I
n
t
e
r
n
at
ion
al
Jou
r
n
al
of
E
lec
t
r
ical
an
d
Com
p
u
t
e
r
E
n
gin
e
e
r
in
g
(
I
JE
CE
)
Vol.
15
,
No.
1
,
F
e
br
ua
r
y
20
25
,
pp.
280
~
291
I
S
S
N:
2088
-
8708
,
DO
I
:
10
.
11591/i
jec
e
.
v
15
i
1
.
pp
2
80
-
291
280
Jou
r
n
al
h
omepage
:
ht
tp:
//
ij
e
c
e
.
iaes
c
or
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.
c
om
Op
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tr
ume
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ngi
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in
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F
a
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T
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knol
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mbe
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ur
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I
ndone
s
ia
2
D
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pa
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nt
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ngi
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P
hys
ic
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F
a
c
ul
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T
e
c
h
nol
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a
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S
ys
te
m
E
ngi
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e
r
in
g,
I
ns
ti
tu
t
T
e
knol
ogi
S
e
pul
uh
N
ope
mbe
r
,
S
ur
a
ba
ya
,
I
ndone
s
ia
Ar
t
icle
I
n
f
o
AB
S
T
RA
CT
A
r
ti
c
le
h
is
tor
y
:
R
e
c
e
ived
M
a
y
14,
2024
R
e
vis
e
d
S
e
p
9,
2024
Ac
c
e
pted
Oc
t
1,
2024
So
l
ar
p
a
n
el
s
are
t
h
e
mai
n
c
o
mp
o
n
e
n
t
of
s
o
l
ar
p
o
w
er
g
en
erat
i
o
n
s
y
s
t
ems
,
an
d
t
h
e
y
fu
n
c
t
i
o
n
by
c
o
n
v
ert
i
n
g
s
o
l
ar
e
n
erg
y
i
n
t
o
el
ec
t
ri
c
al
en
er
g
y
.
In
d
o
n
es
i
a
h
as
g
r
eat
p
o
t
e
n
t
i
a
l
fo
r
s
o
l
ar
e
n
erg
y
.
So
l
ar
p
a
n
el
s
w
i
l
l
w
o
r
k
o
p
t
i
mal
l
y
at
t
emp
era
t
u
re
s
of
25
°
C
to
28
°
C.
The
g
reat
er
the
t
emp
erat
u
re
of
the
s
o
l
ar
p
an
e
l
,
the
m
o
re
p
o
w
er
g
en
era
t
ed
by
the
p
an
e
l
.
T
h
e
i
n
fl
u
en
ce
of
s
o
l
ar
rad
i
a
t
i
o
n
i
n
t
en
s
i
t
y
ca
n
be
ca
u
s
e
d
by
d
u
s
t
a
n
d
a
n
i
ma
l
d
ro
p
p
i
n
g
s
at
t
ach
e
d
to
the
s
u
rface
of
t
h
e
s
o
l
ar
p
an
e
l
mo
d
u
l
e.
If
the
s
u
rface
of
a
s
o
l
ar
p
an
e
l
is
co
v
ere
d
w
i
t
h
d
u
s
t
or
d
i
r
t
,
w
h
i
ch
ca
n
b
l
o
c
k
t
h
e
en
t
r
y
of
s
o
l
ar
ra
d
i
a
t
i
o
n
,
t
h
e
res
u
l
t
i
n
g
p
o
w
er
o
u
t
p
u
t
is
n
o
t
o
p
t
i
mal
.
The
a
i
m
of
t
h
i
s
res
earch
is
to
d
e
s
i
g
n
an
d
i
m
p
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eme
n
t
an
au
t
o
ma
t
i
c
c
l
ean
i
n
g
s
y
s
t
em
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r
s
o
l
a
r
p
o
w
er
p
l
an
t
s
.
T
h
e
s
y
s
t
em
u
s
ed
is
u
s
i
n
g
E
SP3
2
b
a
s
ed
on
t
h
e
Bl
y
n
k
ap
p
l
i
cat
i
o
n
an
d
a
d
d
i
n
g
i
n
t
ern
e
t
of
t
h
i
n
g
s
(Io
T
)
d
ev
i
ces
w
i
t
h
a
cl
ea
n
i
n
g
me
t
h
o
d
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s
i
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g
p
u
m
p
ed
w
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er
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t
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en
a
s
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i
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e
d
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s
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h
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c
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h
av
e
s
i
l
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c
o
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ru
b
b
er
mat
er
i
al
to
cl
ean
d
u
s
t
an
d
d
i
rt
.
Bas
ed
on
the
cl
ea
n
i
n
g
o
p
t
i
mi
zat
i
o
n
s
i
m
u
l
a
t
i
o
n
cal
cu
l
at
i
o
n
s
,
we
fo
u
n
d
t
h
a
t
the
o
p
t
i
mal
or
effi
ci
e
n
t
cl
e
an
i
n
g
co
n
d
i
t
i
o
n
w
a
s
o
n
ce
a
mo
n
t
h
,
w
i
t
h
an
eff
i
ci
e
n
cy
of
7
5
.
1
7
%
.
K
e
y
w
o
r
d
s
:
C
lea
ning
s
ys
tem
E
lec
tr
ica
l
e
ne
r
gy
I
nter
ne
t
of
thi
ngs
S
olar
e
ne
r
gy
S
olar
pa
ne
l
Th
i
s
is
an
o
p
en
a
c
ces
s
a
r
t
i
c
l
e
u
n
d
e
r
the
CC
BY
-
SA
l
i
ce
n
s
e.
C
or
r
e
s
pon
din
g
A
u
th
or
:
I
mam
Aba
di
De
pa
r
tm
e
nt
of
E
nginee
r
ing
P
hys
ics
,
F
a
c
ult
y
of
I
nd
us
tr
ial
T
e
c
hnology
a
nd
S
ys
tem
E
nginee
r
ing
,
I
ns
ti
t
ut
T
e
knologi
S
e
puluh
Nope
mber
B
uil
ding
A
of
I
T
S
Ke
puti
h
C
a
mpus
,
S
ukoli
lo
,
S
u
r
a
ba
ya
,
I
ndone
s
ia
E
mail:
im
a
maba
di02@gm
a
il
.
c
om
1.
I
NT
RODU
C
T
I
ON
E
ne
r
gy
ha
s
be
c
ome
an
e
s
s
e
nti
a
l
ne
e
d
in
s
oc
iety
as
a
li
f
e
s
uppor
t
c
omponent
to
s
uppor
t
da
il
y
a
c
ti
vit
ies
.
T
he
ge
ne
r
a
l
e
lec
tr
ica
l
e
ne
r
gy
in
I
ndon
e
s
ia
c
omes
f
r
om
f
os
s
il
s
;
the
bu
r
ning
of
thes
e
can
c
a
us
e
global
wa
r
mi
ng.
I
ndone
s
ia
ha
s
a
r
e
ne
wa
ble
e
ne
r
gy
potential
of
mor
e
than
400
,
000
M
W
,
50
%
of
whic
h
is
s
olar
e
ne
r
gy.
H
o
w
e
ve
r
,
t
he
M
in
is
t
r
y
of
E
n
e
r
g
y
a
n
d
M
in
e
r
a
l
R
e
s
ou
r
c
e
s
(
E
S
DM
)
s
ta
te
d
tha
t
th
e
us
e
of
th
is
e
ne
r
g
y
s
ou
r
c
e
is
on
ly
0
.
0
8
%
or
15
0
MW
of
t
he
e
x
is
t
i
ng
po
te
nt
ia
l
[
1
]
,
[
2]
.
T
he
us
e
of
s
olar
e
ne
r
gy
f
r
om
the
s
un
via
s
olar
pa
ne
ls
is
an
a
lt
e
r
na
ti
ve
to
the
us
e
of
e
le
c
tr
ica
l
e
ne
r
gy
s
our
c
e
d
f
r
o
m
f
os
s
il
f
ue
ls
.
E
lec
tr
ica
l
e
ne
r
gy
f
r
om
the
s
un
ha
s
low
ope
r
a
ti
ona
l
c
os
ts
of
1
USD
pe
r
wa
tt
a
nd
gua
r
a
ntee
s
the
a
va
il
a
bil
it
y
of
e
ne
r
gy
s
our
c
e
s
.
T
he
us
e
of
s
olar
e
ne
r
gy
f
or
e
lec
tr
icity
ge
ne
r
a
ti
on
is
e
s
ti
mate
d
to
incr
e
a
s
e
by
18
%
f
r
om
2013
to
2050
[
3]
.
S
olar
pa
ne
ls
a
r
e
the
p
r
im
a
r
y
e
quipm
e
nt
in
s
olar
powe
r
ge
ne
r
a
ti
on
s
ys
tems
,
a
nd
they
f
unc
ti
on
by
c
onve
r
ti
ng
s
olar
e
ne
r
gy
in
to
e
lec
tr
ica
l
e
ne
r
gy
[
4
]
.
I
ndone
s
ia
ha
s
gr
e
a
t
po
tential
f
o
r
s
olar
e
ne
r
gy
d
ue
to
its
e
qua
tor
pos
it
ion
a
nd
tr
opica
l
c
li
mate
,
r
e
s
ult
ing
in
a
s
igni
f
ica
nt
s
olar
e
ne
r
gy
potential
of
a
ppr
o
xim
a
tely
4.
8
kW
h/day
[
5
]
,
[
6
]
.
How
e
ve
r
,
the
output
powe
r
ge
ne
r
a
ted
f
r
om
th
is
c
onve
r
s
ion
p
r
oc
e
s
s
is
inf
lu
e
nc
e
d
by
va
r
ious
e
nvir
onmenta
l
c
ondit
ions
,
s
uc
h
as
s
olar
r
a
diation
int
e
ns
it
y
a
nd
tempe
r
a
tu
r
e
[
7
]
,
[
8]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
lec
&
C
omp
E
ng
I
S
S
N:
2088
-
8708
Optimal
c
leaning
r
obot
on
s
olar
pane
ls
w
it
h
ti
me
-
s
e
que
nc
e
input
bas
e
d
on
int
e
r
ne
t
…
(
Dw
i
N
ur
F
it
r
i
y
anah
)
281
High
tempe
r
a
tur
e
s
can
limit
the
e
ne
r
gy
pr
oduc
ti
on
of
s
olar
pa
ne
ls
be
c
a
us
e
the
in
tens
it
y
of
s
olar
r
a
diation
incr
e
a
s
e
s
f
r
om
mor
ning
unti
l
noon.
S
olar
pa
ne
ls
wor
k
opti
mally
at
tempe
r
a
tur
e
s
be
twe
e
n
25
°C
a
nd
28
°C
[
9]
,
[
10]
.
T
he
lar
ge
r
the
tempe
r
a
tur
e
of
the
s
olar
pa
ne
l,
the
mor
e
im
pa
c
t
wil
l
be
on
the
powe
r
g
e
ne
r
a
ted
by
the
pa
ne
l.
T
he
inf
luenc
e
of
s
olar
r
a
diation
int
e
n
s
it
y
can
be
a
f
f
e
c
ted
by
dus
t
a
nd
a
nim
a
l
dir
t
a
dhe
r
i
ng
to
the
s
ur
f
a
c
e
of
the
s
olar
pa
ne
l
modul
e
[
11]
,
[
12
]
.
F
or
e
xa
mpl
e
,
if
the
s
ur
f
a
c
e
of
a
s
olar
pa
ne
l
is
c
ove
r
e
d
with
dus
t
or
di
r
t,
it
can
obs
tr
uc
t
the
e
nt
r
y
of
s
olar
r
a
diation
int
e
ns
it
y,
ther
e
by
a
f
f
e
c
ti
ng
the
op
ti
mal
outpu
t
po
we
r
.
One
wa
y
to
mi
n
im
ize
high
tempe
r
a
tur
e
s
a
nd
r
e
move
d
us
t
a
nd
a
nim
a
l
d
ir
t
f
r
o
m
s
olar
pa
ne
ls
is
to
c
lea
n
a
nd
s
pr
a
y
wa
ter
onto
the
s
ur
f
a
c
e
of
the
s
olar
pa
ne
l
modul
e
[
1
3]
.
S
olar
pa
ne
ls
,
as
a
tec
hnology
f
or
us
ing
s
olar
e
ne
r
gy,
r
e
quir
e
p
r
ope
r
maintena
nc
e
to
maintain
their
pe
r
f
or
manc
e
.
S
olar
pa
ne
l
c
lea
ne
r
s
a
r
e
a
s
olut
ion
f
o
r
e
f
f
icie
ntl
y
a
nd
s
us
taina
bly
maintaining
pa
ne
l
c
le
a
nli
ne
s
s
,
thus
c
ontr
ibut
ing
to
e
nvir
onmenta
l
c
ons
e
r
va
ti
on.
T
he
us
e
of
s
olar
e
ne
r
gy
as
a
c
lea
n
a
nd
s
us
taina
ble
a
lt
e
r
na
ti
ve
e
ne
r
gy
s
our
c
e
is
incr
e
a
s
ing
[
14]
,
[
15
]
.
How
e
ve
r
,
the
e
f
f
icie
nc
y
of
s
olar
pa
ne
ls
is
a
f
f
e
c
ted
by
e
nvir
onmenta
l
f
a
c
tor
s
,
s
uc
h
as
the
a
c
c
umul
a
ti
on
of
di
r
t
a
nd
dus
t.
T
his
lea
ds
to
a
de
c
r
e
a
s
e
in
the
e
lec
tr
ica
l
e
ne
r
gy
pr
oduc
ti
on
.
T
he
r
e
f
o
r
e
,
r
e
s
e
a
r
c
h
int
o
pa
ne
l
c
lea
ne
r
s
is
im
por
tant
f
o
r
maintaining
opti
mal
s
olar
pa
ne
l
pe
r
f
or
manc
e
a
nd
maximi
z
ing
s
olar
e
ne
r
gy
uti
li
z
a
ti
on.
S
olar
pa
ne
l
c
lea
ne
r
s
can
be
a
s
olut
ion
to
inc
r
e
a
s
e
pa
ne
l
e
f
f
icie
nc
y
a
nd
e
xtend
thei
r
li
f
e
s
pa
n,
thus
pr
ovidi
ng
be
tt
e
r
r
e
tur
n
on
inves
tm
e
nt
[
16
]
.
In
a
pr
e
vious
s
tudy
[
17]
ti
tl
e
d
“
Automate
d
d
e
s
ign
f
or
boos
ti
ng
of
f
s
hor
e
photovol
taic
(
P
V)
pe
r
f
or
manc
e
,
”
a
s
olar
pa
ne
l
c
lea
ning
r
obot
wa
s
de
s
igned
f
or
of
f
s
hor
e
loca
ti
ons
us
ing
br
us
he
s
or
dus
t
br
us
he
s
to
c
lea
n
s
ubs
tanc
e
s
li
ke
s
a
nd,
dir
t,
a
nd
bi
r
d
d
r
oppi
ngs
f
r
om
the
s
ur
f
a
c
e
of
the
s
olar
pa
ne
l
modul
e
,
w
hich
can
s
igni
f
ica
ntl
y
de
c
r
e
a
s
e
the
pe
r
f
or
manc
e
of
the
s
olar
pa
ne
l
modul
e
.
T
he
PV
pe
r
f
or
manc
e
de
c
r
e
a
s
e
is
due
to
the
f
or
mation
of
a
laye
r
of
dus
t
pa
r
ti
c
les
on
the
f
r
on
t
s
ur
f
a
c
e
of
the
s
olar
pa
ne
l,
whic
h
c
a
us
e
s
s
ha
ding
e
f
f
e
c
ts
[
15]
.
One
dr
a
wba
c
k
of
thi
s
tool
is
the
lac
k
of
wa
t
e
r
to
c
lea
n
the
s
olar
pa
ne
l
s
ur
f
a
c
e
.
Additi
ona
ll
y
,
it
us
e
s
a
pr
ogr
a
mm
a
ble
logi
c
c
ontr
oll
e
r
(
P
L
C
)
c
ontr
oll
e
r
,
whic
h
make
s
the
s
ys
tem
les
s
e
f
f
icie
nt
be
c
a
us
e
the
P
L
C
ne
e
ds
to
c
onne
c
t
to
a
c
ontr
o
ll
e
d
c
omput
e
r
to
a
c
ti
va
te
the
s
ys
tem,
so
it
c
a
nnot
be
r
e
mot
e
ly
c
ontr
ol
led.
B
a
s
e
d
on
s
e
v
e
r
a
l
objec
ti
ve
s
,
thi
s
r
e
s
e
a
r
c
h
a
im
s
to
de
s
ign
a
nd
im
pleme
nt
an
a
utom
a
ti
c
s
olar
pa
ne
l
c
lea
ning
s
ys
tem
f
or
s
olar
powe
r
plants
.
T
he
s
ys
tem
us
e
s
wa
ter
s
pr
a
ying,
whic
h
is
pumped
thr
ough
a
wipe
r
e
quipped
with
s
il
icon
r
ubbe
r
to
r
e
move
dus
t
a
nd
dir
t.
T
he
s
ys
tem
is
a
c
ti
va
ted
at
pr
e
de
ter
mi
ne
d
i
nter
va
ls
.
Additi
ona
ll
y,
to
e
ns
ur
e
tho
r
ough
c
lea
ning
of
the
s
olar
pa
ne
ls
,
a
dir
e
c
t
c
ur
r
e
nt
(
DC
)
mot
o
r
is
e
mpl
oy
e
d
as
the
c
lea
ning
de
vice
's
dr
ive.
A
li
mi
t
s
witch
is
us
e
d
as
a
wor
k
li
mi
te
r
in
the
c
lea
ning
s
ys
tem.
T
h
is
s
olar
pa
ne
l
c
lea
ning
s
ys
tem
us
e
s
an
E
S
P
32
mi
c
r
oc
ontr
oll
e
r
ba
s
e
d
on
the
B
lynk
a
ppli
c
a
ti
on,
a
ll
owing
r
e
mot
e
c
ontr
ol
thr
ough
the
in
ter
ne
t.
T
he
r
e
a
r
e
two
c
ontr
ol
modes
:
manua
l
a
nd
a
utom
a
ti
c
.
In
the
a
utom
a
ti
c
mode
,
th
e
s
ys
tem
r
uns
a
c
c
or
ding
to
a
pr
e
de
ter
mi
ne
d
s
c
he
dule,
na
m
e
ly
onc
e
a
mont
h;
in
the
manua
l
mode,
ther
e
is
a
manua
l
butt
on
to
a
c
ti
va
te
the
s
ys
tem.
2.
M
E
T
HO
D
T
he
f
i
r
s
t
s
tage
be
gins
wi
th
a
li
ter
a
tu
r
e
r
e
view
that
identif
ies
r
e
f
e
r
e
nc
e
s
to
the
r
e
s
e
a
r
c
h
to
be
c
onduc
ted.
T
hus
,
a
s
ys
tem
c
ons
is
ti
ng
of
ha
r
dw
a
r
e
a
nd
s
of
twa
r
e
de
s
ign
c
omponents
wa
s
c
r
e
a
ted.
Af
te
r
de
s
igni
ng
the
too
l,
a
tool
c
ons
is
ti
ng
of
ha
r
dwa
r
e
a
nd
s
of
twa
r
e
.
Af
ter
im
p
leme
nti
ng
the
tool
,
th
e
B
lynk
s
of
twa
r
e
wa
s
int
e
gr
a
ted
int
o
E
S
P
32.
Af
ter
i
mpl
e
m
e
nti
ng
the
tool
,
the
B
lynk
s
of
twa
r
e
wa
s
r
un
on
the
E
S
P
32.
T
he
pr
opos
e
d
too
l
wa
s
tes
ted
f
or
pe
r
f
o
r
manc
e
a
f
te
r
int
e
gr
a
ti
on
.
If
the
s
ys
tem
wor
ks
pr
ope
r
ly,
da
ta
c
oll
e
c
ti
on
a
nd
a
na
lys
is
a
r
e
pe
r
f
or
med.
If
a
dis
tur
ba
nc
e
r
e
mai
ns
,
an
e
va
luation
can
be
made
of
the
tool
manuf
a
c
tur
e
.
T
he
las
t
s
tep
is
the
pr
e
pa
r
a
ti
on
of
the
r
e
por
t
.
F
ig
ur
e
1
s
ho
w
s
t
he
de
s
ig
n
o
f
a
r
ob
ot
c
l
e
a
n
in
g
a
s
o
l
a
r
p
a
n
e
l.
T
h
e
s
o
la
r
p
a
n
e
l
u
s
e
d
i
n
t
hi
s
c
l
e
a
n
in
g
m
e
diu
m
i
s
of
th
e
on
gr
id
t
yp
e
wi
th
a
c
a
pa
c
it
y
o
f
5
0
0
W
p.
T
h
e
s
ol
a
r
p
a
n
e
l
s
w
it
h
a
mo
no
c
r
y
s
t
a
ll
in
e
c
a
p
a
c
it
y
o
f
10
0
W
p
a
r
e
5
p
c
s
.
T
h
e
r
e
a
r
e
2
ty
pe
s
of
s
ol
a
r
pa
n
e
l
s
u
s
e
d
in
t
hi
s
s
ol
a
r
p
a
ne
l:
8
p
c
s
of
p
ol
yc
r
y
s
t
a
l
li
ne
a
n
d
2
p
c
s
o
f
m
on
oc
r
y
s
t
a
l
li
ne
.
T
h
e
s
o
la
r
s
y
s
te
m
w
ir
in
g
wa
s
c
onf
ig
ur
e
d
in
s
e
r
ie
s
a
nd
pa
r
a
ll
e
l
a
c
c
or
d
in
g
to
th
e
i
np
ut
vo
lt
a
g
e
r
a
n
g
e
of
th
e
s
e
l
e
c
t
e
d
gr
i
d
ti
e
in
ve
r
te
r
2
2
-
50
vol
t
s
d
ir
e
c
t
c
ur
r
e
n
t
(
VD
C
)
.
T
he
c
onne
c
t
ion
to
a
s
e
r
ies
of
s
olar
pa
ne
l
modul
e
s
us
e
s
a
n
M
C
4
c
onn
e
c
tor
,
whic
h
c
a
n
be
us
e
d
in
ou
tdoor
loca
ti
ons
.
T
he
s
olar
pa
ne
l
modul
e
is
mount
e
d
on
a
r
a
il
f
r
a
me
made
of
s
tainles
s
s
tee
l,
4
r
a
il
s
a
r
e
us
e
d
with
a
length
o
f
3
,
500
mm
e
a
c
h,
a
nd
the
r
a
il
s
a
r
e
s
uppor
ted
by
pe
r
mane
nt
r
e
a
r
a
nd
f
r
ont
legs
on
a
c
onc
r
e
te
ba
s
e
with
a
tot
a
l
o
f
6
e
a
c
h.
T
o
lock
the
s
olar
pa
ne
l
modul
e
to
the
r
a
il
,
e
nd
c
lamps
we
r
e
us
e
d
on
the
e
nds
a
nd
mi
d
c
lamp
s
on
the
mi
ddle
s
ide,
8
e
nd
c
lamps
a
nd
16
mi
d
c
lamps
.
T
his
tool
ha
s
dim
e
ns
ions
of
120
×
12
×
7
c
m
.
T
his
bo
dy
c
lea
ning
s
ys
tem
in
F
igur
e
2
c
ons
is
ts
of
s
e
ve
r
a
l
c
omponents
s
uc
h
a
s
a
noz
z
le
that
f
unc
ti
ons
to
pr
ovide
wa
ter
p
r
e
s
s
ur
e
to
be
s
pr
a
ye
d
on
the
s
olar
pa
ne
l,
a
mot
or
that
dr
ives
the
body
c
lea
ning
s
ys
tem
hor
izo
ntally,
a
hos
e
that
f
unc
ti
ons
a
s
a
wa
ter
f
low
,
d
r
ive
whe
e
ls
a
tt
a
c
he
d
to
the
mot
or
a
nd
the
bot
tom
of
the
body
c
lea
ning
s
ys
tem,
a
nd
a
s
uppor
t
whe
e
l
to
s
uppor
t
t
he
body
c
lea
ning
s
ys
tem.
At
the
bott
om
o
f
the
body
c
lea
ni
ng
s
ys
tem,
ther
e
is
a
r
ubbe
r
o
r
plas
ti
c
wipe
r
to
r
e
move
a
ny
r
e
maining
wa
ter
f
r
om
the
s
ur
f
a
c
e
of
the
s
olar
pa
n
e
l.
W
a
ter
r
e
maining
on
the
s
ur
f
a
c
e
of
the
s
olar
p
a
ne
l
c
a
n
c
a
us
e
mol
d
or
wa
ter
s
pots
,
whic
h
a
r
e
c
a
ll
e
d
hots
pots
,
to
r
e
main.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2088
-
8708
I
nt
J
E
lec
&
C
omp
E
ng
,
Vol
.
15
,
No.
1
,
F
e
br
ua
r
y
20
25
:
280
-
291
282
F
igur
e
1
.
3D
de
s
ign
a
utom
a
ti
c
c
lea
ning
s
ys
tem
F
igur
e
2
.
De
s
ign
of
body
c
lea
ning
s
ys
tems
F
igur
e
3
s
hows
the
wor
k
f
low
o
f
the
a
utom
a
ti
c
c
lea
ning
s
ys
tem
be
gins
by
s
e
lec
ti
ng
e
it
he
r
a
utom
a
ti
c
or
manua
l
mode.
I
f
the
a
utom
a
ti
c
mode
is
s
e
lec
te
d,
the
main
input
is
a
pr
e
de
f
ined
ti
me
s
c
he
dule
to
a
c
ti
va
te
the
s
ys
tem.
I
f
the
manua
l
mode
is
s
e
lec
ted,
the
us
e
r
c
a
n
a
c
ti
va
te
the
c
lea
ning
s
y
s
tem
us
ing
th
e
butt
on
pr
ovided
in
the
B
lynk
a
ppli
c
a
ti
on
.
I
f
the
s
ys
tem
i
s
a
c
ti
ve
,
the
c
ontr
oll
e
r
c
omm
a
nds
the
r
e
lay
to
a
c
t
ivate
the
pump
f
or
5
s
.
T
he
n,
the
DC
mot
o
r
moves
f
o
r
wa
r
d
unti
l
it
r
e
a
c
he
s
li
mi
t
s
witch
A.
T
he
mot
or
then
s
topped
f
or
5
s
be
f
or
e
movi
ng
ba
c
kwa
r
d
unti
l
it
r
e
a
c
he
d
li
mi
t
s
witch
B
.
Onc
e
the
c
lea
ning
pr
oc
e
s
s
is
c
om
plete
,
the
s
ys
tem
pe
r
f
or
ms
dr
ying
us
ing
the
s
a
me
c
lea
ning
s
e
que
nc
e
,
but
the
pu
mp
is
not
a
c
ti
va
ted.
B
a
s
e
d
on
the
s
ys
tem
de
s
ign
in
F
igur
e
4,
ther
e
a
r
e
s
e
ve
r
a
l
input
s
s
uc
h
a
s
s
e
lec
tor
s
witche
s
,
pus
h
butt
ons
,
a
nd
li
mi
t
s
witche
s
.
T
his
inpu
t
ins
tr
uc
ts
t
he
E
S
P
32
c
ont
r
oll
e
r
to
dr
ive
the
a
c
tuator
in
the
f
or
m
o
f
a
mol
a
r
pump
a
nd
a
GW
4632
-
370
mot
or
.
S
e
lec
tor
s
witch
B
pr
ov
ides
manua
l
a
nd
a
utom
a
ti
c
f
unc
ti
ons
to
de
ter
mi
ne
whe
ther
the
s
ys
tem
r
uns
a
utom
a
ti
c
a
ll
y
or
manua
ll
y
.
W
he
n
s
e
lec
ti
ng
manua
l
c
ondit
ions
,
t
he
s
ys
tem
c
a
n
be
s
tar
ted
o
r
s
topped
on
de
mand
by
s
e
lec
ti
ng
butt
ons
B
or
C
.
T
he
pump
pr
ovides
p
r
e
s
s
ur
e
that
c
a
us
e
s
wa
ter
to
p
r
oduc
e
the
opti
mal
s
pr
a
y
diame
ter
.
T
he
s
pr
a
y
c
lea
ns
the
a
tt
a
c
he
d
dus
t
a
nd
bir
d
dr
oppings
a
nd
c
a
n
lowe
r
the
P
V
tempe
r
a
tur
e
.
A
mot
or
is
us
e
d
to
r
u
n
body
c
lea
ning
hor
izonta
ll
y
s
o
that
the
c
lea
ning
pr
oc
e
s
s
r
uns
e
ve
nly.
A
li
mi
t
s
witch
is
us
e
d
to
r
otate
the
di
r
e
c
ti
on
of
the
mo
tor
whe
n
it
r
e
a
c
he
s
the
e
nd
of
the
of
f
-
gr
id
s
olar
pa
ne
l.
T
he
f
oll
owing
e
qua
ti
ons
a
nd
c
a
lcula
ti
ons
we
r
e
us
e
d
to
de
ter
mi
ne
[
18]
the
time
r
e
quir
e
d
f
or
a
whe
e
l
to
move
f
r
om
one
e
nd
of
the
s
olar
pa
ne
l
to
the
othe
r
at
a
mot
or
s
pe
e
d
of
40
r
e
volut
ions
pe
r
mi
nute
(
R
P
M
)
.
=
×
1
/
60
=
40
×
1
/
60
(
1)
=
0
.
66
F
r
om
(
1)
,
the
f
r
e
que
nc
y
wa
s
f
ound
to
be
0.
66
r
o
t
a
ti
ons
pe
r
s
e
c
ond
(
R
P
S
).
F
r
om
th
is
va
lue,
we
can
f
ind
the
a
ngular
ve
locity
(
)
us
ing
the
e
qua
ti
on
be
low
[
19
]
.
=
2
×
=
2
(
3
.
14
)
×
0
.
66
(
2)
=
4
.
14
/
F
r
om
(
2)
,
the
a
ngular
ve
locity
wa
s
f
ound
to
be
4.
14
r
a
d/s
.
S
ince
the
a
ngular
ve
locity
is
known
,
the
ne
xt
s
tep
is
to
f
ind
the
li
ne
a
r
ve
locity
us
ing
the
known
a
ngul
a
r
ve
locity
[
20
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
lec
&
C
omp
E
ng
I
S
S
N:
2088
-
8708
Optimal
c
leaning
r
obot
on
s
olar
pane
ls
w
it
h
ti
me
-
s
e
que
nc
e
input
bas
e
d
on
int
e
r
ne
t
…
(
Dw
i
N
ur
F
it
r
i
y
anah
)
283
=
×
=
0
.
035
×
4
.
14
(
3)
=
0
.
144
/
B
a
s
e
d
on
(
3)
,
the
li
ne
a
r
ve
locity
wa
s
c
a
lcula
ted
as
0.
144
m/
s
.
Ne
xt,
the
tot
a
l
time
take
n
by
the
tec
hn
ology
to
c
ove
r
the
dis
tanc
e
wa
s
c
a
lcula
ted.
T
he
dis
tanc
e
c
o
ve
r
e
d
wa
s
3.
78
m
×
2
(
due
to
the
ba
c
k
-
a
nd
-
f
or
th
mot
ion)
.
T
he
f
oll
owing
e
qua
ti
on
wa
s
us
e
d
[
21]
:
=
/
=
(
7
.
56
)
/
(
0
.
1
4
4
/
)
(
4)
=
52
.
5
B
a
s
e
d
on
(
4)
,
the
whe
e
l
r
e
quir
e
d
52.
5
s
to
c
lea
n
f
r
om
one
e
nd
of
the
s
olar
pa
ne
l
to
the
other
at
a
mot
or
s
pe
e
d
of
40
R
P
M
.
If
thi
s
p
r
oc
e
s
s
is
r
e
pe
a
ted
4
ti
mes
,
the
tot
a
l
dur
a
ti
on
is
210
s
(
a
ppr
oxim
a
tely
3
.
5
mi
n
)
.
F
igur
e
3
.
F
lowc
ha
r
t
a
utom
a
ti
c
c
lea
ning
s
ys
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2088
-
8708
I
nt
J
E
lec
&
C
omp
E
ng
,
Vol
.
15
,
No.
1
,
F
e
br
ua
r
y
20
25
:
280
-
291
284
F
igur
e
4
.
C
ontr
ol
s
ys
tem
de
s
ign
of
the
c
lea
ning
tec
hnology
on
s
olar
pa
ne
ls
3.
RE
S
UL
T
S
AND
DI
S
CU
S
S
I
ON
3.
1.
M
ot
or
t
r
an
s
m
is
s
ion
c
ali
b
r
at
ion
M
otor
tes
ti
ng
wa
s
c
a
r
r
ied
out
in
F
igur
e
5
to
de
ter
mi
ne
the
va
lue
of
r
otation
pe
r
mi
nute
whe
n
g
iven
a
load
or
not
g
iven
a
load.
T
he
r
e
s
ult
s
of
c
a
lcula
ti
ons
ba
s
e
d
on
mot
or
s
pe
c
if
ica
ti
ons
c
ompar
e
d
with
a
s
tanda
r
d
mea
s
ur
ing
ins
tr
ument,
na
mely
a
tac
homete
r
.
B
y
k
nowing
the
r
pm,
you
c
a
n
c
a
lcula
te
the
ti
me
r
e
quir
e
d
f
or
the
s
ys
tem
to
c
lea
n.
T
he
R
P
M
mea
s
ur
e
ments
we
r
e
pe
r
f
or
med
us
ing
a
nonc
ontac
t
tac
homete
r
that
wa
s
f
i
r
e
d
a
t
the
mot
or
.
B
a
s
e
d
on
s
e
ve
r
a
l
e
xpe
r
im
e
nts
c
onduc
ted
w
it
h
va
r
iations
in
volt
a
ge
,
the
obtaine
d
volt
a
ge
da
ta
a
nd
r
pm
va
lues
we
r
e
c
ompar
e
d
to
the
tac
homete
r
.
B
a
s
e
d
on
the
no
-
load
mot
or
tes
t
gr
a
phic
,
the
h
ighes
t
obtaine
d
powe
r
wa
s
2.
52
W
.
T
he
input
volt
a
ge
to
the
mot
or
a
f
f
e
c
ts
the
r
e
s
ult
ing
s
pe
e
d.
T
he
g
r
e
a
ter
the
va
lue
o
f
the
input
volt
a
ge
,
the
f
a
s
ter
the
mot
or
s
pe
e
d
will
a
ls
o
be
f
a
s
ter
.
C
onve
r
s
e
ly,
if
the
input
vo
lt
a
ge
is
low,
the
mot
o
r
s
pe
e
d
will
a
ls
o
be
low.
F
igur
e
6(
a
)
a
nd
F
igur
e
6(
b
)
s
hows
R
P
M
tes
ti
ng
on
mot
or
1
a
nd
mot
or
2.
T
his
tes
t
wa
s
c
a
r
r
ied
out
to
de
ter
mi
ne
w
he
ther
the
r
pm
o
f
the
mot
or
wa
s
in
a
c
c
or
da
nc
e
wi
th
the
c
a
lc
ulation
by
knowing
how
long
the
s
ys
tem
wa
s
r
unn
ing
f
r
om
s
tar
t
to
s
top.
F
igur
e
5
.
M
otor
R
P
M
tes
ti
ng
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
lec
&
C
omp
E
ng
I
S
S
N:
2088
-
8708
Optimal
c
leaning
r
obot
on
s
olar
pane
ls
w
it
h
ti
me
-
s
e
que
nc
e
input
bas
e
d
on
int
e
r
ne
t
…
(
Dw
i
N
ur
F
it
r
i
y
anah
)
285
(
a
)
(
b)
F
igur
e
1
.
Gr
a
ph
R
P
M
tes
ti
ng:
(
a
)
mot
or
1
a
nd
(
b)
mot
or
2
3.
2.
T
e
s
t
in
g
t
h
e
E
S
P
32
Wi
-
Fi
m
od
u
le
r
an
ge
T
he
ove
r
a
ll
tes
ti
ng
of
the
c
omponents
in
thi
s
s
tudy
wa
s
c
onduc
ted
in
a
n
ope
n
s
pa
c
e
to
a
void
dis
r
upti
ng
W
i
-
F
i
s
ignal
pr
opa
ga
ti
on.
T
e
s
ti
ng
wa
s
c
a
r
r
ied
out
in
the
I
ns
tr
umenta
ti
on
E
nginee
r
ing
De
pa
r
tm
e
nt,
a
s
s
hown
in
F
igur
e
7
.
I
n
thi
s
tr
ial
,
the
int
e
r
ne
t
wa
s
us
e
d
a
s
a
c
onne
c
ti
on
be
twe
e
n
the
a
utom
a
ti
c
c
lea
ning
de
vice
a
nd
the
s
mar
tphone.
T
he
pur
pos
e
of
thi
s
t
e
s
t
wa
s
to
de
ter
mi
ne
the
r
a
nge
o
f
the
a
utom
a
ti
c
c
lea
ning
de
vice
's
c
ontr
ol
with
the
s
mar
tphone
.
He
r
e
,
we
p
r
e
s
e
nt
thethe
r
r
e
s
ult
s
of
the
W
i
-
F
i
modul
e
r
a
nge
tes
t.
T
he
da
ta
in
T
a
ble
1
s
how
the
dis
tanc
e
be
twe
e
n
the
a
c
c
e
s
s
point
a
nd
the
W
i
-
F
i
modul
e
on
the
E
S
P
32
mi
c
r
oc
ontr
oll
e
r
f
or
the
a
utom
a
ti
c
c
lea
ning
de
vice
.
T
he
a
c
c
e
s
s
point
to
the
W
i
-
F
i
modul
e
of
the
c
lea
ning
de
vice
c
a
n
be
c
ontr
oll
e
d
f
r
om
a
dis
tanc
e
of
1
to
1
1
m.
At
dis
tanc
e
s
of
16
–
25
m,
the
c
onne
c
ti
on
be
t
we
e
n
the
a
c
c
e
s
s
point
a
nd
the
W
i
-
F
i
modul
e
be
ga
n
to
we
a
ke
n,
r
e
s
ult
ing
in
s
igni
f
ica
nt
de
lays
in
c
ontr
oll
ing
the
c
lea
ning
de
vice
.
At
dis
tanc
e
s
of
a
t
lea
s
t
31
m,
the
c
onne
c
ti
on
be
twe
e
n
the
a
c
c
e
s
s
point
a
nd
the
W
i
-
F
i
modul
e
is
los
t,
a
nd
the
a
utom
a
ti
c
c
lea
ning
de
vice
c
a
nnot
be
c
ontr
oll
e
d.
T
his
indi
c
a
tes
that
the
W
i
-
F
i
modul
e
on
the
E
S
P
32
mi
c
r
oc
ont
r
oll
e
r
c
a
n
be
we
ll
c
ontr
ol
led
a
t
a
dis
tanc
e
of
up
to
25
m
be
twe
e
n
a
c
c
e
s
s
point
s
.
How
e
ve
r
,
the
a
ppli
c
a
ti
on’
s
c
onne
c
ti
on
to
the
E
S
P
32
mi
c
r
oc
o
ntr
oll
e
r
thr
ough
B
lynk
c
a
n
be
a
c
c
e
s
s
e
d
a
nd
c
ontr
oll
e
d
r
e
mot
e
ly
f
r
om
a
dif
f
e
r
e
nt
loca
ti
on
[
22]
–
[
26]
a
s
lon
g
a
s
the
W
i
-
F
i
modul
e
on
the
mi
c
r
oc
ont
r
oll
e
r
is
c
o
nne
c
ted
to
the
int
e
r
ne
t
.
T
his
a
ll
ows
us
e
r
s
to
r
e
mot
e
ly
inpu
t
their
c
lea
ning
ti
me
s
c
he
dule
a
nd
c
ontr
ol
their
de
vice
s
via
the
B
lynk
a
ppli
c
a
ti
on
on
their
s
mar
tphone
.
F
igur
e
7.
R
a
nge
a
r
e
a
E
S
P
32
W
i
-
F
i
modul
e
T
a
ble
1.
T
e
s
ti
ng
the
E
S
P
32
Wi
-
Fi
M
odule
R
a
nge
No
D
is
ta
nc
e
(
M
e
t
e
r
s
)
S
ta
tu
s
D
e
la
y
(
s
)
D
e
s
c
r
ip
ti
on
1
1
-
5
C
onne
c
te
d
1.05
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
e
ll
.
2
6
-
10
C
onne
c
te
d
1.23
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
e
ll
.
3
11
-
15
C
onne
c
te
d
1.11
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
e
ll
.
4
16
-
20
Weak
c
onne
c
ti
on
09.38
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
it
h
a
de
la
y.
5
21
-
25
Weak
c
onne
c
ti
on
10.01
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
it
h
a
de
la
y
6
26
-
30
Weak
c
onne
c
ti
on
C
a
n’
t
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
can
ope
r
a
te
w
it
h
a
de
la
y.
7
31
-
35
U
nc
onne
c
te
d
C
a
n’
t
An
a
ut
oma
ti
c
c
le
a
ni
ng
to
ol
c
a
nnot
ope
r
a
te
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2088
-
8708
I
nt
J
E
lec
&
C
omp
E
ng
,
Vol
.
15
,
No.
1
,
F
e
br
ua
r
y
20
25
:
280
-
291
286
3.
3.
Qu
ali
t
at
ive
an
d
q
u
an
t
it
at
ive
t
e
s
t
in
g
r
e
s
u
lt
s
of
t
h
e
c
leani
n
g
t
e
c
h
n
ology
I
n
t
his
tes
t
in
g
,
two
m
a
i
n
a
s
pe
c
ts
we
r
e
in
de
pe
nd
e
n
t
ly
e
va
lu
a
t
e
d
to
a
s
s
e
s
s
t
he
c
l
e
a
n
in
g
de
v
ic
e
’
s
p
e
r
f
o
r
m
a
n
c
e
:
t
he
q
ua
li
ty
o
f
t
he
c
lea
n
in
g
te
c
h
no
lo
gy
a
n
d
t
he
s
ola
r
pa
ne
l
ou
tp
u
t
.
T
he
c
le
a
n
in
g
t
e
c
h
no
lo
g
y
wa
s
a
s
s
e
s
s
e
d
f
o
r
it
s
e
f
f
e
c
ti
ve
ne
s
s
in
r
e
m
ov
in
g
de
b
r
is
w
it
h
ou
t
d
a
m
a
g
in
g
t
he
pa
ne
ls
,
w
hi
le
t
he
s
ola
r
pa
ne
l
o
ut
p
ut
wa
s
m
e
a
s
u
r
e
d
be
f
or
e
a
n
d
a
f
te
r
c
lea
ni
ng
to
de
te
r
mi
ne
ho
w
m
uc
h
t
he
pr
oc
e
s
s
i
mp
r
ove
d
e
ne
r
g
y
e
f
f
i
c
i
e
nc
y
.
T
o
ge
th
e
r
,
t
he
s
e
e
va
l
ua
t
io
ns
p
r
o
v
ide
d
a
c
o
mp
r
e
he
ns
i
ve
v
ie
w
o
f
t
he
de
vi
c
e
’
s
i
m
pa
c
t
o
n
s
o
la
r
pa
n
e
l
pe
r
f
o
r
ma
nc
e
.
3.
3.
1.
Qu
al
it
at
ive
t
e
s
t
in
g
o
f
t
h
e
c
leani
n
g
t
e
c
h
n
ol
ogy
T
he
qua
li
tative
tes
ti
ng
in
F
igur
e
8
,
the
f
oc
us
wa
s
on
a
s
s
e
s
s
ing
the
ove
r
a
ll
c
lea
ning
pe
r
f
or
manc
e
of
the
pr
opos
e
d
tec
hnology
.
Dr
y
ti
s
s
ue
s
we
r
e
us
e
d
a
s
tool
s
to
s
im
ulate
the
c
lea
ning
pr
oc
e
s
s
on
the
s
olar
pa
ne
l
s
ur
f
a
c
e
s
.
Obs
e
r
va
ti
ons
we
r
e
made
to
e
va
lu
a
te
how
we
ll
the
tec
hnology
r
e
moved
dir
t,
dus
t,
a
nd
other
c
ontaminants
f
r
om
the
pa
ne
ls
.
B
a
s
e
d
on
the
r
e
s
ult
s
of
qua
l
it
a
ti
ve
tes
ti
ng
in
T
a
ble
2,
the
mos
t
e
f
f
e
c
ti
ve
c
lea
ning
method
f
o
r
dif
f
e
r
e
nt
types
of
c
ontaminants
on
s
olar
pa
ne
ls
wa
s
identif
ied.
A
pump
with
a
volt
a
ge
of
12
is
r
e
c
omm
e
nde
d
whe
n
de
a
li
ng
with
s
tubbor
n
bir
d
dr
opp
ings
.
T
his
higher
volt
a
ge
pr
ovides
s
uf
f
icie
nt
wa
ter
pr
e
s
s
ur
e
a
nd
f
or
c
e
to
e
f
f
e
c
ti
ve
ly
r
e
move
tough
b
ir
d
dr
oppings
f
r
om
s
olar
pa
ne
ls
.
On
the
other
ha
nd
,
whe
n
s
olar
pa
ne
ls
a
r
e
c
ombi
ne
d
with
dus
t
a
nd
bi
r
d
dr
oppings
,
a
pump
with
a
volt
a
ge
of
10
is
f
ound
to
be
the
opti
mal
c
h
oice
[
27]
.
T
his
volt
a
ge
leve
l
pr
ovides
a
de
qua
te
c
lea
ning
po
we
r
f
or
both
types
of
c
ontaminants
.
F
or
r
e
gular
c
lea
ning
tas
ks
,
whe
r
e
the
s
olar
pa
ne
ls
mainly
ha
ve
dus
t
a
n
d
li
ghter
c
ontaminants
,
a
pump
with
a
volt
a
ge
of
8
c
a
n
be
us
e
d.
T
his
low
volt
a
ge
s
ti
ll
p
r
ovides
e
f
f
icie
nt
c
lea
ning
while
s
a
ving
powe
r
by
us
ing
a
volt
a
ge
lowe
r
than
the
pump’
s
s
pe
c
if
ica
ti
ons
.
F
igur
e
8.
T
e
s
ti
ng
c
lea
ning
tec
hnology
on
s
olar
pa
n
e
ls
T
a
ble
2
.
T
e
s
ti
ng
the
qua
li
ty
o
f
the
c
lea
ning
tec
hnology
3.
3.
2.
Qu
an
t
it
a
t
ive
t
e
s
t
in
g
of
s
olar
p
an
e
l
ou
t
p
u
t
T
his
tes
ti
ng
e
va
luate
d
the
dif
f
e
r
e
nc
e
in
s
olar
pa
ne
l
output
powe
r
whe
n
a
n
a
utom
a
ti
c
c
lea
ne
r
wa
s
us
e
d
a
nd
whe
n
it
wa
s
not.
T
he
f
oc
us
wa
s
on
a
na
ly
z
ing
how
c
lea
ning
im
pa
c
ts
the
pe
r
f
or
manc
e
of
s
ol
a
r
pa
ne
ls
by
mea
s
ur
ing
ke
y
pa
r
a
mete
r
s
s
uc
h
a
s
the
outpu
t
volt
a
ge
,
c
ur
r
e
nt
,
a
nd
tempe
r
a
tur
e
.
B
y
c
ompa
r
i
ng
thes
e
pa
r
a
mete
r
s
be
f
or
e
a
nd
a
f
ter
the
c
lea
ning
pr
oc
e
s
s
,
thi
s
s
tudy
qua
nti
f
ies
the
im
pr
ove
ments
in
pa
ne
l
e
f
f
icie
nc
y
a
nd
the
e
f
f
e
c
ti
ve
ne
s
s
of
the
a
utom
a
ti
c
c
lea
ne
r
in
m
a
int
a
ini
ng
opti
mal
s
olar
pa
ne
l
pe
r
f
o
r
manc
e
.
F
igur
e
9
is
a
qua
nti
tative
tes
t
of
s
olar
pa
ne
l
ou
tp
ut,
whic
h
mea
s
ur
e
s
the
output
of
the
s
olar
pa
ne
l
be
f
or
e
a
nd
a
f
ter
c
lea
ning.
B
a
s
e
d
on
the
tes
t
da
ta
o
btaine
d
in
T
a
ble
s
3
a
nd
4
,
the
ir
r
a
diation
va
lue
wa
s
a
lm
os
t
the
s
a
me
but
ha
d
a
dif
f
e
r
e
nt
output
powe
r
.
W
he
n
tes
ted,
the
s
olar
pa
ne
ls
that
ha
ve
not
be
e
n
c
lea
ne
d
c
a
n
pr
oduc
e
a
powe
r
o
f
334
.
2
W
a
tt
hour
(
W
h)
,
a
nd
whe
n
tes
ted
a
f
ter
c
lea
ning
us
ing
a
n
a
utom
a
ti
c
s
o
lar
pa
ne
l
c
lea
ne
r
,
it
c
a
n
ge
ne
r
a
te
a
powe
r
of
605
.
6
W
.
I
t
c
a
n
be
s
e
e
n
that
the
dif
f
e
r
e
nc
e
is
ve
r
y
s
igni
f
ica
nt,
whic
h
is
e
qua
l
to
271.
4
W
.
P
ump
vol
ta
ge
(
V
ol
t)
S
ol
a
r
pa
ne
l
c
ondi
ti
on
be
f
or
e
c
le
a
ni
ng
S
ol
a
r
pa
ne
l
c
ondi
ti
on
a
f
te
r
c
le
a
ni
ng
12
T
he
r
e
a
r
e
mos
qui
to
r
e
pe
ll
e
nt
pow
de
r
a
nd
por
r
id
ge
C
le
a
n
th
e
th
e
s
ol
a
r
pa
ne
l
w
it
hout
le
a
vi
ng
a
ny
w
a
te
r
be
hi
nd
10
T
he
r
e
a
r
e
mos
qui
to
r
e
pe
ll
e
nt
pow
de
r
a
nd
por
r
id
ge
C
le
a
n
th
e
s
ol
a
r
pa
n
e
l
w
it
hout
le
a
vi
ng
a
ny
w
a
te
r
be
hi
nd
8
T
he
r
e
a
r
e
mos
qui
to
r
e
pe
ll
e
nt
pow
de
r
a
nd
por
r
id
ge
C
le
a
n
th
e
s
ol
a
r
pa
n
e
l
w
it
hout
le
a
vi
ng
a
ny
w
a
te
r
be
hi
nd
6
T
he
r
e
a
r
e
mos
qui
to
r
e
pe
ll
e
nt
pow
de
r
a
nd
por
r
id
ge
U
nc
le
a
n
a
nd
w
it
hout
le
a
vi
ng
a
ny
w
a
te
r
4
T
he
r
e
a
r
e
mos
qui
to
r
e
pe
ll
e
nt
pow
de
r
a
nd
por
r
id
ge
U
nc
le
a
n
a
nd
w
it
hout
le
a
vi
ng
a
ny
w
a
te
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
lec
&
C
omp
E
ng
I
S
S
N:
2088
-
8708
Optimal
c
leaning
r
obot
on
s
olar
pane
ls
w
it
h
ti
me
-
s
e
que
nc
e
input
bas
e
d
on
int
e
r
ne
t
…
(
Dw
i
N
ur
F
it
r
i
y
anah
)
287
F
igur
e
9
.
Qua
nti
tative
tes
ti
ng
o
f
the
s
olar
pa
ne
l
ou
put
T
a
ble
3
.
Qua
ntt
it
a
ve
tes
t
of
s
olar
pa
ne
l
ouput
with
out
a
utom
a
ti
c
c
lea
ne
r
a
nd
d
ir
t
T
im
e
(
V
ol
ta
ge
)
(
A
mpe
r
e
)
P
ow
e
r
(
W
a
tt
)
T
e
mpe
r
a
tu
r
e
(
°
C)
I
r
r
a
di
a
ti
on
(
W
/m
2
)
09:
00
13.66
0.06
0.819
28.8
750.3
10:
00
19.97
3.4
67.8
51.7
859.1
11:
00
18.86
3.9
73.5
52.5
946.1
12:
00
17.77
3.8
67.5
56.5
865.5
13:
00
19.75
3.7
73.0
53.5
789.5
14:
00
14.46
3.4
49.1
34.5
76.3
15:
00
14.03
0.06
0.84
34.5
74.4
16:
00
13.83
0.06
0.83
29.1
65.6
17:
00
13.76
0.06
0.82
27.5
52.4
T
ot
al
334.2
Wh
T
a
ble
4
.
Qua
ntt
it
a
ve
tes
t
of
s
olar
pa
ne
l
ouput
a
f
ter
a
utom
a
ti
c
c
lea
ning
a
nd
dir
t
c
lea
ning
T
im
e
(
V
ol
ta
ge
)
(
A
mpe
r
e
)
P
ow
e
r
(
W
a
tt
)
T
e
mpe
r
a
tu
r
e
(
°C
)
I
r
r
a
di
a
ti
onn
(
W
/m
2
)
09:
00
30.02
0.06
1.80
28.6
758.4
10:
00
17.97
7.43
133.5
47.5
872.0
11:
00
16.96
7.60
128.8
48.3
972.4
12:
00
17.36
7.38
128.1
51.0
983.6
13:
00
17.66
7.04
124.3
50.0
903.3
14:
00
17.29
5.02
86.7
40.3
616.5
15:
00
13.78
0.06
0.82
29.8
101.6
16:
00
13.54
0.06
0.81
27.4
51.7
17:
00
13.35
0.06
0.80
25.5
16.9
T
ot
al
605.6
Wh
B
a
s
e
d
a
s
the
gr
a
ph
in
F
igur
e
10
,
the
r
e
s
ult
s
obtaine
d
on
the
pa
ne
l
be
f
or
e
be
ing
c
lea
ne
d
a
nd
tr
e
a
ted
with
dir
t
a
r
e
s
hown
a
s
a
blac
k
gr
a
ph
indi
c
a
ti
ng
that
the
gr
a
ph
ha
s
the
lowe
s
t
gr
a
ph.
T
he
highes
t
powe
r
wa
s
obtaine
d
a
t
11:00
ha
s
a
n
output
powe
r
of
73.
5
w
a
tt
s
.
T
he
n,
on
the
r
e
d
g
r
a
ph
is
a
s
olar
pa
ne
l,
whi
c
h
a
f
ter
c
lea
ning
with
a
c
lea
ning
tool
s
hows
that
the
g
r
a
p
h
ha
s
the
highes
t
gr
a
ph
with
the
highes
t
powe
r
ob
taine
d
a
t
10:00
ha
ving
a
n
output
powe
r
of
133
.
5
wa
tt
s
.
T
he
r
e
f
or
e
,
the
gr
a
ph
of
the
s
olar
pa
ne
l
a
f
ter
c
lea
ning
s
hows
a
s
igni
f
ica
nt
dif
f
e
r
e
nc
e
in
output
powe
r
.
F
igur
e
10.
Gr
a
ph
of
the
powe
r
outpu
t
c
ompar
is
on
r
e
s
ult
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2088
-
8708
I
nt
J
E
lec
&
C
omp
E
ng
,
Vol
.
15
,
No.
1
,
F
e
br
ua
r
y
20
25
:
280
-
291
288
B
a
s
e
d
on
the
gr
a
ph
in
F
igur
e
11
,
the
pa
ne
l
be
f
or
e
e
xpos
ur
e
to
s
pr
a
y
wa
ter
is
r
e
pr
e
s
e
nted
by
a
blac
k
c
ur
ve
,
indi
c
a
ti
ng
that
the
gr
a
ph
obtaine
d
the
highe
s
t
tempe
r
a
tur
e
.
T
he
highes
t
tempe
r
a
tur
e
r
e
c
or
de
d
a
t
14:00
UT
wa
s
56.
5
°C
.
T
he
n,
on
the
r
e
d
gr
a
ph
T
he
n,
o
n
the
r
e
d
gr
a
ph
is
a
s
olar
pa
ne
l
whic
h
a
f
ter
be
ing
c
lea
ne
d
with
a
c
lea
ning
tool
c
ontaining
s
pr
a
y
wa
ter
s
ho
ws
that
the
gr
a
ph
ha
s
the
lowe
s
t
g
r
a
ph
with
the
highes
t
tempe
r
a
tur
e
obtaine
d
a
t
12:00
with
a
tempe
r
a
tur
e
of
51
.
0
°C
.
T
he
r
e
f
or
e
,
a
f
ter
c
lea
ning
the
s
olar
p
a
ne
l,
the
tempe
r
a
tur
e
dif
f
e
r
e
nc
e
is
ve
r
y
s
igni
f
ica
nt.
F
igur
e
11.
T
e
mper
a
tu
r
e
c
ompar
is
on
r
e
s
ult
s
3.
3.
3.
Op
t
im
al
c
leani
n
g
c
alcul
a
t
ion
r
e
s
u
lt
s
T
he
r
e
s
ult
s
of
thi
s
c
a
lcula
ti
on
we
r
e
us
e
d
to
de
ter
m
ine
the
opti
mal
time
f
or
c
lea
ning
the
s
olar
pa
ne
ls
.
T
his
c
a
lcula
ti
on
is
ba
s
e
d
on
the
r
e
s
ult
s
of
the
s
ola
r
pa
ne
l
output
powe
r
tes
t
da
ta
s
hown
in
T
a
ble
3,
in
whic
h
the
s
olar
pa
ne
ls
we
r
e
unde
r
dus
t
c
ondit
ions
,
a
nd
the
tes
t
da
ta
r
e
s
ult
s
s
hown
in
T
a
ble
4.
F
or
dus
t
c
o
ndit
ions
,
s
olar
pa
ne
ls
can
p
r
oduc
e
an
output
powe
r
of
334
.
2
W
h.
W
he
n
s
olar
pa
ne
ls
a
r
e
dus
t
-
f
r
e
e
or
c
lea
ne
d
with
an
a
utom
a
ti
c
c
lea
ning
tool
,
they
can
p
r
oduc
e
an
output
powe
r
of
605.
6
W
h
.
T
his
c
a
lcula
ti
on
s
im
ulate
s
c
a
lcula
ti
ons
f
or
time
pe
r
iods
of
1
we
e
k,
2
we
e
k
s
,
3
we
e
ks
,
4
we
e
ks
,
or
1
mont
h.
T
he
opti
mal
c
lea
ning
c
a
lcula
ti
on
f
or
mul
a
is
as
(
5)
.
=
−
×
100%
(
5)
C
a
lcula
ti
on
of
opti
mal
c
lea
ning
e
f
f
icie
nc
y
with
in
1
we
e
k.
S
olar
pa
ne
ls
unde
r
dus
t
c
ondit
ions
pr
oduc
e
an
output
powe
r
of
334.
2
W
h,
mul
ti
pli
e
d
by
7
da
ys
or
a
we
e
k,
pr
oduc
ing
a
powe
r
of
2
,
33
9.
4
W
h.
T
he
n,
the
s
olar
pa
ne
ls
a
f
ter
c
lea
ning
p
r
oduc
e
an
output
powe
r
of
605.
6
Wh
mul
ti
pli
e
d
by
6
da
ys
b
e
c
a
us
e
1
da
y
the
a
utom
a
ti
c
c
lea
ning
de
vice
is
tur
ne
d
on,
pr
oduc
ing
3
,
633.
6
W
h.
T
he
e
qua
ti
on
(
6)
is
the
opti
mal
e
f
f
icie
nc
y
c
a
lcula
ti
on
f
o
r
7
da
ys
or
onc
e
a
we
e
k
.
=
3633
.
6
−
2339
.
4
2339
.
4
×
100%
=
55
.
32%
(
6)
C
a
lcula
ti
on
of
opti
mal
c
lea
ning
e
f
f
icie
nc
y
wi
thi
n
2
we
e
ks
.
S
ola
r
pa
ne
ls
unde
r
dus
t
c
ondit
ions
pr
oduc
e
an
output
powe
r
of
334.
2
W
h,
mul
ti
pli
e
d
by
14
da
ys
or
a
we
e
k,
pr
oduc
ing
a
powe
r
of
4
,
67
8.
8
W
h.
T
he
n,
the
s
olar
pa
ne
ls
a
f
ter
c
lea
ning
pr
oduc
e
an
o
utput
powe
r
of
605
.
6
Wh
mul
ti
pli
e
d
by
13
da
ys
be
c
a
us
e
1
da
y
the
a
utom
a
ti
c
c
lea
ning
de
vice
is
tur
ne
d
on,
pr
oduc
ing
7
,
872.
8
W
h.
T
he
e
qua
ti
on
(
7)
is
the
opti
mal
e
f
f
icie
nc
y
c
a
lcula
ti
on
f
o
r
14
da
ys
or
twice
a
we
e
k
.
=
7872
.
8
−
4678
.
8
4678
.
8
×
100%
=
68
.
27%
(
7)
C
a
lcula
ti
on
of
opti
mal
c
lea
ning
e
f
f
icie
nc
y
wi
thi
n
3
we
e
ks
.
S
ola
r
pa
ne
ls
unde
r
dus
t
c
ondit
ions
pr
oduc
e
an
output
powe
r
of
334.
2
W
h,
mul
ti
pli
e
d
by
21
da
ys
or
a
we
e
k,
pr
oduc
ing
a
powe
r
of
7
,
01
8.
2
W
h.
T
he
n,
a
f
ter
c
lea
ning,
the
s
olar
pa
ne
ls
p
r
oduc
e
an
o
utput
powe
r
of
605
.
6
Wh
mul
ti
pli
e
d
by
20
da
ys
b
e
c
a
us
e
1
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
lec
&
C
omp
E
ng
I
S
S
N:
2088
-
8708
Optimal
c
leaning
r
obot
on
s
olar
pane
ls
w
it
h
ti
me
-
s
e
que
nc
e
input
bas
e
d
on
int
e
r
ne
t
…
(
Dw
i
N
ur
F
it
r
i
y
anah
)
289
da
y
the
a
utom
a
ti
c
c
lea
ning
de
vice
is
tur
ne
d
on,
pr
oduc
ing
12
,
112
W
h.
T
he
e
qua
ti
on
(
8
)
is
the
opti
mal
e
f
f
icie
nc
y
c
a
lcula
ti
on
f
o
r
21
da
ys
or
th
r
ice
a
we
e
k
.
=
12112
−
7018
.
2
7
0
1
8
.
2
×
100%
=
72
.
58%
(
8)
C
a
lcula
ti
on
of
the
op
ti
mal
c
lea
ning
e
f
f
icie
nc
y
wit
hin
4
we
e
ks
or
1
mon
th.
S
olar
pa
ne
ls
unde
r
dus
t
c
ondit
ions
pr
oduc
e
an
output
powe
r
of
334.
2
W
h
,
mul
ti
pli
e
d
by
30
da
ys
or
a
we
e
k,
pr
oduc
ing
a
p
owe
r
of
10
,
026
W
h.
T
he
n
,
a
f
te
r
be
ing
c
lea
ne
d,
the
s
olar
p
a
ne
ls
pr
oduc
e
an
output
powe
r
of
605.
6
Wh
mul
ti
pli
e
d
by
29
da
ys
be
c
a
us
e
1
da
y
the
a
utom
a
ti
c
c
lea
ning
de
v
ice
is
tur
ne
d
on,
pr
oduc
ing
17
,
562
.
4
W
h.
T
he
e
qu
a
ti
on
(
9)
is
the
opti
mal
e
f
f
icie
nc
y
c
a
lcula
ti
on
f
o
r
30
da
ys
or
1
mont
h
.
=
17562
.
4
−
10026
10026
×
100%
=
75
.
17%
(
9)
T
he
r
e
f
or
e
,
ba
s
e
d
on
opt
im
a
l
c
lea
ning
c
a
lcula
ti
on
s
at
time
in
ter
va
ls
of
onc
e
a
we
e
k,
onc
e
2
we
e
ks
,
onc
e
3
we
e
ks
,
a
nd
onc
e
a
mont
h,
it
s
hows
that
the
opti
mal
c
ondit
ions
that
a
r
e
the
highes
t
or
mos
t
e
f
f
ic
ient
f
or
c
lea
ning
a
r
e
onc
e
a
mont
h
with
an
e
f
f
icie
nc
y
va
lue
of
75
.
17%
.
4.
CONC
L
USI
ON
T
his
tec
hnology
is
e
f
f
e
c
ti
ve
f
or
c
lea
ning
dus
t
a
n
d
a
nim
a
l
wa
s
te
that
a
dhe
r
e
s
to
s
olar
pa
ne
ls
.
T
he
dis
tanc
e
be
twe
e
n
the
a
c
c
e
s
s
point
a
nd
the
Wi
-
Fi
modul
e
on
the
E
S
P
32
mi
c
r
oc
ontr
oll
e
r
f
or
the
a
utom
a
ti
c
c
lea
ning
de
vice
indi
c
a
tes
that
the
Wi
-
Fi
modul
e
on
the
E
S
P
32
mi
c
r
oc
ont
r
oll
e
r
can
be
we
ll
c
ont
r
o
ll
e
d
at
a
dis
tanc
e
of
up
to
25
mete
r
s
be
twe
e
n
the
a
c
c
e
s
s
poi
nt.
ba
s
e
d
on
the
r
e
s
ult
s
of
qua
li
tat
ive
tes
ti
ng
in
c
a
r
r
ying
out
the
be
s
t
c
lea
ning,
that
is
,
if
the
c
ondit
ion
of
the
s
olar
pa
ne
l
ha
s
s
tubbor
n
bi
r
d
dr
oppings
,
a
pum
p
with
a
volt
a
ge
of
12
can
be
us
e
d.
T
he
n,
if
the
c
ondit
ion
of
the
s
olar
pa
ne
ls
ha
s
dus
t
a
nd
bir
d
dr
oppings
,
you
can
us
e
a
pump
with
a
volt
a
ge
of
10
a
nd
a
pump
with
a
v
olt
a
ge
of
8
be
c
a
us
e
it
can
c
lea
n
di
r
t
a
nd
lea
ve
li
tt
l
e
wa
ter
,
a
nd
it
can
a
ls
o
s
a
ve
powe
r
be
c
a
us
e
it
us
e
s
a
lowe
r
volt
a
ge
than
the
pump
s
pe
c
if
ica
ti
ons
.
T
he
r
e
s
ult
s
of
the
powe
r
output
in
tes
ti
ng
s
olar
pa
ne
ls
that
ha
ve
not
be
e
n
c
lea
ne
d
can
pr
oduc
e
a
powe
r
of
334.
2
W
h,
a
nd
in
tes
ti
ng
a
f
ter
c
lea
ning
us
ing
an
a
utom
a
ti
c
s
olar
pa
ne
l
c
lea
ne
r
,
it
can
ge
ne
r
a
te
a
powe
r
of
605.
6
W.
It
can
be
s
e
e
n
that
the
dif
f
e
r
e
nc
e
is
ve
r
y
s
igni
f
ica
nt,
whic
h
is
e
qua
l
to
271
.
4
W.
T
he
highes
t
powe
r
wa
s
obt
a
ined
at
11:00,
a
nd
the
output
powe
r
wa
s
73
.
5
wa
tt
s
.
T
he
n,
on
the
r
e
d
g
r
a
ph
is
a
s
olar
pa
ne
l,
whic
h,
a
f
ter
c
lea
ning
with
a
c
lea
ning
tool
,
s
hows
that
the
gr
a
ph
ha
s
the
highes
t
powe
r
at
10:00
with
an
output
p
owe
r
of
133.
5
wa
tt
s
.
B
a
s
e
d
on
the
opti
mal
s
olar
pa
ne
l
c
lea
ning
c
a
lcula
ti
on,
the
opti
mal
c
lea
ning
c
ondit
ions
a
r
e
onc
e
a
mont
h,
with
an
e
f
f
icie
nc
y
of
75.
17%
.
AC
KNOWL
E
DGE
M
E
NT
S
T
he
a
uthor
s
gr
a
tef
ull
y
a
c
knowle
dge
f
inanc
ial
s
uppor
t
f
r
om
the
I
ns
ti
tut
T
e
knologi
S
e
puluh
Nope
mber
unde
r
the
pr
ojec
t
s
c
he
me
of
s
c
ientif
ic
r
e
s
e
a
r
c
h
a
nd
the
P
ubli
c
a
ti
on
W
r
it
ing
a
nd
I
P
R
I
nc
e
nti
ve
P
r
ogr
a
m
(
P
P
HK
I
)
.
RE
F
E
RE
NC
E
S
[
1]
N
.
A
.
S
hof
f
ia
na
e
t
al
.
,
“
P
V
ma
xi
mum
pow
e
r
-
poi
nt
t
r
a
c
ki
ng
by
us
in
g
a
r
ti
f
ic
ia
l
ne
ur
a
l
ne
twor
k,”
in
2023
I
n
te
r
nat
io
nal
C
onf
e
r
e
nc
e
on
A
dv
anc
e
d
M
e
c
hat
r
oni
c
s
,
I
nt
e
ll
ig
e
nt
M
anuf
ac
tu
r
e
and
I
ndus
tr
ia
l
A
ut
om
at
io
n,
I
C
A
M
I
M
I
A
2023
-
P
r
oc
e
e
di
ngs
,
N
ov.
2023,
pp. 859
–
863, doi:
10.1109/I
C
A
M
I
M
I
A
60881.2023.10427794.
[
2]
E
.
H
.
S
e
ty
a
w
a
n,
I
.
A
ba
di
,
a
nd
S
.
A
.
K
us
uma
w
a
r
ni
,
“
E
s
ti
ma
t
io
n
of
hour
ly
s
ol
a
r
r
a
di
a
ti
on
on
hor
iz
ont
a
l
s
ur
f
a
c
e
us
in
g
G
A
M
F
(
ge
ne
ti
c
a
lg
or
it
hm
modi
f
ie
d
f
uz
z
y)
(
C
a
s
e
s
tu
dy
in
S
ur
a
ba
ya
)
,”
I
O
P
C
onf
e
r
e
nc
e
Se
r
ie
s
:
M
at
e
r
ia
ls
Sc
ie
nc
e
and
E
ngi
ne
e
r
in
g
,
vol
. 588, no. 1, Aug. 20
19, doi:
10.1088/1757
-
899X/588/1/
012
024.
[
3]
I
.
A
ba
di
,
E
.
H
.
S
e
ty
a
w
a
n,
a
nd
M
.
A
r
di
a
ns
ya
h,
“
D
e
s
ig
n
of
a
ut
o
ma
ti
c
s
w
it
c
hi
ng s
ys
te
m
a
nd
d
a
ta
a
c
qui
s
it
io
n
on
mobi
le
hybr
id
s
ol
a
r
tr
a
c
ki
ng
s
ys
te
m
f
or
s
ta
nda
lo
ne
s
ma
ll
P
V
w
it
h
r
e
f
le
c
to
r
,”
I
O
P
C
onf
e
r
e
nc
e
Se
r
ie
s
:
E
ar
th
and
E
nv
ir
onm
e
nt
al
Sc
ie
nc
e
,
vol
.
520,
no. 1, J
un. 2020, doi:
10.1088/1755
-
1315/520/
1/
012001.
[
4]
R
. A
. M
e
s
s
e
nge
r
,
P
hot
ov
ol
ta
ic
f
undame
nt
al
s
. W
a
s
hi
ngt
on:
N
a
ti
ona
l
R
e
ne
w
a
bl
e
E
ne
r
gy L
a
bor
a
to
r
y, 2012.
[
5]
I
.
A
ba
di
,
A
.
M
us
ya
f
a
’
,
W
.
Z
.
P
ut
r
a
,
a
nd
D
.
N
.
F
it
r
iy
a
na
h,
“
P
e
r
f
or
ma
nc
e
a
na
ly
s
is
of
dua
l
a
xi
s
s
ol
a
r
tr
a
c
ke
r
ba
s
e
d
on
f
uz
z
y
P
I
D
c
ont
r
ol
le
r
on
s
tr
e
e
t
l
ig
ht
in
g,”
in
C
E
N
I
M
2020
-
P
r
oc
e
e
di
ng:
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
C
om
put
e
r
E
ngi
ne
e
r
in
g,
N
e
tw
or
k
,
and
I
nt
e
ll
ig
e
nt
M
ul
ti
m
e
di
a 2020
, N
ov. 2020, pp. 257
–
263, doi:
10.1
109/
C
E
N
I
M
51130.2020.9297938.
[
6]
C
.
I
mr
on,
I
.
A
ba
di
,
I
.
A
mi
r
ul
A
kba
r
,
J
.
M
a
knuna
h,
Y
.
A
hma
d
N
or
,
a
nd
A
.
S
a
e
pul
U
yun,
“
P
e
r
f
or
ma
nc
e
c
ompa
r
is
on
of
th
e
s
in
gl
e
a
xi
s
a
nd
two
-
a
xi
s
s
ol
a
r
s
y
s
te
m
us
in
g
a
d
a
pt
iv
e
ne
ur
o
-
f
uz
z
y
in
f
e
r
e
nc
e
s
ys
te
m
c
ont
r
ol
s
,”
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3S
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me
th
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,”
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2019
I
nt
e
r
nat
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nal
C
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r
e
nc
e
on
I
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tr
ia
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E
ngi
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r
in
g,
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Z
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F
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E
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S
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mpe
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“
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r
e
te
-
pos
it
io
n
s
ol
a
r
tr
a
c
ki
ng
f
or
phot
ovol
ta
ic
s
ys
te
m,”
in
R
os
e
-
H
ul
m
an
U
nde
r
gr
aduate
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