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.
317~
3
2
5
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
3
17-
32
5
317
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Wireless power transfer framew
ork for minirobot based on
resonant inducti
ve coupli
n
g and impedance matching
Ki
n
Y
u
n
Lu
m,
Jyi-S
h
yan
Ch
o
w,
Kah
H
au
r Y
i
au
w
Fa
c
u
lty
o
f
Eng
in
e
e
r
in
g
a
n
d Te
c
h
no
lo
gy
,
Tu
nk
u
Abd
u
l
Ra
hm
a
n
U
nive
rs
i
t
y Colle
ge,
Malaysia
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
R
e
ce
i
v
e
d
Jun 27,
2019
Re
vise
d N
ov
2
2
,
201
9
A
c
c
e
pte
d
D
ec 8,
201
9
M
i
niro
bots
which
are
u
n
d
e
r
th
e
f
i
el
d
o
f
m
i
n
i
a
tu
re
r
ob
ot
ics,
h
av
e
a
di
m
e
nsi
on
of
a
f
ew
cen
time
t
res
t
o
e
ven
a
f
e
w
m
i
l
l
im
etres.
C
o
n
v
e
nt
ion
a
ll
y,
t
h
e
s
e
s
m
a
l
l
si
zed
r
ob
ots
are
u
s
ual
l
y
p
o
w
e
red
up
b
y
bat
t
eries.
T
h
e
b
atteri
es
c
a
n
t
a
k
e
u
p
a
lo
t
o
f
s
pace
an
d
res
u
l
t
i
n
a
b
u
lk
y
s
y
st
em.
Iso
l
ating
the
en
er
gy
s
torage
c
o
mpo
n
e
nts
fro
m
t
he
r
ob
ot
i
tse
l
f
c
a
n
p
rov
i
d
e
a
g
oo
d
a
l
te
rn
a
t
iv
e
t
o
f
u
rther
do
wn
s
ized
t
h
e
r
ob
ot
.
T
h
i
s
can
b
e
d
o
n
e
w
ith
t
h
e
i
nco
r
po
ratio
n
o
f
wi
r
e
l
e
ss
po
wer
t
r
ansf
er
(
W
P
T)
t
echno
lo
g
y
.
However
,
s
t
u
dies
o
f
small-size
W
P
T
a
r
e
us
ual
l
y
rep
o
rted
w
it
h
po
or
e
ffici
ency
.
T
h
e
ob
ject
iv
e
o
f
t
h
i
s
p
a
pe
r
is
t
o
pres
ent
an
e
f
f
i
cient
w
i
rel
e
ss
p
o
w
e
r
tran
sf
er
f
ra
m
e
w
o
rk
f
or
t
h
e
m
i
niro
bo
t
by
em
pl
oying
t
h
e
r
eso
n
an
t
i
nducti
ve
c
o
upl
in
g
t
o
g
e
ther
w
it
h
i
m
ped
a
n
ce
ma
tc
hin
g
t
e
c
h
n
i
qu
e
.
T
h
e
t
he
o
r
y
a
n
d
de
sign
p
r
o
ce
ss
w
i
l
l
b
e
d
isc
u
ss
ed.
T
h
en
,
a
s
i
mp
le
p
r
o
to
t
y
pi
ng
e
x
p
e
r
i
m
e
n
t
w
a
s
c
o
nd
u
c
t
e
d
to
v
e
r
i
f
y
th
e
pr
o
po
se
d
f
r
am
ework
.
R
es
ul
t
sh
ow
ed
35%
t
ransf
e
r
eff
i
ciency
h
ad
b
e
e
n
ach
ie
ved
on
a
t
rans
m
i
s
s
i
on
d
i
stan
ce
o
f
0
.
5
c
m
.
T
h
e
p
rop
o
s
e
d
f
r
am
ewo
r
k
ha
d
als
o
s
ucces
sf
u
l
ly
p
owered
a
4
w
at
ts
m
iniro
bot
p
ro
to
ty
p
e
a
t
ab
ou
t
16
%
tran
sf
er
e
ffici
ency
w
here
i
t
s
r
eceiv
e
r
coil
w
as
l
ocat
ed
3
.
5
c
m
abov
e
the trans
m
i
t
ter
c
o
il.
K
eyw
ord
s
:
Im
pedanc
e
ma
t
c
hin
g
Mi
ni
rob
o
t
R
e
so
n
a
nt
i
nduc
t
i
v
e co
u
p
lin
g
Tran
sfer
e
ff
i
c
iency
Wir
e
le
s
s
p
ow
er
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:
K
i
n Y
un
L
u
m,
F
a
cult
y
o
f
E
ngine
er
in
g a
n
d Tec
h
n
o
l
o
g
y
,
Tu
nk
u A
b
d
u
l
Ra
h
m
a
n U
n
ive
r
si
t
y
C
ol
le
ge,
53
3
00 K
u
a
l
a
Lum
pur,
Mala
ys
ia.
Em
ail:
l
u
m
k
y
@
tarc
.e
d
u
.
m
y
1.
I
N
TR
OD
U
C
TI
O
N
I
n
t
h
e
f
iel
d
o
f
m
i
ni
a
t
ur
e
rob
o
t
i
cs,
a
m
i
n
i
ro
bo
t
ca
n
ha
ve
a
d
ime
nsi
o
n
o
f
o
nl
y
a
few
c
e
nt
i
m
ete
r
s,
mill
ime
t
e
r
s
or
e
ve
n
nan
o
m
e
te
rs.
These
m
i
ni
s
ize
d
r
ob
ots
a
r
e
m
a
i
nl
y
be
i
n
g
util
ize
d
t
o
per
f
orm
tasks
in
t
hos
e
env
i
ro
nm
en
ts w
hic
h
mig
h
t
b
e
to
o
na
rrow
,
t
oo da
n
g
ero
u
s or
t
oo di
ff
i
c
ult for peo
p
l
e to i
n
vol
ve
a
n
d
ge
t
i
t done
.
O
t
her
t
h
an tha
t,
m
ult
i
p
l
e
m
i
n
i
ature
r
obo
ts
c
a
n
b
e gro
upe
d
int
o
sw
arm
robots
t
o
c
arry
o
u
t
m
icroa
s
se
mbl
y
.
It
i
s
e
x
p
ect
ed
t
h
a
t
th
es
e
ro
bot
s
wil
l
p
l
ay
a
n
i
m
po
rt
a
n
t
rol
e
i
n
th
e
f
utu
r
e
wh
e
n
t
h
e
r
el
ev
ant
t
e
chno
l
o
g
i
e
s
b
ec
o
m
e
ma
ture
t
o
su
ppor
t
t
h
em
[1]
.
The
m
i
n
i
a
t
ur
iz
ati
o
n
o
f
t
he
p
o
w
er
s
ourc
e
i
s
o
n
e
o
f
t
he
m
ain
bo
tt
le
ne
c
k
s
f
o
r
t
h
e
de
ve
lo
pm
e
n
t
of
t
hese
mic
r
oscale
mo
bi
le
r
o
b
o
t
s
[
2].
Ex
is
t
i
n
g
t
e
c
h
n
o
l
o
gy
s
uc
h
as
b
at
t
e
ry
,
do
es
n
o
t
p
rovi
d
e
e
nou
gh
e
n
e
rgy
fo
r
th
e
s
e
mic
r
orob
ot
s
to
ope
ra
te for
a
r
e
a
so
nab
l
e
am
o
u
n
t
o
f
tim
e
[3].
Y
e
t
,
a
ba
t
t
e
r
y
c
a
n
ea
si
ly
t
ake
u
p
m
os
t of
its
s
pac
e
a
n
d
resu
l
t
i
n
a
b
u
l
k
y
sy
st
e
m
w
i
t
h
out
s
ig
ni
fic
a
n
t
ly
i
mp
rov
i
n
g
i
t
s
o
p
er
at
io
n
time
[4-6]
.
F
ur
the
r
m
o
r
e
,
chem
ical
bat
t
ery
lea
k
a
g
e
can
s
ome
tim
es
b
e
da
n
g
ero
u
s.
I
n
a
d
d
i
tio
n
,
b
a
tter
i
e
s
a
r
e
no
t
ec
o-fr
i
e
n
d
lier
.
L
ate
l
y,
s
c
i
ent
i
s
t
s
a
n
d
e
ngi
ne
ers
are
wo
rk
i
n
g
ve
ry
h
ard
t
o
t
ack
l
e
t
hi
s
en
e
r
gy
c
o
n
s
t
ra
i
n
t
prob
lem
.
I
nstea
d
o
f
usi
n
g
ba
tte
ry
a
s
power
source
,
t
h
e
y
tr
i
ed
t
o
rep
l
ac
e
it
wi
t
h
a
sys
tem
that
can
h
arve
st
e
ner
g
y
from
t
he
env
ir
onm
en
t [
7
-8].
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
:
317
–
32
5
31
8
Wha
t
i
f
t
h
ese
r
o
b
o
t
s
ca
n
be
p
owere
d
up
“
w
ir
elessl
y”,
“
b
at
t
e
ry-l
es
s”
a
n
d
ef
fi
ci
entl
y
wh
ile
s
t
a
y
i
ng
t
o
b
e
s
a
f
e
and
eco
-f
ri
en
dl
i
e
r?
W
i
r
el
e
ss
p
o
w
er
t
ra
n
s
f
e
r
(WPT
)
mak
e
s
t
hi
s
p
o
s
sibl
e
by
s
up
pl
y
i
ng
p
o
w
er
w
i
t
h
out
the
nee
d
f
or
c
u
r
r
e
nt-
c
a
r
r
y
in
g
w
i
r
e
s
or
b
atter
i
es
[
9-
1
0
]
.
T
hus,
a
mic
r
or
obo
t
w
i
l
l
b
e
ab
le
t
o
ope
r
a
te
s
af
e
l
y
f
o
r
a
lo
n
g
er
p
e
r
io
d
of
tim
e
as
l
on
g
as
it
ge
t
s
a
cce
ss
t
o
t
h
e
pow
e
r
t
r
ansm
itter
.
B
e
s
ide
s
,
th
i
s
t
ec
hn
i
que
i
s
very
u
sefu
l
in
d
e
v
el
o
p
i
n
g
wa
t
e
rproo
f
d
evice
s
,
where
by
t
h
e
who
l
e
bo
d
y
o
f
t
h
e
d
e
v
i
c
e
can
b
e
co
mp
l
e
t
e
l
y
s
ea
l
e
d
up
w
i
t
h
o
u
t
h
a
v
i
n
g
the
co
ns
ide
r
a
tion
of
r
ep
l
a
c
i
ng
a
dea
d
b
at
ter
y
.
T
he
w
i
r
eless
p
o
we
r
transfe
r
t
ec
h
nol
og
y
c
a
n
be
v
e
r
y
b
e
nef
i
c
i
al
n
ot
o
n
l
y
t
o
t
he
r
esea
r
c
h
a
n
d
de
vel
o
pme
n
t
b
u
t
a
ls
o
t
h
e
des
i
gn
w
ith
in
t
he
f
ie
l
d
of m
i
n
ia
ture
r
ob
o
t
ics.
Wire
l
e
ss
p
owe
r
w
as
i
n
itia
l
l
y
b
ei
n
g
i
n
v
e
n
t
e
d
b
y
N
i
k
ola
Tes
l
a
a
f
t
e
r
1
890
[
1
1
]
.
He
c
ond
uc
t
e
d
a
se
rie
s
of
p
u
b
l
i
c
dem
ons
tr
a
t
i
o
ns
b
ase
d
o
n
h
i
s
w
i
r
e
le
ss
p
o
w
e
r
tr
an
s
m
issi
on
d
i
s
c
o
v
e
r
i
es
b
y
a
p
ply
i
ng
h
is
k
n
o
w
l
e
dge
o
f
ne
ar
-
f
ie
ld
c
a
p
a
c
iti
ve
a
n
d
i
n
d
u
c
ti
ve
c
ou
p
l
i
n
gs
[
1
2
]
.
U
nfor
tu
na
t
e
ly
,
Te
sl
a
en
d
e
d
up
n
ot
b
ei
ng
a
bl
e
t
o
m
a
k
e
h
i
s
f
i
n
d
i
n
g
a
suc
c
e
ssfu
l
c
omm
e
r
c
ial
pr
od
uc
t,
b
u
t
h
is
d
isc
o
ve
r
y
o
n
w
i
r
eless
p
o
w
e
r
ha
d
a
t
tr
a
c
te
d
c
onsi
d
er
able
at
t
e
n
t
i
o
n
around
t
h
e
w
o
r
ld
.
Th
is
t
e
c
h
n
o
l
og
y
w
a
s
b
e
i
n
g
b
r
o
ugh
t
t
o
t
h
e
r
e
se
ar
c
h
a
n
d
d
e
v
e
l
o
p
m
e
nt
pha
ses
i
n
se
arc
h
ing
for
p
o
ss
ib
le
s
a
f
e
an
d
e
fficie
n
t
a
p
plica
tio
n
s
[
13].
No
wad
a
ys,
wi
rel
e
ss
p
o
w
e
r
t
e
c
hno
l
ogy
sim
u
lta
ne
ousl
y
e
m
a
na
tes
pr
o
m
i
s
i
n
g
be
ne
f
i
ts
t
o
soc
i
e
t
y,
t
he
e
c
o
n
om
y,
t
he
e
nv
ir
o
n
m
e
nt,
n
o
t
t
o
m
e
n
ti
on
sc
i
e
nce
and
t
e
c
h
n
o
l
o
gy.
Wir
e
l
e
ss
pow
er
t
r
a
nsf
e
r
(
W
P
T
)
can
b
e
cate
gor
ize
d
i
nt
o
t
w
o
w
h
ic
h
a
re
r
ad
i
a
ti
ve
(
lon
g
-range
t
r
an
smi
s
si
o
n
)
u
si
ng
m
i
c
r
o
wav
e
s
and
l
i
gh
t
w
a
v
e
s
t
e
c
hni
qu
e
s
a
nd
n
on
-rad
i
a
tiv
e
(sho
rt
r
an
g
e
t
ra
n
s
miss
i
o
n
)
l
ike
m
a
gne
tic
i
n
d
u
c
ti
ve
c
o
u
p
li
ng,
r
esonan
t
i
n
duc
tive
co
u
p
l
i
ng
a
nd
ca
pa
ci
tiv
e
cou
p
lin
g
tec
h
n
i
q
u
e
[
14,
1
5]
.
Wh
i
l
e
ther
e
are
m
a
n
y
f
or
ms
o
f
WPT
tec
h
nol
o
g
i
e
s
ava
i
lab
l
e,
t
hi
s
s
t
u
d
y
w
i
l
l
o
n
l
y
f
oc
us
o
n
r
e
so
na
nt
i
n
d
u
ct
i
v
e
co
up
l
i
ng
(
as
soci
at
ed
w
it
h
i
m
p
e
d
a
n
c
e
ma
t
c
h
i
ng
)
du
e
to
i
t
s
b
e
t
t
e
r
e
f
f
i
c
i
e
n
c
y
a
n
d
l
o
n
g
er
t
r
a
nsm
i
ss
i
on
dis
t
anc
e
co
mp
are
d
t
o
ot
h
e
r
c
u
rre
n
t
non
-rad
i
a
t
i
v
e
W
P
T
t
ech
ni
q
u
e
s
av
a
i
l
a
b
l
e
as
w
ell
as
s
a
f
e
t
y
co
nsid
e
r
at
i
o
n
co
mp
a
r
e
d
to t
he
ra
d
i
a
tive
WP
T tec
h
n
i
q
u
e
s.
F
i
gur
e
1.
Basic
p
r
i
nc
i
p
le
r
e
p
r
e
sen
t
a
t
i
on
o
f
r
e
s
o
n
a
n
t
in
d
u
c
tiv
e
c
o
u
p
li
ng
t
e
c
hn
i
q
u
e
[
16
]
M
a
g
n
e
ti
c
i
nduc
t
i
v
e
c
oup
li
n
g
d
e
l
i
v
ers
en
er
g
y
b
a
s
ed
on
th
e
p
r
in
c
i
pl
e
of
m
agn
e
ti
c
f
i
e
l
d
i
n
du
ct
io
n
be
t
w
ee
n
tw
o
c
o
i
l
s,
w
h
i
c
h
a
r
e
t
h
e
t
r
a
nsm
i
t
t
e
r
c
o
il
(
L
1
)
an
d
the
re
cei
ver
c
o
i
l
(
L
2
)
[
1
7]
.
R
e
s
ona
n
t
i
nd
uct
i
v
e
c
o
u
p
li
n
g
i
s
the
c
o
mbi
n
at
i
o
n
of
r
eso
n
a
t
or
a
nd
m
a
g
n
et
ic
i
n
duc
t
i
ve
c
ou
p
l
i
ng
a
s
s
how
n
b
y
F
ig
ur
e
1.
T
her
e
a
r
e
tw
o
a
d
d
iti
o
n
a
l
r
e
s
ona
nt
c
ir
c
u
i
t
s,
b
o
t
h
a
r
e
tu
ne
d
a
t
a
p
a
r
tic
u
l
a
r
r
e
sona
n
t
f
r
e
q
u
e
n
c
y
s
o
t
h
a
t
e
ner
g
y
c
a
n
be
e
x
cha
n
ge
d
w
i
t
h
g
r
e
ater
e
f
f
ic
i
e
ncy
a
t
a
l
o
n
g
e
r
ope
r
a
t
i
n
g
d
ista
nc
e
[
18-
19]
.
A
s
a
r
esult
,
i
t
is
l
es
s
susc
e
p
t
i
ble
t
o
the
var
i
a
t
i
o
n
o
n
c
o
il
c
o
u
p
l
i
n
g
be
tw
ee
n
L
1
a
nd
L
2
a
s
wh
at
h
a
p
p
e
n
e
d
in
m
a
g
n
e
ti
c
i
nduc
t
i
v
e
c
oup
l
i
ng
s
y
s
t
e
m.
Co
n
s
equ
e
ntl
y
,
t
h
e
op
e
r
at
i
o
n
o
f
t
h
e
r
e
s
on
an
t
i
ndu
ct
i
v
e
co
up
lin
g
is
m
or
e
r
o
b
u
st
i
n
de
a
l
ing
w
i
t
h
t
he
i
ssu
e
s
o
f
ch
a
n
g
e
s i
n
o
ri
en
t
a
ti
on
, al
i
g
n
m
e
n
t
and
di
st
an
ce
b
e
t
we
en
L
1
a
nd
L
2
i
n
pr
ac
ti
ce
[
20]
.
Eve
n
t
hou
g
h
t
his
tec
h
ni
q
u
e
r
e
por
ted
h
i
g
h
er
e
ff
ic
i
e
nc
y,
t
h
e
r
eso
n
a
n
t
c
i
r
cu
i
t
s
a
r
e
g
en
e
r
al
l
y
b
u
l
k
i
e
r
,
th
us
p
r
e
ve
n
t
its
d
irec
t
imp
l
e
m
e
n
ta
ti
o
n
o
n
s
m
aller
size
s
ys
t
e
m.
R
e
d
u
c
tio
n
of
t
he
r
eso
n
a
nt
c
irc
u
its
s
iz
e
will
de
gra
d
e
i
t
s
q
u
a
l
i
t
y
f
ac
t
o
r
,
h
en
ce
l
e
a
d
to
a
l
o
w
er
r
eporte
d
p
o
we
r
t
r
ansfer
e
ff
ic
i
e
nc
y
[
21]
.
To
t
ac
kle
th
e
a
bove
-
m
e
nti
o
ned
pr
o
b
l
e
m
o
n
a
m
i
n
ia
t
u
r
e
W
P
T
s
ys
tem
,
i
mpe
d
ance
m
atch
i
n
g
t
e
c
hni
qu
e
can
b
e
i
n
co
rpo
r
at
e
d
t
o
f
u
r
t
her
e
n
hanc
e
the
over
a
ll
t
r
ansmiss
i
bl
e
po
w
e
r
.
T
his
is
b
e
c
a
u
s
e
impe
da
n
c
e
m
a
tchi
n
g
d
oes
al
l
o
w
m
a
xim
u
m
powe
r
t
rans
fer
for
a
sys
t
em
w
i
t
h
fin
i
te
s
o
u
r
ce
a
nd
l
o
ad
i
m
p
edan
ces.
T
h
i
s
i
s
an
al
ogo
u
s
t
o
a
fu
rth
e
r
t
u
n
i
ng
o
f
the
WP
T sys
t
e
m
t
o extr
act a
s m
u
ch
pow
er
a
s
poss
i
b
l
e
f
r
o
m
the
s
o
ur
c
e
[
2
2
-
23]
.
Thi
s
p
a
p
er
p
res
e
nt
s
a
WPT
f
r
ame
w
o
r
k
i
n
p
oweri
n
g
a
mi
ni
ro
bot
w
i
t
h
i
n
a
v
i
ci
n
i
t
y
d
i
s
ta
nc
e
of
1
0
cm
.
A
s
c
om
par
e
d
t
o
t
he
c
o
nve
n
tiona
l
i
n
d
u
c
tive
c
o
u
p
li
n
g
W
P
T
s
yste
m,
the
r
e
sona
n
t
in
d
u
ct
iv
e
c
o
upl
in
g
ass
o
cia
t
e
d
wi
th
i
mp
e
d
an
ce
m
at
c
h
in
g
te
ch
ni
q
u
e
i
s
go
ing
t
o
b
e
emp
l
oy
e
d
t
o
im
pr
ove
t
he
ove
r
a
l
l
pow
er
t
r
a
ns
fe
r
e
f
f
i
cie
n
c
y
.
T
h
e
or
ga
n
i
z
a
t
i
o
n
of
t
h
i
s
pa
per
i
s
a
s
f
o
ll
ow
s.
F
ir
st
,
t
h
e
over
v
i
e
w
of
t
he
p
r
o
p
o
se
d
f
r
a
m
e
w
o
r
k
a
n
d
the
sy
ste
m
b
lo
c
k
d
ia
gr
a
m
w
il
l
be
d
escr
i
b
ed.
The
n
,
t
he
c
onc
ept
o
f
how
t
o
im
plem
en
t im
p
e
danc
e
m
a
t
c
h
i
ng
i
n
t
o
the
pr
opo
se
d
WP
T
f
r
a
m
e
w
o
r
k
t
o
e
n
h
a
nce
the
ove
r
a
l
l
p
ow
er
t
r
a
nsfe
r
e
f
fi
ci
e
n
cy
w
ill
b
e
p
r
e
s
en
t
e
d
.
A
f
t
er
t
h
a
t
,
the
ex
pe
r
i
me
nt
a
l
s
et
up
w
i
ll
be
d
i
s
c
u
sse
d
.
F
inall
y
,
t
he
o
b
t
ai
n
e
d
r
esul
t
s
w
ill be
ve
r
ifie
d a
n
d
disc
usse
d.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
El
e
c
&
D
ri S
yst
IS
S
N
:
2088-
86
94
Wi
r
e
l
e
ss pow
e
r
t
r
an
s
f
e
r
f
r
a
m
ewo
r
k f
o
r
mi
ni
ro
bot
ba
se
d
on re
so
na
nt
in
duc
t
i
v
e
co
upl
i
n
g
.
.
.
(K
i
n
Y
u
n
L
u
m)
31
9
2.
METHODOLOG
Y
2.1.
Syst
em
overv
i
e
w
F
i
gure 2
(
a
)
sh
o
w
s
t
h
e pro
p
o
se
d
WP
T
fra
m
e
w
ork
w
h
i
c
h
i
s
u
se
d
t
o
po
wer
a
mi
ni
rob
o
t
on
to
p
of
i
t
.
A
transm
itt
er
c
ircui
t
w
i
ll
be
f
i
t
i
nt
o
a
c
a
si
n
g
a
n
d
t
he
n
a
m
i
nir
o
b
o
t
w
il
l
be
a
b
l
e
to
o
per
a
te
w
hen
bei
n
g
p
l
ac
e
d
o
n
to
p o
f
t
he
c
as
i
n
g.
(a)
(b)
F
i
gure
2. (
a)
O
ver
v
ie
w
of
W
P
T
system
cons
t
r
ucte
d. (
b) Blo
cks r
e
pre
s
e
n
ti
n
g
pa
r
ts o
f
the s
y
s
t
em
constr
uc
t
e
d
T
h
e
W
P
T
s
y
s
t
e
m
c
a
n
b
e
f
u
r
t
h
e
r
b
r
o
k
e
n
d
o
w
n
i
n
t
o
a
f
e
w
p
a
r
t
s
a
s
i
l
l
us
t
r
ated
i
n
F
i
gur
e
2
(
b
).
A
C
pow
er
a
t
a
pa
rtic
u
l
a
r
r
eson
an
t
fre
que
nc
y
w
a
s
used
t
o
e
x
c
i
t
e
t
he
t
ra
nsm
i
t
t
e
r
c
oi
l.
I
m
p
edanc
e
m
a
t
c
h
i
ng
c
i
r
c
ui
t
s
w
e
r
e
i
nc
o
r
p
o
rated
in
t
he
t
ra
nsmi
tt
e
r
a
n
d
r
ece
i
v
e
r
c
irc
u
i
t
r
ies.
The
resonat
i
ng
m
a
g
n
e
t
ic
f
iel
d
w
i
ll
p
r
ov
ide
e
f
f
e
c
t
iv
e
po
we
r
e
x
ch
an
g
e
b
etwe
en
t
h
e
t
ra
n
s
mi
t
t
e
r
an
d
rec
e
i
v
e
r.
The rec
e
i
ved
p
o
w
e
r w
ould be c
on
ver
t
e
d
f
r
o
m
A
C
to D
C
.
It wa
s
the
n r
e
gula
t
ed
t
o
p
o
w
e
r
up
the
l
o
a
d,
w
hi
c
h
is
t
h
e
minir
o
bo
t i
n
th
i
s ca
se
.
2.2.
Con
cept and
th
eory
F
i
gure
3
is
t
he
s
c
h
em
at
i
c
r
ep
rese
nt
a
tio
n
of
t
ra
nsm
i
t
t
e
r
c
i
r
cui
t
ry
(
on
the
lef
t
)
an
d
rec
e
i
v
er
c
irc
u
it
r
y
(on t
h
e
righ
t). The
l
a
b
els a
r
e
j
u
s
t
i
f
ie
d a
s
fo
l
l
o
w
:
L
1
i
s
the i
n
d
u
c
t
anc
e
o
f t
h
e
tra
n
sm
itter
co
il w
h
i
l
e
L
2
is the
i
nduc
t
a
nce
of
t
he
re
c
e
i
ve
r c
o
i
l
.
R
S
d
e
not
e
d
f
o
r
t
h
e
f
in
it
e
so
urc
e
im
p
edan
c
e
w
hile
R
L
i
s t
h
e f
i
ni
te
l
oa
d
im
pe
danc
e.
C
1
a
n
d
C
2
are
t
h
e
co
mp
en
sa
t
i
n
g
cap
a
c
i
t
o
r
s,
w
h
i
ch
a
re
u
sed
to
t
un
e
th
e
c
o
i
ls
L
1
a
nd
L
2
t
o
o
p
er
ate
at
t
he
sam
e
re
s
ona
nt
f
re
que
nc
y.
r
1
and
r
2
ar
e the
int
e
r
n
al
pow
er
l
oss of
t
he
t
r
a
nsmi
tter
an
d r
e
c
e
iver
c
ir
cu
it
, r
e
s
p
ect
iv
e
l
y
.
F
i
gur
e 3.
S
chem
atic
r
epr
e
sent
ati
o
n betw
e
e
n
t
ra
nsmit
t
e
r
a
nd r
ece
i
v
er ci
r
c
u
itry
Ca
pac
i
tive
rea
c
tanc
e
of tra
nsm
itt
e
r
a
n
d
re
ceive
r c
o
i
l
a
re
defin
ed
a
s
:
,
(
1
)
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
:
317
–
32
5
32
0
and
the
i
n
d
u
c
t
ive
re
ac
t
a
nce
o
f
tr
a
nsmit
t
er
a
nd r
ece
iver
c
oi
l
ar
e de
fine
d a
s
:
,
(
2
)
w
h
e
r
eby
2
.
Th
e
mu
t
u
a
l
i
nd
uc
t
a
n
c
e
exi
s
t
s
d
u
r
i
n
g
th
e
cou
p
li
ng
b
et
we
en
t
ran
sm
it
te
r
an
d
r
e
c
e
i
v
e
r
c
o
i
l
,
d
e
f
i
n
e
d
a
s
w
h
e
r
e
k
12
i
s
the
co
up
lin
g
coe
f
fici
e
n
t
be
t
w
e
e
n
t
h
e
tra
n
sm
itte
r
coi
l
,
L
1
a
nd
re
ceive
r
coil,
L
2
.
The
m
u
t
u
a
l
r
ea
ctanc
e
c
an
t
hen
be
e
xpresse
d
a
s
.
Ne
x
t
,
a
p
pl
yi
ng
Kirchhoff’s Voltage Law
:
(
3
)
0
(
4
)
Th
e t
r
an
sfe
r
e
f
f
i
c
i
e
n
c
y
,
S
21
b
et
we
e
n
th
e
t
ran
s
mi
t
t
er and
rec
ei
v
e
r ci
rc
uit
i
s
e
x
p
r
e
ssed
as p
owe
r
rec
e
ive
d
a
t r
ece
i
v
e
r
l
oa
d o
v
er
m
a
x
imum
tra
nsm
i
ssib
l
e
pow
e
r
[
16]
:
_
4
(
5
)
Q
u
al
it
y
fa
c
t
or of tran
sm
itte
r a
nd re
cei
ver
coi
l
a
re
d
efin
e
d
as
:
,
(
6
)
D
u
rin
g
r
esona
nce
,
|
|
|
|
thus,
1
(
7
)
Th
e t
r
an
sfe
r
e
f
f
i
c
i
e
n
c
y
,
S
21
in
(5) c
a
n
be de
t
e
r
m
i
n
e
d b
y
s
ol
vi
n
g
(3)
and
(4), a
nd
s
impl
i
f
ic
ati
o
n by
subs
tituting (
6
) and (7)
to resul
t
(8).
(
8
)
The
(
8
)
show
s
tha
t
t
he
t
ransfe
r
effi
c
i
e
n
c
y
i
s
depe
ndi
n
g
on
t
h
e
coi
l
c
o
upl
in
g
(
k
12
)
qua
li
ty
f
a
c
t
o
r
(
,
),
c
oil
resi
stive
loss
(
r
1
,
r
2
)
and
fi
n
ite
s
ourc
e
a
nd
l
o
a
d
i
mpe
d
a
n
ce
(
R
S
,
R
L
).
U
nli
k
e
a
t
r
ans
f
orm
e
r
whic
h
e
m
p
l
oy
s
ma
gne
t
i
c
c
o
r
e
t
o
i
m
p
rov
e
t
h
e
c
oil
co
up
l
i
ng
,
W
P
T
i
s
u
n
a
b
le
t
o
do
s
o
bec
a
u
se
t
he
L
1
a
nd
L
2
c
o
i
l
s
a
r
e
lo
ose
l
y
co
up
le
d
a
n
d
t
h
e
m
a
g
n
e
tiz
i
n
g
fl
ux
r
e
duc
e
s
e
x
pone
ntia
l
l
y
w
i
t
h
t
h
e
i
nc
rem
e
nt
o
f
coi
l
s
e
p
ara
t
i
o
n
[24]
.
There
i
s
a
lso
no
t
u
n
in
g
c
a
n
b
e
d
o
ne
o
n
t
h
e
qua
l
i
t
y
f
a
c
t
or
a
n
d
c
oil
r
e
sisti
v
e
l
o
ss
be
c
a
use
t
h
ey
a
re
f
air
l
y
con
s
ta
n
t
f
or
a
gi
v
e
n
W
P
T
s
ys
te
m
.
H
e
n
c
e
,
the
adj
u
s
t
m
e
n
t
o
f t
h
e
s
ource
a
n
d
loa
d im
pe
da
nc
e pr
ovi
de
s t
h
e r
oom
to
o
p
t
i
m
ize
a
p
a
r
t
ic
ula
r
WP
T
sys
tem
.
A
li
ke t
he c
on
c
e
p
t
of ma
xim
um
p
ow
e
r
t
r
a
nsfer
,
a
p
r
oper se
lec
t
io
n of
t
he
so
u
r
c
e
i
mp
ed
an
c
e
,
R
S
a
n
d
l
o
a
d
i
m
pe
da
nce,
R
L
c
an
m
a
x
i
m
ize
the
p
o
w
e
r
bei
ng
trans
f
e
rre
d
to
t
he
l
oa
d,
t
hu
s
lead
t
o
an
i
m
p
r
ove
me
nt
i
n
o
v
e
ra
l
l
t
r
a
ns
fe
r e
ffic
i
e
n
c
y
[25,
2
6].
T
o
d
e
t
e
r
m
i
n
e
t
h
e
o
p
t
i
m
a
l
R
S
a
nd
R
L
v
a
l
ue
s,
t
aki
n
g
t
h
e
d
e
riva
t
i
ve
o
f
0
a
nd
0
t
hen
so
l
v
i
ng f
o
r the
R
S
a
nd R
L
,
respective
l
y
.
1
(
9
)
1
(
10)
A
ty
p
i
cal
i
mp
e
d
a
n
ce
m
atc
h
i
n
g
ne
twor
k
s
u
ch
a
s
L-m
a
tch
,
p
i-m
a
tch,
o
r
T-ma
tch
ca
n
b
e
e
mpl
o
y
e
d
here
f
or
e
ithe
r
i
mpeda
n
ce
u
p
o
r
im
peda
nc
e
dow
n
trans
f
or
ma
t
i
o
n
t
o
t
r
a
n
s
f
orm
the
ex
is
t
i
ng
im
peda
nc
e
val
u
es
in
to
t
he
o
p
t
ima
l
v
al
ue
a
s show
n by
(9)
and (
1
0).
2.3.
Ex
pe
ri
m
e
nt se
t
u
p
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
P
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w
Elec
&
D
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i
S
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st
I
S
S
N
:
2088-
86
94
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power t
r
an
sfer
fr
a
m
ewo
r
k f
o
r mi
niro
bot
ba
se
d
on
reso
na
nt
in
duct
i
ve c
o
upl
ing
... (
K
in
Yun
L
u
m)
32
1
2.
3.
1.
Coi
l
c
on
stru
ction
A
ll
t
h
e
c
o
ils
w
e
r
e
cons
tr
uc
te
d
usin
g
ena
m
e
l
e
d
c
o
pper
w
i
r
e
w
i
t
h
a
thic
kne
ss
of
1
.
2
m
m.
T
he
tra
n
smi
tte
r
coi
l
was
in
f
l
a
t
s
p
i
r
al
s
ha
pe
w
i
t
h
an
o
u
t
er
d
iam
e
te
r
of
38.
5
cm
a
nd
inne
r
di
a
m
e
t
er
o
f
1.
8
c
m
.
The
c
o
i
l
h
a
d
1
8
t
u
r
n
s
a
n
d
t
h
e
g
a
p
b
e
t
w
e
e
n
e
a
c
h
t
u
r
n
i
s
1
c
m
.
T
h
e
m
e
a
s
ur
ed
i
n
duc
t
a
nce
w
a
s
69.
9
7
µ
H
w
i
t
h
a
qua
lit
y
f
a
c
t
or
,
=
9
4
.
The
r
e
c
e
i
v
er
c
oi
l
w
a
s
i
n
c
y
l
i
ndr
ica
l
s
ha
pe
w
ith
a
d
ia
me
t
e
r
of
6
0
m
m
.
I
t
w
a
s
a
5
t
u
r
n
s
c
o
i
l
w
i
t
h
a
he
ig
ht
o
f
6
mm.
I
ts
m
ea
sur
e
d
ind
u
c
t
a
n
ce
w
a
s
2.
76
µ
H
a
nd
q
u
a
l
i
t
y
f
acto
r
,
=
139.
2.
3.
2.
F
r
eq
ue
nc
y
t
u
ni
ng
Bot
h
the
t
r
a
nsm
itt
e
r
co
i
l
an
d r
e
c
e
iver
c
o
i
l w
e
r
e
c
ompe
nsa
t
ed
w
i
t
h
clas
s
1
ce
r
a
m
ic capa
c
i
t
o
r
in se
r
ie
s
to
f
or
m
a
r
e
so
nan
t
L
C
c
i
r
c
ui
t
at
a
r
e
s
o
n
a
n
t
f
r
eque
nc
y
o
f
a
bou
t
3
MH
z
.
T
h
e
c
a
p
ac
i
t
anc
e
s
of
t
he
c
ompe
nsa
tin
g
c
a
pac
i
tor
w
a
s
deter
m
i
n
ed
b
y
equa
tio
n
√
.
Since
t
h
e
e
x
ac
t
ca
l
c
ul
a
t
e
d
c
a
p
ac
ita
nce
va
lu
e
was
ha
r
d
t
o
be
f
or
me
d,
t
he
n
ea
r
e
s
t
c
a
p
ac
ita
nce
val
u
e
w
a
s
c
hose
n
i
ns
tea
d
.
Ca
pac
i
t
o
r
s
o
f
4
1
p
F
and
0.
92
nF
w
e
r
e
c
onne
c
ted
to
t
he
t
r
a
nsmi
t
t
er
c
oi
l
an
d
r
e
c
e
i
v
er
c
o
il
r
e
spec
tive
l
y.
T
he
r
eso
n
a
n
ce
f
r
e
que
nc
y
w
a
s
onc
e
a
g
a
i
n
ver
i
f
i
e
d
b
y
m
eas
u
r
in
g
t
h
e
rea
c
t
a
n
ce
v
al
ue
o
f
t
h
e
L
C
ci
rc
ui
t
s
at
d
i
f
f
eren
t
f
r
equ
e
n
c
i
e
s
.
T
h
e
rea
c
t
an
c
e
v
a
l
u
e
wa
s at
t
he
l
ow
e
s
t
dur
i
ng
r
e
so
nance
.
2.
3.
3.
Apply
i
ng
imp
ed
a
n
ce ma
t
c
h
i
n
g
A
s
d
i
s
c
u
s
s
e
d
i
n
t
h
e
pr
e
v
i
o
u
s
s
ec
tio
n,
p
r
o
per
se
l
e
c
t
io
n
of
R
S
a
n
d
R
L
v
a
l
ue
s
can
i
m
p
r
o
ve
t
he
o
ver
a
ll
pow
e
r
t
r
a
ns
fer
e
f
f
i
cie
n
c
y
o
f
t
h
e
desi
g
n
ed WP
T
s
ystem
.
S
inc
e
the
VNA
p
o
r
ts
a
re
h
aving
a
fix
e
d
ch
aracter
i
stic
im
peda
nc
e
of
50
Ω,
i
mpe
d
a
n
ce
m
atch
i
ng
t
e
c
h
n
i
que
w
a
s
u
se
d
t
o
t
r
a
n
s
form
t
h
i
s
ch
ara
c
te
ri
sti
c
i
mp
ed
an
ce
t
o
the
o
p
tima
l
s
o
u
rc
e
impe
danc
e
,
a
n
d
op
t
i
m
a
l
loa
d
i
m
p
e
d
anc
e
,
.
I
t
w
as
don
e
fir
s
tl
y
by
m
easur
ing
t
h
e
m
u
tua
l
i
n
d
u
cta
n
c
e
b
e
t
we
en
t
h
e
t
ra
nsmi
tter
and
re
cei
ver
c
o
ils.
T
he
n,
t
he
c
ou
p
lin
g
coe
f
f
i
c
i
en
t,
k
12
b
e
t
w
een
t
he
c
o
ils
w
as
d
e
t
e
r
m
i
ne
d
a
c
c
o
r
d
i
ng
t
o
t
he
m
u
t
u
a
l
in
duc
ta
nce
e
q
u
a
t
i
o
n
m
e
n
t
io
ned
pr
ev
i
ous
ly
.
A
f
ter
t
h
a
t
,
o
p
t
im
al
so
u
r
ce
i
mp
ed
a
n
c
e
,
a
nd
o
pt
im
al
l
oa
d
impe
dance
,
w
e
r
e
c
o
m
p
u
t
e
d
u
s
i
n
g
(
9
)
and
(
10)
.
A
pair
o
f
L
ma
t
c
h
ne
t
w
or
ks
w
e
r
e
e
m
ploye
d
her
e
t
o
tr
ans
f
or
m
the
5
0
Ω
c
h
ara
c
t
e
ri
st
i
c
i
mp
ed
a
n
ces
t
o
the
des
i
r
e
d
o
p
tim
al
s
our
c
e
a
n
d
l
oa
d
i
m
pe
da
nces
a
s
sh
ow
n
i
n
F
ig
u
r
e
4
(
a
)
.
L
m
a
tc
h
ne
t
w
or
k
1
w
a
s
us
ed
t
o
tr
a
n
sf
or
m
the
50
Ω
so
ur
c
e
i
m
p
edanc
e
f
r
o
m
V
N
A
p
or
t
1
to
t
he
d
e
s
i
red
w
h
i
l
e
L
m
a
t
c
h
n
e
t
w
o
r
k
2
w
a
s
use
d
t
o
tr
an
sf
o
r
m
the
50
Ω
l
o
ad
i
m
p
e
d
anc
e
f
r
o
m
V
N
A
p
o
r
t
2
t
o
t
h
e
de
sir
e
d
.
Nea
r
est
i
n
du
c
t
an
c
e
a
nd
c
a
pac
i
t
a
nce
va
l
u
e
s
w
ere
cho
s
en
t
o
form
t
h
e
se
L
m
atch
n
etwor
k
s.
Th
e
e
x
p
e
r
i
me
nt
s
e
t
u
p
d
iscu
ssed
i
n
t
his
se
ct
i
o
n
w
a
s
d
i
s
p
la
ye
d
i
n
F
i
g
u
r
e
4
(
b
)
.
I
t
w
a
s
bei
n
g
assume
d
t
h
a
t
th
e
po
we
r
l
o
ss
a
cro
s
s
th
is
L
-mat
ch
n
et
wo
rk
was n
e
g
lig
ib
l
e
.
(a)
(b
)
F
i
gure
4.
(
a) Schem
at
ic
t
o
tra
n
sf
orm
t
h
e
cha
r
ac
terist
i
c
im
p
edan
c
e
o
f
t
h
e
V
N
A
t
o
t
h
e
o
p
tima
l
s
our
ce
a
n
d
l
o
a
d
i
m
peda
nce.
(
b)
E
xpe
r
i
me
n
t
s
etu
p
2.
3.
4.
Miniro
bo
t
pro
t
o
t
y
p
e
The
m
i
n
i
r
o
b
o
t
pr
o
t
o
t
ype
c
on
s
i
s
t
e
d
o
f
one
A
r
d
u
i
no
N
a
no
m
i
c
r
oco
n
t
r
o
l
l
er
a
nd
tw
o
3
V
minia
t
ur
e
l
o
w
pow
e
r
D
C
br
us
h m
o
t
o
r
s
.
T
he m
ovem
e
nt
o
f
t
h
e
m
i
n
i
r
o
bo
t w
a
s c
ontr
o
ll
e
d
b
y
in
di
v
i
du
al
PWM
si
g
n
a
l
s
sup
pli
e
d
to
e
ac
h
o
f
t
he
m
ot
or
.
The
r
e
c
e
i
v
e
d
A
C
pow
e
r
f
r
o
m
the
r
e
c
e
iver
c
i
r
c
u
i
t
w
as
f
i
r
st
c
onve
rt
e
d
i
n
t
o
DC
b
y
th
e
br
idge
r
ec
ti
fie
r
.
The
n
,
ut
iliz
in
g
the
b
u
i
lt-
in
v
o
lta
ge
r
eg
ula
t
o
r
in
A
rd
u
i
no
U
no
,
t
h
e
su
ppl
y
vo
l
t
a
g
e
w
as
r
e
gu
late
d
a
n
d
use
d
t
o
p
o
w
e
r
up
the
min
i
r
o
bo
t
pr
o
t
o
t
y
p
e.
T
he
s
c
h
e
m
atic
o
f
t
h
e
m
i
nir
o
b
o
t
p
r
o
t
o
ty
pe
i
s
di
sp
la
yed
in
F
igur
e
5.
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
:
317
–
32
5
32
2
F
i
gur
e
5.
S
c
h
em
atic
o
f
m
i
nir
o
b
o
t
w
i
t
h
a
c
t
u
ator
s
(
on
t
h
e
le
ft)
a
nd
sc
hem
a
tic
o
f
m
i
n
i
r
o
bo
t
w
i
t
h
t
he
p
ow
er
sour
ce
(
on
t
h
e
r
i
g
h
t)
Th
e
di
men
s
i
on
of
t
h
e
m
in
i
r
obo
t
p
r
o
t
ot
yp
e
w
a
s
5
cm
i
n
l
e
ng
th
(
L)
,
7.
5
c
m
i
n
w
i
dt
h
(
W
)
and
5.
5
cm
in
h
ei
g
h
t
(
H
).
D
i
f
fer
e
nt
v
ie
w
s
o
f
the
m
i
n
i
rob
o
t
p
r
o
to
t
y
pe
w
er
e
show
n
in
F
igur
e
6.
T
he
r
ece
iver
c
oil
w
a
s
loca
te
d
3.
5
cm
a
bo
ve
t
he
g
r
o
u
nd.
F
i
gur
e
6.
O
n
t
h
e
lef
t
i
s
t
h
e
f
r
o
nt
v
iew
.
A
t
the
m
i
ddle
i
s
t
he
s
i
d
e
vi
e
w
a
n
d
on
t
h
e
rig
ht
i
s the
top
v
i
ew
o
f
t
h
e
minir
o
bo
t
3.
ME
TH
O
D
OLO
G
Y
3.
1.
Po
wer
require
ment
o
f
miniro
b
o
t
F
i
r
s
t,
t
he
pow
e
r
r
equir
e
m
e
nt
o
f
the
mi
n
i
r
o
bo
t
w
a
s
de
ter
m
ined
u
n
der
d
i
f
f
er
en
t
wor
k
in
g
co
n
d
it
io
ns.
The
r
e wer
e
fi
v
e
sc
enar
ios
si
m
u
la
te
d t
o
rese
m
ble
t
h
e poss
i
b
l
e
w
o
rki
n
g
cond
it
i
o
n
of
t
h
e
m
i
n
i
r
obo
t
p
r
ot
oty
p
e
a
s
be
in
g
st
a
t
e
d
i
n
f
o
llow
i
n
g
:
Idle c
o
n
d
iti
o
n
:
no
ne
o
f the
mo
tor
was
activa
t
ed
N
o
r
m
al
t
ur
ni
n
g
:
o
n
l
y
o
n
e
motor
w
a
s
activa
t
ed
a
t
50
%
du
ty
c
yc
l
e
.
R
a
pid
tur
n
in
g
:
o
n
l
y
one
m
otor
w
a
s
a
c
t
i
v
a
t
e
d
a
t
10
0%
d
u
t
y
c
y
cle.
N
o
r
m
al
F
orw
a
r
d
:
Bot
h
m
ot
or
s
w
a
s
a
c
tivate
d
a
t
50%
d
u
t
y
cycle
.
R
a
pid
for
w
a
r
d:
B
o
t
h
mot
o
r
s
w
er
e
a
c
tivate
d
a
t
10
0%
d
u
t
y
c
y
cle.
The
c
o
nsum
ed
p
ower
f
o
r
e
ac
h
re
spe
c
t
i
v
e
sc
ena
r
i
o
w
a
s
m
e
a
s
ured
a
n
d
ta
b
u
la
t
e
d
i
n
T
a
b
l
e
1
.
T
h
e
m
a
x
i
m
u
m
pow
e
r
r
equir
e
d
by
the
min
i
r
o
b
o
t
i
s
4
W
.
Ta
ble
1.
P
ow
er
c
ons
umpt
i
on
of
m
i
n
ir
o
b
o
t
p
r
o
t
o
ty
pe
Nu
m
b
e
r
s
of
m
o
tor ac
tiv
a
t
e
d
PW
M Du
t
y
C
y
cl
e (
%
)
Po
w
e
r
c
onsum
e
d
(
W)
0
N
/
A
0.
2
1
50
1
1
100
2
2
50
2
2
100
4
3.
2.
R
e
so
na
n
t
f
re
quency
o
f
t
h
e
co
i
l
s
The
r
e
so
na
nt
f
r
e
que
ncy
o
f
t
he
c
o
n
st
r
u
cte
d
c
oi
l
a
f
te
r
com
p
en
sate
d
wi
th
c
lass
1
c
era
m
i
c
c
a
p
ac
i
t
ors
w
a
s
de
te
r
m
i
n
e
d
b
y
t
h
e
c
o
i
l
r
eac
tance
m
e
a
s
ur
em
ent
u
n
d
e
r
f
r
e
que
nc
y
s
w
e
e
pi
ng
a
s
de
pic
t
e
d
b
y
F
i
g
u
r
e
7
.
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
Wireless
power t
r
an
sfer
fr
a
m
ewo
r
k f
o
r mi
niro
bot
ba
se
d
on
reso
na
nt
in
duct
i
ve c
o
upl
ing
... (
K
in
Yun
L
u
m)
32
3
Dur
i
n
g
t
he
r
es
ona
nc
e,
b
ot
h
t
r
ansm
itter
an
d
re
ceive
r
co
ils
e
xh
i
b
ite
d
l
o
we
st
r
e
a
c
t
a
n
ce
va
l
u
e
.
H
ow
ev
er,
the
r
e
sona
nt
f
r
e
q
u
e
ncy
of
t
he
t
r
a
nsm
i
t
t
e
r
c
o
il
w
a
s
at
a
b
o
u
t
3.
2
MH
z
w
h
i
le
t
he
r
ec
eiver
c
o
il
w
a
s
a
t
3.
0
MH
z.
T
his
im
per
f
e
c
t
f
r
e
q
u
e
n
c
y
t
un
ing
w
a
s
pr
im
ar
i
l
y
a
t
tr
ib
u
t
ed
t
o
n
on-
idea
l
c
o
m
p
one
n
t
s
use
d
.
H
e
nce
,
t
he
o
p
e
r
a
t
i
ng
f
r
e
que
n
c
y
o
f
t
h
i
s
WP
T
sy
stem
c
ou
l
d
o
nl
y
lie betw
e
e
n
3
.
0
–
3.
2
M
H
z
a
n
d
s
om
e
per
f
or
m
a
nce
de
gr
ada
tio
n
w
a
s
e
xpec
t
e
d
i
n
th
is
d
esi
gn.
F
i
gur
e
7.
G
r
a
p
h
o
f
r
e
actan
c
e
m
a
gnit
ude
a
gai
n
s
t
f
r
e
que
nc
y
of
t
r
a
nsmi
tt
e
r
c
o
i
l
L
1
a
nd
r
e
c
e
i
v
er
c
oi
l
L
2
3.
3.
WPT t
r
an
sf
er
efficien
cy
The
tr
a
n
sf
er
e
ff
ic
i
e
nc
y
of
t
h
e
W
P
T
s
ys
te
m
w
a
s
in
d
i
ca
t
e
d
by
t
he
S
21
p
a
r
am
ete
r
s
me
asure
d
u
si
ng
VNA.
F
ig
u
r
e
8
(a)
s
h
o
w
s
th
e
t
r
an
sf
er
e
ffi
c
i
e
n
cy
o
f
th
e
p
r
op
o
s
ed
d
e
s
i
g
n
u
nder
var
y
i
n
g
o
p
er
a
tin
g
fr
e
q
ue
ncy
a
t
a
fi
xe
d
dista
n
c
e
o
f
0.
5
c
m
.
The
m
a
ximu
m
tr
a
n
sfer
e
f
f
i
cienc
y
o
b
t
ai
n
e
d
at
t
hi
s
di
st
an
ce
w
a
s
3
5
%
w
h
i
ch
oc
cur
r
ed
a
t
t
h
e
r
e
sona
n
t
f
r
e
que
nc
y
of
3
.
0
9
MH
z.
T
his
f
r
eque
nc
y
i
s
t
he
m
i
d
dl
e
r
e
son
a
nt
f
re
q
u
e
n
cy
o
f
the
tra
n
smi
tte
r c
o
il
and
t
h
e
re
ce
iv
e
r
c
oi
l.
(
a
)
(b
)
F
i
gur
e
8.
(
a)
G
r
a
ph
of
t
r
a
nsfe
r
e
ffic
i
e
n
c
y
v
e
r
sus
fr
eq
uenc
y
at
fi
xe
d
dis
t
a
n
c
e
of
0
.
5
c
m
.
(
b)
G
r
a
ph
of
t
r
a
n
s
fer
efficie
n
c
y
ver
sus
t
r
ansm
i
s
si
o
n
di
s
t
a
nce
The
t
r
ans
f
er
e
f
f
ic
ie
nc
y
at
v
a
r
yi
n
g
d
ista
n
c
e
u
p
t
o
1
0
c
m
w
a
s
m
e
a
sur
e
d
a
n
d
p
l
otte
d
in
F
ig
ur
e
8
(
b
)
.
The
e
x
perim
e
nt
w
as
r
epea
te
d
u
p
t
o
thr
ee
t
i
m
e
s
to
o
b
t
a
i
n
t
h
e
ave
r
a
ge
a
nd
s
t
a
ndar
d
d
e
v
ia
t
i
o
n
.
The
tr
ansfe
r
e
f
f
i
cie
n
c
y
d
r
o
ppe
d
ac
c
o
r
d
i
n
gl
y
w
i
th
t
he
d
i
s
ta
nce
i
n
cr
e
m
e
n
t.
F
or
e
x
a
m
p
l
e
,
w
h
e
n
t
h
e
r
e
c
e
i
v
e
r
c
o
i
l
i
s
2
.
5
c
m
a
b
o
v
e
t
h
e
gr
o
u
nd,
t
h
e
t
r
a
nsf
e
r
ef
fic
i
en
cy
i
s
a
r
ou
nd
2
0
%.
T
h
e
r
e
were
l
arg
e
r
v
a
ri
a
t
i
o
n
s
i
n
t
r
ans
f
e
r
e
ffi
ci
e
n
cy
m
ea
su
re
me
n
t
w
he
n
th
e
r
e
c
e
iver
c
o
i
l
was
plac
e
d
c
l
o
s
e
r
t
o
t
h
e
t
r
a
n
sm
itte
r
c
o
i
l
,
which
was
le
ss
th
an
2
c
m
.
T
his
wa
s
be
c
a
use
the
c
o
il
c
ou
p
lin
g
was
v
e
ry
se
n
s
it
i
v
e
to
t
he
c
o
il
a
l
ignm
e
n
t
.
S
li
g
h
t
t
ilt
i
n
g
i
n
t
he
r
ece
i
v
e
r
c
o
i
l
w
i
ll
r
e
s
u
l
t
in
s
o
m
e
v
a
ri
ati
o
n
in
t
h
e
c
oupl
ing
co
e
ffi
c
i
e
n
t
.
B
es
id
es
t
h
a
t
,
t
he
m
u
t
u
a
l
indu
c
t
an
c
e
e
ff
ect
w
a
s
s
i
g
nif
i
can
t
at
s
ho
rt
d
ist
a
n
c
e
whi
c
h
co
u
l
d
e
ffe
c
t
i
v
e
l
y
al
t
e
r
the
i
n
duc
ta
n
c
e
of
t
he
t
ra
ns
mitter
c
o
i
l
a
n
d
r
e
ce
ive
r
c
oi
l
.
T
his
w
o
ul
d
r
e
su
lt
i
n
a
d
i
s
p
l
ac
ed
r
e
sona
nt
f
r
e
q
u
e
nc
y
a
nd
var
i
e
d
t
he
t
r
a
nsfer
e
f
f
i
cie
n
c
y
.
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
:
317
–
32
5
32
4
3.4.
Po
we
r t
r
ansferr
ed
to
the min
i
r
o
bot
The
de
sig
n
e
d
W
P
T
s
yste
m
w
a
s
used
t
o
po
w
e
r
the
m
i
n
i
r
o
bot.
The
me
asured
a
ve
ra
ge
p
ow
e
r
r
ec
eive
d
by t
h
e min
i
ro
b
o
t w
a
s 4.06 ±
0.02
W. The a
vera
ge se
n
d
i
ng
pow
er w
as 25.
13 ±
1.
9
4
W.
The
tra
n
sfer effic
i
enc
y
w
a
s
around
16
%
at
a
tra
nsmission
d
i
stanc
e
o
f 3.
5 cm
.
S
i
nce
t
h
i
s
s
t
udy
m
a
in
ly
a
i
m
s
t
o
p
rop
o
se
a
W
P
T
f
ra
me
w
o
rk
f
or
pow
er
in
g
a
m
i
ni
a
t
ur
i
z
e
d
s
ystem
.
S
o,
t
h
e
po
we
r
lo
ss
ac
ro
ss
t
h
e
oth
e
r
co
mpon
ent
s
,
su
ch
a
s
rec
t
i
f
i
e
r
a
nd
r
e
g
u
l
a
t
or
w
ere
a
l
l
bei
n
g
neg
l
ec
t
e
d.
T
he
me
asure
d
trans
fer
effi
c
i
e
n
cy
w
as onl
y de
di
c
a
ted
to
t
he
WP
T
syst
em
,
not t
he e
nd-
to-en
d
e
ff
i
c
ie
nc
y.
4.
CONCL
U
S
ION
Th
is pa
p
er pre
se
n
t
e
d
a
n e
ffici
en
t
w
i
reless power
t
ransfer (W
P
T
)
f
ram
e
work
f
or
t
he m
ini
a
tu
re
r
ob
ot
s.
The
n
ove
l
t
y
o
f
t
hi
s
ar
tic
l
e
l
ie
s
w
i
t
h
t
he
i
nc
orp
o
rati
o
n
o
f
t
h
e
im
pe
danc
e
ma
t
c
hin
g
c
irc
u
it
r
y
t
o
i
m
pr
ov
e
t
h
e
overa
ll
pow
er
t
r
a
nsmiss
ion
e
f
f
i
c
i
e
n
c
y
o
f
th
e
r
e
sona
nt
i
n
d
u
ct
ive
c
ou
p
l
i
n
g
WP
T
s
y
s
t
e
m
f
or
a
m
i
n
i
r
ob
ot.
T
h
e
pro
pose
d
fram
e
w
o
rk
c
an
b
e
serve
d
a
s
a
n
a
lt
e
r
nat
i
ve
p
o
w
erin
g
so
l
uti
on
for
a
m
i
n
i
r
o
b
o
t
bes
i
de
s
b
a
t
t
e
r
ie
s
or
elec
tr
ical
w
ires
due
t
o i
t
s
rel
i
a
b
le trans
fe
r
eff
i
c
i
e
n
c
y
.
The
i
n
v
o
l
vi
n
g
c
o
n
ce
pt
s
an
d
t
h
eor
i
e
s
h
a
d
b
ee
n
di
sc
usse
d
th
oro
u
ghl
y.
T
here
aft
e
r,
t
he
p
ro
p
o
sed
fra
m
ew
ork
w
a
s
agai
n
ve
ri
fi
ed
b
y
e
x
p
e
rim
e
nt
s.
T
he
m
ax
im
u
m
ac
hi
e
v
a
b
le
t
ransfe
r
effi
c
i
e
n
c
y
o
f
this
s
yste
m
w
a
s
about
35%
fro
m
the
con
d
u
c
t
e
d
e
xp
erim
ent.
T
he
t
ransfer
efficie
n
c
y
w
a
s
d
ec
rea
s
ing
gra
dua
l
l
y
w
i
th
t
he
i
ncr
e
m
e
nt
o
f
t
r
a
n
s
missio
n
r
a
nge.
T
h
e
s
y
s
t
e
m
a
lso
dem
o
ns
trate
d
a
t
r
a
n
sf
er
e
ff
ici
e
n
c
y
of
a
b
out
1
6%
w
h
e
n
t
r
a
n
sf
e
r
ri
ng
t
o
a
mi
ni
r
obo
t
whi
c
h
h
a
s
a
re
ce
iv
e
r
c
o
i
l
s
i
tu
a
t
ed
3
.5
c
m
abo
v
e
t
h
e tra
n
s
m
itter
co
il
.
ACKNOW
LEDG
E
MEN
T
S
H
e
re
w
oul
d
l
i
ke
t
o
ack
n
o
w
l
edge
t
he
f
u
n
d
i
ng
s
u
pp
ort
b
y
T
u
n
k
u
A
b
d
u
l
R
a
h
m
a
n
U
n
ive
r
sity
C
o
lle
ge
(TAR UC).
REFE
RENCES
[1]
Kim
D
.,
H
w
ang
K
.
,
P
a
rk
J
.,
P
ark
H.
H
.
and
A
h
n
S
.
,
"Hig
h-effi
c
i
e
ncy
w
i
reles
s
power
a
n
d
f
orce
trans
f
er
f
o
r
a
m
i
c
ro-
robo
t
u
s
i
ng
a
m
u
l
t
i
a
xis
AC/DC
magnet
i
c
co
il,
"
IEE
E
Tr
an
sactio
ns on
M
a
g
n
e
tics
,
vol
.
5
3
,
n
o
.
6
,
pp.
1-
4
,
2
01
7.
[2]
K
i
m
D
.
,
H
w
a
n
g
K
.
,
P
a
r
k
J
.
,
P
a
r
k
H
.
a
n
d
A
h
n
S
.
,
"
M
i
n
i
a
t
u
r
i
z
a
t
i
o
n
o
f
im
plan
tab
l
e
micro
-robo
t
p
r
op
ul
si
on
u
sin
g
a
wirel
e
s
s
power
t
rans
fer
sy
s
t
e
m
,"
M
i
cr
oma
c
hi
nes
,
8
,
n
o.
9,
p
. 2
69
,
2
0
1
7
.
[3]
S
i
t
t
i
M
.
,
C
e
y
l
a
n
H
.
,
H
u
W
.
,
G
i
l
t
i
n
a
n
J
.
,
T
u
r
a
n
M
.
,
Y
i
m
S
.
a
n
d
D
iller
E.
D
.,
"
Bi
o
m
ed
ical
a
pp
li
cati
o
n
s
o
f
unteth
e
red
mobile
m
il
l
i
/mic
rorobots,"
Pro
ceedi
n
g
s
of
t
h
e IEEE
, v
o
l
. 1
03
,
n
o
. 2
,
p
p
. 2
05
-22
4
,
2
0
1
5
.
[4]
Jiang
H
.
,
Z
h
ang
J.,
L
a
n
D
.,
Ch
ao
K
.
K
.
,
Lio
u
S
.
,
S
h
ah
nasse
r
H
.
,
F
echter
R.,
H
i
rose
S
.
,
H
arri
son
M.
a
nd
R
oy
S
.,
"A
low
-
f
r
equ
e
ncy
versat
il
e
wi
rele
s
s
p
ow
e
r
t
ransfer
t
e
c
h
no
lo
gy
f
or
biome
d
ic
a
l
i
m
p
la
n
t
s,"
IEEE t
r
an
sa
cti
o
n
s
on
bio
m
ed
ica
l
circui
ts
an
d
syst
ems
, v
ol.
7
,
n
o
.
4
,
pp
. 5
26
-535
,
2
01
3.
[5]
Ding
Z
.,
Zh
on
g
C.,
Ng
D
.
W
.
K
.,
Peng
M
.,
Su
rawe
era
H.
A
.
,
S
cho
b
er
R
.
an
d
Po
or
H
.
V.,
"Ap
p
l
i
cati
o
n
o
f
s
mar
t
anten
n
a
tech
nol
og
ies
i
n
s
imul-
tan
e
ou
s
wirel
e
ss
i
n
f
o
r
m
a
tio
n
and
p
ower
t
ransf
e
r,"
IE
EE
Co
mmu
n
i
cat
i
ons
M
a
gazi
n
e
,
vol
.
5
3
,
no
.
4,
pp.
8
6-93
,
2
0
1
5
.
[6]
Mu
st
apa
Zak
i
,
S
.
S
h
a
k
i
r,
Y
.
Yu
s
m
arnita
a
nd
M
e
o
r
M
.
S
.,
"
C
ap
acit
ive
p
o
wer
t
r
a
n
sf
er
i
n
b
i
om
edi
c
a
l
im
p
l
ant
a
b
l
e
d
e
vice:
a
r
ev
iew,
"
Int
e
rn
ation
a
l
Jour
na
l
o
f
Electrical
a
n
d
Co
mputer
Eng
i
n
eeri
ng (
I
JECE)
,
vol.
10,
n
o
.
2
, p
p.
9
35
-9
4
2
, 20
1
9
.
[7]
Do
le
v
S
.,
Fre
n
ke
l
S.,
Ro
se
nb
l
i
t
M.,
Na
ra
ya
n
a
n
R.
P
.
a
n
d
Ve
nk
a
t
e
swarl
u
K
.
M
.
,
"In-v
i
vo
e
n
e
rg
y
harves
ti
ng
n
an
o
robo
ts
,
"
20
16 IEE
E
In
tern
a
tio
na
l Co
nfer
ence o
n
the
Scien
ce of
Electr
i
ca
l E
ngineer
in
g
(
I
CSEE)
, p
p
. 1-
5
,
20
16
.
[8]
Han
M.,
et
a
l
.
,
"
T
h
ree-di
m
e
nsi
o
n
a
l
p
i
ezo
electri
c
po
ly
m
e
r
m
i
crosys
tems
f
or
v
ib
r
a
t
i
ona
l
en
erg
y
h
a
r
ves
t
i
ng,
r
ob
otic
int
e
rf
aces an
d
b
io
m
e
dical
im
p
lants,"
Natu
re Electro
nics
,
vo
l
.
2,
n
o
. 1,
p.
26
,
20
1
9
.
[9]
Dai
H.
,
Liu
Y.
,
Chen
G
.,
W
u
X
.
,
H
e
T.
,
Li
u
A.
X
.
and
Ma
H
.,
"Sa
f
e
c
hargi
ng
f
o
r
wi
reless
p
ower
t
r
a
nsf
e
r,"
IEEE
ACM
Tr
an
sa
c
t
i
o
ns
on
Ne
two
r
ki
n
g
(
T
ON)
,
v
o
l
.
2
5
,
n
o.
6
,
pp
.
35
31-35
44
,
2
0
1
7
.
[10]
Lu
X
.,
Niy
a
t
o
D
.,
W
ang
P
.,
K
i
m
D.
I
.
an
d
Han
Z
.,
"
W
ireless
ch
ar
ger
net
w
ork
i
n
g
f
or
m
o
b
ile
d
evi
c
e
s
:
F
u
n
d
am
entals,
stan
dard
s,
a
n
d
a
ppl
icatio
ns,
"
I
E
EE Wirel
e
ss
Co
m
m
unicati
o
n
s
,
v
o
l
.
22
(2
), p
p.
12
6
-13
5
, 20
1
5
.
[11]
Kazuy
a
a
nd
Y
am
ag
uchi
,
"The
i
nt
e
r
act
io
n
b
e
tw
een
l
oad
circu
its
a
n
d
de
-
c
i
sion
o
f
fre
q
ue
n
c
y
fo
r
effi
cient
wire
l
e
ss
p
ow
er
t
ransfer,"
Inter
n
a
t
i
o
n
a
l Jou
r
n
a
l of
Elect
r
i
cal an
d
Com
p
u
t
er En
g
i
neer
ing
(
I
JE
CE)
,
vol
.
8
(
3),
pp.
1331
-13
35,
2
0
1
8
.
[12]
Ba
rm
an
S
.
D.,
Reza
A
.
W
.
,
K
um
ar
N
.,
K
arim
M
.
E.
a
nd
M
unir
A
.
B
.
,
"
W
irele
s
s
pow
erin
g
b
y
m
ag
neti
c
reso
nan
t
coup
li
ng:
R
ecen
t
t
r
e
n
ds
i
n
wireles
s
p
o
w
er
t
ran
s
fer
sy
st
em
a
nd
i
ts
a
pplications,"
R
e
newab
l
e an
d Su
st
a
i
nab
le ener
gy
reviews
,
v
o
l
.
5
1
,
p
p.
1
52
5-1
552,
2
01
5.
[13]
Kazuy
a
,
Yam
a
gu
chi
,
K
.
O
n
i
s
hi
,
and
Iid
a
K
.,
"
W
i
r
e
l
ess
power
t
ran
sf
er
t
o
a
m
i
cro
im
p
l
an
t
dev
i
ce
f
r
o
m
out
si
de
o
f
hum
a
n
b
o
d
y
,
"
In
ter
nat
io
nal Jou
r
n
a
l
o
f
El
ectrical
an
d
Comp
ut
er
Engi
neeri
n
g
(
I
JE
CE)
,
v
o
l
.
9
,
n
o.
3
,
pp.
1
5
4
1
-
154
5,
20
1
9
.
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
Wireless
power t
r
an
sfer
fr
a
m
ewo
r
k f
o
r mi
niro
bot
ba
se
d
on
reso
na
nt
in
duct
i
ve c
o
upl
ing
... (
K
in
Yun
L
u
m)
32
5
[14]
M
u
s
t
ap
a
Z
a
k
i
,
S.
S
hak
i
r,
a
nd
Y
u
s
m
a
rn
it
a
Y.,
"
A
n
ew
d
es
ign
of
c
a
pa
c
i
tive
p
owe
r
t
ra
ns
fe
r
b
a
se
d
on
h
yb
rid
a
p
p
r
oa
c
h
f
o
r
bio
m
edical
i
m
p
l
a
nt
ab
l
e
d
evi
ce,"
In
ter
n
a
t
i
o
n
a
l Jo
ur
nal
o
f
El
ec
tri
c
al an
d
Com
p
u
t
er
E
ngin
eerin
g
(
I
JECE)
,
vo
l.
9
,
no
.
4,
p
p
. 2
33
6-23
45
,
2
019.
[15]
Dai
J
.
a
nd
L
udo
is
D
.
C.,
"
A
s
urv
e
y
of
w
irel
ess
power
t
ran
s
f
e
r
a
nd
a
c
riti
cal
c
om
p
a
riso
n
of
i
n
d
u
c
tive
a
nd
cap
aci
ti
v
e
cou
p
l
i
n
g
f
or
s
mal
l
g
ap
a
ppli
cation
s
,"
I
EEE Tr
a
n
saction
s
on Power
E
l
ectr
o
n
i
cs
,
v
o
l.
3
0,
n
o.
11,
pp.
6
01
7-6
029,
20
15
.
[16]
W
e
i
X
.
,
W
a
n
g
Z
.
a
n
d
D
a
i
H
.
,
"
A
c
r
i
t
i
c
a
l
r
e
v
i
e
w
o
f
w
i
r
e
l
e
s
s
p
o
w
e
r
transf
er
v
ia
s
t
r
on
g
l
y
cou
p
led
mag
n
et
ic
reso
nan
ces,"
E
n
erg
i
es
,
v
o
l.
7
,
no.
7
,
p
p
.
4
31
6-4341
,
2
01
4.
[17]
Et
en
g
A.
A
.,
Ra
h
i
m
S
.
K
.
A
.,
L
e
ow
C
.
Y.,
Jay
a
prak
asam
S
.
and
Ch
ew
B
.
W
.
,
"Low
-po
w
er
n
e
a
r-f
iel
d
m
ag
net
i
c
wi
reless en
ergy
tran
s
f
e
r l
i
nks:
A revi
ew o
f
archi
t
ectu
r
es an
d
d
esi
g
n
app
r
oa
ch
e
s
,"
Re
ne
wa
ble
an
d S
u
sta
i
na
ble
En
e
r
g
y
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ews
,
vo
l.
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7
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,
"
W
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l
ess
ch
ar
gi
ng
t
echn
o
lo
g
i
es:
Fu
nd
am
en
t
a
ls,
stan
dard
s,
a
nd
net
w
o
r
k
ap
plication
s
,
"
IE
EE Co
m
m
u
n
icati
ons Sur
veys
&
Tu
torials
,
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Yan
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C
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L
.
,
"
A
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y
si
s
o
f
i
nduct
i
v
e
c
ou
pl
in
g
coi
l
s
f
or
e
xten
ding
d
i
s
t
a
nces
o
f
ef
fici
e
n
t
wi
reless
p
o
w
e
r
tr
a
n
sm
is
sion
,"
20
13
IEEE
M
T
T-S
Int
e
rna
t
ion
a
l
Mic
r
owa
v
e
W
o
rk
sh
op
Se
rie
s
on
RF a
n
d
Wire
le
ss
T
echn
o
l
o
g
i
es for Biom
edi
c
a
l
an
d
H
e
al
th
care Appli
c
atio
ns
(
I
MW
S
-
BIO)
,
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.
1-3
, 2
01
3.
[20]
Du
on
g T.
P
. and
Lee J.-W
., "Ex
p
er
i
m
ental
resul
t
s
of
h
igh-e
ffici
ency reso
n
ant
cou
p
l
i
n
g
wirel
ess power t
ransfer using
a
v
a
riabl
e
c
ou
pl
in
g
m
e
t
hod,
"
IEEE Micr
owa
ve an
d W
i
reless Compo
n
en
ts L
e
tters
,
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l.
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1
, n
o.
8,
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2
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0
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1
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W
a
t
e
rs
B
.
H.,
Mah
o
n
e
y
B.
J
.,
L
ee
G.
a
nd
S
mith
J
.
R.,
"
O
ptimal
c
o
i
l
size
rat
i
os
f
o
r
w
i
r
e
l
es
s
p
o
w
e
r
tran
sf
er
app
l
i
cati
o
n
s
,"
IEE
E
Pro
ceedi
ngs
o
f
Inter
natio
nal
S
y
mp
os
ium on
Ci
rcuits an
d S
y
st
e
m
s
,
pp
.
20
45
-20
4
8
, 20
1
4
[22]
Zh
on
g
W
.
a
n
d
H
u
i
S
.,
"M
axi
m
um
e
n
e
rgy
e
ffici
ency
t
rack
ing
f
o
r
wi
reless
p
ow
er
t
ransf
e
r
sys
t
ems
,
"
IEEE
Tr
an
sa
c
tio
ns
o
n
P
o
w
e
r
Ele
c
t
ro
ni
c
s
,
vol.
3
0
,
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o.
7
,
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p.
4
0
25-4
0
3
4
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F
u
M
.
,
Yin
H.
,
Z
h
u
X.
a
nd
M
a
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,
"An
a
lysis
an
d
t
r
acki
ng
of
opti
ma
l
l
o
ad
i
n
w
i
reles
s
p
ow
er
t
ransf
e
r
s
y
stems
,
"
IE
E
E
Tr
an
sa
c
tio
ns
o
n
P
o
w
e
r
Ele
c
t
ro
ni
c
s
,
vol.
3
0
,
n
o.
7
,
p
p.
3
9
52-3
9
6
3
,
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15.
[24]
Z
h
a
n
g
W
.
a
n
d
M
i
C
.
C
.
,
"
C
o
m
p
e
n
s
a
t
i
o
n
t
o
p
o
l
o
g
i
e
s
o
f
h
i
g
h
-
p
o
w
e
r
w
irel
ess
po
wer
tran
sf
e
r
s
y
s
t
e
m
s
,"
IEEE
T
r
a
n
s
a
ction
s
on Veh
i
cul
a
r T
echnol
ogy
,
vol.
65
,
n
o
.
6
,
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.
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8-477
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01
5.
[25]
Kazu
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Yam
a
g
u
chi
,
T
.
H
i
rata
a
n
d
I
.
Hod
a
ka,
"A
g
en
eral
m
et
hod
t
o
param
e
te
r
op
tim
izati
o
n
for
highly
e
ffi
cient
wi
reless
power
trans
f
er,"
Inter
n
a
t
i
o
n
a
l Jo
urn
a
l
of
E
l
ectrical a
n
d Co
mpu
t
er
En
g
i
n
eeri
ng
(
I
JECE)
,
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l
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,
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21
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01
6.
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Ag
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ny
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I
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w
e
r tran
sf
er,"
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ver Pub
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e
rs,
vol
.
4
5
,
2
0
1
5
.
BIOGRAPHI
E
S
OF
AUT
HORS
Ki
n
Y
un
Lu
m
was
born
in
M
alay
si
a
in
1
9
8
9
.
H
e
rec
e
i
v
ed
t
he
B
.
S
.
deg
r
ee
in
M
icroel
ectro
ni
cs
En
gin
eerin
g
an
d
P
h
.D
d
eg
ree
in
B
io
m
e
di
cal
E
n
g
ineeri
n
g
f
r
o
m
U
ni
v
ersiti
T
e
knol
ogi
M
a
l
a
y
si
a,
M
a
l
a
y
s
i
a
i
n
2
0
1
2
a
n
d
2
0
1
6
r
e
s
p
e
c
t
i
v
e
l
y
.
H
i
s
c
u
r
r
e
n
t
r
e
s
e
a
r
c
h
i
n
te
r
e
sts
inc
l
ud
e
w
i
r
e
le
s
s
p
o
w
e
r
tran
sf
er s
yst
e
m, p
ow
e
r
e
lect
ro
ni
c
s
a
n
d
r
o
boti
c
sy
s
t
e
ms.
Jy
i-S
h
y
a
n
Ch
o
w
w
as
born
in
M
alay
si
a
in
1
9
9
4
.
H
e
recei
v
e
d
hi
s
de
g
r
ee
of
B
ach
elor
o
f
En
gin
eerin
g
(H
o
n
ou
rs)
M
ech
atron
i
cs
f
rom
Tu
nku
A
b
d
u
l
Rahm
an
U
n
i
v
ersit
y
C
o
l
lege
i
n
20
18
.
Current
ly
h
e
is
w
orki
ng
i
n
an
M
&E
c
om
p
a
n
y
n
am
ed
P
T
P
o
we
r
M&E
S
d
n
Bh
d.
H
is
r
es
earch
in
terests incl
ud
e wi
reless p
o
w
e
r tran
sf
er, p
o
w
er
t
ran
s
m
i
s
s
i
o
n
a
n
d
d
is
tr
i
b
u
t
io
n
s
y
s
t
e
m
.
Kah
Hau
r
Y
i
a
uw
w
as
born
i
n
M
alay
si
a
in
1
9
7
5
.
H
e
receiv
e
d
t
h
e
B.
E
and
P
h
.D.
d
e
grees
f
ro
m
Un
iversit
y
o
f
W
a
les
,
S
wan
s
ea,
U
K
i
n
1
99
8
a
n
d
20
05
r
esp
ectiv
ely
.
H
e
j
o
i
n
ed
T
un
ku
A
b
dul
Rahman
U
niversity
C
ollege,
L
u
al
a
L
u
m
p
ur,
M
a
lay
s
ia
s
i
n
ce
20
06
,
w
here
h
e
is
c
urrentl
y
a
P
r
in
c
i
pa
l
L
ecturer.
His
m
a
i
n
a
reas
o
f
research
i
n
t
e
r
es
t
are
rea
cti
v
e
h
a
rm
on
ic
f
ilt
e
rs,
sm
art
energ
y
m
a
nagem
e
n
t
s
y
s
tem
s
a
nd
th
e
ir
c
o
n
t
r
ol
s
ystems
.
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