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1251
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[
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PV)
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ter
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[
2
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[
1
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ad
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tech
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n
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[
2
]
.
So
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tech
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v
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r
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Ach
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ater
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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8
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I
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t J E
lec
&
C
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p
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g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
2
5
1
-
1
2
6
1
1252
am
b
ien
t
co
n
d
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n
s
,
s
u
n
an
g
l
e,
an
d
p
an
el
o
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ien
tatio
n
.
T
h
e
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u
s
s
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ac
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s
y
s
te
m
s
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ased
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tech
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[
3
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iv
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ac
k
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g
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y
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tem
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y
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a
m
ically
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tim
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o
u
g
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t
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[
3
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–
[
6
]
.
A
p
ass
iv
e
s
o
lar
tr
ac
k
in
g
s
y
s
tem
u
tili
ze
s
f
ix
ed
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ec
h
an
is
m
s
o
r
d
esig
n
s
th
at
r
esp
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d
p
ass
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to
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v
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ad
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s
t
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r
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p
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els
[
7
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,
[
8
]
.
Sin
g
le
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ax
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k
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ter
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atic
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west
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W
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to
two
-
ax
is
s
y
s
tem
s
.
T
h
e
ch
o
ice
b
etwe
en
v
er
tical
an
d
h
o
r
izo
n
tal
m
o
v
em
e
n
t
d
ep
e
n
d
s
o
n
th
e
s
o
lar
tr
ajec
to
r
y
an
d
p
r
e
v
ailin
g
wea
th
er
co
n
d
itio
n
s
.
On
th
e
o
t
h
er
h
an
d
,
two
-
ax
is
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
d
y
n
a
m
ically
ad
ju
s
t
s
o
lar
p
an
el
o
r
i
en
tatio
n
alo
n
g
b
o
th
h
o
r
izo
n
tal
an
d
v
er
tical
ax
es
to
ac
cu
r
ately
f
o
llo
w
th
e
s
u
n
'
s
tr
ajec
to
r
y
th
r
o
u
g
h
o
u
t
th
e
d
ay
.
B
y
o
p
tim
izin
g
tilt
an
d
az
im
u
th
an
g
les
co
n
tin
u
o
u
s
ly
,
th
ese
s
y
s
tem
s
m
ax
im
ize
s
u
n
lig
h
t
ex
p
o
s
u
r
e,
r
esu
ltin
g
in
en
h
an
ce
d
en
e
r
g
y
ca
p
tu
r
e
an
d
ef
f
icien
c
y
.
Par
ticu
lar
ly
ad
v
a
n
tag
eo
u
s
in
lo
ca
t
io
n
s
with
s
ig
n
if
ican
t
s
o
lar
v
ar
iab
ilit
y
o
r
d
u
r
in
g
s
ea
s
o
n
s
with
lo
w
s
u
n
an
g
les,
two
-
ax
is
tr
ac
k
in
g
s
y
s
tem
s
en
s
u
r
e
o
p
tim
al
en
e
r
g
y
p
r
o
d
u
ctio
n
y
ea
r
-
r
o
u
n
d
.
T
h
e
in
teg
r
atio
n
o
f
lig
h
t
d
ep
en
d
en
t
r
esis
to
r
s
(
L
DR
s
)
with
in
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
r
ep
r
esen
ts
a
n
o
tab
le
ad
v
a
n
ce
m
en
t
in
PV
tech
n
o
lo
g
y
.
L
DR
s
,
also
k
n
o
wn
as
p
h
o
to
r
esis
to
r
s
,
ar
e
s
em
ico
n
d
u
ct
o
r
d
ev
ices
wh
o
s
e
elec
tr
ical
r
esis
tan
ce
v
ar
ies
with
in
cid
en
t
lig
h
t
in
ten
s
i
ty
.
I
n
s
o
lar
tr
ac
k
in
g
a
p
p
licatio
n
s
,
L
DR
s
s
er
v
e
as
s
en
s
o
r
s
to
d
etec
t
ch
an
g
es
in
a
m
b
ien
t
lig
h
t
lev
els,
p
r
o
v
i
d
in
g
cr
u
cial
f
ee
d
b
ac
k
f
o
r
ad
ju
s
tin
g
th
e
o
r
ien
tatio
n
o
f
s
o
lar
p
an
els
to
o
p
tim
ize
s
u
n
li
g
h
t
ca
p
tu
r
e.
T
h
is
a
d
ap
tiv
e
m
e
ch
an
is
m
en
ab
les
s
o
lar
p
an
els
t
o
d
y
n
am
ically
alig
n
th
em
s
elv
es
with
th
e
s
u
n
'
s
p
o
s
itio
n
th
r
o
u
g
h
o
u
t
th
e
d
ay
,
m
ax
im
izin
g
e
n
er
g
y
co
n
v
er
s
i
o
n
ef
f
icien
cy
.
B
y
em
p
lo
y
in
g
L
DR
s
,
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
ca
n
au
to
n
o
m
o
u
s
ly
ad
ju
s
t
p
an
el
o
r
ien
tatio
n
,
en
s
u
r
in
g
o
p
tim
al
ex
p
o
s
u
r
e
to
s
u
n
lig
h
t
an
d
e
n
h
an
cin
g
o
v
er
all
s
y
s
tem
p
e
r
f
o
r
m
a
n
ce
[
9
]
–
[
1
4
]
.
T
h
is
in
teg
r
atio
n
o
f
L
DR
tech
n
o
lo
g
y
u
n
d
e
r
s
co
r
es
th
e
s
ig
n
if
ican
ce
o
f
s
en
s
o
r
-
b
ased
f
ee
d
b
ac
k
m
ec
h
a
n
is
m
s
in
ad
v
an
cin
g
th
e
ef
f
icac
y
an
d
s
u
s
tain
ab
ilit
y
o
f
s
o
lar
en
er
g
y
h
ar
v
esti
n
g
s
y
s
tem
s
.
Ho
wev
er
,
L
DR
s
ca
n
d
eg
r
ad
e
o
v
e
r
tim
e
d
u
e
to
f
ac
to
r
s
lik
e
ex
p
o
s
u
r
e
to
u
ltra
v
io
let
(
UV
)
lig
h
t
a
n
d
e
n
v
ir
o
n
m
en
tal
c
o
n
tam
in
an
ts
.
T
h
is
d
eg
r
a
d
atio
n
ca
n
af
f
ec
t
t
h
eir
s
en
s
itiv
ity
an
d
ac
cu
r
ac
y
,
r
eq
u
ir
in
g
r
e
g
u
lar
ca
lib
r
atio
n
a
n
d
p
o
ten
tially
r
e
p
lace
m
en
t
[
1
5
]
,
[
1
6
]
.
I
n
ad
d
r
ess
in
g
th
e
ch
allen
g
es
p
o
s
ed
b
y
u
n
ce
r
tain
lig
h
tin
g
co
n
d
itio
n
s
in
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
u
tili
zin
g
L
DR
s
,
r
esear
ch
er
s
h
av
e
tu
r
n
e
d
to
UV
s
en
s
o
r
s
as
a
s
o
lu
tio
n
.
UV
s
en
s
o
r
s
ar
e
in
teg
r
al
co
m
p
o
n
e
n
ts
o
f
en
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
s
y
s
tem
s
,
task
ed
with
g
au
g
in
g
UV
r
ad
iatio
n
le
v
els
in
th
e
atm
o
s
p
h
er
e.
T
h
is
alter
n
ativ
e
ap
p
r
o
ac
h
ca
n
o
v
er
co
m
e
th
e
lim
itatio
n
s
ass
o
ciate
d
with
L
DR
s
an
d
en
h
a
n
ce
th
e
ac
c
u
r
a
cy
o
f
s
u
n
tr
ac
k
in
g
m
ec
h
an
is
m
s
[
1
7
]
,
[
1
8
]
.
I
m
ag
e
p
r
o
ce
s
s
in
g
tech
n
iq
u
es
h
av
e
b
ee
n
in
cr
ea
s
in
g
ly
u
tili
ze
d
in
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
to
en
h
an
ce
ac
cu
r
ac
y
an
d
ef
f
icien
cy
[
1
8
]
–
[
2
1
]
.
B
y
an
aly
zin
g
im
ag
es
o
f
th
e
s
k
y
,
h
o
r
izo
n
,
an
d
s
u
n
p
o
s
itio
n
,
th
ese
s
y
s
tem
s
ca
n
d
y
n
am
ically
ad
j
u
s
t
s
o
lar
p
an
e
l
o
r
ien
tatio
n
f
o
r
o
p
tim
al
en
e
r
g
y
ca
p
tu
r
e
.
T
h
is
in
teg
r
atio
n
o
f
im
ag
e
p
r
o
ce
s
s
in
g
tech
n
o
lo
g
y
allo
ws
f
o
r
r
ea
l
-
tim
e
ad
ap
tatio
n
to
ch
an
g
in
g
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
,
im
p
r
o
v
in
g
o
v
er
all
s
y
s
tem
p
er
f
o
r
m
an
ce
.
Ma
n
y
s
tu
d
ies
h
av
e
in
co
r
p
o
r
ated
g
l
o
b
al
p
o
s
it
io
n
in
g
s
y
s
tem
(
GPS)
an
d
co
m
p
ass
m
o
d
u
les
in
to
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
[
2
2
]
–
[
2
5
]
.
GPS
p
r
o
v
id
es
p
r
ec
is
e
g
e
o
g
r
ap
h
ical
co
o
r
d
in
ates
(
latitu
d
e
an
d
lo
n
g
itu
d
e)
,
wh
ich
ar
e
cr
u
cial
f
o
r
ac
cu
r
ate
ly
d
eter
m
in
i
n
g
t
h
e
s
u
n
'
s
p
o
s
itio
n
at
a
n
y
g
iv
en
tim
e
r
elativ
e
t
o
th
e
s
o
lar
p
a
n
els'
lo
ca
tio
n
.
T
h
is
en
ab
les
th
e
s
o
l
ar
tr
ac
k
er
to
a
d
ju
s
t
th
e
p
an
els'
an
g
le,
o
p
tim
izin
g
s
u
n
e
x
p
o
s
u
r
e
an
d
en
h
an
cin
g
o
v
er
all
en
e
r
g
y
ef
f
icien
c
y
.
Ad
d
itio
n
ally
,
a
c
o
m
p
ass
m
o
d
u
le
d
eter
m
in
es
th
e
ex
ac
t
o
r
ie
n
tatio
n
o
f
th
e
s
o
lar
p
a
n
el
s
y
s
tem
in
r
elatio
n
to
th
e
E
a
r
th
'
s
m
ag
n
etic
p
o
les.
T
h
is
e
n
s
u
r
es
th
at
t
h
e
p
an
els
ar
e
n
o
t
o
n
l
y
ac
c
u
r
ately
p
o
s
itio
n
ed
in
ter
m
s
o
f
latitu
d
e
an
d
lo
n
g
itu
d
e
b
u
t
ar
e
also
f
ac
in
g
th
e
o
p
tim
al
d
ir
ec
tio
n
.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
d
ev
elo
p
in
g
a
m
o
to
r
ized
s
u
n
t
r
ac
k
in
g
s
y
s
tem
em
p
lo
y
in
g
im
ag
e
p
r
o
ce
s
s
in
g
tech
n
i
q
u
es.
I
t
in
v
o
lv
es
ca
p
t
u
r
in
g
s
u
n
im
ag
es
with
a
ca
m
er
a,
p
r
o
ce
s
s
in
g
th
em
to
id
en
tify
th
e
s
u
n
'
s
p
o
s
itio
n
,
an
d
d
i
r
ec
tin
g
a
m
o
to
r
to
ad
j
u
s
t
th
e
s
o
lar
p
an
el
ac
co
r
d
in
g
ly
.
2.
H
ARDWA
R
E
DE
SI
G
N
AN
D
SO
F
T
WAR
E
A
L
G
O
RIT
H
M
2
.
1
.
H
a
rdwa
re
des
ig
n
T
h
e
h
a
r
d
war
e
ar
ch
itectu
r
e
f
o
r
co
n
tr
o
llin
g
m
o
n
o
cr
y
s
tallin
e
s
ilico
n
s
o
lar
p
a
n
els
,
ea
ch
with
a
p
o
wer
r
atin
g
o
f
2
0
W
,
is
d
esig
n
ed
to
o
p
tim
ize
s
u
n
lig
h
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ex
p
o
s
u
r
e
th
r
o
u
g
h
th
e
im
p
lem
en
tatio
n
o
f
an
ef
f
icien
t
s
o
lar
tr
ac
k
in
g
s
y
s
tem
.
T
h
is
s
y
s
te
m
in
teg
r
ates
s
ev
er
al
k
ey
co
m
p
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n
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ts
,
in
clu
d
in
g
a
n
Ar
d
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Me
g
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2
5
6
0
m
icr
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co
n
tr
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wh
ich
f
ac
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p
r
ec
is
e
co
n
tr
o
l
o
f
d
ir
ec
t
cu
r
r
en
t
(
DC
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m
o
to
r
s
.
T
h
e
i
n
co
r
p
o
r
atio
n
o
f
a
n
L
2
9
8
N
m
o
to
r
d
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iv
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cir
c
u
it
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s
u
r
es
ef
f
ec
tiv
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m
o
t
o
r
o
p
er
at
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n
.
Ad
d
itio
n
ally
,
a
R
asp
b
er
r
y
Pi
3
Mo
d
el
B
is
u
tili
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d
f
o
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th
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in
teg
r
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o
f
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web
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m
an
d
th
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p
r
o
ce
s
s
in
g
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als.
T
o
g
eth
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th
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co
m
p
o
n
en
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f
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r
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a
co
m
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p
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b
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ab
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tr
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k
in
g
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n
d
p
o
s
itio
n
in
g
o
f
th
e
s
o
lar
p
an
els.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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m
u
n
icate
s
with
t
h
e
L
2
9
8
N
m
o
to
r
d
r
i
v
er
cir
c
u
it,
wh
ich
p
r
o
v
id
es
th
e
r
e
q
u
is
ite
p
o
wer
a
n
d
c
o
n
tr
o
l
s
ig
n
als
to
th
e
DC
m
o
to
r
s
,
en
s
u
r
in
g
s
m
o
o
th
an
d
p
r
ec
is
e
p
an
el
a
d
ju
s
tm
en
ts
.
Ad
d
itio
n
ally
,
th
e
R
asp
b
er
r
y
Pi
3
Mo
d
el
B
p
lay
s
a
cr
u
cial
r
o
le
in
th
e
s
y
s
tem
b
y
in
ter
f
ac
i
n
g
with
a
we
b
ca
m
.
T
h
is
web
ca
m
ca
p
tu
r
es
r
ea
l
-
tim
e
im
ag
es
o
f
th
e
s
o
lar
p
an
els'
p
o
s
itio
n
,
p
r
o
v
id
in
g
ess
en
tial
v
is
u
al
d
ata.
T
h
e
R
asp
b
er
r
y
Pi
p
r
o
ce
s
s
es
th
ese
im
ag
es
u
s
in
g
s
o
p
h
is
ticated
alg
o
r
ith
m
s
t
o
a
s
ce
r
tain
th
e
s
u
n
'
s
ex
ac
t
lo
ca
t
io
n
r
elativ
e
to
th
e
p
a
n
els,
th
er
eb
y
e
n
ab
lin
g
th
e
s
y
s
tem
to
m
ak
e
in
f
o
r
m
ed
a
d
ju
s
tm
en
ts
f
o
r
o
p
tim
al
s
o
lar
tr
ac
k
in
g
.
T
h
e
p
h
y
s
ical
s
etu
p
in
cl
u
d
es
a
s
p
ec
ialized
s
o
lar
p
an
el
tr
ac
k
er
m
ec
h
an
is
m
e
q
u
ip
p
ed
with
D
C
m
o
to
r
s
,
as
illu
s
tr
ated
in
Fig
u
r
e
1
.
T
h
is
m
ec
h
an
is
m
f
ac
ilit
ates
th
e
co
n
tin
u
o
u
s
an
d
p
r
ec
is
e
m
o
v
em
en
t
o
f
th
e
s
o
lar
p
an
els,
en
ab
lin
g
th
em
to
f
o
llo
w
th
e
s
u
n
'
s
p
ath
th
r
o
u
g
h
o
u
t
th
e
d
ay
.
T
h
e
m
o
to
r
co
n
tr
o
l
cir
c
u
itry
co
n
f
ig
u
r
atio
n
,
d
ep
icted
in
Fig
u
r
e
2
,
d
etails
th
e
in
ter
co
n
n
ec
tio
n
s
an
d
in
t
er
ac
tio
n
s
b
etwe
en
th
e
Ar
d
u
i
n
o
Me
g
a
2
5
6
0
,
th
e
L
2
9
8
N
m
o
to
r
d
r
iv
er
,
an
d
t
h
e
DC
m
o
to
r
s
,
en
s
u
r
in
g
s
ea
m
less
o
p
er
atio
n
.
Fig
u
r
e
1
.
Sin
g
le
p
o
le
s
tr
u
ctu
r
e
u
s
ed
f
o
r
in
s
tallin
g
s
o
lar
p
an
els
Fig
u
r
e
2
.
C
ir
cu
it
d
iag
r
am
o
f
th
e
s
o
lar
p
an
el
tr
ac
k
i
n
g
s
y
s
tem
2
.
2
.
Su
n det
ec
t
io
n wit
h im
a
g
e
pro
ce
s
s
ing
T
h
is
p
ar
t
d
escr
ib
es
th
e
d
ev
e
lo
p
m
en
t
o
f
a
s
u
n
p
o
s
itio
n
d
etec
tio
n
s
y
s
tem
wh
er
e
MA
T
L
AB
was
em
p
lo
y
ed
as
th
e
p
r
im
ar
y
to
o
l
in
th
e
alg
o
r
ith
m
d
esig
n
ed
t
o
d
etec
t
th
e
s
u
n
with
in
s
k
y
im
a
g
es.
A
to
tal
o
f
1
3
0
s
k
y
im
ag
es
tak
en
f
r
o
m
6
:0
0
AM
to
6
:0
0
PM
wer
e
u
s
ed
to
e
n
s
u
r
e
th
e
s
y
s
tem
's
ac
cu
r
ac
y
in
s
u
n
d
etec
tio
n
.
T
h
e
wo
r
k
f
lo
w
co
n
s
is
ts
o
f
th
e
f
o
llo
win
g
s
tep
s
:
Step
1
:
I
m
ag
e
ac
q
u
is
itio
n
an
d
p
r
o
ce
s
s
in
g
T
h
e
in
itial
s
tep
in
v
o
lv
es
im
p
o
r
tin
g
th
e
s
k
y
im
a
g
e,
as
illu
s
tr
ated
in
Fig
u
r
e
3
(
a)
.
T
h
e
im
ag
e
is
in
itially
in
r
ed
,
g
r
ee
n
,
an
d
b
lu
e
(
R
GB
)
co
lo
r
s
p
ac
e,
wh
ich
is
n
o
t
o
p
tim
al
f
o
r
d
etec
tin
g
th
e
s
u
n
d
u
e
to
c
o
m
p
lex
v
ar
iatio
n
s
in
co
lo
r
an
d
in
ten
s
ity
.
T
o
en
h
an
ce
th
e
d
etec
tio
n
p
r
o
ce
s
s
,
th
e
im
ag
e
is
co
n
v
er
ted
f
r
o
m
th
e
R
GB
co
lo
r
s
p
ac
e
to
th
e
C
I
E
L
AB
c
o
lo
r
s
p
ac
e,
as
d
ef
in
ed
b
y
th
e
I
n
ter
n
atio
n
al
C
o
m
m
is
s
io
n
o
n
I
llu
m
in
atio
n
(
C
I
E
)
[
2
6
]
.
T
h
e
C
I
E
L
AB
co
lo
r
s
p
ac
e
is
a
co
lo
r
-
o
p
p
o
n
en
t
s
p
ac
e
with
th
r
ee
co
m
p
o
n
en
ts
:
lig
h
tn
ess
(
L
)
,
g
r
ee
n
-
r
ed
(
a
)
,
an
d
b
lu
e
-
y
ello
w
(
b
)
,
a
n
d
is
wid
ely
r
ec
o
g
n
ized
f
o
r
its
p
er
ce
p
tu
al
u
n
if
o
r
m
ity
i
n
co
lo
r
r
ep
r
esen
tatio
n
.
T
h
is
co
n
v
er
s
io
n
,
as
s
h
o
wn
in
Fig
u
r
e
3
(
b
)
,
allo
ws
f
o
r
a
m
o
r
e
ac
cu
r
ate
an
aly
s
is
o
f
co
lo
r
an
d
b
r
ig
h
tn
ess
.
I
n
th
is
r
esear
ch
,
o
n
ly
th
e
lig
h
tn
ess
co
m
p
o
n
en
t
(
L
)
is
u
s
ed
,
as
i
t
o
f
f
er
s
a
clea
r
er
r
ep
r
esen
tat
io
n
o
f
b
r
ig
h
tn
ess
v
ar
iatio
n
s
,
wh
ich
is
ess
en
tial f
o
r
ac
cu
r
ately
d
etec
tin
g
th
e
s
u
n
.
Step
2
: L
u
m
in
an
ce
th
r
esh
o
ld
c
alcu
latio
n
I
n
th
is
s
tep
,
a
th
r
esh
o
ld
v
alu
e
is
d
eter
m
in
ed
to
co
n
v
er
t
th
e
im
ag
e
in
to
a
b
i
n
ar
y
f
o
r
m
at
(
b
lack
an
d
w
h
i
t
e
)
.
T
h
i
s
i
n
v
o
l
v
e
s
c
a
l
c
u
l
a
t
i
n
g
t
h
e
m
e
a
n
(
μ
)
a
n
d
s
t
a
n
d
a
r
d
d
e
v
i
a
t
i
o
n
(
σ
)
o
f
t
h
e
l
i
g
h
t
n
e
s
s
(
L
)
v
a
l
u
e
s
i
n
t
h
e
i
m
a
g
e
.
T
h
e
b
r
ig
h
tn
ess
lev
el
ex
p
ec
ted
to
co
r
r
esp
o
n
d
to
th
e
s
u
n
(
B
)
is
ca
lcu
lated
in
(
1
)
.
=
+
(
1
)
B
is
th
e
th
r
esh
o
ld
v
alu
e
ex
p
ec
ted
to
co
r
r
esp
o
n
d
to
th
e
s
u
n
'
s
b
r
ig
h
tn
ess
an
d
A
is
a
co
n
s
tan
t.
Step
3
: Bi
n
ar
y
im
ag
e
cr
ea
ti
o
n
Usi
n
g
th
e
ca
lcu
lated
th
r
esh
o
ld
,
th
e
lig
h
tn
ess
co
m
p
o
n
en
t
o
f
th
e
im
ag
e
is
co
n
v
er
ted
to
a
b
in
ar
y
f
o
r
m
at.
I
n
th
e
r
esu
ltin
g
b
in
a
r
y
im
ag
e,
ar
ea
s
with
b
r
ig
h
tn
ess
v
alu
es
b
elo
w
th
e
th
r
esh
o
ld
ar
e
s
et
to
b
lack
,
an
d
ar
ea
s
with
b
r
ig
h
tn
ess
v
alu
es
ab
o
v
e
th
e
th
r
esh
o
l
d
ar
e
s
et
t
o
wh
ite.
T
h
is
tr
an
s
f
o
r
m
atio
n
is
o
lates
th
e
b
r
ig
h
t
r
eg
io
n
s
,
wh
ich
in
cl
u
d
e
th
e
s
u
n
,
f
r
o
m
th
e
d
ar
k
er
b
ac
k
g
r
o
u
n
d
,
as
s
h
o
wn
in
Fig
u
r
e
3
(
c)
.
T
h
is
s
tep
is
cr
u
cial
f
o
r
d
is
tin
g
u
is
h
in
g
th
e
s
u
n
f
r
o
m
o
t
h
er
elem
en
ts
in
th
e
s
k
y
,
s
u
ch
a
s
clo
u
d
s
o
r
th
e
s
k
y
its
elf
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
2
5
1
-
1
2
6
1
1254
Step
4
: E
d
g
e
r
ef
in
em
en
t
T
o
en
h
a
n
ce
th
e
ac
c
u
r
ac
y
o
f
s
u
n
d
etec
tio
n
,
th
e
e
d
g
es
o
f
th
e
d
etec
ted
b
r
i
g
h
t
r
e
g
io
n
a
r
e
r
ef
in
ed
.
T
h
is
in
v
o
lv
es
m
o
r
p
h
o
lo
g
ical
o
p
er
a
tio
n
s
s
u
ch
as
er
o
s
io
n
an
d
d
ila
tio
n
o
n
th
e
b
in
ar
y
im
ag
e.
E
r
o
s
io
n
r
em
o
v
es
s
m
all
wh
ite
n
o
is
e,
wh
ile
d
ilatio
n
r
es
to
r
es
th
e
er
o
d
e
d
p
ar
ts
o
f
t
h
e
s
u
n
,
s
m
o
o
th
i
n
g
th
e
e
d
g
es
an
d
m
ak
in
g
th
e
d
etec
ted
r
eg
io
n
m
o
r
e
co
n
s
is
ten
t
with
t
h
e
ac
tu
al
s
h
ap
e
o
f
th
e
s
u
n
.
T
h
is
r
ef
in
em
en
t
p
r
o
ce
s
s
en
s
u
r
es
th
at
th
e
d
etec
ted
r
eg
io
n
is
clea
n
a
n
d
ac
cu
r
ately
r
ep
r
esen
ts
th
e
s
u
n
'
s
p
o
s
itio
n
.
Step
5
: Reg
io
n
an
aly
s
is
an
d
s
u
n
id
en
tific
atio
n
I
n
th
e
f
in
al
s
tep
,
th
e
s
y
s
tem
an
aly
ze
s
th
e
b
in
ar
y
im
ag
e
to
id
en
tify
an
d
co
u
n
t
th
e
r
eg
i
o
n
s
lik
ely
to
b
e
th
e
s
u
n
.
T
h
e
s
ize
o
f
ea
c
h
b
r
ig
h
t
r
eg
i
o
n
is
ca
lcu
lated
t
o
d
e
ter
m
in
e
th
eir
ce
n
tr
o
id
s
.
T
h
e
r
eg
io
n
th
at
cl
o
s
ely
m
atch
es
th
e
m
ed
ian
s
ize
o
f
th
e
s
u
n
,
b
ased
o
n
p
r
io
r
d
ata
f
r
o
m
t
h
e
p
h
o
to
g
r
a
p
h
s
u
s
ed
in
th
is
r
esear
ch
,
is
s
elec
ted
.
T
h
e
ce
n
tr
o
id
o
f
th
is
s
elec
ted
r
eg
io
n
is
th
en
u
s
ed
to
d
r
aw
a
cir
cle,
in
d
icatin
g
th
e
d
etec
ted
p
o
s
itio
n
o
f
th
e
s
u
n
,
as sh
o
wn
in
Fig
u
r
e
3
(
d
)
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
3
.
I
m
ag
e
p
r
o
ce
s
s
in
g
s
tep
s
in
s
u
n
d
etec
tio
n
:
(
a)
o
r
ig
in
a
l im
ag
e,
(
b
)
im
ag
e
in
C
I
E
L
AB
,
(
c)
b
in
ar
y
im
ag
e,
an
d
(
d
)
s
u
n
p
o
s
itio
n
d
etec
tio
n
T
h
e
ev
alu
atio
n
o
f
t
h
e
s
u
n
p
o
s
itio
n
d
etec
tio
n
s
y
s
tem
u
tili
ze
d
a
d
ataset
co
m
p
r
is
in
g
1
3
0
im
ag
es,
ca
p
tu
r
in
g
d
i
v
er
s
e
s
u
n
p
o
s
itio
n
s
th
r
o
u
g
h
o
u
t
th
e
d
ay
.
T
h
e
im
ag
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2
p
r
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th
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ca
teg
o
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izatio
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s
ch
em
a
an
d
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r
esp
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n
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g
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ag
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r
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tially
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s
t
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d
o
th
e
r
o
b
s
tr
u
ctio
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s
.
T
h
is
s
y
s
tem
aim
s
to
p
r
o
v
id
e
ac
cu
r
ate
a
n
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le
s
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d
etec
tio
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in
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a
r
io
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itio
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a
n
d
tim
es
o
f
th
e
d
ay
,
en
h
an
cin
g
th
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p
o
ten
tial a
p
p
licatio
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s
in
s
o
lar
en
er
g
y
,
clim
ate
s
tu
d
ies,
an
d
e
n
v
ir
o
n
m
en
tal
m
o
n
ito
r
in
g
.
T
ab
le
1
.
T
im
e
i
n
ter
v
als o
f
t
h
e
p
h
o
to
g
r
ap
h
s
u
s
ed
in
ex
p
er
im
e
n
t
Ti
me
i
n
t
e
r
v
a
l
N
u
mb
e
r
o
f
i
m
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g
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s
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:
0
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M
t
o
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C
lo
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d
o
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s
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u
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p
es a
f
f
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s
u
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ilit
y
S
k
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o
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scri
p
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r
29
P
a
r
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i
a
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s
38
O
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c
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e
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b
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u
c
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sc
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50
13
2
.
3
.
Co
ncept
o
f
s
o
la
r
pa
nel
m
o
v
e
m
ent
co
ntr
o
l
T
o
co
n
tr
o
l
th
e
m
o
v
em
e
n
t
o
f
s
o
lar
p
an
els,
two
DC
m
o
to
r
s
ar
e
em
p
lo
y
ed
to
m
an
ag
e
th
e
r
o
tatio
n
al
ax
is
an
d
tilt
ax
is
.
T
h
e
o
b
ject
iv
e
is
to
alig
n
th
e
s
u
n
'
s
p
o
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i
tio
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in
th
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ca
p
tu
r
ed
im
ag
e,
d
eter
m
in
ed
f
r
o
m
a
web
ca
m
im
ag
e,
p
r
ec
is
ely
at
th
e
ce
n
ter
o
f
th
e
im
ag
e
f
r
am
e.
T
h
e
s
eq
u
en
tial step
s
in
v
o
lv
e
d
ar
e
as f
o
llo
ws:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
C
o
mp
u
ter visi
o
n
-
b
a
s
ed
s
u
n
tr
a
ck
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o
l fo
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o
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.
.
.
(
N
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1255
Step
1
: Calcu
latin
g
th
e
d
is
tan
c
e
b
etwe
en
th
e
s
u
n
'
s
p
o
s
itio
n
a
n
d
th
e
ce
n
ter
o
f
th
e
f
r
a
m
e
I
n
th
is
in
itial st
ep
,
p
r
ev
io
u
s
ly
ex
p
lain
ed
p
r
in
cip
les o
f
s
u
n
im
ag
e
d
etec
tio
n
ar
e
em
p
l
o
y
ed
to
d
eter
m
in
e
th
e
p
ix
el
p
o
s
itio
n
o
f
th
e
s
u
n
with
in
th
e
im
ag
e.
Su
b
s
eq
u
e
n
tly
,
th
e
d
is
tan
ce
b
etwe
en
th
e
ce
n
t
er
o
f
th
e
f
r
a
m
e
a
n
d
t
h
e
d
e
t
e
c
t
e
d
p
i
x
e
l
c
o
o
r
d
i
n
a
t
e
s
o
f
t
h
e
s
u
n
'
s
p
o
s
i
t
i
o
n
a
l
o
n
g
t
h
e
X
a
n
d
Y
a
x
e
s
i
s
c
a
l
c
u
l
a
t
e
d
,
a
s
s
h
o
w
n
i
n
F
i
g
u
r
e
4
.
T
h
i
s
ca
lcu
latio
n
is
cr
u
cial
as it f
o
r
m
s
th
e
b
asis
f
o
r
th
e
s
u
b
s
eq
u
en
t m
o
to
r
co
n
tr
o
l a
d
ju
s
tm
en
ts
.
Step
2
: M
o
to
r
r
o
tatio
n
co
n
tr
o
l
T
o
ac
h
iev
e
p
r
ec
is
e
co
n
tr
o
l
o
f
th
e
s
o
lar
p
an
el'
s
m
o
v
em
en
t,
a
two
-
ax
is
DC
m
o
to
r
co
n
tr
o
l
s
y
s
tem
is
im
p
lem
en
ted
to
p
o
s
itio
n
th
e
s
u
n
at
th
e
ce
n
ter
o
f
th
e
im
ag
e
.
T
h
is
co
n
tr
o
l
m
ec
h
an
is
m
is
b
ased
o
n
p
r
o
p
o
r
tio
n
al
co
n
tr
o
l
tech
n
iq
u
e,
d
etailed
in
th
e
b
lo
ck
d
iag
r
am
in
Fig
u
r
e
5
.
T
h
e
m
o
t
o
r
o
p
er
atio
n
tim
e
(
)
r
eq
u
ir
ed
f
o
r
ea
ch
ax
is
is
ca
lcu
lated
,
wi
th
ad
ju
s
t
m
en
ts
m
ad
e
to
th
e
X
-
ax
is
p
o
s
itio
n
f
ir
s
t,
f
o
llo
wed
b
y
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e
Y
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ax
is
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o
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itio
n
.
T
h
e
tim
e
ca
n
b
e
d
eter
m
in
ed
u
s
in
g
(
2
)
:
=
,
(
2
)
w
h
er
e
T
r
ep
r
esen
ts
th
e
m
o
to
r
m
o
v
em
e
n
t
tim
e
(
in
s
ec
o
n
d
s
)
,
,
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en
o
tes
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e
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ce
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th
e
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n
ter
o
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f
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e
a
n
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th
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s
u
n
'
s
p
o
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itio
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in
ea
ch
a
x
is
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in
p
ix
els),
a
n
d
is
th
e
p
r
o
p
o
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tio
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al
g
ai
n
co
n
s
ta
n
t.
T
h
e
p
r
o
p
o
r
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n
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c
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o
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m
e
th
o
d
g
u
ar
a
n
tees
th
at
m
o
to
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m
o
v
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en
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co
r
r
esp
o
n
d
s
d
ir
ec
tly
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th
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etec
ted
p
o
s
itio
n
al
er
r
o
r
,
f
ac
i
litatin
g
p
r
ec
is
e
ad
ju
s
tm
en
ts
.
T
h
e
co
n
tr
o
l
s
eq
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en
ce
c
o
n
clu
d
es
wh
en
th
e
s
u
n
'
s
p
o
s
itio
n
is
ce
n
ter
ed
with
in
a
s
p
ec
if
ied
r
ec
tan
g
u
lar
ar
ea
,
as
s
h
o
wn
in
Fig
u
r
e
6
,
e
n
s
u
r
in
g
o
p
tim
al
alig
n
m
en
t
f
o
r
m
ax
im
u
m
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o
lar
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er
g
y
ca
p
tu
r
e.
T
h
is
p
r
ec
is
e
alig
n
m
en
t
m
in
im
izes
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er
g
y
lo
s
s
d
u
e
t
o
m
is
alig
n
m
en
t
an
d
im
p
r
o
v
es
o
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er
all
s
y
s
tem
e
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f
i
cien
cy
.
B
y
e
m
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y
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n
g
t
h
is
m
eth
o
d
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th
e
s
y
s
tem
ac
h
iev
es
a
b
ala
n
ce
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etwe
en
r
esp
o
n
s
iv
en
ess
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d
s
tab
ilit
y
,
e
n
h
an
cin
g
its
ab
ilit
y
to
ad
ap
t t
o
ch
an
g
in
g
s
o
lar
an
g
les th
r
o
u
g
h
o
u
t th
e
d
a
y
.
Fig
u
r
e
4
.
Dis
tan
ce
u
tili
ze
d
f
o
r
m
o
to
r
co
n
tr
o
l
Fig
u
r
e
5
.
B
lo
ck
d
iag
r
am
o
f
m
o
to
r
r
o
tatio
n
co
n
tr
o
l
Fig
u
r
e
6
.
Su
n
p
o
s
itio
n
ce
n
ter
i
n
g
with
in
s
p
ec
if
ied
r
ec
tan
g
u
la
r
ar
ea
u
s
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g
p
r
o
p
o
r
tio
n
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n
tr
o
l m
eth
o
d
2
.
4
.
E
x
perim
ent
a
l
des
ig
n
f
o
r
co
m
pa
ring
po
wer
o
utput
f
ro
m
f
ix
ed
s
o
la
r
pa
nels
a
nd
s
un
-
t
ra
ck
ing
s
o
la
r
pa
nels
T
h
is
s
ec
tio
n
d
etails
th
e
ex
p
er
im
en
tal
m
eth
o
d
o
lo
g
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d
ev
is
ed
to
r
ig
o
r
o
u
s
ly
ass
ess
th
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elec
tr
icity
g
en
er
atio
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ef
f
icien
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o
f
s
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lar
p
an
els
e
q
u
ip
p
e
d
with
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d
wi
th
o
u
t
s
u
n
-
tr
ac
k
in
g
ca
p
ab
ilit
ies.
T
h
e
s
o
lar
p
a
n
els
u
tili
ze
d
in
th
is
in
v
esti
g
atio
n
ar
e
m
o
n
o
cr
y
s
tallin
e
s
ilico
n
s
o
lar
ce
lls
,
ea
ch
r
ated
at
2
0
W
,
ch
o
s
en
f
o
r
th
eir
co
m
m
o
n
u
s
e
an
d
r
eliab
le
p
er
f
o
r
m
an
ce
in
s
o
lar
en
e
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y
a
p
p
li
ca
tio
n
s
.
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h
e
ex
p
er
im
e
n
t
co
m
p
r
is
es
two
d
is
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c
t
s
etu
p
s
:
a
f
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s
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p
an
el
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a
s
u
n
-
tr
ac
k
in
g
s
o
lar
p
an
el.
T
h
e
f
ix
e
d
s
o
lar
p
an
el
is
s
tr
ateg
ically
o
r
ien
te
d
in
a
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
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m
p
E
n
g
,
Vo
l.
15
,
No
.
2
,
Ap
r
il
20
25
:
1
2
5
1
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1
2
6
1
1256
s
o
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war
d
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ir
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tio
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with
a
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f
1
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f
r
o
m
th
e
h
o
r
iz
o
n
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e.
T
h
is
o
r
ien
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s
ca
r
ef
u
lly
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ted
b
ased
o
n
s
ite
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s
p
ec
if
ic
co
n
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id
e
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atio
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s
to
o
p
tim
ize
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tr
icity
g
en
er
atio
n
,
as
d
e
p
icted
in
Fig
u
r
e
7
.
I
n
co
n
tr
ast,
th
e
s
u
n
-
tr
ac
k
in
g
s
o
lar
p
a
n
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co
r
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ates
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le
-
p
o
le
tr
ac
k
in
g
m
ec
h
an
is
m
an
d
is
s
u
p
p
lem
en
ted
with
a
web
ca
m
p
o
s
itio
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ed
ab
o
v
e
to
m
o
n
ito
r
s
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o
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e
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en
t
th
r
o
u
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u
t
th
e
d
ay
,
as
illu
s
tr
ated
in
Fig
u
r
e
7
.
T
h
is
d
y
n
am
ic
tr
ac
k
in
g
m
ec
h
an
is
m
allo
ws
th
e
s
o
lar
p
an
el
to
co
n
tin
u
o
u
s
ly
ad
ju
s
t
its
o
r
ien
tatio
n
to
f
ac
e
th
e
s
u
n
,
m
ax
im
izin
g
in
ci
d
en
t
s
o
lar
r
ad
iatio
n
an
d
th
er
e
b
y
p
o
ten
ti
ally
en
h
an
ci
n
g
e
n
er
g
y
ca
p
t
u
r
e
ef
f
icien
c
y
.
T
h
e
m
ea
s
u
r
em
en
t
o
f
p
o
wer
o
u
tp
u
t
is
co
n
d
u
cted
m
eticu
lo
u
s
ly
b
y
r
ec
o
r
d
in
g
th
e
o
p
en
-
cir
c
u
it
v
o
ltag
e
an
d
s
h
o
r
t
-
cir
cu
it
cu
r
r
en
t
at
h
o
u
r
ly
in
te
r
v
als
f
r
o
m
8
:0
0
AM
to
4
:0
0
PM
o
v
er
a
p
er
i
o
d
o
f
1
0
co
n
s
ec
u
tiv
e
d
ay
s
.
T
h
e
m
ain
g
o
al
o
f
t
h
is
s
tu
d
y
is
to
c
o
m
p
ar
e
t
h
e
p
o
wer
o
u
tp
u
t
o
f
f
ix
ed
a
n
d
s
u
n
-
tr
ac
k
in
g
s
o
lar
p
an
els.
T
h
r
o
u
g
h
a
s
y
s
tem
atic
ev
alu
atio
n
o
f
th
eir
p
er
f
o
r
m
an
ce
u
n
d
er
r
ea
l
-
wo
r
ld
co
n
d
itio
n
s
,
th
e
r
esear
ch
s
ee
k
s
to
d
eter
m
in
e
h
o
w
ef
f
ec
tiv
e
s
u
n
-
tr
ac
k
i
n
g
tech
n
o
lo
g
y
is
in
im
p
r
o
v
in
g
s
o
lar
e
n
er
g
y
ca
p
tu
r
e
ef
f
icien
cy
an
d
o
v
er
all
elec
tr
ical
o
u
tp
u
t.
T
h
is
co
m
p
ar
ativ
e
a
n
a
ly
s
is
o
f
f
er
s
v
alu
ab
le
in
s
ig
h
ts
in
to
th
e
p
r
ac
tical
ad
v
a
n
tag
es
an
d
lim
itatio
n
s
o
f
s
u
n
-
tr
ac
k
in
g
s
y
s
tem
s
in
o
p
ti
m
izin
g
s
o
lar
p
an
el
p
er
f
o
r
m
an
ce
ac
r
o
s
s
d
if
f
er
e
n
t
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
an
d
g
eo
g
r
a
p
h
ic
lo
ca
tio
n
s
.
Fig
u
r
e
7
.
E
x
p
er
im
e
n
t in
s
tallatio
n
3.
E
XP
E
R
I
M
E
N
T
A
L
RE
SUL
T
S
T
h
is
s
ec
tio
n
r
ep
o
r
ts
th
e
f
in
d
i
n
g
s
f
r
o
m
t
h
e
ex
p
e
r
im
en
tatio
n
o
n
th
e
d
ev
elo
p
m
en
t
o
f
a
s
u
n
-
tr
ac
k
in
g
s
y
s
tem
f
o
r
s
o
lar
p
an
els,
as
o
u
tlin
ed
in
th
e
p
r
ec
ed
in
g
s
ec
ti
o
n
s
.
T
h
e
r
esu
lts
ar
e
d
iv
id
ed
in
to
two
p
ar
ts
:
th
e
ac
cu
r
ac
y
o
f
s
u
n
p
o
s
itio
n
d
etec
tio
n
an
d
th
e
co
m
p
ar
ativ
e
an
al
y
s
is
o
f
elec
tr
ical
p
o
wer
o
u
tp
u
t
f
r
o
m
s
o
lar
p
a
n
els.
T
h
e
f
ir
s
t
p
ar
t
f
o
cu
s
es
o
n
e
v
alu
atin
g
h
o
w
p
r
ec
is
ely
th
e
s
y
s
tem
ca
n
d
etec
t
an
d
alig
n
with
th
e
s
u
n
'
s
p
o
s
itio
n
u
n
d
er
v
ar
y
in
g
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
T
h
e
s
ec
o
n
d
p
ar
t
h
ig
h
lig
h
ts
th
e
p
e
r
f
o
r
m
an
ce
d
if
f
er
en
ce
b
etwe
en
s
u
n
-
tr
ac
k
in
g
an
d
f
ix
ed
s
o
lar
p
an
els,
em
p
h
asizin
g
t
h
e
p
o
ten
tial
f
o
r
in
c
r
ea
s
ed
en
er
g
y
ef
f
icien
cy
.
T
o
g
eth
er
,
th
ese
f
in
d
in
g
s
p
r
o
v
id
e
in
s
ig
h
ts
in
to
th
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
an
d
its
im
p
licatio
n
s
f
o
r
en
h
an
cin
g
s
o
lar
en
er
g
y
u
tili
za
tio
n
.
3
.
1
.
Su
n po
s
it
io
n det
ec
t
io
n r
esu
lt
s
T
h
e
s
u
n
p
o
s
itio
n
d
etec
tio
n
e
x
p
er
im
en
t
is
s
u
b
d
iv
i
d
ed
i
n
to
two
asp
ec
ts
:
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e
ef
f
ec
tiv
en
e
s
s
d
u
r
in
g
d
if
f
er
en
t
tim
e
in
ter
v
als
an
d
t
h
e
im
p
ac
t
o
f
clo
u
d
co
v
er
a
n
d
o
th
e
r
o
b
s
tr
u
ctio
n
s
.
T
h
e
e
v
alu
atio
n
o
f
th
e
s
u
n
p
o
s
itio
n
d
etec
tio
n
s
y
s
tem
d
u
r
i
n
g
s
p
ec
if
ic
tim
e
in
ter
v
als
i
n
v
o
lv
es
ass
ess
in
g
its
ca
p
ab
ilit
y
b
a
s
ed
o
n
th
e
n
u
m
b
e
r
o
f
ac
cu
r
ately
d
etec
ted
s
u
n
p
o
s
itio
n
s
co
m
p
ar
ed
to
th
e
to
tal
n
u
m
b
er
o
f
im
a
g
es
ca
p
tu
r
e
d
d
u
r
in
g
ea
c
h
p
er
i
o
d
,
as
s
h
o
wn
in
T
ab
le
3
a
n
d
Fig
u
r
e
8
.
T
h
e
ex
a
m
p
le
illu
s
tr
ates
s
u
n
d
etec
tio
n
d
u
r
in
g
d
i
f
f
e
r
en
t
tim
e
in
ter
v
als:
6
:0
0
-
8
:
5
9
AM
,
9
:0
0
-
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1
:
5
9
A
M,
1
2
:0
0
-
2
:5
9
PM,
an
d
3
:0
0
-
6
:0
0
PM,
s
h
o
win
g
h
o
w
th
e
s
y
s
tem
tr
ac
k
s
th
e
s
u
n
's
p
o
s
itio
n
th
r
o
u
g
h
o
u
t
th
e
d
a
y
a
s
s
h
o
wn
in
Fig
u
r
es
8
(
a)
-
(
d
)
.
T
h
e
s
u
n
p
o
s
itio
n
d
etec
tio
n
s
y
s
tem
d
em
o
n
s
tr
ates
h
ig
h
ac
cu
r
ac
y
d
u
r
in
g
th
e
p
er
io
d
s
f
r
o
m
6
:0
1
AM
to
1
2
:0
0
PM
wh
en
th
e
s
u
n
i
s
lo
wer
in
th
e
s
k
y
an
d
th
e
illu
m
in
atio
n
is
m
o
r
e
u
n
if
o
r
m
,
en
h
a
n
cin
g
im
ag
e
clar
it
y
.
Du
r
in
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th
ese
tim
es,
t
h
e
s
y
s
tem
s
u
cc
ess
f
u
lly
d
etec
ted
1
6
o
u
t
o
f
1
9
im
ag
es
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etwe
en
6
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AM
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d
9
:
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n
d
2
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o
u
t
o
f
2
6
im
ag
es
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etwe
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1
2
:0
1
PM
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d
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Ho
we
v
er
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n
th
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af
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o
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p
er
io
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f
r
o
m
3
:0
1
PM
to
6
:0
0
PM,
th
e
s
y
s
tem
'
s
p
er
f
o
r
m
a
n
ce
d
ec
lin
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as
th
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u
n
ap
p
r
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o
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,
ca
u
s
in
g
in
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tter
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lig
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ce
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im
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C
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d
u
r
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th
is
p
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,
th
e
s
y
s
tem
d
etec
ted
4
4
o
u
t
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f
6
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r
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lectin
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lo
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cu
r
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r
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p
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s
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u
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n
s
s
u
ch
as
cl
o
u
d
s
a
n
d
b
u
ild
in
g
s
.
T
h
e
s
u
n
p
o
s
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n
d
etec
tio
n
s
y
s
tem
ef
f
e
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o
r
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n
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(
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(
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Fig
u
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.
E
x
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p
le
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s
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n
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(
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(
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T
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ev
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T
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N:
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timiz
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.
(
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p
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1259
T
h
ese
f
in
d
in
g
s
u
n
d
er
s
co
r
e
th
e
ef
f
icien
c
y
ad
v
an
tag
es
o
f
em
p
lo
y
i
n
g
s
u
n
-
tr
ac
k
i
n
g
s
o
l
ar
p
an
els,
p
ar
ticu
lar
ly
d
u
r
in
g
th
e
ea
r
ly
m
o
r
n
in
g
an
d
late
af
ter
n
o
o
n
w
h
en
th
e
s
u
n
'
s
an
g
le
is
lo
wer
i
n
th
e
s
k
y
.
W
h
ile
th
e
f
ix
ed
p
a
n
els
d
em
o
n
s
tr
ate
a
r
e
lativ
ely
s
tab
le
in
cr
ea
s
e
in
p
o
wer
o
u
tp
u
t
d
u
r
in
g
m
id
d
ay
wh
en
th
e
s
u
n
is
at
its
p
ea
k
,
th
e
s
u
n
-
tr
ac
k
in
g
p
a
n
els
s
t
ill
ex
h
ib
it
s
u
p
er
io
r
p
er
f
o
r
m
a
n
ce
,
th
o
u
g
h
with
s
m
aller
p
er
ce
n
tag
e
im
p
r
o
v
em
e
n
ts
.
Fo
r
in
s
tan
ce
,
at
1
2
:0
0
PM,
th
e
im
p
r
o
v
e
m
en
t
is
o
n
ly
1
.
6
2
%,
b
u
t
as
th
e
s
u
n
m
o
v
es
awa
y
f
r
o
m
its
ze
n
ith
,
th
e
s
u
n
-
tr
ac
k
in
g
p
a
n
els
co
n
tin
u
e
to
m
ain
tain
h
ig
h
er
p
o
wer
o
u
tp
u
t
lev
els.
T
h
is
ca
p
ab
ilit
y
to
ca
p
tu
r
e
m
o
r
e
s
o
lar
en
e
r
g
y
t
h
r
o
u
g
h
o
u
t
th
e
d
ay
h
i
g
h
lig
h
ts
th
e
p
o
ten
tia
l
o
f
s
u
n
-
tr
ac
k
in
g
p
an
els
to
s
ig
n
if
ican
tly
en
h
a
n
ce
th
e
o
v
er
all
ef
f
icien
cy
a
n
d
r
eli
ab
ilit
y
o
f
s
o
lar
p
o
wer
s
y
s
tem
s
.
Su
ch
im
p
r
o
v
em
e
n
ts
in
en
er
g
y
ca
p
tu
r
e
ca
n
b
e
p
ar
ticu
lar
ly
b
en
ef
icial
in
o
p
ti
m
izin
g
th
e
p
er
f
o
r
m
an
ce
o
f
s
o
lar
in
s
tallatio
n
s
,
th
er
eb
y
co
n
tr
ib
u
tin
g
to
m
o
r
e
ef
f
ec
tiv
e
an
d
s
u
s
tain
ab
le
en
er
g
y
.
4.
DIS
CU
SS
I
O
N
T
h
e
ex
p
er
im
en
tal
f
in
d
in
g
s
clea
r
ly
d
em
o
n
s
tr
ate
th
e
ef
f
ec
ti
v
en
ess
o
f
s
u
n
-
tr
ac
k
in
g
s
o
lar
p
an
els
in
en
h
an
cin
g
e
n
er
g
y
ca
p
t
u
r
e
ef
f
icien
cy
r
elativ
e
to
f
ix
ed
p
a
n
els
u
n
d
er
d
iv
e
r
s
e
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
an
d
th
r
o
u
g
h
o
u
t
v
a
r
io
u
s
tim
es
o
f
th
e
d
ay
.
Ov
er
a
ten
-
d
a
y
p
er
io
d
f
r
o
m
8
:0
0
AM
to
4
:0
0
PM,
s
u
n
-
tr
ac
k
i
n
g
p
an
els
co
n
s
is
ten
tly
s
u
r
p
ass
ed
th
eir
f
ix
ed
co
u
n
te
r
p
ar
ts
in
p
o
wer
o
u
tp
u
t.
Fo
r
in
s
tan
ce
,
at
th
e
o
u
ts
et
o
f
th
e
d
ay
(
8
:0
0
AM
)
,
s
u
n
-
tr
ac
k
in
g
p
an
els
av
er
ag
ed
1
8
.
7
4
W
,
r
ep
r
e
s
en
tin
g
a
n
o
tab
le
6
1
.
4
1
%
in
cr
ea
s
e
co
m
p
ar
ed
to
1
1
.
6
1
W
g
en
er
ated
b
y
f
ix
ed
p
an
els.
T
h
is
p
er
f
o
r
m
an
ce
ad
v
an
tag
e
p
er
s
is
ted
th
r
o
u
g
h
o
u
t
th
e
d
ay
,
p
ea
k
in
g
a
t
4
:0
0
PM
wh
e
n
s
u
n
-
t
r
ac
k
in
g
p
an
els
ex
h
ib
ited
a
n
8
4
.
9
% h
ig
h
er
p
o
wer
o
u
t
p
u
t
th
a
n
f
ix
e
d
p
a
n
els.
T
h
ese
f
in
d
i
n
g
s
u
n
d
er
s
co
r
e
th
e
ca
p
ac
ity
o
f
s
u
n
-
tr
ac
k
in
g
s
y
s
tem
s
to
o
p
tim
iz
e
s
o
lar
p
an
el
alig
n
m
e
n
t
with
th
e
s
u
n
'
s
p
o
s
itio
n
,
th
er
eb
y
m
a
x
im
izin
g
i
n
cid
en
t r
ad
iatio
n
an
d
o
v
er
all
e
n
er
g
y
p
r
o
d
u
ctio
n
.
Fu
r
th
er
m
o
r
e
,
th
e
co
m
p
ar
ativ
e
an
aly
s
is
u
n
d
er
s
co
r
ed
th
e
ad
ap
tab
ilit
y
o
f
s
u
n
-
tr
ac
k
in
g
tech
n
o
lo
g
y
to
v
ar
y
in
g
s
o
lar
a
n
g
les
an
d
e
n
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
W
h
ile
f
ix
ed
p
an
els
d
em
o
n
s
tr
ated
r
elativ
ely
s
tab
le
p
er
f
o
r
m
an
ce
d
u
r
in
g
m
id
d
a
y
,
wh
en
th
e
s
u
n
was
at
its
ze
n
ith
,
s
u
n
-
tr
ac
k
in
g
p
an
els
m
ain
tai
n
ed
s
u
p
er
io
r
en
er
g
y
ca
p
tu
r
e
ca
p
ab
ilit
ies
ev
en
d
u
r
in
g
lo
w
s
u
n
an
g
le
p
er
io
d
s
lik
e
ea
r
ly
m
o
r
n
in
g
an
d
la
te
af
ter
n
o
o
n
.
T
h
is
ad
ap
tab
ilit
y
is
cr
itical
f
o
r
m
a
in
tain
in
g
s
o
lar
p
an
el
ef
f
icien
cy
th
r
o
u
g
h
o
u
t
th
e
d
ay
,
en
s
u
r
in
g
co
n
s
is
ten
t
an
d
r
eliab
le
en
er
g
y
g
e
n
er
atio
n
a
m
id
s
t
ch
an
g
in
g
s
u
n
lig
h
t
co
n
d
itio
n
s
.
T
h
e
s
tu
d
y
'
s
r
esu
lts
h
ig
h
lig
h
t
th
e
p
r
ac
tical
b
en
ef
its
o
f
in
teg
r
atin
g
s
u
n
-
t
r
ac
k
in
g
m
ec
h
an
is
m
s
in
to
s
o
la
r
en
er
g
y
s
y
s
tem
s
,
wh
ich
co
n
tr
ib
u
te
to
i
n
cr
ea
s
ed
en
er
g
y
y
ield
a
n
d
en
h
an
ce
d
ec
o
n
o
m
ic
v
iab
ilit
y
o
v
er
th
e
lo
n
g
ter
m
.
Ad
d
itio
n
ally
,
r
e
ce
n
t
r
esear
ch
h
as
em
p
h
asized
th
e
im
p
o
r
tan
ce
o
f
ad
v
a
n
ce
d
tec
h
n
o
l
o
g
ies,
s
u
c
h
as
ar
tific
ial
in
tellig
en
ce
an
d
d
ee
p
lear
n
i
n
g
,
i
n
o
p
tim
izin
g
s
o
lar
tr
ac
k
in
g
s
y
s
tem
s
an
d
im
p
r
o
v
in
g
en
er
g
y
s
y
s
tem
ef
f
icien
cy
,
as
d
em
o
n
s
tr
ated
in
s
tu
d
ies
[
2
7
]
–
[
2
9
]
.
5.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
p
r
o
v
id
es
em
p
ir
ical
ev
id
en
ce
s
u
p
p
o
r
tin
g
th
e
ad
v
a
n
tag
es
o
f
s
u
n
-
tr
ac
k
in
g
s
o
lar
p
an
els
in
en
h
an
cin
g
en
er
g
y
ca
p
tu
r
e
ef
f
i
cien
cy
co
m
p
ar
ed
to
f
i
x
ed
p
an
els.
B
y
d
y
n
am
ically
a
d
ju
s
tin
g
p
an
el
o
r
ie
n
tatio
n
to
tr
ac
k
th
e
s
u
n
'
s
tr
ajec
to
r
y
th
r
o
u
g
h
o
u
t
t
h
e
d
a
y
,
s
u
n
-
tr
ac
k
in
g
s
y
s
tem
s
co
n
s
is
ten
tly
o
p
tim
ize
s
o
lar
r
ad
iatio
n
ab
s
o
r
p
tio
n
,
r
esu
ltin
g
in
h
ig
h
e
r
p
o
wer
o
u
tp
u
t
ac
r
o
s
s
v
ar
y
in
g
en
v
ir
o
n
m
en
tal
co
n
tex
ts
.
T
h
e
f
in
d
in
g
s
em
p
h
asize
s
ig
n
if
ican
t
im
p
r
o
v
e
m
en
ts
in
e
n
er
g
y
g
en
er
atio
n
f
r
o
m
s
u
n
-
tr
a
ck
in
g
p
an
els,
p
ar
ticu
lar
ly
d
u
r
i
n
g
p
er
io
d
s
o
f
lo
w
s
u
n
an
g
le
wh
er
e
f
ix
ed
p
an
el
s
ty
p
ically
ex
h
ib
it
d
im
i
n
is
h
ed
p
er
f
o
r
m
an
ce
.
T
h
is
ca
p
ab
ili
ty
u
n
d
e
r
s
co
r
es
th
e
p
o
ten
tial
o
f
s
u
n
-
tr
ac
k
i
n
g
tech
n
o
lo
g
y
to
p
la
y
a
p
iv
o
tal
r
o
le
in
ad
v
an
ci
n
g
th
e
ef
f
icien
c
y
a
n
d
s
u
s
tain
ab
ilit
y
o
f
s
o
lar
en
er
g
y
s
y
s
tem
s
,
o
f
f
er
in
g
a
v
iab
le
p
ath
wa
y
to
war
d
ac
h
i
ev
in
g
g
l
o
b
al
r
en
ewa
b
le
en
er
g
y
o
b
jectiv
es.
Fu
tu
r
e
wo
r
k
i
n
th
is
r
esear
ch
ar
ea
s
h
o
u
ld
f
o
cu
s
o
n
s
ev
e
r
a
l
k
ey
asp
ec
ts
.
First,
r
ef
i
n
in
g
th
e
s
u
n
-
tr
ac
k
in
g
alg
o
r
it
h
m
s
to
im
p
r
o
v
e
th
eir
ac
cu
r
ac
y
an
d
r
esp
o
n
s
iv
en
ess
u
n
d
er
r
ap
id
ly
ch
a
n
g
in
g
wea
th
er
co
n
d
itio
n
s
is
cr
u
cial.
E
n
h
an
ce
d
alg
o
r
ith
m
s
ca
n
f
u
r
th
er
b
o
o
s
t
th
e
e
f
f
icien
cy
an
d
r
eliab
ilit
y
o
f
s
u
n
-
tr
ac
k
in
g
s
y
s
tem
s
,
en
s
u
r
in
g
o
p
tim
al
p
e
r
f
o
r
m
an
ce
ac
r
o
s
s
all
en
v
ir
o
n
m
en
tal
s
ce
n
ar
io
s
.
Ad
d
itio
n
ally
,
in
teg
r
atin
g
ad
v
an
ce
d
s
en
s
o
r
s
an
d
r
ea
l
-
tim
e
d
ata
p
r
o
ce
s
s
in
g
ca
p
ab
ilit
ies
ca
n
en
a
b
le
m
o
r
e
p
r
ec
is
e
ad
ju
s
tm
en
ts
,
th
er
eb
y
m
ax
im
izin
g
e
n
er
g
y
ca
p
tu
r
e.
M
o
r
eo
v
er
,
t
h
e
in
c
o
r
p
o
r
atio
n
o
f
ar
tific
ial
in
tellig
en
ce
(
AI
)
in
s
o
lar
tr
ac
k
i
n
g
co
n
tr
o
l
p
r
esen
ts
a
p
r
o
m
is
in
g
av
en
u
e
f
o
r
f
u
tu
r
e
d
ev
elo
p
m
e
n
t.
AI
-
d
r
iv
e
n
m
o
d
els,
s
u
ch
as
m
ac
h
in
e
lear
n
in
g
an
d
d
ee
p
lear
n
i
n
g
alg
o
r
ith
m
s
,
ca
n
an
al
y
ze
lar
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