The energy efficiency paradigm associated with Wireless Sensor Networks (WSNs) and the Internet of Things (IoT) is a major bottleneck for the development of related technologies. To overcome this limitation, the design and development of efficient and high-performance energy harvesting systems for WSN and IoT environments are being explored. This edited book comprehensively covers energy harvesting sources and techniques that can be used for WSN and IoT systems. The authors cover energy harvesting, energy management and energy prediction models to maximize the energy harvested. They also identify major architecture advances to develop cost-effective, efficient, and reliable energy harvesting systems. This is a useful reference for researchers, engineers, practitioners, designers, and R&D staff involved in the development of energy harvesting models, architectures and technologies for practical deployments in WSN and IoT environments. The book will be of interest to professionals involved in developing energy harvesting systems, industry practitioners, and manufacturers in IoT, sensing, and energy harvesting technologies. Finally, it will also be a useful reference for graduate, PhD and postdoctoral students following courses in WSNs, IoT and energy harvesting technologies.

Multi-level Inverters (MLIs) are widely used for conversion of DC to AC power. This book provides various low-switching frequency (LSF) modulation schemes (conventional and improved), which can be implemented on MLIs. The LSF modulation schemes are implemented to three different MLI topologies to demonstrate their working and aimed at their application to reader invented MLI topologies. Highlighting the advantages of LSF over high-switching frequency (HSF) modulation schemes, the simulations are carried out using MATLAB (R)/Simulink along with hardware experiments. The practical application of MLIs to renewable energy sources and electric vehicles is also provided at the end of the book. Aimed at researchers, graduate students in Electric Power Engineering, Power Electronics, this book: Presents detailed overview of most commonly used multi-level invertor topologies. Covers advantages of low-switching over high-switching frequency scheme. Includes an exclusive section dedicated for an improved low-switching modulation scheme. Dedicated chapter on application of renewable energy sources to multi-level invertors and electric vehicles. Explains all the low-switching frequency modulation schemes.

Power Converters for Electric Vehicles gives an overview, topology, design, and simulation of different types of converters used in electric vehicles (EV). It covers a wide range of topics ranging from the fundamentals of EV, Hybrid EV and its stepwise approach, simulation of the proposed converters for real-time applications and corresponding experimental results, performance improvement paradigms, and overall analysis. Drawing upon the need for novel converter topologies, this book provides the complete solution for the power converters for EV applications along with simulation exercises and experimental results. It explains the need for power electronics in the improvement of performance in EV. This book: Presents exclusive information on the power electronics of EV including traction drives. Provides step-by-step procedure for converter design. Discusses various topologies having different isolated and non-isolated converters. Describes control circuit design including renewable energy systems and electrical drives. Includes practical case studies incorporated with simulation and experimental results. Power Converters for Electric Vehicles will provide researchers and graduate students in Power Electronics, Electric Drives, Vehicle Engineering a useful resource for stimulating their efforts in this important field of the search for renewable technologies.

BRIAN H. DAVISON Oak Ridge National Laboratory MARK FINKELSTEIN National Renewable Energy Laboratory CHARLES E. WYMAN Oak Ridge National Laboratory The Eighteenth Symposium on Biotechnology for Fuels and Chemi cals continues to provide a forum for the presentation of research results and the exchange of ideas on advances in biotechnology for the produc tion of fuels and chemicals. Although the emphasis is on utilization of renewable resources, the scope of the Symposium is broader than this and includes bioconversion of fossil fuels and syngas and the new area of conversions in nonaqueous environments; these areas were discussed in Session 5 and in a Special Topic Discussion Group at the Symposium. In addition, recent developments in bioremediation were well represented in Session 6 and in the poster session. The Symposium involved both the development of new biological agents (such as enzymes or microbes) to carry out targeted conversions as well as bioprocess development. The first area covered improvements in enzymes as well as fundamental insights into substrate-enzyme inter actions and photosynthesis. The latter area focused on converting one material into another using biological agents through combinations of chemical engineering, biological sciences, and fermentation technology. This area also refers to an overall processing involving at least one bio logically catalyzed step in combination with other physical and/ or chemi cal processing operations. Agricultural crops, such as corn and corn fiber as well as woody biomass and lignocellulosic wastes, are emphasized for process feedstocks and their pretreatment investigated.

Optimal Power Flow Using FACTS Devices: Soft Computing Techniques develops intelligent algorithms to analyze optimal power flow (OPF) and to enhance the power transfer capability of the transmission line with reduced congestion. By providing elaborate studies on FACTS devices and by using soft computing metaheuristics algorithms such as Firefly, Cuckoo, Flower Pollination, and others., this book enables readers to know about algorithms in real-time power system applications and damping of subsynchronous resonance (SSR) oscillations. Key features of this book include: Offers comprehensive review of FACTS devices and the importance of soft computing techniques for solving OPF. Describes the various problems associated with power system operation and control. Addresses issues of SSR in power systems and proposes soft techniques for SSR analysis in power systems. Demonstrates of the importance of SSR and congestion management using intelligent FACTS devices as part of OPF. Covers power systems' reliability, quality, cost-effectiveness, effects on customer goodwill, and pollution limits, including the deregulation of markets and different intelligent controllers. Optimal Power Flow Using FACTS Devices: Soft Computing Techniques is aimed at researchers and professionals in the field of power systems.

Entrepreneurship in Power Semiconductor Devices, Power Electronics, and Electric Machines and Drive Systems introduces the basics of entrepreneurship and a methodology for the study of entrepreneurship in electrical engineering and other engineering fields. Entrepreneurship is considered here in three fields of electrical engineering, viz. power semiconductor devices, power electronics and electric machines and drive systems, and their current practice. It prepares the reader by providing a review of the subject matter in the three fields, their current status in research and development with analysis aspect as needed, thus allowing readers to gain self-sufficiency while reading the book. Each field's emerging applications, current market and future market forecasts are introduced to understand the basis and need for emerging startups. Practical learning is introduced in: (i) power semiconductor devices entrepreneurship through the prism of 20 startups in detail, (ii) power electronics entrepreneurship through 28 startup companies arranged under various application fields and (iii) electric machines and drive systems entrepreneurship through 15 startups in electromagnetic and 1 in electrostatic machines and drive systems. The book: (i) demystifies entrepreneurship in a practical way to equip engineers and students with entrepreneurship as an option for their professional growth, pursuit and success; (ii) provides engineering managers and corporate-level executives a detailed view of entrepreneurship activities in the considered three fields that may potentially impact their businesses, (iii) provides entrepreneurship education in an electrical engineering environment and with direct connection and correlation to their fields of study and (iv) endows a methodology that can be effectively employed not only in the three illustrated fields of electrical engineering but in other fields as well. This book is for electrical engineering students and professionals. For use in undergraduate and graduate courses in electrical engineering, the book contains discussion questions, exercise problems, team and class projects, all from a practical point of view, to train students and assist professionals for future entrepreneurship endeavors.

This book is based on the author's 50+ years experience in the power and distribution transformer industry. The first few chapters of the book provide a step-by-step procedures of transformer design. Engineers without prior knowledge or exposure to design can follow the procedures and calculation methods to acquire reasonable proficiency necessary to designing a transformer. Although the transformer is a mature product, engineers working in the industry need to understand its fundamentals oand design to enable them to offer products to meet the challenging demands of the power system and the customer. This book can function as a useful guide for practicing engineers to undertake new designs, cost optimization, design automation etc., without the need for external help or consultancy. The book extensively covers the design processes with necessary data and calculations from a wide variety of transformers, including dry-type cast resin transformers, amorphous core transformers, earthing transformers, rectifier transformers, auto transformers, transformers for explosive atmospheres, and solid-state transformers. The other subjects covered include, carbon footprint salculation of transformers, condition monitoring of transformers and design optimization techniques. In addition to being useful for the transformer industry, this book can serve as a reference for power utility engineers, consultants, research scholars, and teaching faculty at universities.

This new volume looks at the electrifying world of blockchain technology and how it has been revolutionizing the Internet of Things and cyber-physical systems. Aimed primarily at business users and developers who are considering blockchain-based projects, the volume provides a comprehensive introduction to the theoretical and practical aspects of blockchain technology. It presents a selection of chapters on topics that cover new information on blockchain and bitcoin security, IoT security threats and attacks, privacy issues, fault-tolerance mechanisms, and more. Some major software packages are discussed, and it also addresses the legal issues currently affecting the field. The information presented here is relevant to current and future problems relating to blockchain technology and will provide the tools to build efficient decentralized applications. Blockchain technology and the IoT can profoundly change how the world-and businesses-work, and this book provides a window into the current world of blockchain. No longer limited to just Bitcoin, blockchain technology has spread into many sectors and into a significant number of different technologies.

Focussing on micro- and nanoelectronics design and technology, this book provides thorough analysis and demonstration, starting from semiconductor devices to VLSI fabrication, designing (analog and digital), on-chip interconnect modeling culminating with emerging non-silicon/ nano devices. It gives detailed description of both theoretical as well as industry standard HSPICE, Verilog, Cadence simulation based real-time modeling approach with focus on fabrication of bulk and nano-devices. Each chapter of this proposed title starts with a brief introduction of the presented topic and ends with a summary indicating the futuristic aspect including practice questions. Aimed at researchers and senior undergraduate/graduate students in electrical and electronics engineering, microelectronics, nanoelectronics and nanotechnology, this book: Provides broad and comprehensive coverage from Microelectronics to Nanoelectronics including design in analog and digital electronics. Includes HDL, and VLSI design going into the nanoelectronics arena. Discusses devices, circuit analysis, design methodology, and real-time simulation based on industry standard HSPICE tool. Explores emerging devices such as FinFETs, Tunnel FETs (TFETs) and CNTFETs including their circuit co-designing. Covers real time illustration using industry standard Verilog, Cadence and Synopsys simulations.

The PID controller is the most common option in the realm of control applications and is dominant in the process control industry. Among the related analytical methods, Internal Model Control (IMC) has gained remarkable industrial acceptance due to its robust nature and good set-point responses. However, the traditional application of IMC results in poor load disturbance rejection for lag-dominant and integrating plants. This book presents an IMC-like design method which avoids this common pitfall and is devised to work well for plants of modest complexity, for which analytical PID tuning is plausible. For simplicity, the design only focuses on the closed-loop sensitivity function, including formulations for the H and H2 norms. Aimed at graduate students and researchers in control engineering, this book: Considers both the robustness/performance and the servo/regulation trade-offs Presents a systematic, optimization-based approach, ultimately leading to well-motivated, model-based, and analytically derived tuning rules Shows how to tune PID controllers in a unified way, encompassing stable, integrating, and unstable processes Finds in the Weighted Sensitivity Problem the sweet spot of robust, optimal, and PID control Provides a common analytical framework that generalizes existing tuning proposals

Content-Based Image Classification: Efficient Machine Learning Using Robust Feature Extraction Techniques is a comprehensive guide to research with invaluable image data. Social Science Research Network has revealed that 65% of people are visual learners. Research data provided by Hyerle (2000) has clearly shown 90% of information in the human brain is visual. Thus, it is no wonder that visual information processing in the brain is 60,000 times faster than text-based information (3M Corporation, 2001). Recently, we have witnessed a significant surge in conversing with images due to the popularity of social networking platforms. The other reason for embracing usage of image data is the mass availability of high-resolution cellphone cameras. Wide usage of image data in diversified application areas including medical science, media, sports, remote sensing, and so on, has spurred the need for further research in optimizing archival, maintenance, and retrieval of appropriate image content to leverage data-driven decision-making. This book demonstrates several techniques of image processing to represent image data in a desired format for information identification. It discusses the application of machine learning and deep learning for identifying and categorizing appropriate image data helpful in designing automated decision support systems. The book offers comprehensive coverage of the most essential topics, including: Image feature extraction with novel handcrafted techniques (traditional feature extraction) Image feature extraction with automated techniques (representation learning with CNNs) Significance of fusion-based approaches in enhancing classification accuracy MATLAB (R) codes for implementing the techniques Use of the Open Access data mining tool WEKA for multiple tasks The book is intended for budding researchers, technocrats, engineering students, and machine learning/deep learning enthusiasts who are willing to start their computer vision journey with content-based image recognition. The readers will get a clear picture of the essentials for transforming the image data into valuable means for insight generation. Readers will learn coding techniques necessary to propose novel mechanisms and disruptive approaches. The WEKA guide provided is beneficial for those uncomfortable coding for machine learning algorithms. The WEKA tool assists the learner in implementing machine learning algorithms with the click of a button. Thus, this book will be a stepping-stone for your machine learning journey. Please visit the author's website for any further guidance at https://www.rikdas.com/

This book supports readers in the development of a remotely operated vehicle (ROV) pilot training simulator by exploiting open-source or free gaming software and emphasizing the importance of using established and widely-available game design techniques to provide engaging scenarios for ROV training developers and trainees. There is no such book to guide the users to create an open-source virtual simulator for pilot training in the marine and offshore industry. This book can be used as a reference for undergraduate and postgraduate students, engineers, researchers, and lecturers in VR simulation using UnityTM as the leading software. Some of the key features of the book include: * Step-by-step procedures in development ROV pilot training simulator * Use of open-source software UnityTM that is freely available to all readers * The codes used in the book are self-sufficient as there are no codes hidden from readers

This book covers the technology of digital image processing in various fields with big data and their applications. Readers will understand various technologies and strategies used in digital image processing as well as handling big data, using machine-learning techniques. This book will help to improve the skills of students and researchers in such fields as engineering, agriculture, and medical imaging. There is a need to be able to understand and analyse the latest developments of digital image technology. As such, this book will cover: * Applications such as biomedical science and biometric image processing, content-based image retrieval, remote sensing, pattern recognition, shape and texture analysis * New concepts in color interpolation to produce the full color from the sub-pattern bare pattern color prevalent in today's digital cameras and other imaging devices * Image compression standards that are needed to serve diverse applications * Applications of remote sensing, medical science, traffic management, education, innovation, and analysis in agricultural design and image processing * Both soft and hard computing approaches at great length in relation to major image processing tasks * The direction and development of current and future research in many areas of image processing * A comprehensive bibliography for additional research (integrated within the framework of the book) This book focuses not only on theoretical and practical knowledge in the field but also on the traditional and latest tools and techniques adopted in image processing and data science. It also provides an indispensable guide to a wide range of basic and advanced techniques in the fields of image processing and data science.

This up-to-date reference discusses important concepts of vehicular communication in intelligent transportation systems. Augmented Intelligence Toward Smart Vehicular Applications begins by discussing key objectives of intelligent transport systems and vehicular ad-hoc networks (VANETs). It then goes on to discuss challenges, applications and future trends in VANETs. The text focuses on the organization of artificial intelligence (AI) and aspects of deep learning algorithms, particularly multimodal transport. This book will serve as an ideal reference for graduate students and academic researchers in the field of electrical engineering, electronics and communication engineering and transportation engineering. Features In-depth coverage of Internet of Things (IoT) in vehicular applications Discussion on nn-vehicle sensor networks Implementation of mobile IP and migration of IPv6 Focus on the need of AI in smart vehicular applications Discussions on advanced concepts in the field of intelligent transport systems

Refrigeration Equipment is a clear, practical guide to the installation, testing and servicing of industrial and domestic refrigeration equipment. Refrigeration technicians, who are poorly provided with good reference material, will welcome the author's hands-on approach. Other readers will include trainees on in-plant industry courses, building service engineers and maintenance staff in the frozen food industry, supermarkets, hotels and hospitals. It also provides a text from NVQs (C&G 6007) and other vocational courses).This revised edition has been updated throughout, and includes a new section on the topical subject of alternative refrigerants and, for the first time, a chapter on the principles of air conditioning.

Offers an understanding of the theoretical principles in electronic engineering, in clear and understandable terms Introductory Electrical Engineering With Math Explained in Accessible Language offers a text that explores the basic concepts and principles of electrical engineering. The author--a noted expert on the topic--explains the underlying mathematics involved in electrical engineering through the use of examples that help with an understanding of the theory. The text contains clear explanations of the mathematical theory that is needed to understand every topic presented, which will aid students in engineering courses who may lack the necessary basic math knowledge. Designed to breakdown complex math concepts into understandable terms, the book incorporates several math tricks and knowledge such as matrices determinant and multiplication. The author also explains how certain mathematical formulas are derived. In addition, the text includes tables of integrals and other tables to help, for example, find resistors' and capacitors' values. The author provides the accessible language, examples, and images that make the topic accessible and understandable. This important book: - Contains discussion of concepts that go from the basic to the complex, always using simplified language - Provides examples, diagrams, and illustrations that work to enhance explanations - Explains the mathematical knowledge that is crucial to understanding electrical concepts - Contains both solved exercises in-line with the explanations Written for students, electronic hobbyists and technicians, Introductory Electrical Engineering With Math Explained in Accessible Language is a much-needed text that is filled with the basics concepts of electrical engineering with the approachable math that aids in an understanding of the topic.

Mild traumatic brain injury (mTBI), directly related to chronic traumatic encephalopathy, presents a crisis in contact sports, the military, and public health. Mild Traumatic Brain Injury: A Science and Engineering Perspective reviews current understanding of mTBI, methods of diagnosis, treatment, policy concerns, and emerging technologies. It details the neurophysiology and epidemiology of brain injuries by presenting disease models and descriptions of nucleating events, characterizes sensors, imagers, and related diagnostic measures used for evaluating and identifying brain injuries, and relates emerging bioinformatics analysis with mTBI markers. The book goes on to discuss issues with sports medicine and military issues; covers therapeutic strategies, surgeries, and future developments; and finally addresses drug trials and candidates for therapy. The broad coverage and accessible discussions will appeal to professionals in diverse fields related to mTBI, students of neurology, medicine, and biology, as well as policy makers and lay persons interested in this hot topic. Features Summarizes the entire scope of the field of mTBI Details the neurophysiology, epidemiology, and presents disease models and descriptions of nucleating events Characterizes sensors, imagers, and related diagnostic measures and relates emerging bioinformatics analysis with mTBI markers Discusses issues with sports medicine and military issues Covers therapeutic strategies, surgeries, and future developments and addresses drug trials and candidates Dr Mark Mentzer earned his PhD in Electrical Engineering from the University of Delaware. He is a former research scientist at the US Army Research Laboratory where he studied mild traumatic brain injury and developed early-detection brain injury helmet sensors. He is a certified test director and contracting officer representative. He possesses two Level-III Defense Acquisition University Certifications in Science and Technology Management and in Test and Evaluation. During his career, he developed a wide range of sensors and instrumentation as well as biochemical processes to assess brain trauma. Mentzer currently teaches graduate systems engineering and computer science courses at the University of Maryland University College.

Printed antennas have become an integral part of next-generation wireless communications and have been found to be commonly used to improve system capacity, data rate, reliability, etc. This book covers theory, design techniques, and the chronological regression of the printed antennas for various applications. This book will provide readers with the basic conceptual knowledge about antennas along with advanced techniques for antenna design. It covers a variety of analytical techniques and their CAD applications and discusses new applications of printed antenna technology such as sensing. The authors also present special reconfigurable antennas such as ME dipole, polarization, feeding, and DGS. The book will be useful to students as an introduction to design and applications of antennas. Additionally, experienced researchers in this field will find this book a ready reference and benefit from the techniques of research in printed antennas included in this book. Following are some of the salient features of this book: Covers a variety of analytical techniques and their CAD applications Discusses new applications of printed antenna technology such as sensing Examines the state of design techniques of printed antenna Presents special reconfigurable antennas such as ME dipole, polarization, feeding, and DGS

A Beginner's Guide to Image Multi-Level Thresholding emphasizes various image thresholding methods that are necessary for image pre-processing and initial level enhancement. Explains basic concepts and the implementation of Image Multi-Level Thresholding (grayscale and RGB images) Presents a detailed evaluation in real-time application, including the need for heuristic algorithm, the choice of objective and threshold function, and the evaluation of the outcome Describes how the image thresholding acts as a pre-processing technique and how the region of interest in a medical image is enhanced with thresholding Illustrates integration of the thresholding technique with bio-inspired algorithms Includes current findings and future directions of image multi-level thresholding and its practical implementation Emphasizes the need for multi-level thresholding with suitable examples The book is aimed at graduate students and researchers in image processing, electronics engineering, computer sciences and engineering.

An Image Processing Tour of College Mathematics aims to provide meaningful context for reviewing key topics of the college mathematics curriculum, to help students gain confidence in using concepts and techniques of applied mathematics, to increase student awareness of recent developments in mathematical sciences, and to help students prepare for graduate studies. The topics covered include a library of elementary functions, basic concepts of descriptive statistics, probability distributions of functions of random variables, definitions and concepts behind first- and second-order derivatives, most concepts and techniques of traditional linear algebra courses, an introduction to Fourier analysis, and a variety of discrete wavelet transforms - all of that in the context of digital image processing. Features Pre-calculus material and basic concepts of descriptive statistics are reviewed in the context of image processing in the spatial domain. Key concepts of linear algebra are reviewed both in the context of fundamental operations with digital images and in the more advanced context of discrete wavelet transforms. Some of the key concepts of probability theory are reviewed in the context of image equalization and histogram matching. The convolution operation is introduced painlessly and naturally in the context of naive filtering for denoising and is subsequently used for edge detection and image restoration. An accessible elementary introduction to Fourier analysis is provided in the context of image restoration. Discrete wavelet transforms are introduced in the context of image compression, and the readers become more aware of some of the recent developments in applied mathematics. This text helps students of mathematics ease their way into mastering the basics of scientific computer programming.

Enabling Technologies for Next Generation Wireless Communications provides up-to-date information on emerging trends in wireless systems, their enabling technologies and their evolving application paradigms. This book includes the latest trends and developments toward next generation wireless communications. It highlights the requirements of next generation wireless systems, limitations of existing technologies in delivering those requirements and the need to develop radical new technologies. It focuses on bringing together information on various technological developments that are enablers vital to fulfilling the requirements of future wireless communication systems and their applications. Topics discussed include spectrum issues, network planning, signal processing, transmitter, receiver, antenna technologies, channel coding, security and application of machine learning and deep learning for wireless communication systems. The book also provides information on enabling business models for future wireless systems. This book is useful as a resource for researchers and practitioners worldwide, including industry practitioners, technologists, policy decision-makers, academicians, and graduate students.

Artificial Intelligence Techniques in IoT Sensor Networks is a technical book which can be read by researchers, academicians, students and professionals interested in artificial intelligence (AI), sensor networks and Internet of Things (IoT). This book is intended to develop a shared understanding of applications of AI techniques in the present and near term. The book maps the technical impacts of AI technologies, applications and their implications on the design of solutions for sensor networks. This text introduces researchers and aspiring academicians to the latest developments and trends in AI applications for sensor networks in a clear and well-organized manner. It is mainly useful for research scholars in sensor networks and AI techniques. In addition, professionals and practitioners working on the design of real-time applications for sensor networks may benefit directly from this book. Moreover, graduate and master's students of any departments related to AI, IoT and sensor networks can find this book fascinating for developing expert systems or real-time applications. This book is written in a simple and easy language, discussing the fundamentals, which relieves the requirement of having early backgrounds in the field. From this expectation and experience, many libraries will be interested in owning copies of this work.

A heterogeneous network is a network which connects computers and other devices with different operating systems, protocols, or access technologies. By definition, managing heterogenous networks is more difficult that homogenous networks. Confidentiality, integrity, availability (CIA) remain the foundation of security. This book sheds light upon security threats, defenses, and remediation on various networking and data processing domains, including wired networks, wireless networks, mobile ad-hoc networks, wireless sensor networks, and social networks through the prisms of confidentiality, integrity, availability, authentication, and access control. The book is broken into different chapters that explore central subjects and themes in the development of the heterogenous networks we see today. The chapters look at: Access control methods in cloud-enabled Internet of Things Secure routing algorithms for mobile ad-hoc networks Building security trust in mobile ad-hoc networks using soft computing methods The use and development of Blockchain technology, with a particular focus on the nonce-free hash generation in Blockchain Password authentication and keystroke biometrics Health care data analytics over Big Data Bluetooth: and its open issues for managing security services in heterogenous networks Managing Security Services in Heterogenous Networks will be a valuable resource for a whole host of undergraduate and postgraduate students studying related topics, as well as career professionals who have to effectively manage heterogenous networks in the workplace.

Linear and Non-Linear System Theory focuses on the basics of linear and non-linear systems, optimal control and optimal estimation with an objective to understand the basics of state space approach linear and non-linear systems and its analysis thereof. Divided into eight chapters, materials cover an introduction to the advanced topics in the field of linear and non-linear systems, optimal control and estimation supported by mathematical tools, detailed case studies and numerical and exercise problems. This book is aimed at senior undergraduate and graduate students in electrical, instrumentation, electronics, chemical, control engineering and other allied branches of engineering. Features Covers both linear and non-linear system theory Explores state feedback control and state estimator concepts Discusses non-linear systems and phase plane analysis Includes non-linear system stability and bifurcation behaviour Elaborates optimal control and estimation