
o
n
a
l
Co
n
f
e
r
en
ce
on
S
ci
enc
e
a
n
d
T
ech
nol
og
y
f
o
r S
u
s
t
ainab
l
e Devel
o
p
m
en
t,
K
u
a
la L
u
m
pu
r, Malay
si
a, M
ay
24-26,
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01
6.
[14]
Ti
beriu
Tu
do
ra
che,
L
.
K.,
"
D
esig
n
of
a
s
o
l
ar
t
rack
er
s
ys
tem
f
o
r
p
v
pow
er
p
lan
t
s,
"
Acta Poly
t
e
c
h
ni
ca
Hu
ng
ari
c
a
, Vo
l
.
7,
N
o
.
1
,
pp
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7,
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0
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S
i
t
i
A
m
e
l
y
J
u
m
a
a
t
,
A
m
m
a
r
S
y
a
h
m
i
B
i
n
M
o
h
d
A
n
u
a
r
,
M
o
h
d
N
o
o
r
A
b
d
u
l
l
a
h
,
N
u
r
H
ani
s
R
adzi
,
Roh
a
iza
Ham
d
a
n
,
S
u
ri
ana
Sal
i
m
i
n
,
M
uh
am
mad
N
a
fis
b
i
n
Ismail.
,
"M
on
it
ori
ng
of
P
V
p
e
rfor
m
a
nc
e
usin
g
la
b
v
i
e
w
,"
Indo
nes
i
a
n
Jou
r
n
a
l o
f
El
ectri
cal
En
g
i
neeri
n
g
an
d Co
mp
u
t
er
S
c
ien
c
e (
I
J
E
ECS)
,
Vol
.
1
2
,
No
.
2
, p
p
.
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1
-4
6
7
,
No
ve
m
b
e
r
2
01
8.
[16]
Arduino, ‘Ardu
ino
IDE’
.
[
O
nl
ine
]
.
Ava
i
labl
e
:
ht
t
p
s
:
/
/
w
ww
.
a
rdui
n
o.cc/.
[Access
e
d:
01
-
Ap
r-201
8].
[17]
S
A
J
um
aat, F
Moh
a
m
a
d, SA
Zu
lk
if
li.,
"
D
evel
opmen
t of p
ortable ca
se solar bat
t
e
r
y
charg
er,"
El
ectr
i
cal a
nd
El
ectro
n
i
c En
g
i
n
eer
ing
, v
o
l
. 6
(
4), p
p
.
55-6
1
,
20
16.
doi1
0
.5
92
3
/
j.eee.2
0
1
6
0
604
.01
.
[18]
S
i
t
i
A
m
e
ly
J
uma
a
t
,
M
o
h
amm
a
d
H
i
l
m
i
Othman
.,
"
S
o
lar
energ
y
m
eas
ur
em
ent
usin
g
ard
u
in
o,
"
MAT
E
C We
b
Co
n
f
.
15
0,
201
8,
0
1
007,
p
.
6
[19]
ESP8266 Datasheet, "E
SP8
26
6EX
D
a
tash
eet,
"
Es
pr. Sy
s
t
.
Da
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e
e
t
,
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–
31,
201
5.
[20]
Ubido
t
s, "Ubido
t
s". [
On
l
i
n
e
]. Av
a
ilab
l
e:
h
t
t
ps://ubi
do
ts
.
c
om.
[
Access
e
d:
15
O
ct-201
8]
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[21]
L.
E
. L
td.
,
"
Proteus design
su
i
te
". [On
l
i
ne].
A
vail
able:
h
t
tps:
//w
w
w
.
lab
cent
e
r.
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sed:
01
-
Ap
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8]
[22]
A.
C
.
W
i
ll
i
a
ms
e
t
al
.
,
"
Prot
eus:
A
p
latf
orm
f
o
r
bor
n
d
i
g
ital
cr
itical
e
d
i
ti
on
s
o
f
l
it
erary
a
n
d
su
bl
iterary
p
a
pyri
,
”
2
0
1
5
Di
g
i
t.
H
erit
.
In
t.
Co
n
g
r
.
D
i
g
i
t
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01
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S
a
i
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a
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.
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í
a
z
,
"New
p
ro
t
ot
yp
e
of
p
h
o
to
vo
lt
aic
solar
track
er
b
ased
o
n
Arduino,
"
Ener
g
i
es
,
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l
.
10
,
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o
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01
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.
[24]
To
werP
ro,
"
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G
99
5
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e
rvo
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o
.
6
V
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016
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N: 2
0
8
8
-
86
94
I
nt
J
P
o
w
E
l
e
c
&
D
r
i
S
yst
V
o
l.
11,
N
o.
1
,
Mar
202
0
:
451
–
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8
45
8
[25]
E
.
Eff
i
c
iency
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Ci
rcu
i
t
, L.
Dep
e
nd
en
t
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C
i
rcu
i
t
s
.,
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L
i
g
h
t
d
epen
den
t
res
is
tor (ld
r
),"
Ener
gy
,
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p
. 1
-3, 20
1
0
.
[26]
T
r
im
b
l
e.
,
"
T
hin
k
i
n
3D
.
Draw
i
n 3
D
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"
[
On
li
ne
]
.
A
v
a
i
l
ab
le:
h
t
tps
://www
.sk
e
tch
u
p
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c
o
m
/
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p
r-20
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8
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.
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A
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esi
gn
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is
o
f
h
o
rizo
nt
al
s
i
n
g
l
e
ax
is
s
ola
r
tracker,"
U
niver
s
iti
T
u
n
Husse
i
n
Onn
M
a
la
y
s
ia
,
20
17
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[28]
Siti
Amel
y
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Ada
m
A
fi
q
Azl
a
n
T
a
n
,
M
o
h
d
Noor
A
bdu
l
l
a
h,
N
ur
H
anis
R
adzi
,
Ro
hai
z
a
Ham
d
an,
S
u
ri
an
a
S
a
l
i
min
,
M
uh
amm
a
d
N
a
fi
s
bin
Ism
a
il.,
"Ho
r
izo
n
t
a
l
single
ax
is
s
o
lar
track
er
u
s
i
ng
ardu
in
o
ap
proach
,"
In
do
ne
sian
Jo
ur
nal
of
Elect
rica
l E
ngin
eering and
Com
puter
Sci
e
nce
,
v
ol
.
12,
N
o.
2
,
p
p
.
4
8
9
-496
,
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o
v
e
m
b
e
r
2
0
18.
BIOGRAPHI
E
S
OF
AUT
HORS
M
oham
a
d
N
u
r
Aim
a
n
Bi
n
M
ohd
S
ai
d,
b
i
r
th
i
n
J
o
h
o
r
Bahru
on
2
5
F
e
b
ru
a
r
y
19
94
.
Ed
uc
a
t
io
n
back
grou
nd
o
n
Bachel
or
o
f
El
ectrical
E
ngin
eerin
g
wi
th
H
ono
rs,
U
ni
versity
T
un
Hus
s
en
O
n
n
M
a
l
a
ys
i
a
,
B
a
t
u
P
ahat
,
Jo
ho
r.
S
i
t
i
A
m
e
ly
J
umaat
w
as
b
orn
i
n
J
o
hor,
M
a
lay
s
ia
o
n
M
a
rch
1
2
,
1
979
.
Sh
e
gra
dua
te
d
fro
m
t
he
Ins
t
it
u
t
T
un
H
uss
e
in
O
nn
(ITTHO
-UTM
),
B
S
c
.
Elect
ri
cal
E
n
g
w
it
h
Ho
nou
rs
2
0
0
1
,
M
E
ng.
(Power),
U
T
M
2
003,
and
PhD
i
n
E
l
ectri
cal
E
n
g
U
iTM
2
0
1
5
.
H
e
r
res
ear
ch
i
nteres
ts
i
ncl
ude
po
wer
s
y
s
t
em
a
nd
op
tim
izati
o
n
techn
i
qu
es,
F
A
CT
S
dev
i
ces
,
A
r
tifi
ci
al
I
ntel
li
gent
t
echn
i
q
u
es
a
nd
renewab
l
e en
erg
y
sy
st
em.
Clarence
Rim
o
n
g
A
nak
Jaw
a
birth
in
S
a
r
a
w
a
k
o
n
22
J
a
n
ua
ry
1
9
9
4
.
Ed
uc
a
tion
b
a
c
k
gro
u
n
d
o
n
Bachelo
r
o
f El
ectrical
E
ngi
neeri
n
g
with
H
o
n
o
u
rs,
U
n
iv
ersi
ti
T
u
n
H
us
sen
On
n M
a
lays
ia,
Jo
ho
r
in
20
19.
H
e i
s
c
urrent
ly
is
pu
rsuin
g
a
M
aster
i
n
E
lect
rical
E
n
g
a
t
UTHM
,
M
al
aysia
Evaluation Warning : The document was created with Spire.PDF for Python.