Summary of management of NAFLD.
\r\n\t
\r\n\tThe history of pacing, the newest devices with home monitoring as well as electrophysiologic aspect of cardiac pacing, with an illustration of the standard surgical implantation procedures will be discussed. Major pacing trials will be mentioned to highlight the benefits of the therapy in both sinus node disease and AV block. The rapid evolution of pacing technology will also be touched upon as we will devote a part of the book to pacing algorithms. The book will also discuss cardiac resynchronization therapy, left ventricular pacing leads and ICDs.
When we consider the management of Nonalcoholic Fatty Liver Disease (NAFLD), two aspects should be considered. One is that it can be a part of the metabolic syndrome [1]. About 80% of patients with metabolic syndrome have NAFLD [2]. Although the prevalence of NAFLD is 20–40% in the general population, about 70% of type 2 diabetes mellitus [3] and 85% of patients with morbid obesity (BMI ≥ 40) have NAFLD [4]. In the general population, 80% of patients with NAFLD are overweight and 20% of NAFLD patients have normal weight as per ultrasonography [5]. Another aspect is that it covers a spectrum of hepatic involvement as it progresses slowly from one stage to another. Initially, it starts as simple steatosis or benign fatty liver disease or nonalcoholic fatty liver (NAFL), where there is only macrovesicular hepatic steatosis (>5% of hepatocytes are affected) without any inflammation, hepatocellular injury or fibrosis [6]. The second phase is nonalcoholic steatohepatitis (NASH) where there is not only hepatic steatosis but also ballooning degeneration of hepatocytes and mixed inflammatory cells (lymphocytes, plasma cells, monocytes, neutrophils and eosinophils) infiltrates mainly involving the hepatic acini [7]. The third phase is hepatic fibrosis which generally starts from zone 3 and progresses to bridging fibrosis, cirrhosis of liver and hepatocellular cancer. Prognosis depends on the degree of liver fibrosis [8].
The main purpose of management of NAFLD is to halt the process as soon as it is diagnosed. The three main modalities of therapy include lifestyle modification, pharmacotherapy and bariatric surgery. Lifestyle modification is applicable to all stages of NAFLD, whereas pharmacotherapy and bariatric surgery should not be considered for patients with simple steatosis. Pharmacotherapy should be considered only for patients with biopsy-proven NASH and hepatic fibrosis as per the guideline of American Association for the Study of Liver Diseases (AASLD).
As NAFLD is related to insulin resistance, gradual weight loss is extremely important in overweight and obese individuals [9]. Rapid weight loss can cause portal inflammation and fibrosis [10]. About 7–10% of weight loss over one year by lifestyle changes has been associated with histological improvement in simple steatosis and NASH [11]. Another study showed vigorous and moderate exercises were equally effective in reducing hepatic triglyceride content largely through weight loss [12]. Diet and moderate aerobic exercise are the first line measures to reduce weight and improve insulin resistance [13]. Dietary counseling should be highly encouraged. Consumption of high fructose containing food is the main cause of epidemic of obesity [14]. Patient should avoid high fructose containing foods like sweet, soda, desserts, breakfast cereals, granola bars and cakes. One study showed that in patients with NAFLD, fructokinase and fatty acid synthase activity are increased [15]. NAFLD may occur when there is a combination of genetic predisposition, sedentary life style and consumption of high-calorie foods [16]. One meta-analysis suggested that Omega-3 fatty acid supplementation in diet was beneficial in patients with NAFLD/NASH [17]. Patients should be encouraged to eat food rich in Omega-3 fatty acid (fish, canola, olive, perilla and chia). Food with high glycemic effects and saturated fat should be avoided [18].
In summary, lifestyle modification is the first line intervention in the management of NAFLD. This includes [1] weight loss of about 7–10% of body weight by a combination of diet and exercise [2], low-calorie diet [3], diet with high fructose and saturated fat should be avoided [4], diet with Omega-3 fatty acid supplement should be encouraged.
There are various pharmacological agents available for the management of NAFLD. Many of them have been found to be ineffective and some of them have high risk-benefit ratio [19]. There are various clinical trials ongoing. Here, we discuss the common agents available and the agents recommended by the American Association for the Study of Liver Diseases (ASSLD).
Progression of simple steatosis to steatohepatitis is related to oxidative stress and free radical formation. Vitamin E has been studied in different clinical trials. One study showed that patients with vitamin E deficiency and NAFLD did not respond to the classical diet for NAFLD [20]. In PIVENS trial, vitamin E 800 units per day was associated with improvement of serum transaminases and liver histology in nondiabetic NAFLD patients [21]. Fibrosis scores were not improved in this trial [22]. In SELECT trial, vitamin E supplementation 400 units per day in healthy individuals was associated with significant increase in prostate cancer [23].
Currently, vitamin E 800 units per day is recommended in nondiabetic individuals with biopsy-proven NASH [19].
They are agonists/selective ligands of nuclear transcription factor PPAR-ϒ (peroxisome proliferator-activated receptor-gamma) which is present in pancreatic β-cells, adipocytes, skeletal muscles, endothelial cells and macrophages. They increase insulin sensitivity in NAFLD and thus, promote fatty acid transportation from liver and skeletal muscles into adipose tissue, decrease serum-free fatty acid concentration and increase fatty acid oxidation in the liver [24]. Pioglitazone 30 mg/day improved hepatic steatosis, steatohepatitis and transaminitis in nondiabetic patients with NASH in the PIVENS trial but histological response did not reach statistical significance [22]. Another study showed that in prediabetic and diabetic patients, long-term treatment with pioglitazone 45 mg/day improved not only steatotic and inflammatory activity but also hepatic fibrosis [25]. There are few concerns about the side effects of TZD and these include weight gain [26], bone loss [27] and congestive heart failure [28].
As pioglitazone improves histology of NASH in both diabetic and nondiabetic individuals, it can be used in biopsy-proven NASH. Patients should be informed about the efficacy and side effects of this medication.
Glucagon-like peptide 1 (GLP-1) receptor agonists (liraglutide and exenatide) not only improves insulin sensitivity but also causes weight loss by suppressing appetite and inhibiting gastric emptying [29]. They are primarily used to control diabetes mellitus at this time. There are case reports of improvement of hepatic steatosis by GLP-1 receptor agonists [30]. Another study found that liraglutide given daily improved steatohepatitis and decreased progression of fibrosis [31].
Although incretin mimetics have been found to be helpful in diabetic patients with NAFLD, they are currently not recommended solely to treat NASH or NAFLD [19].
As sustained weight loss is achievable by bariatric surgery, all the features of metabolic syndrome improve and there is reduction in mortality [32]. In a prospective study, NASH disappeared in 70% (severe NASH) to 94% (mild NASH) of patients 1 year after bariatric surgery [33]. There are various bariatric surgical and endoscopic procedures available and approved for morbid obesity at the present time. Laparoscopic sleeve gastrectomy is most commonly done in the United States [34]. Other surgical procedures include gastric bypass, biliointestinal bypass, biliopancreatic diversion with duodenal switch, vertical band gastroplasty and gastric banding. Various endoscopic procedures include intragastric balloon placement, endoscopic sleeve gastroplasty [35] and duodenal mucosal resurfacing [36]. Bariatric endoscopy is successful in reducing more weight than pharmacological agents but less effective than bariatric surgery but has less complications than bariatric surgery. Bower et al. found in a systematic review of studies that bariatric surgery improved steatosis, steatohepatitis and fibrosis in NAFLD [37]. Patients with cirrhosis of liver due to NAFLD are at a higher risk for bariatric surgery [38]. Another study showed that perioperative mortality was higher in patients with NAFLD with cirrhosis than in patients with NAFLD without cirrhosis [39].
Nowadays, bariatric surgery is not recommended as a primary treatment of NAFLD but it can be considered in obese individuals with noncirrhotic NAFLD [19].
UDCA has cytoprotective effect and can improve serum transaminases in NAFLD but cannot alter liver histology [40].
UDCA is not recommended for the treatment of NAFLD or NASH [19].
Although in animal models, omega-3 fatty acid treatment improved hepatic steatosis [41, 42], recent studies did not show any significant effect on serum transaminases or liver histology [43]. Omega-3 fatty acid is not recommended for the treatment of NAFLD or NASH.
OCA is a ligand of farnesoid X receptor (FXR) which is a nuclear receptor present in liver, kidneys, intestine and adipose tissue. FXR controls target genes involved in bile acid synthesis and transport as well as lipid and carbohydrate metabolism. In the farnesoid X receptor ligand obeticholic acid in NASH treatment (FLINT) trial, OCA induced weight loss and improved hepatic fibrosis but resolution of NASH was not statistically more than placebo. OCA decreased serum transaminases but increased serum alkaline phosphatase, LDL and blood glucose levels [44].
Currently, OCA is not recommended in the routine management of NAFLD awaiting the completion of phase 3 trial (REGENERATE) of OCA for the treatment of NASH patients with liver fibrosis [45].
Elafibranor is an agonist of PPAR-α and δ receptor. It has anti-inflammatory activity and can improve insulin sensitivity and lipid metabolism. It was evaluated in a phase II international study for the treatment of NASH [46]. In the post hoc analysis, elafibranor (120 mg/day for 1 year) group showed resolution of NASH without progression of fibrosis more than placebo (19% vs. 12%).
As the improvement was marginal, further studies are needed before using this agent in the treatment of NAFLD.
Hyperlipidemia is frequently seen in patients with NAFLD as part of the metabolic syndrome. Statins are commonly used for the treatment of hyperlipidemia, and low-to-moderate dose of statins have been found to be safe with low hepatic toxicity [47]. Statins decrease hepatic transaminases and hepatic fat but have no effect on hepatic fibrosis [48, 49].
Statins are not currently recommended solely for the treatment of NAFLD unless the patient has concomitant hyperlipidemia.
Orlistat is used as a weight reducing agent as it induces fat malabsorption by inhibiting enteric and pancreatic lipase [50]. A randomized controlled trial showed that orlistat improved transaminitis and hepatitis steatosis in obese individuals with NAFLD [51]. Subsequent study suggested that orlistat did not have any direct effect on NAFLD, overweight subjects improved their hepatic histology if they achieved ≥5% weight loss irrespective of taking orlistat [52].
Currently, orlistat cannot be recommended primarily for NAFLD.
Patients should be managed the same way as in other cirrhosis. Patients with NAFLD-cirrhosis have 2.6% annual cumulative risk of developing hepatocellular cancer [53]. For every 6 months, abdominal ultrasound is recommended for screening of hepatocellular carcinoma. In obese individuals, if ultrasound is technically difficult, CT or MRI should be considered. As obesity and hyperinsulinemia are risk factors for malignancy, liver cancer can occur even in noncirrhotic NAFLD [54]. Screening for esophageal and gastric varices should be done at base-line of diagnosis of cirrhosis and at regular intervals—no varices: every 2–3 years, small varices—every 1–2 years and decompensated cirrhosis—yearly once [55].
With the epidemic of NAFLD, NASH-cirrhosis and hepatocellular carcinoma will be the leading indication of liver transplantation in future. As patients with NAFLD have multiple metabolic and cardiovascular comorbidities, they should be managed posttransplant appropriately. Management of NAFLD involves multiple specialties which include primary care physicians, gastroenterologists, hepatologists, endocrinologists, bariatric surgeons, transplant surgeons, dietitians and nutritionists.
As hepatic inflammation, fibrosis, cirrhosis and subsequent malignancy are the main concerns of NAFLD, plenty of research and studies on anti-inflammatory and anti-fibrotic agents are on-going.
The management of NAFLD patients should be individualized (Table 1).
Lifestyle change is the first line therapy: healthy food habit, increased physical activity, exercise and weight loss of 7–10%.
Pharmacotherapy is to be considered when lifestyle changes fail to achieve the goal: vitamin E in nondiabetic biopsy-proven NASH, pioglitazone in both diabetic and nondiabetic biopsy-proven NASH, incretin mimetics in diabetes mellitus and NAFLD, statins in hyperlipidemia and NAFLD, orlistat in NAFLD and obesity when life-style changes fail to reduce weight loss.
Bariatric surgery should be considered in obese individuals and noncirrhotic NAFLD.
Lifestyle changes | First line therapy of NAFLD |
---|---|
Vitamin E | Nondiabetic biopsy-proven NASH |
Pioglitazone | Both diabetic and nondiabetic biopsy-proven NASH |
Incretin mimetics | Diabetes mellitus and NAFLD |
Statins | Hyperlipidemia and NAFLD |
Orlistat | NAFLD and obesity when lifestyle changes fail |
Bariatric surgery | Morbid obesity and noncirrhotic NAFLD |
Summary of management of NAFLD.
A PID controller has been intensively utilized in industries for controlling feedback systems over five decades, in case of simplicity, robustness, flexibility, applicability, and satisfactory performance [1, 2, 3, 4, 5, 6, 7]. It became a standard tool and found in many engineering sectors [8, 9], playing an important role in industrial process control. Meanwhile, 60% of loops have bad performance and 25% cannot meet the performance requirements in the industry [10]. Functionally, PID is used to reduce the divergence between the set point and the process variable, which can be employed to upgrade time response and shortening the settling time of a system by tunes properly the gain parameters [11, 12].
Structurally, PID consists of three main proportional parameters, proportional gain (Kp), integral gain (Ki), derivative gain (Kd). The main function of these parameters as follows: Kp is to minimize the tr and steady-state error (Ess); Ki is to eliminate the steady-state error; Kd is to augment the system’s stability, minimizing the overshoot, and enhancing the time response specification. The transfer function (TF) of PID might be realized in z-domain and s-domain [13, 14, 15, 16]. Several criteria that influence the performance of the controller; type of algorithm, the efficiency of the tuning method, and the complexity of the design. The significant issue in the PID controller is how to tune proportional gains properly [17]. Various tuning methods had been implemented for the tuning PID controller to improve the time response specifications of the plant system by adjusting the three proportional gains. The time response specifications could be assessed in terms of tr, ts, PoS, and Ess [18]. For two decades, the process control industry has seen numerous advances as far as tuning techniques and controller design [13]. Although the PID controller has just three proportional gains, but it is quite strenuous to find out the best gains to meet desired adjustments. Enhancing the PID controller’s performance might be accomplished when taking in consideration a systematic procedure of tuning proportional gains, otherwise, it is poorly tuned and raises the consumed time through process tests [3, 19]. PID tuning is extremely used to improve controller performance such as short transient, high stability makes this process harder. Practically, tuning PID gains appear to be impulsive and troublesome. The proper controller should be able to provide a system better stability by eliminating oscillation in any condition of set point [9, 20]. As shown in Figure 1, the tuning controller considered a vital branch of control engineers which occupied the majority of hits on the website [21]. Massive various tuning methods had been proposed to achieve satisfying control design in terms of time response specifications tr, ts, PoS, Ess. Some of these methods considered just a single of these objectives as a criterion for their tuning methods, while others considering more than one. The early tuning studies focusing on classical methods such as the Z–N oscillation method, Z- N reaction curve, Cohen Coon curve, and CHR. These traditional methods are extensively applied in cases of ease to utilize [6, 11, 22, 23]. Figure 2 shows the comparative performance between different classical tuning methods that were used to tune the PID controller based second order system, see more details in [24]. Essentially, tuning controller methods are classified into two main sorts: open loop which indicates to tune the controller when it is in a manual state and the plant operates in an open loop and closed loop which alludes tune the controller during an automatic state in which the plant is known to process and operating in a closed loop [20]. In contrast, conventional tuning methods are still extremely utilized in an industrial controller, but they are insufficient to obtain optimal system responses besides, require additional modifications [23, 24, 25, 26].
A survey of PID tuning hints in website.
Time response specifications of PID controller under different classical tuning methods [
These disadvantages come from two reasons: 1) lacking procedure data and performance leads to poor damping; 2) the performance of the controller is affected by the parameter’s variation in dynamic systems. Unstable processes are quite harsh to control compared with stable processes, and the settling time and overshoot are relatively larger for unstable systems than that of stable systems. However, development tuning methods are difficult and impractical purpose. Further, some methods are inapplicable for higher ratios of a time delay to time constant such as greater than 0.9 [13, 26]. The better tuning method depends on several criteria as follows: 1) the tuning rules should be analytical; 2) more simplicity and convenience to memorize; 3) applicable to be used in a wide range of processes [19, 27]. The majority of problems in dynamic systems are that the difficulties of describing the real plant exactly, in case of unbalancing behavior between the controller and plant system. It is necessary to extend the abilities of PID controllers to contain extra features. As some methods are better than others for various applications, each one has a negative and positive side. Several studies concentrated on the drawbacks to developing tuning methods by reducing the complexity of design and time of implementation [28, 29, 30]. The classification of the Robustness PID controller relies on what extent the robustness to minimize responses, repetition, and avoiding the growing delay time during the calculation process [19]. By contrast, optimization algorithms are effectively being implemented for adjusting gains and minimizing time response. Conventional optimization algorithms are relying on several assumptions such as differentiability, the convexity of the cost function and constraints that should be fulfilled. Optimization algorithms give better results after every iteration [31, 32, 33]. Genetic Algorithm (GA) one of the famous optimization algorithms that was invented through the 70s of the last century, which depends on parallel search techniques to adjust PID gain. However, GA suffers from the massive computational through the optimization process [4].
On the other side, a few tuning methods are extremely utilized, for example, Internal Model Control (IMC), which uses to diminish the error by expecting the output, further modifying the proportional gains to achieve the desired set-point response with accepted overshoot [34, 35]. By contrast, there are tremendous tuning methods that have been implemented to improve the precision of a controller system, but less attention has been paid in the review to combine sufficient tuning with an optimization algorithm to maximize optimization with a reduction time response. The survey shows relatively lesser studies focusing on the comparative tuning methods and limited studies for unstable systems. Additionally, there are several limitations in previous works that comes from less paid attention to take in consideration the better balancing between the overshoot and the time response parameters through tuning gains [13, 36].
In this study, we proposed a novel methodology by combined proper tuning with signal input signal output (SISO) optimization technique for adjusting PID gains to maximize minimization time response specifications of DC motor to become more proficient speed. The proposed methodology relies on a comparative study of using five different tuning methods: RAT, Z-N, CHR, Cohen, and Coon method, SIMC, and AMIGO method, applied to second order system. Afterward, proceeding a comparison between tested tuning to verify a proper tuning to be combined with optimization SISOtool. Practically, it was analyzed the time response specifications to those tested tuning methods separately and jointly with the proposed technique to estimate them in terms of td, tr, ts, and PoS.
This paper has been divided into six sections. Section 2 describes the tuning methods under test. Section 3 explained the proposed methodology. Section 4 presents simulation results based on tuning methods and proposed technique. Section 5 discusses the comparison results and PID formulation. Ultimately, the conclusion is summarized in Section 6.
The problem of identification PID gains appeared when parameters of a current controller have to be tuned. In simply, if controller parameters are tuned manually with time, the controller does not achieve satisfactory performance. One important factor to be considered in designing a controller relatively with a plant is the efficiency of tuning techniques [9]. In this study, we used five different tuning methods tested with specific second order models to make a comparison and to verified the best method, prepared to combine with optimization SISO tool. In this section, we give a brief description of the selected tuning methods.
The Robust Control toolbox permits to tune control systems for robustness against parameter variation of the process, and to ensure performance across a range of operating conditions. Further, it can be used for multi model tuning to specify the best controller parameters for all plant models. There are several approaches that can be used in this application to improve tuning depends summarizes as follows: 1) Tune control system for robustness against parameter uncertainty; 2) tune fixed-structure control system against real and complex parameter uncertainty and dynamic uncertainty; 3) tune controller for a few critical values of the process parameters; 4) ensure performance across different operating conditions; 5) tune for satisfied controller over multiple system configurations [37].
Z-N is a famous tuning method based on closed-loop experiments, which is widely using in process control, to achieve stability for a plant system of which the mathematical models are unknown or difficult to obtain [3, 7, 20]. It is classified into two sets, step response method and frequency response method. Z-N relies on two objectives: 1) To characterize process dynamics by two parameters, that are specified experimentally; 2) using a simple formula to figure out controller parameters from the time response characteristics. The Z-N method has had a very strong impact on the practice of the controller [1, 38]. Theoretically, Z-N relies on defining the value of Kp, Ti and Td cantered on the time response of the plant. If the model system does not have integrator and dominant merge poles, then the S-shaped curve will be shown by the unit step response curve. Figure 3 shows the curve has two constants, time constant (T) and delay time (L) that can be obtained by drawing a tangent at the inflection point of the curve and locate the intersection of the tangent with the time axis and line c (t) = K. The compensator TF of PID controller can be obtained by setting Kp = 1.21/a, integral time Ti = 2 L and derivative time TD = 0.5 L, where a = (K.L)/T [3]. By contrast, Z-N has several drawbacks, for instance, once the controller is tuned by the Z-N method, good adjusting but not accomplished optimal responses, leads to face a lot of obstacles through implementation. Further, it suffers from time consuming, which may require many trials to obtain optimal gains, and inapplicable for unstable open loop system. Moreover, it is suitable to be used with a specific plant, but the transient response can be even worse when the system fluctuates. Additionally, due to a set point’s variation or external disturbances, this leads to forces the process into an unstable operation situation. Fixing PID parameters causes leakage responses and bad performance indices. Consequently, Z-N tuning without modifications does not work well with all processes. However, these disadvantages can be resolved by using a simple modification for processes to overcome the leakage of the time delay [6, 18, 20, 39].
Step response of plant based Z-N tune [
To overcome the disadvantages over classical methods, a new merged structure with PID was proposed IMC- PID relay on pole-zero conversion for stable and unstable processes with time delay. In 2010 Shamsuzzoha and Skogestad proposed a modification to the Z-N symbolized SMIC referred as Internal Model Control that could be used to enhance the PI/PID controller for an unidentified process by utilizing closed-loop experiments. This method relies on classical ideas presented earlier by Ziegler and Nichols. The importance of this method is that there is a single tuning parameter was proposed to modify PID gains optimally and to obtain better balancing between performance and robustness without needing any experimental tune, but this method still needs additional modification to get optimal gains [6, 12].
An IMC-PID controller obtains superior performance and adequate set-point tracking but displays low responses to disturbances, especially for lag-dominant including integrating processes. This approach has several advantages, such as considers model uncertainty and allows the designer to trade-off control system performance against control system robustness, to process changes and modeling errors. It is well known that the tuning parameters should be selected in a moderate way to achieve justified balancing of both robustness as well as performance. The accuracy of IMC tuning can be determined by the effective influence on the performance of the controller, which fundamentally relies on the construction of the IMC filter. Consequently, the ideal IMC filter structure must be chosen considering the performance of the resulting PID controller rather than that of the IMC controller. In this method, a lesser value for tuning parameters gives a good nominal performance, where a higher value gives robust control performance with a compromise on nominal responses. There is another drawback with traditional IMC based PID approaches is that the IMC filter is usually selected based on the performance of the resulting IMC tune not on the time response specifications of the PID controller. For this reason, it is very beneficial to convert an IMC controller to a PID controller (IMC-PID approaches) to increase the performance reduction responses. Significantly, the resulting PID controller could have poor control performance when an IMC filter structure involves an error in its conversion to the PID controller, despite being derived from the best IMC performance. The accuracy of PID based IMC tune relies on both dead time approximation error and the conversion error that relates to the filter structure and the process model. Hence, to improve PID performance, it should be taken into consideration the best roles to design the IMC filter optimally for each specific process model. As shown in Figure 4, the IMC structure constructed from three block: 1) Gp is referred to process; 2) Gm is referred as the process model; 3) GcI is the IMC controller. This method contributes to reduced integral time for processes, but with a large process time constant. Theoretically, this system relies on extra new parameters that can be used significantly to minimize responses by optimizing PID gains. Figure 5 shows these parameters: Controller gain (Kc0); set point change (Δys); time from set point change to reach a first maximum peak (tp); corresponding maximum output change (Δyp); output change at first undershoot (Δyu) [13, 20, 39].
IMC structure [
Extracting parameters from IMC closed-loop set point response with PID controller [
In 1952 Hrones and Reswich proposed a modification of the open loop Z-N method to improve the time response and overshoot. They proposed to use the fastest responses with a 20 percentage overshoot as a design criterion. This method can be used for point regulation or noise rejection to control the responses to obtain better performance even at higher order system [3, 6, 40]. The set point tracking of PID controller parameters can be specified for zero percentage overshoot Kp = 0.6/a, Ti = T, TD = 0.5 L, where the parameters value in 20 percentage of the overshoot are Kp = 0.95/a, Ti = 1.4 T, TD = 0.47 L. Tuning rules based on 20 percentage overshoot design criteria are quite like the Z-N method. On the other side, when zero percentage overshoot criteria are utilized, the integral time is larger and the gain and the derivative time are smaller, that’s mean a proportional action and an integral action, as well as a derivative action, are smaller. By contrast, both of Z-N and CHR method use the time constant T delay time L and gain k of the plant explicitly [1, 6, 8].
The procedure of the AMIGO tune is similar to that of the Z-N tune method. This method gives a controller more capability to reduce load disturbances effectively, besides maintaining good robustness. Theoretically, the time constant of this method can be obtained by Aström’s equations. Essentially, the design procedures performed on loop shaping provides satisfaction integral gain subject to a robustness constraint. The robustness could be verified in terms of the maximum value of the sensitivity function. Therefore, the AMIGO tune can be represented as a minimization of the integrated error at step load disturbances subject to constraints on the maximum sensitivity [3, 38, 41].
This section describes the system under study and proposed technique of how to use both tuning PID with optimization SISO tool to minimize Ti and Pos significantly. The novelty of the proposed technique is to maximize the minimization time response of the controller as will be explained in the following sections.
To design a PID controller precisely, it is essential to evaluate the mathematical model of the selected DC motor, then applying the proposed methodology. The mathematical model of the DC motor was derived based on Eq. (6). In this model we assume that the back emf (Ke) and motor torque (Kt) are equal, therefore:
By applying the Laplace transform to get s-domain equations:
Where,
By eliminating I (s), it can be derived the mathematical model of speed DC-Motor, and substituted the following DC motor parameters in Eq. (6). The speed mathematical model of the selected DC motor can be derived as given in Eq. (7):
L = 0.5H, R = 1 Ω, b = 0.1 N.m. s, Kt = 0. 01 N.m/Amp, Ke = 0.01 V.sec/(rad), J = 0.01 kg. m^2.
It was suggested a new technique to optimize the PID gains by following two stages. Initially, we utilized five different traditional tuning methods RAT, Z-N, SIMC, CHR, and AMIGO to tune the PID controller lonely, and to produce compensator TF prepared to be imported to the next stage. Secondly, to improve the reduction Ti and Pos for the chosen model by using
The
The PID controller based proposed technique.
This section illustrates the simulation results in terms of time response specifications, proportional gains and poles zeros locations. The performance of the proposed method was tested with the TF of the plant model as given in the aforementioned Eq. (7). Figure 7 shows the transient response of an uncontrolled system under study. It can be seen that the system is very slow response measured in second (s) unit, where the time response characteristics are: td = 44 ms, tr = 0.627 s, ts = 1.13 sec, tp1.85 s, SSt 1.8 s, and peak amplitude 0.0476. The proposal relies on two levels of tuning. Firstly, we used RAT, Z-N, SIMC, CHR, and AMIGO tuning methods to tune the PID controller separately and to obtain a comparison between them in terms of time response characteristics. Further to generate a compensator TF prepared to be used as a modified system. The obtained gains are used as a first tuning level. Secondly, combine tuning methods with optimization SISO toolbox application using
Tested uncontrolled system, (a) poles zeros location, (b) gain and phase margin, (c) time response characteristics.
Figures 8–12 presents the Ti characteristics of the system under separately tuning and based
Step response and poles zeros location of controller system based RAT separately tune and
Step response and poles zeros location based Z-N tune and
Step response and poles zeros location based SIMC tune and
Step response and poles zeros location based CHR tune and
Step response and poles zeros location based AMIGO tune and
Afterward, we will investigate the tuning gains based SIMC separately and jointly with optimization SISO application, and what happens to time response characteristics with overshoot. Figure 10(a) presents the time response of the model based SIMC tuning method. The obtained results are: td = 0.0034 s, tr = 0.0234 s, ts = 0.157 s, constant time = 0.35 s, Pos = 17.8%, where tuning gain values are; Kp = 5.29e+0.3, Ki = 1/Ti = 7.55e+0.4 and Kd = 20.6. Figure 10(b) shows the time response by SIMC based proposed method
Figure 12(a) shows the time response of the system using AMIGO tuning method. The obtained simulation results are: PoS = 22.9%, td = 0.00491 s, tr = 0.032 s, ts = 0.1635s, constant time = 0.25 s, where, tuning gain values are: Kp = 2.66e+03, Ki = 1/Ti = 4.24e+04 and Kd = 13.6. Figure 12(b) shows the time response by AMIGO based proposed method (
Table 1 shows the TF and proportional gains of the compensator based
Method | TF of Compensator | Gain | Peak Amplitude | |
---|---|---|---|---|
Classical Tuning | RAT | 4.22 | 1 | |
Z-N | 36.30 | 1 | ||
SIMC | 20.56 | 1 | ||
CHR | 2.4 | 1 | ||
AMIGO | 13.63 | 1 | ||
Proposed Technique | 614.61 | 0.999 | ||
1340.25 | 1 | |||
1915.36 | 1 | |||
219.34 | 1 | |||
4644.6 | 1 |
Comparison modeling compensator between tuning methods under study and proposed technique.
Optimization results under various tuning methods in term of P, Z, Gains. (a) optimization under
This section discussed the comparison results between tested tuning methods separately and jointly with proposed methods in terms of time domain specifications as tabulated in Table 2, where the evaluation benchmark is based on analyzing Ti and Pos. For the first level tuning, the tuning based Z-N shows that the overshoot is the largest value by 43% between other tuning methods. For the second level optimization, the time response produced by the proposed technique is quite less than by using tuning lonely. Hence, combining both best tuning methods with optimization obtained maximum minimization Ti to the considered system.
Method | td(s) | tr(s) | ts(s) | tp(s) | SSt(s) | Pos% | ζ | Iter.No | |
---|---|---|---|---|---|---|---|---|---|
Classical Tuning | RAT | 0.102 | 0.267 | 0.935 | 1.06 | 1.5 | 6.24 | 0.662 | |
Z-N | 0.094 | 0.0144 | 0.181 | 1.44 | 0.25 | 43.8 | 0.254 | ||
S IMC | 0.0034 | 0.0234 | 0.157 | 1.18 | 0.35 | 17.8 | 0.481 | ||
CHR | 0.0029 | 0.0168 | 0.165 | 1.45 | 0.3 | 44.8 | 0.247 | ||
AMIGO | 0.00491 | 0.032 | 0.163 | 1.23 | 0.25 | 22.9 | 0.4247 | ||
Proposed Technique | 0.000094 | 0.000382 | 0.000617 | 0.999 | 1.4 ms | Zero | Zero | 9 | |
0.00022 | 0.0015 | 0.00967 | 1 | 0.05 | Zero | Zero | 2 | ||
0.0000412 | 0.000835 | 0.00555 | 1.04 | 0.012 | 3.87 | 0.7192 | 5 | ||
0.00002536 | 0.00077 | 0.0041 | 1.02 | 0.015 | 2.48 | 0.76202 | 3 | ||
0.000025 | 0.000378 | 0.000607 | 1 msec | 1 msec. | Zero | Zero | 5 |
Comparison of time response specifications between tuning methods under study and proposed technique.
Figure 14 presents the comparative improvement time response between tuning methods based proposed technique with respect to tuning lonely, to demonstrates the effectiveness of the proposed technique. The results based
Comparative improvement time response specifications between tuning methods based
Figure 15 illustrates the comparative time response improvement ratio between
Comparative time response improvement ratio between
Method | No of Z | No of P | Z location | P location | Kp | Ki | Kd | |
---|---|---|---|---|---|---|---|---|
Classical Tuning | RAT | 2 real | 1 real | (−69.6), (−6.1) | 0 | 319 | 1790 | 4.22 |
Z-N | 2 real | 1 | (−96.8), (−96.8) | 0 | 13.92693 | 10.656875 | 36.2 | |
S IMC | 2 real | 1 | (−242.3), (−15.15) | 0 | 5290 | 75500 | 20.6 | |
CHR | 2real | 1 | (−177), (−52.6) | 0 | 553 | 22400 | 2.41 | |
AMIGO | 2 real | 1 | (−177.5), (−17.52) | 0 | 2660 | 42400 | 13.6 | |
Proposed Technique Technique | 2 real | 1 real | (−0.07859), (−3.745) | 0 | 4.6888 | 181 | 615 | |
2 complex | 1 real | (−15.85 + 8.95e-07i), (−15.854–8.95e-07i) | 0 | 10.67551 | 10.6568757 | 2.5938410 | ||
2real | 1 | (−236.9), (−0.1663) | 0 | 454000 | 75500 | 1920 | ||
2 real | 1 | (−177.19), (−52.58) | 0 | 36200 | 22400 | 219 | ||
2 real | 1 | (−176.1), (−0.05183) | 0 | 8180 | 42400 | 4640 |
Comparison proportional gains and poles zeros location between tuning methods under study and proposed technique.
The damping ratio(
By contrast, the proposed method provides better performance and maximum reduction time response to be measured Microsecond unit, providing a magnificent technique to overcome the major previous works in case of the majority of them not accomplish the highest reduction, despite using evolutionary algorithms to solve controller problems as in [42, 43, 44, 45, 46, 47].
This work presents a very simple analytic tuning procedure, which yields surprisingly superior results and is boosted with improved test bench design. Further, it is well suited to optimize tuning PID parameters. It was proposed a novel technique based on different tuning methods RAT, Z-N, S IMC, CHR, and AMIGO to be combined with optimization SISO application. The performance was analyzed and evaluated in terms of time response specifications, optimal PID gains, and poles zeros location. The time response of all methods and their system characteristics are compared with each other. Further, the designed controller is implemented on a second order system using MATLAB/SISO tool environment. Simulation results demonstrate that all tested tuning based proposed method can enhance the time response considerably, where
The authors declare that there is no conflict interest.
As a company committed to the wider dissemination of knowledge, IntechOpen supports the OAI Metadata Harvesting Protocol (OAI-PMH Version 2.0).
',metaTitle:"OAI-PMH",metaDescription:"As a firm believer in the wider dissemination of knowledge, IntechOpen supports the OAI Metadata Harvesting Protocol (OAI-PMH Version 2.0).",metaKeywords:null,canonicalURL:"/page/oai-pmh",contentRaw:'[{"type":"htmlEditorComponent","content":"The OAI-PMH (Open Archives Initiative Protocol for Metadata Harvesting) is used to govern the collection of metadata descriptions and enables other archives to access our database. The Protocol has been developed by the Open Archives Initiative, based on ensuring interoperability standards in order to ease and promote broader and more efficient dissemination of information within the scientific community.
\\n\\nWe have adopted the Protocol to increase the number of readers of our publications. All our Works are more widely accessible, with resulting benefits for scholars, researchers, students, libraries, universities and other academic institutions. Through this method of exposing metadata, IntechOpen enables citation indexes, scientific search engines, scholarly databases, and scientific literature collections to gather metadata from our repository and make our publications available to a broader academic audience.
\\n\\nAs a Data Provider, metadata for published Chapters and Journal Articles are available via our interface at the base URL: http://mts.intechopen.com/oai/index.php
\\n\\nREQUESTS
\\n\\nYou can find out more about the Protocol by visiting the Open Archives website. For additional questions please contact us at info@intechopen.com.
\\n\\nDATABASES
\\n\\nDatabases, repositories and search engines that provide services based on metadata harvested using the OAI metadata harvesting protocol include:
\\n\\nBASE - Bielefeld Academic Search Engine
\\n\\nOne of the world's most powerful search engines, used primarily for academic Open Access web resources.
\\n\\n\\n\\nA search engine for online catalogues of publications from all over the world.
\\n"}]'},components:[{type:"htmlEditorComponent",content:'The OAI-PMH (Open Archives Initiative Protocol for Metadata Harvesting) is used to govern the collection of metadata descriptions and enables other archives to access our database. The Protocol has been developed by the Open Archives Initiative, based on ensuring interoperability standards in order to ease and promote broader and more efficient dissemination of information within the scientific community.
\n\nWe have adopted the Protocol to increase the number of readers of our publications. All our Works are more widely accessible, with resulting benefits for scholars, researchers, students, libraries, universities and other academic institutions. Through this method of exposing metadata, IntechOpen enables citation indexes, scientific search engines, scholarly databases, and scientific literature collections to gather metadata from our repository and make our publications available to a broader academic audience.
\n\nAs a Data Provider, metadata for published Chapters and Journal Articles are available via our interface at the base URL: http://mts.intechopen.com/oai/index.php
\n\nREQUESTS
\n\nYou can find out more about the Protocol by visiting the Open Archives website. For additional questions please contact us at info@intechopen.com.
\n\nDATABASES
\n\nDatabases, repositories and search engines that provide services based on metadata harvested using the OAI metadata harvesting protocol include:
\n\nBASE - Bielefeld Academic Search Engine
\n\nOne of the world's most powerful search engines, used primarily for academic Open Access web resources.
\n\n\n\nA search engine for online catalogues of publications from all over the world.
\n'}]},successStories:{items:[]},authorsAndEditors:{filterParams:{sort:"featured,name"},profiles:[{id:"6700",title:"Dr.",name:"Abbass A.",middleName:null,surname:"Hashim",slug:"abbass-a.-hashim",fullName:"Abbass A. Hashim",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/6700/images/1864_n.jpg",biography:"Currently I am carrying out research in several areas of interest, mainly covering work on chemical and bio-sensors, semiconductor thin film device fabrication and characterisation.\nAt the moment I have very strong interest in radiation environmental pollution and bacteriology treatment. The teams of researchers are working very hard to bring novel results in this field. I am also a member of the team in charge for the supervision of Ph.D. students in the fields of development of silicon based planar waveguide sensor devices, study of inelastic electron tunnelling in planar tunnelling nanostructures for sensing applications and development of organotellurium(IV) compounds for semiconductor applications. I am a specialist in data analysis techniques and nanosurface structure. I have served as the editor for many books, been a member of the editorial board in science journals, have published many papers and hold many patents.",institutionString:null,institution:{name:"Sheffield Hallam University",country:{name:"United Kingdom"}}},{id:"54525",title:"Prof.",name:"Abdul Latif",middleName:null,surname:"Ahmad",slug:"abdul-latif-ahmad",fullName:"Abdul Latif Ahmad",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"20567",title:"Prof.",name:"Ado",middleName:null,surname:"Jorio",slug:"ado-jorio",fullName:"Ado Jorio",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Universidade Federal de Minas Gerais",country:{name:"Brazil"}}},{id:"47940",title:"Dr.",name:"Alberto",middleName:null,surname:"Mantovani",slug:"alberto-mantovani",fullName:"Alberto Mantovani",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"12392",title:"Mr.",name:"Alex",middleName:null,surname:"Lazinica",slug:"alex-lazinica",fullName:"Alex Lazinica",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/12392/images/7282_n.png",biography:"Alex Lazinica is the founder and CEO of IntechOpen. After obtaining a Master's degree in Mechanical Engineering, he continued his PhD studies in Robotics at the Vienna University of Technology. Here he worked as a robotic researcher with the university's Intelligent Manufacturing Systems Group as well as a guest researcher at various European universities, including the Swiss Federal Institute of Technology Lausanne (EPFL). During this time he published more than 20 scientific papers, gave presentations, served as a reviewer for major robotic journals and conferences and most importantly he co-founded and built the International Journal of Advanced Robotic Systems- world's first Open Access journal in the field of robotics. Starting this journal was a pivotal point in his career, since it was a pathway to founding IntechOpen - Open Access publisher focused on addressing academic researchers needs. Alex is a personification of IntechOpen key values being trusted, open and entrepreneurial. Today his focus is on defining the growth and development strategy for the company.",institutionString:null,institution:{name:"TU Wien",country:{name:"Austria"}}},{id:"19816",title:"Prof.",name:"Alexander",middleName:null,surname:"Kokorin",slug:"alexander-kokorin",fullName:"Alexander Kokorin",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/19816/images/1607_n.jpg",biography:"Alexander I. Kokorin: born: 1947, Moscow; DSc., PhD; Principal Research Fellow (Research Professor) of Department of Kinetics and Catalysis, N. Semenov Institute of Chemical Physics, Russian Academy of Sciences, Moscow.\r\nArea of research interests: physical chemistry of complex-organized molecular and nanosized systems, including polymer-metal complexes; the surface of doped oxide semiconductors. He is an expert in structural, absorptive, catalytic and photocatalytic properties, in structural organization and dynamic features of ionic liquids, in magnetic interactions between paramagnetic centers. The author or co-author of 3 books, over 200 articles and reviews in scientific journals and books. He is an actual member of the International EPR/ESR Society, European Society on Quantum Solar Energy Conversion, Moscow House of Scientists, of the Board of Moscow Physical Society.",institutionString:null,institution:{name:"Semenov Institute of Chemical Physics",country:{name:"Russia"}}},{id:"62389",title:"PhD.",name:"Ali Demir",middleName:null,surname:"Sezer",slug:"ali-demir-sezer",fullName:"Ali Demir Sezer",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/62389/images/3413_n.jpg",biography:"Dr. Ali Demir Sezer has a Ph.D. from Pharmaceutical Biotechnology at the Faculty of Pharmacy, University of Marmara (Turkey). He is the member of many Pharmaceutical Associations and acts as a reviewer of scientific journals and European projects under different research areas such as: drug delivery systems, nanotechnology and pharmaceutical biotechnology. Dr. Sezer is the author of many scientific publications in peer-reviewed journals and poster communications. Focus of his research activity is drug delivery, physico-chemical characterization and biological evaluation of biopolymers micro and nanoparticles as modified drug delivery system, and colloidal drug carriers (liposomes, nanoparticles etc.).",institutionString:null,institution:{name:"Marmara University",country:{name:"Turkey"}}},{id:"61051",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:null},{id:"100762",title:"Prof.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"St David's Medical Center",country:{name:"United States of America"}}},{id:"107416",title:"Dr.",name:"Andrea",middleName:null,surname:"Natale",slug:"andrea-natale",fullName:"Andrea Natale",position:null,profilePictureURL:"//cdnintech.com/web/frontend/www/assets/author.svg",biography:null,institutionString:null,institution:{name:"Texas Cardiac Arrhythmia",country:{name:"United States of America"}}},{id:"64434",title:"Dr.",name:"Angkoon",middleName:null,surname:"Phinyomark",slug:"angkoon-phinyomark",fullName:"Angkoon Phinyomark",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/64434/images/2619_n.jpg",biography:"My name is Angkoon Phinyomark. I received a B.Eng. degree in Computer Engineering with First Class Honors in 2008 from Prince of Songkla University, Songkhla, Thailand, where I received a Ph.D. degree in Electrical Engineering. My research interests are primarily in the area of biomedical signal processing and classification notably EMG (electromyography signal), EOG (electrooculography signal), and EEG (electroencephalography signal), image analysis notably breast cancer analysis and optical coherence tomography, and rehabilitation engineering. I became a student member of IEEE in 2008. During October 2011-March 2012, I had worked at School of Computer Science and Electronic Engineering, University of Essex, Colchester, Essex, United Kingdom. In addition, during a B.Eng. I had been a visiting research student at Faculty of Computer Science, University of Murcia, Murcia, Spain for three months.\n\nI have published over 40 papers during 5 years in refereed journals, books, and conference proceedings in the areas of electro-physiological signals processing and classification, notably EMG and EOG signals, fractal analysis, wavelet analysis, texture analysis, feature extraction and machine learning algorithms, and assistive and rehabilitative devices. I have several computer programming language certificates, i.e. Sun Certified Programmer for the Java 2 Platform 1.4 (SCJP), Microsoft Certified Professional Developer, Web Developer (MCPD), Microsoft Certified Technology Specialist, .NET Framework 2.0 Web (MCTS). I am a Reviewer for several refereed journals and international conferences, such as IEEE Transactions on Biomedical Engineering, IEEE Transactions on Industrial Electronics, Optic Letters, Measurement Science Review, and also a member of the International Advisory Committee for 2012 IEEE Business Engineering and Industrial Applications and 2012 IEEE Symposium on Business, Engineering and Industrial Applications.",institutionString:null,institution:{name:"Joseph Fourier University",country:{name:"France"}}},{id:"55578",title:"Dr.",name:"Antonio",middleName:null,surname:"Jurado-Navas",slug:"antonio-jurado-navas",fullName:"Antonio Jurado-Navas",position:null,profilePictureURL:"https://mts.intechopen.com/storage/users/55578/images/4574_n.png",biography:"Antonio Jurado-Navas received the M.S. degree (2002) and the Ph.D. degree (2009) in Telecommunication Engineering, both from the University of Málaga (Spain). He first worked as a consultant at Vodafone-Spain. From 2004 to 2011, he was a Research Assistant with the Communications Engineering Department at the University of Málaga. In 2011, he became an Assistant Professor in the same department. From 2012 to 2015, he was with Ericsson Spain, where he was working on geo-location\ntools for third generation mobile networks. Since 2015, he is a Marie-Curie fellow at the Denmark Technical University. His current research interests include the areas of mobile communication systems and channel modeling in addition to atmospheric optical communications, adaptive optics and statistics",institutionString:null,institution:{name:"University of Malaga",country:{name:"Spain"}}}],filtersByRegion:[{group:"region",caption:"North America",value:1,count:5816},{group:"region",caption:"Middle and South America",value:2,count:5281},{group:"region",caption:"Africa",value:3,count:1754},{group:"region",caption:"Asia",value:4,count:10511},{group:"region",caption:"Australia and Oceania",value:5,count:906},{group:"region",caption:"Europe",value:6,count:15913}],offset:12,limit:12,total:119061},chapterEmbeded:{data:{}},editorApplication:{success:null,errors:{}},ofsBooks:{filterParams:{},books:[{type:"book",id:"8969",title:"Deserts and Desertification",subtitle:null,isOpenForSubmission:!0,hash:"4df95c7f295de7f6003e635d9a309fe9",slug:null,bookSignature:"Dr. Yajuan Zhu, Dr. Qinghong Luo and Dr. Yuguo Liu",coverURL:"https://cdn.intechopen.com/books/images_new/8969.jpg",editedByType:null,editors:[{id:"180427",title:"Dr.",name:"Yajuan",surname:"Zhu",slug:"yajuan-zhu",fullName:"Yajuan Zhu"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8977",title:"Protein Kinase - New Opportunities, Challenges and Future Perspectives",subtitle:null,isOpenForSubmission:!0,hash:"6d200cc031706a565b554fdb1c478901",slug:null,bookSignature:"Dr. Rajesh Kumar Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8977.jpg",editedByType:null,editors:[{id:"329385",title:"Dr.",name:"Rajesh",surname:"Singh",slug:"rajesh-singh",fullName:"Rajesh Singh"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9667",title:"Neuroimmunology",subtitle:null,isOpenForSubmission:!0,hash:"9cf0e8203ce088c0b84add014fd8d382",slug:null,bookSignature:"Prof. Robert Weissert",coverURL:"https://cdn.intechopen.com/books/images_new/9667.jpg",editedByType:null,editors:[{id:"79343",title:"Prof.",name:"Robert",surname:"Weissert",slug:"robert-weissert",fullName:"Robert Weissert"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9816",title:"Idiopathic Pulmonary Fibrosis",subtitle:null,isOpenForSubmission:!0,hash:"365bb9762ba33db2d07e677690af1772",slug:null,bookSignature:"Dr. Salim Surani and Dr. Venkat Rajasurya",coverURL:"https://cdn.intechopen.com/books/images_new/9816.jpg",editedByType:null,editors:[{id:"15654",title:"Dr.",name:"Salim",surname:"Surani",slug:"salim-surani",fullName:"Salim Surani"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10176",title:"Microgrids and Local Energy Systems",subtitle:null,isOpenForSubmission:!0,hash:"c32b4a5351a88f263074b0d0ca813a9c",slug:null,bookSignature:"Prof. Nick Jenkins",coverURL:"https://cdn.intechopen.com/books/images_new/10176.jpg",editedByType:null,editors:[{id:"55219",title:"Prof.",name:"Nick",surname:"Jenkins",slug:"nick-jenkins",fullName:"Nick Jenkins"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10218",title:"Flagellar Motility in Cells",subtitle:null,isOpenForSubmission:!0,hash:"5fcc15570365a82d9f2c4816f4e0ee2e",slug:null,bookSignature:"Prof. Yusuf Bozkurt",coverURL:"https://cdn.intechopen.com/books/images_new/10218.jpg",editedByType:null,editors:[{id:"90846",title:"Prof.",name:"Yusuf",surname:"Bozkurt",slug:"yusuf-bozkurt",fullName:"Yusuf Bozkurt"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10223",title:"Obesity and Health",subtitle:null,isOpenForSubmission:!0,hash:"c202a2b74cd9a2c44b1c385f103ac65d",slug:null,bookSignature:"Dr. Venketeshwer Rao and Dr. Leticia Rao",coverURL:"https://cdn.intechopen.com/books/images_new/10223.jpg",editedByType:null,editors:[{id:"82663",title:"Dr.",name:"Venketeshwer",surname:"Rao",slug:"venketeshwer-rao",fullName:"Venketeshwer Rao"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10231",title:"Proton Therapy",subtitle:null,isOpenForSubmission:!0,hash:"f4a9009287953c8d1d89f0fa9b7597b0",slug:null,bookSignature:"",coverURL:"https://cdn.intechopen.com/books/images_new/10231.jpg",editedByType:null,editors:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10343",title:"Ocular Hypertension",subtitle:null,isOpenForSubmission:!0,hash:"0ff71cc7e0d9f394f41162c0c825588a",slug:null,bookSignature:"Prof. Michele Lanza",coverURL:"https://cdn.intechopen.com/books/images_new/10343.jpg",editedByType:null,editors:[{id:"240088",title:"Prof.",name:"Michele",surname:"Lanza",slug:"michele-lanza",fullName:"Michele Lanza"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10370",title:"Advances in Fundamental and Applied Research on Spatial Audio",subtitle:null,isOpenForSubmission:!0,hash:"f16232a481c08a05cc191ac64cf2c69e",slug:null,bookSignature:"Dr. Brian FG Katz and Dr. Piotr Majdak",coverURL:"https://cdn.intechopen.com/books/images_new/10370.jpg",editedByType:null,editors:[{id:"278731",title:"Dr.",name:"Brian FG",surname:"Katz",slug:"brian-fg-katz",fullName:"Brian FG Katz"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10504",title:"Crystallization",subtitle:null,isOpenForSubmission:!0,hash:"3478d05926950f475f4ad2825d340963",slug:null,bookSignature:"Dr. Youssef Ben Smida and Dr. Riadh Marzouki",coverURL:"https://cdn.intechopen.com/books/images_new/10504.jpg",editedByType:null,editors:[{id:"311698",title:"Dr.",name:"Youssef",surname:"Ben Smida",slug:"youssef-ben-smida",fullName:"Youssef Ben Smida"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"10519",title:"Middleware Architecture",subtitle:null,isOpenForSubmission:!0,hash:"c326d436ae0f4c508849d2336dbdfb48",slug:null,bookSignature:"Dr. Mehdia Ajana El Khaddar",coverURL:"https://cdn.intechopen.com/books/images_new/10519.jpg",editedByType:null,editors:[{id:"26677",title:"Dr.",name:"Mehdia",surname:"Ajana El Khaddar",slug:"mehdia-ajana-el-khaddar",fullName:"Mehdia Ajana El Khaddar"}],productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],filtersByTopic:[{group:"topic",caption:"Agricultural and Biological Sciences",value:5,count:27},{group:"topic",caption:"Biochemistry, Genetics and Molecular Biology",value:6,count:8},{group:"topic",caption:"Business, Management and Economics",value:7,count:3},{group:"topic",caption:"Chemistry",value:8,count:11},{group:"topic",caption:"Computer and Information Science",value:9,count:9},{group:"topic",caption:"Earth and Planetary Sciences",value:10,count:9},{group:"topic",caption:"Engineering",value:11,count:24},{group:"topic",caption:"Environmental Sciences",value:12,count:2},{group:"topic",caption:"Immunology and Microbiology",value:13,count:4},{group:"topic",caption:"Materials Science",value:14,count:7},{group:"topic",caption:"Mathematics",value:15,count:2},{group:"topic",caption:"Medicine",value:16,count:46},{group:"topic",caption:"Neuroscience",value:18,count:3},{group:"topic",caption:"Pharmacology, Toxicology and Pharmaceutical Science",value:19,count:3},{group:"topic",caption:"Physics",value:20,count:4},{group:"topic",caption:"Psychology",value:21,count:4},{group:"topic",caption:"Robotics",value:22,count:2},{group:"topic",caption:"Social Sciences",value:23,count:3},{group:"topic",caption:"Technology",value:24,count:1},{group:"topic",caption:"Veterinary Medicine and Science",value:25,count:2}],offset:12,limit:12,total:216},popularBooks:{featuredBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8445",title:"Dam Engineering",subtitle:"Recent Advances in Design and Analysis",isOpenForSubmission:!1,hash:"a7e4d2ecbc65d78fa7582e0d2e143906",slug:"dam-engineering-recent-advances-in-design-and-analysis",bookSignature:"Zhongzhi Fu and Erich Bauer",coverURL:"https://cdn.intechopen.com/books/images_new/8445.jpg",editors:[{id:"249577",title:"Dr.",name:"Zhongzhi",middleName:null,surname:"Fu",slug:"zhongzhi-fu",fullName:"Zhongzhi Fu"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9385",title:"Renewable Energy",subtitle:"Technologies and Applications",isOpenForSubmission:!1,hash:"a6b446d19166f17f313008e6c056f3d8",slug:"renewable-energy-technologies-and-applications",bookSignature:"Tolga Taner, Archana Tiwari and Taha Selim Ustun",coverURL:"https://cdn.intechopen.com/books/images_new/9385.jpg",editors:[{id:"197240",title:"Associate Prof.",name:"Tolga",middleName:null,surname:"Taner",slug:"tolga-taner",fullName:"Tolga Taner"}],equalEditorOne:{id:"186791",title:"Dr.",name:"Archana",middleName:null,surname:"Tiwari",slug:"archana-tiwari",fullName:"Archana Tiwari",profilePictureURL:"https://mts.intechopen.com/storage/users/186791/images/system/186791.jpg",biography:"Dr. Archana Tiwari is Associate Professor at Amity University, India. Her research interests include renewable sources of energy from microalgae and further utilizing the residual biomass for the generation of value-added products, bioremediation through microalgae and microbial consortium, antioxidative enzymes and stress, and nutraceuticals from microalgae. She has been working on algal biotechnology for the last two decades. She has published her research in many international journals and has authored many books and chapters with renowned publishing houses. She has also delivered talks as an invited speaker at many national and international conferences. Dr. Tiwari is the recipient of several awards including Researcher of the Year and Distinguished Scientist.",institutionString:"Amity University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"3",totalChapterViews:"0",totalEditedBooks:"1",institution:{name:"Amity University",institutionURL:null,country:{name:"India"}}},equalEditorTwo:{id:"197609",title:"Prof.",name:"Taha Selim",middleName:null,surname:"Ustun",slug:"taha-selim-ustun",fullName:"Taha Selim Ustun",profilePictureURL:"https://mts.intechopen.com/storage/users/197609/images/system/197609.jpeg",biography:"Dr. Taha Selim Ustun received a Ph.D. in Electrical Engineering from Victoria University, Melbourne, Australia. He is a researcher with the Fukushima Renewable Energy Institute, AIST (FREA), where he leads the Smart Grid Cybersecurity Laboratory. Prior to that, he was a faculty member with the School of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA. His current research interests include power systems protection, communication in power networks, distributed generation, microgrids, electric vehicle integration, and cybersecurity in smart grids. He serves on the editorial boards of IEEE Access, IEEE Transactions on Industrial Informatics, Energies, Electronics, Electricity, World Electric Vehicle and Information journals. Dr. Ustun is a member of the IEEE 2004 and 2800, IEC Renewable Energy Management WG 8, and IEC TC 57 WG17. He has been invited to run specialist courses in Africa, India, and China. He has delivered talks for the Qatar Foundation, the World Energy Council, the Waterloo Global Science Initiative, and the European Union Energy Initiative (EUEI). His research has attracted funding from prestigious programs in Japan, Australia, the European Union, and North America.",institutionString:"Fukushima Renewable Energy Institute, AIST (FREA)",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"1",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"National Institute of Advanced Industrial Science and Technology",institutionURL:null,country:{name:"Japan"}}},equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8937",title:"Soil Moisture Importance",subtitle:null,isOpenForSubmission:!1,hash:"3951728ace7f135451d66b72e9908b47",slug:"soil-moisture-importance",bookSignature:"Ram Swaroop Meena and Rahul Datta",coverURL:"https://cdn.intechopen.com/books/images_new/8937.jpg",editors:[{id:"313528",title:"Associate Prof.",name:"Ram Swaroop",middleName:null,surname:"Meena",slug:"ram-swaroop-meena",fullName:"Ram Swaroop Meena"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"7031",title:"Liver Pathology",subtitle:null,isOpenForSubmission:!1,hash:"631321b0565459ed0175917f1c8c727f",slug:"liver-pathology",bookSignature:"Vijay Gayam and Omer Engin",coverURL:"https://cdn.intechopen.com/books/images_new/7031.jpg",editors:[{id:"273100",title:"Dr.",name:"Vijay",middleName:null,surname:"Gayam",slug:"vijay-gayam",fullName:"Vijay Gayam"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8158",title:"Veganism",subtitle:"a Fashion Trend or Food as a Medicine",isOpenForSubmission:!1,hash:"d8e51fc25a379e5b92a270addbb4351d",slug:"veganism-a-fashion-trend-or-food-as-a-medicine",bookSignature:"Miljana Z. Jovandaric",coverURL:"https://cdn.intechopen.com/books/images_new/8158.jpg",editors:[{id:"268043",title:"Dr.",name:"Miljana Z.",middleName:"Z",surname:"Jovandaric",slug:"miljana-z.-jovandaric",fullName:"Miljana Z. Jovandaric"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"2160",title:"MATLAB",subtitle:"A Fundamental Tool for Scientific Computing and Engineering Applications - Volume 1",isOpenForSubmission:!1,hash:"dd9c658341fbd264ed4f8d9e6aa8ca29",slug:"matlab-a-fundamental-tool-for-scientific-computing-and-engineering-applications-volume-1",bookSignature:"Vasilios N. Katsikis",coverURL:"https://cdn.intechopen.com/books/images_new/2160.jpg",editors:[{id:"12289",title:"Prof.",name:"Vasilios",middleName:"N.",surname:"Katsikis",slug:"vasilios-katsikis",fullName:"Vasilios Katsikis"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],offset:12,limit:12,total:5315},hotBookTopics:{hotBooks:[],offset:0,limit:12,total:null},publish:{},publishingProposal:{success:null,errors:{}},books:{featuredBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8445",title:"Dam Engineering",subtitle:"Recent Advances in Design and Analysis",isOpenForSubmission:!1,hash:"a7e4d2ecbc65d78fa7582e0d2e143906",slug:"dam-engineering-recent-advances-in-design-and-analysis",bookSignature:"Zhongzhi Fu and Erich Bauer",coverURL:"https://cdn.intechopen.com/books/images_new/8445.jpg",editors:[{id:"249577",title:"Dr.",name:"Zhongzhi",middleName:null,surname:"Fu",slug:"zhongzhi-fu",fullName:"Zhongzhi Fu"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"9385",title:"Renewable Energy",subtitle:"Technologies and Applications",isOpenForSubmission:!1,hash:"a6b446d19166f17f313008e6c056f3d8",slug:"renewable-energy-technologies-and-applications",bookSignature:"Tolga Taner, Archana Tiwari and Taha Selim Ustun",coverURL:"https://cdn.intechopen.com/books/images_new/9385.jpg",editors:[{id:"197240",title:"Associate Prof.",name:"Tolga",middleName:null,surname:"Taner",slug:"tolga-taner",fullName:"Tolga Taner"}],equalEditorOne:{id:"186791",title:"Dr.",name:"Archana",middleName:null,surname:"Tiwari",slug:"archana-tiwari",fullName:"Archana Tiwari",profilePictureURL:"https://mts.intechopen.com/storage/users/186791/images/system/186791.jpg",biography:"Dr. Archana Tiwari is Associate Professor at Amity University, India. Her research interests include renewable sources of energy from microalgae and further utilizing the residual biomass for the generation of value-added products, bioremediation through microalgae and microbial consortium, antioxidative enzymes and stress, and nutraceuticals from microalgae. She has been working on algal biotechnology for the last two decades. She has published her research in many international journals and has authored many books and chapters with renowned publishing houses. She has also delivered talks as an invited speaker at many national and international conferences. Dr. Tiwari is the recipient of several awards including Researcher of the Year and Distinguished Scientist.",institutionString:"Amity University",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"3",totalChapterViews:"0",totalEditedBooks:"1",institution:{name:"Amity University",institutionURL:null,country:{name:"India"}}},equalEditorTwo:{id:"197609",title:"Prof.",name:"Taha Selim",middleName:null,surname:"Ustun",slug:"taha-selim-ustun",fullName:"Taha Selim Ustun",profilePictureURL:"https://mts.intechopen.com/storage/users/197609/images/system/197609.jpeg",biography:"Dr. Taha Selim Ustun received a Ph.D. in Electrical Engineering from Victoria University, Melbourne, Australia. He is a researcher with the Fukushima Renewable Energy Institute, AIST (FREA), where he leads the Smart Grid Cybersecurity Laboratory. Prior to that, he was a faculty member with the School of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA, USA. His current research interests include power systems protection, communication in power networks, distributed generation, microgrids, electric vehicle integration, and cybersecurity in smart grids. He serves on the editorial boards of IEEE Access, IEEE Transactions on Industrial Informatics, Energies, Electronics, Electricity, World Electric Vehicle and Information journals. Dr. Ustun is a member of the IEEE 2004 and 2800, IEC Renewable Energy Management WG 8, and IEC TC 57 WG17. He has been invited to run specialist courses in Africa, India, and China. He has delivered talks for the Qatar Foundation, the World Energy Council, the Waterloo Global Science Initiative, and the European Union Energy Initiative (EUEI). His research has attracted funding from prestigious programs in Japan, Australia, the European Union, and North America.",institutionString:"Fukushima Renewable Energy Institute, AIST (FREA)",position:null,outsideEditionCount:0,totalCites:0,totalAuthoredChapters:"1",totalChapterViews:"0",totalEditedBooks:"0",institution:{name:"National Institute of Advanced Industrial Science and Technology",institutionURL:null,country:{name:"Japan"}}},equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"8937",title:"Soil Moisture Importance",subtitle:null,isOpenForSubmission:!1,hash:"3951728ace7f135451d66b72e9908b47",slug:"soil-moisture-importance",bookSignature:"Ram Swaroop Meena and Rahul Datta",coverURL:"https://cdn.intechopen.com/books/images_new/8937.jpg",editors:[{id:"313528",title:"Associate Prof.",name:"Ram Swaroop",middleName:null,surname:"Meena",slug:"ram-swaroop-meena",fullName:"Ram Swaroop Meena"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}},{type:"book",id:"7031",title:"Liver Pathology",subtitle:null,isOpenForSubmission:!1,hash:"631321b0565459ed0175917f1c8c727f",slug:"liver-pathology",bookSignature:"Vijay Gayam and Omer Engin",coverURL:"https://cdn.intechopen.com/books/images_new/7031.jpg",editors:[{id:"273100",title:"Dr.",name:"Vijay",middleName:null,surname:"Gayam",slug:"vijay-gayam",fullName:"Vijay Gayam"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],latestBooks:[{type:"book",id:"8472",title:"Bioactive Compounds in Nutraceutical and Functional Food for Good Human Health",subtitle:null,isOpenForSubmission:!1,hash:"8855452919b8495810ef8e88641feb20",slug:"bioactive-compounds-in-nutraceutical-and-functional-food-for-good-human-health",bookSignature:"Kavita Sharma, Kanchan Mishra, Kula Kamal Senapati and Corina Danciu",coverURL:"https://cdn.intechopen.com/books/images_new/8472.jpg",editedByType:"Edited by",editors:[{id:"197731",title:"Dr.",name:"Kavita",middleName:null,surname:"Sharma",slug:"kavita-sharma",fullName:"Kavita Sharma"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8760",title:"Structure Topology and Symplectic Geometry",subtitle:null,isOpenForSubmission:!1,hash:"8974840985ec3652492c83e20233bf02",slug:"structure-topology-and-symplectic-geometry",bookSignature:"Kamal Shah and Min Lei",coverURL:"https://cdn.intechopen.com/books/images_new/8760.jpg",editedByType:"Edited by",editors:[{id:"231748",title:"Dr.",name:"Kamal",middleName:null,surname:"Shah",slug:"kamal-shah",fullName:"Kamal Shah"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9536",title:"Education at the Intersection of Globalization and Technology",subtitle:null,isOpenForSubmission:!1,hash:"0cf6891060eb438d975d250e8b127ed6",slug:"education-at-the-intersection-of-globalization-and-technology",bookSignature:"Sharon Waller, Lee Waller, Vongai Mpofu and Mercy Kurebwa",coverURL:"https://cdn.intechopen.com/books/images_new/9536.jpg",editedByType:"Edited by",editors:[{id:"263302",title:"Dr.",name:"Sharon",middleName:null,surname:"Waller",slug:"sharon-waller",fullName:"Sharon Waller"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8564",title:"Cell Interaction",subtitle:"Molecular and Immunological Basis for Disease Management",isOpenForSubmission:!1,hash:"98d7f080d80524285f091e72a8e92a6d",slug:"cell-interaction-molecular-and-immunological-basis-for-disease-management",bookSignature:"Bhawana Singh",coverURL:"https://cdn.intechopen.com/books/images_new/8564.jpg",editedByType:"Edited by",editors:[{id:"315192",title:"Dr.",name:"Bhawana",middleName:null,surname:"Singh",slug:"bhawana-singh",fullName:"Bhawana Singh"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9629",title:"Electroencephalography",subtitle:"From Basic Research to Clinical Applications",isOpenForSubmission:!1,hash:"8147834b6c6deeeec40f407c71ad60b4",slug:"electroencephalography-from-basic-research-to-clinical-applications",bookSignature:"Hideki Nakano",coverURL:"https://cdn.intechopen.com/books/images_new/9629.jpg",editedByType:"Edited by",editors:[{id:"196461",title:"Prof.",name:"Hideki",middleName:null,surname:"Nakano",slug:"hideki-nakano",fullName:"Hideki Nakano"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9685",title:"Agroecosystems",subtitle:"Very Complex Environmental Systems",isOpenForSubmission:!1,hash:"c44f7b43a9f9610c243dc32300d37df6",slug:"agroecosystems-very-complex-environmental-systems",bookSignature:"Marcelo L. Larramendy and Sonia Soloneski",coverURL:"https://cdn.intechopen.com/books/images_new/9685.jpg",editedByType:"Edited by",editors:[{id:"14764",title:"Dr.",name:"Marcelo L.",middleName:null,surname:"Larramendy",slug:"marcelo-l.-larramendy",fullName:"Marcelo L. Larramendy"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9524",title:"Organ Donation and Transplantation",subtitle:null,isOpenForSubmission:!1,hash:"6ef47e03cd4e6476946fc28ca51de825",slug:"organ-donation-and-transplantation",bookSignature:"Vassil Mihaylov",coverURL:"https://cdn.intechopen.com/books/images_new/9524.jpg",editedByType:"Edited by",editors:[{id:"313113",title:"Associate Prof.",name:"Vassil",middleName:null,surname:"Mihaylov",slug:"vassil-mihaylov",fullName:"Vassil Mihaylov"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9280",title:"Underwater Work",subtitle:null,isOpenForSubmission:!1,hash:"647b4270d937deae4a82f5702d1959ec",slug:"underwater-work",bookSignature:"Sérgio António Neves Lousada",coverURL:"https://cdn.intechopen.com/books/images_new/9280.jpg",editedByType:"Edited by",editors:[{id:"248645",title:"Dr.",name:"Sérgio António",middleName:null,surname:"Neves Lousada",slug:"sergio-antonio-neves-lousada",fullName:"Sérgio António Neves Lousada"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"9161",title:"Frailty in the Elderly",subtitle:"Understanding and Managing Complexity",isOpenForSubmission:!1,hash:"a4f0f2fade8fb8ba35c405f5ad31a823",slug:"frailty-in-the-elderly-understanding-and-managing-complexity",bookSignature:"Sara Palermo",coverURL:"https://cdn.intechopen.com/books/images_new/9161.jpg",editedByType:"Edited by",editors:[{id:"233998",title:"Ph.D.",name:"Sara",middleName:null,surname:"Palermo",slug:"sara-palermo",fullName:"Sara Palermo"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"8158",title:"Veganism",subtitle:"a Fashion Trend or Food as a Medicine",isOpenForSubmission:!1,hash:"d8e51fc25a379e5b92a270addbb4351d",slug:"veganism-a-fashion-trend-or-food-as-a-medicine",bookSignature:"Miljana Z. Jovandaric",coverURL:"https://cdn.intechopen.com/books/images_new/8158.jpg",editedByType:"Edited by",editors:[{id:"268043",title:"Dr.",name:"Miljana Z.",middleName:"Z",surname:"Jovandaric",slug:"miljana-z.-jovandaric",fullName:"Miljana Z. Jovandaric"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}]},subject:{topic:{id:"62",title:"Accounting",slug:"accounting",parent:{title:"Business, Management and Economics",slug:"business-management-and-economics"},numberOfBooks:2,numberOfAuthorsAndEditors:42,numberOfWosCitations:5,numberOfCrossrefCitations:18,numberOfDimensionsCitations:26,videoUrl:null,fallbackUrl:null,description:null},booksByTopicFilter:{topicSlug:"accounting",sort:"-publishedDate",limit:12,offset:0},booksByTopicCollection:[{type:"book",id:"6660",title:"Accounting from a Cross-Cultural Perspective",subtitle:null,isOpenForSubmission:!1,hash:"1fbbfae523cabcfa248b56822a2221cc",slug:"accounting-from-a-cross-cultural-perspective",bookSignature:"Asma Salman and Muthanna G. Abdul Razzaq",coverURL:"https://cdn.intechopen.com/books/images_new/6660.jpg",editedByType:"Edited by",editors:[{id:"206443",title:"Dr.",name:"Asma",middleName:null,surname:"Salman",slug:"asma-salman",fullName:"Asma Salman"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}},{type:"book",id:"6000",title:"Accounting and Corporate Reporting",subtitle:"Today and Tomorrow",isOpenForSubmission:!1,hash:"aa4f840bdfa861be2f1c4b982a1e2cb5",slug:"accounting-and-corporate-reporting-today-and-tomorrow",bookSignature:"Soner Gokten",coverURL:"https://cdn.intechopen.com/books/images_new/6000.jpg",editedByType:"Edited by",editors:[{id:"70354",title:"Ph.D.",name:"Soner",middleName:null,surname:"Gokten",slug:"soner-gokten",fullName:"Soner Gokten"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter",authoredCaption:"Edited by"}}],booksByTopicTotal:2,mostCitedChapters:[{id:"55533",doi:"10.5772/intechopen.69264",title:"The Future of Accounting Profession in an Era of Start-Ups",slug:"the-future-of-accounting-profession-in-an-era-of-start-ups",totalDownloads:1580,totalCrossrefCites:5,totalDimensionsCites:7,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Burak Özdoğan",authors:[{id:"203445",title:"Dr.",name:"Burak",middleName:null,surname:"Ozdogan",slug:"burak-ozdogan",fullName:"Burak Ozdogan"}]},{id:"55274",doi:"10.5772/intechopen.68832",title:"Paradigm Shift in Corporate Reporting",slug:"paradigm-shift-in-corporate-reporting",totalDownloads:1735,totalCrossrefCites:3,totalDimensionsCites:5,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Pınar Okan Gökten and Beyhan Marşap",authors:[{id:"204188",title:"Ph.D.",name:"Pınar",middleName:null,surname:"Okan Gokten",slug:"pinar-okan-gokten",fullName:"Pınar Okan Gokten"},{id:"204189",title:"Prof.",name:"Beyhan",middleName:null,surname:"Marsap",slug:"beyhan-marsap",fullName:"Beyhan Marsap"}]},{id:"55626",doi:"10.5772/intechopen.68962",title:"Accounting Choices in Corporate Financial Reporting: A Literature Review of Positive Accounting Theory",slug:"accounting-choices-in-corporate-financial-reporting-a-literature-review-of-positive-accounting-theor",totalDownloads:5203,totalCrossrefCites:2,totalDimensionsCites:2,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"İdil Kaya",authors:[{id:"204387",title:"Prof.",name:"Idil",middleName:null,surname:"Kaya",slug:"idil-kaya",fullName:"Idil Kaya"}]}],mostDownloadedChaptersLast30Days:[{id:"55449",title:"Integrated Reporting: A Template for Energy Companies",slug:"integrated-reporting-a-template-for-energy-companies",totalDownloads:1568,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Gülçin Yıldırım, Tuğçe Uzun Kocamış and Figen Öker Türüdüoğlu",authors:[{id:"204492",title:"Prof.",name:"Figen",middleName:null,surname:"Öker Türüdüoğlu",slug:"figen-oker-turuduoglu",fullName:"Figen Öker Türüdüoğlu"},{id:"206372",title:"Dr.",name:"Tuğçe",middleName:null,surname:"Uzun Kocamiş",slug:"tugce-uzun-kocamis",fullName:"Tuğçe Uzun Kocamiş"},{id:"206373",title:"Mrs.",name:"Gülçin",middleName:null,surname:"Yildirim",slug:"gulcin-yildirim",fullName:"Gülçin Yildirim"}]},{id:"55289",title:"Behavioral Accounting and its Interactions",slug:"behavioral-accounting-and-its-interactions",totalDownloads:3229,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Filiz Angay Kutluk",authors:[{id:"203083",title:"Associate Prof.",name:"Filiz",middleName:null,surname:"Angay Kutluk",slug:"filiz-angay-kutluk",fullName:"Filiz Angay Kutluk"}]},{id:"54829",title:"Greening Accounting II: Exploring Feasibility of Environmental Accounting Framework",slug:"greening-accounting-ii-exploring-feasibility-of-environmental-accounting-framework",totalDownloads:1014,totalCrossrefCites:0,totalDimensionsCites:0,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Somnath Debnath",authors:[{id:"202694",title:"Dr.",name:"Somnath",middleName:null,surname:"Debnath",slug:"somnath-debnath",fullName:"Somnath Debnath"}]},{id:"55448",title:"Reporting for Carbon Trading and International Accounting Standards",slug:"reporting-for-carbon-trading-and-international-accounting-standards",totalDownloads:1185,totalCrossrefCites:1,totalDimensionsCites:1,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Figen Öker and Hümeyra Adıgüzel",authors:[{id:"204492",title:"Prof.",name:"Figen",middleName:null,surname:"Öker Türüdüoğlu",slug:"figen-oker-turuduoglu",fullName:"Figen Öker Türüdüoğlu"},{id:"204767",title:"Dr.",name:"Hümeyra",middleName:null,surname:"Adıgüzel",slug:"humeyra-adiguzel",fullName:"Hümeyra Adıgüzel"}]},{id:"55587",title:"Historical Development of Government Accounting",slug:"historical-development-of-government-accounting",totalDownloads:2140,totalCrossrefCites:1,totalDimensionsCites:1,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Mihriban Coşkun Arslan",authors:[{id:"203724",title:"Dr.",name:"Mihriban",middleName:null,surname:"Coşkun Arslan",slug:"mihriban-coskun-arslan",fullName:"Mihriban Coşkun Arslan"}]},{id:"55626",title:"Accounting Choices in Corporate Financial Reporting: A Literature Review of Positive Accounting Theory",slug:"accounting-choices-in-corporate-financial-reporting-a-literature-review-of-positive-accounting-theor",totalDownloads:5205,totalCrossrefCites:2,totalDimensionsCites:2,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"İdil Kaya",authors:[{id:"204387",title:"Prof.",name:"Idil",middleName:null,surname:"Kaya",slug:"idil-kaya",fullName:"Idil Kaya"}]},{id:"62119",title:"Financial Instruments: Islamic Versus Conventional",slug:"financial-instruments-islamic-versus-conventional",totalDownloads:757,totalCrossrefCites:1,totalDimensionsCites:1,book:{slug:"accounting-from-a-cross-cultural-perspective",title:"Accounting from a Cross-Cultural Perspective",fullTitle:"Accounting from a Cross-Cultural Perspective"},signatures:"Sani Kabiru Saidu, Abubakar Sambo Junaidu and Rabiu Saminu\nJibril",authors:[{id:"240358",title:"Dr.",name:"Sani",middleName:"Kabiru",surname:"Saidu",slug:"sani-saidu",fullName:"Sani Saidu"},{id:"248786",title:"Dr.",name:"Abubakar",middleName:null,surname:"Sambo Junaidu",slug:"abubakar-sambo-junaidu",fullName:"Abubakar Sambo Junaidu"},{id:"248789",title:"Mr.",name:"Rabiu",middleName:null,surname:"Saminu Jibril",slug:"rabiu-saminu-jibril",fullName:"Rabiu Saminu Jibril"}]},{id:"61657",title:"Theoretical Perspectives on Sustainability Reporting: A Literature Review",slug:"theoretical-perspectives-on-sustainability-reporting-a-literature-review",totalDownloads:1489,totalCrossrefCites:0,totalDimensionsCites:1,book:{slug:"accounting-from-a-cross-cultural-perspective",title:"Accounting from a Cross-Cultural Perspective",fullTitle:"Accounting from a Cross-Cultural Perspective"},signatures:"Maria da Conceição da Costa Tavares and Alcina Portugal Dias",authors:[{id:"230817",title:"Prof.",name:"Maria Da Conceição",middleName:null,surname:"Da Costa Tavares",slug:"maria-da-conceicao-da-costa-tavares",fullName:"Maria Da Conceição Da Costa Tavares"},{id:"241948",title:"Prof.",name:"Alcina",middleName:null,surname:"Portugal Dias",slug:"alcina-portugal-dias",fullName:"Alcina Portugal Dias"}]},{id:"55201",title:"Adaptation of International Accounting Standards: Case of Portugal",slug:"adaptation-of-international-accounting-standards-case-of-portugal",totalDownloads:1122,totalCrossrefCites:0,totalDimensionsCites:1,book:{slug:"accounting-and-corporate-reporting-today-and-tomorrow",title:"Accounting and Corporate Reporting",fullTitle:"Accounting and Corporate Reporting - Today and Tomorrow"},signatures:"Helena Isabel Barroso Saraiva, Maria‐Céu F.G. Alves and Vítor M.S.\nGabriel",authors:[{id:"108390",title:"Prof.",name:"Maria-Ceu",middleName:null,surname:"Gaspar Alves",slug:"maria-ceu-gaspar-alves",fullName:"Maria-Ceu Gaspar Alves"},{id:"203124",title:"Prof.",name:"Helena Isabel",middleName:null,surname:"B. Saraiva",slug:"helena-isabel-b.-saraiva",fullName:"Helena Isabel B. Saraiva"},{id:"203126",title:"Dr.",name:"Vítor",middleName:null,surname:"Gabriel",slug:"vitor-gabriel",fullName:"Vítor Gabriel"}]},{id:"61095",title:"Ethical Awareness, Ethical Decision Making, and Transparency: A Study on Turkish CPAs in Istanbul",slug:"ethical-awareness-ethical-decision-making-and-transparency-a-study-on-turkish-cpas-in-istanbul",totalDownloads:851,totalCrossrefCites:2,totalDimensionsCites:2,book:{slug:"accounting-from-a-cross-cultural-perspective",title:"Accounting from a Cross-Cultural Perspective",fullTitle:"Accounting from a Cross-Cultural Perspective"},signatures:"Nida Türegün",authors:[{id:"238085",title:"Ph.D.",name:"Nida",middleName:null,surname:"Türegün",slug:"nida-turegun",fullName:"Nida Türegün"}]}],onlineFirstChaptersFilter:{topicSlug:"accounting",limit:3,offset:0},onlineFirstChaptersCollection:[],onlineFirstChaptersTotal:0},preDownload:{success:null,errors:{}},aboutIntechopen:{},privacyPolicy:{},peerReviewing:{},howOpenAccessPublishingWithIntechopenWorks:{},sponsorshipBooks:{sponsorshipBooks:[{type:"book",id:"10176",title:"Microgrids and Local Energy Systems",subtitle:null,isOpenForSubmission:!0,hash:"c32b4a5351a88f263074b0d0ca813a9c",slug:null,bookSignature:"Prof. Nick Jenkins",coverURL:"https://cdn.intechopen.com/books/images_new/10176.jpg",editedByType:null,editors:[{id:"55219",title:"Prof.",name:"Nick",middleName:null,surname:"Jenkins",slug:"nick-jenkins",fullName:"Nick Jenkins"}],equalEditorOne:null,equalEditorTwo:null,equalEditorThree:null,productType:{id:"1",chapterContentType:"chapter"}}],offset:8,limit:8,total:1},route:{name:"chapter.detail",path:"/books/non-alcoholic-fatty-liver-disease-molecular-bases-prevention-and-treatment/management-of-nonalcoholic-fatty-liver-disease-nafld-",hash:"",query:{},params:{book:"non-alcoholic-fatty-liver-disease-molecular-bases-prevention-and-treatment",chapter:"management-of-nonalcoholic-fatty-liver-disease-nafld-"},fullPath:"/books/non-alcoholic-fatty-liver-disease-molecular-bases-prevention-and-treatment/management-of-nonalcoholic-fatty-liver-disease-nafld-",meta:{},from:{name:null,path:"/",hash:"",query:{},params:{},fullPath:"/",meta:{}}}},function(){var e;(e=document.currentScript||document.scripts[document.scripts.length-1]).parentNode.removeChild(e)}()