Taiwan first large-scale offshore wind farm connectiona real project case study Wu, Yuan-Kang

Member, IEEE National Penghu University 300, Liu Ho Rd. Penghu 880, Taiwan yk.wu@npu.edu.tw

Lee, Ching-Yin
Tungnan University 152, Sec.3 Pei Shen Rd. Shen Keng, Taipei, 222, Taiwan cylee@mail.tnu.edu.tw

Shu, Ging-He
National Taipei University of Technology 1, Sec. 3, Chung-hsiao E. Rd. Taipei,10608,Taiwan t7318006@ntut.edu.tw

Abstract -- The west coast and islands of Taiwan have abundant wind resource, which offers a great opportunity for large-scale offshore wind power generation. In Taiwan, the first stage of offshore wind farms at Jhang-Bin and Peng-Hu areas have been planning. Particularly, the Jhang-Bin wind farm would become the first and one of the largest wind farms in Taiwan. Therefore, its impacts on the system operation and security have to be investigated and studied in advance. Following a general connection design discussion, this paper comprises four major system impact analyses: load flow, fault current, voltage variation, and transient stability. Moreover, three types of typical wind turbines have been adopted respectively in this study in order to compare their performances on the wind farm integration system. From the simulation results, some significant conclusions and recommendations have been extracted, which would contribute to the first off-shore wind farm development in Taiwan. Index Terms Offshore wind farm, system impact analysis, load flow, fault current, voltage variation, transient stability.

I.

INTRODUCTION

Taiwan is a highly energy dependent country that has followed the world trend in developing renewable energy. In early 2002, Taiwan Power Company (Taipower) proposed a plan entitled Wind Generation Development Plan for 10 Years. This plan is to install 200 onshore wind generators with more than 300MW installed capacity within 10 years according to three stages. Up to mid April of 2010, Taipower has 179.76MW with 106 wind turbine generators in operation, and 109 MW (56 wind turbines) under construction [1]. In addition, Infra Vest has completed onshore wind power at two different sites with 51.8MW installed capacity since 2006. Because onshore wind power has site limitations, Taiwan is promoting offshore wind power developments. In 2007, the Bureau of Energy announced that the total installed capacity of 300MW offshore wind power has been available for the first stage application. In fact, offshore wind power has become the focus of the world's renewable energy development [2]. With the gradually maturing of offshore wind power technology, the power cost and operation cost of offshore wind power are gradually reduced. Therefore, by 2010, the total installed capacity all over the world has been reached up to 1527.55 MW with around 28 offshore wind farms. Although the offshore wind farm has been paid more

attention, it has to be observed that offshore wind power at present is not yet fully competitive with respect to other energy sources and that, furthermore, it would imply huge investments in installation facilities and offshore grids. In addition, modifications to system configuration and operation practices to accommodate offshore wind farms have to be required. Similar to other new generation facilities, the impacts of a large-scale offshore wind generation on the system operation, voltage profile, power flow, short-circuit current, transient stability, and system security have to be investigated and studied during the system planning, as the system impact study is often the first step taken towards defining wind penetration targets in each power system [3][9]. This paper discusses the impact study of connecting a 108MW wind farm into the Taipower transmission system in the central of Taiwan. A detailed system description for the current Taipower system and the planning Jhang-Bin offshore wind farm topology is described in Section II. Section III illustrates the operation rule of renewable resource connections in Taiwan. The system impact analysis due to the offshore wind farm integration is analyzed in Section IV. Finally, our conclusions are summarized in Section V. II. SYSTEM DESCRIPTION In Taiwan, the peak load in 2009 reached 31,011MW; the average load was 21,642 MW. In the end of 2009, there are 23 Extra High Voltage substations (EHV, 345/161-kV); 250 primary substations (P/S: 161/69-kV, D/S: 161/22-kV/11kV); and 306 secondary substations (S/S, 69/22-kV/11-kV) [10]. It is noted that, until now, the actual output energy from the renewable energy is less. In Taiwan, most onshore wind farms have been already planned. Nowadays, several possible offshore wind farms have been investigated in the first-stage planning. Most of them are along the western coast of Taiwan and around Penghu archipelagoes. Specifically, Jhang-Bin offshore wind farm in central Taiwan could become one of the largest wind farms in the near future. This wind farm will be located along the coast of the Jhang-Bin industrial estate and would include 7 phases of construction. It is estimated that the installed capacity in the first phase of wind farm would be 108MW by 2012. The possible grid connection between the offshore wind farm and the nearest onshore grid point is shown in Fig.

978-1-4244-6395-4/10/$26.00 2010 IEEE

1, where the wind farm will be connected to the 161kV SianSi primary distribution substation through two 7.2-km long submarine cables. This first phase of planning wind farm comprises 30 wind turbines that are clustered and connected to the onshore substation through underground cables and use two step-up transformers 33/161kV up to 161 kV. The single line diagram inside the offshore wind farm is shown in Fig. 2. The grid characteristic for the point of common coupling (PCC) of Jhang-Bin offshore wind farm is listed in Table I. From the system planning point of view, the integration of the large-scale wind generation to the Taiwan network should be close to the nearby substations, and the nearest one is the Sian-Si substation
Fig. 2. GRID DATA FOR THE CONNECTION POINT OF JHANG-BIN OFFSHORE WIND FARM The PCC of Jhang-Bin Offshore Sian-Si D/S 161kV wind farm Rated voltage 161kV Maximum three-phase short37.887kA circuit current Maximum three-phase short10564MVA circuit capacity Impedance ratio of the grid X/R=29.364 (reactance/resistance ratio) Impedance phase angle of the Arctan(X/R)=88.04 deg grid Rated interrupt current of circuit 50kA breaker Annual average wind speed 8.5 m/s TABLE I Proposed layout of the Jhang-Bin offshore wind farm

Referring to the rotation speed, wind turbines can be classified into fixed speed (Type A), limited variable speed (Type B) and variable speed ones (Type C and D) [11]. From the system operation viewpoint, the Type C and Type D systems have better performance on voltage control without additional capacitors [12]. Therefore, market interest in Type C and Type D systems has been increased, but market penetration in Type A and B has declined since 1997. In this study, Type B, C, and D turbines have been adopted respectively in this wind farm to compare their performances on the wind power integrated system. III. OPERATION RULES OF RENEWABLE RESOURCE CONNECTIONS IN TAIWAN Electricity system operators are responsible for the satisfactory operation of their electricity systems in normal and abnormal conditions. In order to achieve this, they define technical requirements which all parties connected to their system must follow [13] [14]. In Taiwan, in order to maintain power quality and system reliability and stability, renewable energy facilities are required by Taipower (the system operator) to follow the practices of renewable generation facility connections and other related criteria: major operation requirements shall take into consideration based on the following items: A. Steady State (power flow) Analysis The capacity limitation at each transmission lines cannot be violated by new wind power integration. This analysis includes N-0 and N-1 contingencies. B. Fault Current The additional fault current caused by the new wind power injection is not allowed to exceed the interruption capacity (IC) of each original circuit breaker. In the Taiwan grid, the IC limitations for different voltage levels are 63-kA for 345-kV, 50-kA for 161-kV, and 40-kA for 69-kV, respectively. C. Voltage Fluctuation If a new wind power injects, 2.5% of the voltage

Fig. 1.

Wind farm connection of the Jhang-Bin offshore wind farm

fluctuation margin in the PCC shall be remained. Furthermore, the normal system voltage range should maintain between 0.95 and 1.03pu. D. Transient Stability If there is a three-phase short circuit fault, the critical clearing time shall be above 4.5 cycles at the fault location along with 4 cycles at the remote end in the 345-kV system and the critical clearing time for 161-kV system shall be above 12 cycles at the fault location along with 7 cycles at the remote end. IV. RESULTS OF SYSTEM IMPACT ANALYSIS The impacts of wind power on transmission depend on the grid strength of the connection point, i.e., location of wind farms, wind generator type, and the correlation between wind power production and load consumption. In this study, the 2012 peak and off-peak load predicting data in Taiwan was used. The planning Jhang-Bin offshore wind farm with a total capacity of 108 MW is integrated into the existing 161 kV transmission line through a primary substation. In this section, the system impact analysis includes steady state power flow, voltage variation, short-circuit current, and transient stability studies, which are based on the wind integrated operation rules issued by Taipower. In addition, three types of typical wind turbines, i.e., Type B, C, and D were utilized respectively to investigate their effects on the system impact analyses. Results for Steady State Power Flow The purpose of this power flow study is to observe the potential overloading impact during normal (N-0) and contingency (N-1) conditions after the 108 MW offshore wind farm is interconnected with the grid system. The contingency analysis considers the impact of the new wind power on transmission line loading, transformer facility loading, and transmission bus voltage during outages of system components. Table II compares the steady state power flow results near the wind farm when the system is under various conditions: without wind farm integration, with wind farm integration, and single contingency (N-1) events close to the wind farm, respectively. Table II and III are based on the 2012 off-peak and peak load systems respectively, where all load flows in the tables are expressed in MW. This analysis indicated that an addition of the 108 MW wind power has a little effect on grid system, but there is no negative impact of the wind farm on the existing transmission systems even for N-1 contingency events. Results for Three-Phase Short-Circuit current Short-circuit studies are performed to determine the possible changes of fault currents resulting from the added wind generation. In this study, the increment of the shortcircuit currents at each neighboring bus around the new wind farm has been calculated. This analysis is to check whether B. A.

the maximum short-circuit current of each neighboring bus is under its original circuit breaker interrupted capacity, which ensures that the circuit breakers in the system have enough ability to isolate the fault when faults happen. If the maximum short-circuit current exceeds the interrupted capacity of the circuit breakers, it requires infrastructure improvement to accommodate the new wind farm installation. Table IV shows the maximum fault currents near the wind farm before and after the offshore wind farm integration. The results indicated that the maximum fault currents are still under the rated capacity (50kA) of the existing circuit breakers no matter which kinds of wind turbines were installed. In this simulation, the maximum fault current occurred at the 161kV Jhang-Bin bus and the largest increment of fault current occurs at the 161kV Sian-Si bus. Based on the results, no split-bus or circuit breaker upgrade is necessary for the 108MW offshore wind farm installation. From Table IV, it is noted that the fault current from DFIG units is larger than that from full power converter units.
TABLE II
STEADY STATE POWER FLOW RESULTS WITH WIND FARM INTEGRATION UNDER OFF-PEAK LOAD

System condition Base case N-0 (without wind farm) Base case N-0 (with wind farm) Line A N-1 Contingency analysis (with wind farm) Lin B Line C Line D Load flow Ratio of flow Load flow Ratio of flow Load flow Ratio of flow Load flow Ratio of flow Load flow Ratio of flow Load flow Ratio of flow

Line A 301 14% 270 12%

Line B 82.9 4% 118 6% 126

Line C 4.2 3% 47.7 9% 49.8 9% 49.8

Line D 129 27% 150 31% 139 29% 156 32% 150

* 155 8% 263 12% 255 12%

7%

* 118 6% 126 6%

9%

* 49.8 9%

31%

* denotes out of service Line A: from Jhang-Bin E bus to Jhong-Huo S bus Line B: from Jhang-Bin E bus to Cyuan-Sing bus Line C: from Jhang-Bin H bus to Sian-Si H bus Line D: from Jhang-Bin H bus to Cao-Gang bus TABLE III
STEADY STATE POWER FLOW RESULTS WITH WIND FARM INTEGRATION UNDER PEAK LOAD

System condition Base case N-0 (without wind farm) Load flow Ratio of flow Load

Line A 98.6 4% 60.8

Line B 367 16% 399

Line C 8.4 5% 45.5

Line D

380 74% 400

flow Ratio 3% 18% 10% 79% of flow 343 45.5 398 Load Line flow * A Ratio 15% 10% 78% of flow Load 308 45.5 419 N-1 Lin B flow Contingency * Ratio 14% 10% 82% analysis of flow (with wind 60.8 400 Load 400 farm) Line flow C * Ratio 3% 18% 79% of flow Load 40.9 421 45.5 Line flow D * Ratio 2% 19% 10% of flow The definition of Line A, B, C, and D is identical to that in Table II TABLE IV FAULT CURRENT CALCULATION WITH/WITHOUT WIND FARM Capacity Wind Maximum three-phase Number of short-circuit current for each turbine wind (kA) turbine type turbine (MW) Without With wind wind farm farm Type B 40.45 41.30 1.8 60 Type C 40.45 41.21 3.6 30 Type D 40.45 40.87 2.3 47

Base case N-0 (with wind farm)

under the 2.5% limit by using various control modes. However, it should be noted that the PCC voltage will be reached up to the 1.03pu under the control mode of V=1.05pu and PF=0.9 lagging.
TABLE V VOLTAGE VARIATION AT THE PCC OF WIND FARM (TYPE B, D WIND TURBINE) Wind Bus voltage at the PCC (Sian-Si bus) turbine Without wind With wind Voltage type farm farm variation (%) OffPeak OffPeak OffPeak peak peak peak 0.9989 1.0208 No wind turbine 0.999 1.020 +0.3 -0.04 Type B Type D 2 1.001 0 4 1.019 9 +0.2 -0.09

TABLE VI VOLTAGE VARIATION AT THE PCC OF WIND FARM UNDER OFFPEAK SYSTEM (TYPE C WIND TURBINE) Control Voltage control Power Factor control mode Setting 0.95 1 1.05 0.9 1 0.9 leading laggin pu Pu Pu
g

C.

Results for Voltage Variation of Continuous Operation The purpose of the voltage variation study is to observe the change of continuous operation voltage after the wind farm is interconnected with the grid system. This analysis is to check whether the maximum voltage variation caused by the new wind farm integration is still under the voltage limit requirement. In this study, three kinds of typical wind turbines, Type B, C, and D, were utilized respectively in order to evaluate their effects on the voltage variation; in particular, the adopted Type C turbine possesses two kinds of control modes: voltage and power factor (PF) modes. Table V compares the voltage variation results at the PCC of wind farm after the 108MW wind farm with Type B or D turbines is interconnected with the Taiwan system. It can be observed that the added wind farm only has little effect on the system continuous operation voltage because the grid strength at the PCC is strong. In addition, the voltage variation under the off-peak system is a little larger compared to that under the peak system. It is because that in the offpeak system, the penetration of wind power is higher and the generation output from traditional synchronization machines is low, which would reduce system capability on voltage control. Especially for Type B turbines, they cannot contribute to reactive power, but absorb reactive power from the grid, which has a negative impact on the continuousoperation voltage. Table VI and VII show the voltage variation results when one kind of Type C wind turbine is used in the offshore wind farm. The results indicated that the voltage variation is still

Without Wind farm With wind farm Voltage variation

0.999 pu 0.992 pu -0.7 %

0.999 Pu 1.001 pu +0.2 %

0.999 Pu 1.007 pu +0.8 %

0.999 pu 0.989 pu -1 %

0.999 Pu 1.003 pu +0.4 %

0.999 pu 1.008 pu +0.9 %

TABLE VII VOLTAGE VARIATION AT THE PCC OF WIND FARM UNDER PEAK SYSTEM (TYPE C WIND TURBINE) Control Voltage control Power Factor control mode Setting 0.95 1 1.05 0.9 1 0.9 leading laggin pu Pu pu
g

without wind farm with wind farm Voltage variation

1.02 pu 1.015 pu -0.5 %

1.02 Pu 1.019 pu -0.1 %

1.02 pu 1.026 pu +0.6 %

1.02 pu 1.014 pu -0.6 %

1.02 Pu 1.020 pu 0 %

1.02 pu 1.025 pu +0.5 %

D.

Results for Transient Stability Analysis Power system stability is important for the operation of a power system and, therefore, they have to be analyzed very carefully when connecting a large-scale offshore wind farm with the grid. In this study, the transient stability analysis was carried out based on two symmetrical three-line-to-ground fault conditions, respectively at 161kV Jhang-Bin and 345kV Jhang-Bin buses. The two buses are the closest buses to the PCC of the wind farm in terms of the voltage level on 161kV and 345kV, respectively. As 345kV faults occur, the remote end, 345kV Cyuan-Sing bus, will trip after 4 cycles and the

fault location, 345kV Jhang-Bin bus, will trip after 4.5 cycles. As 161kV faults occur, the remote end, 161kV Sian-Si bus, will trip after 7 cycles and the fault location, 161kV JhangBin bus, will trip after 12 cycles. Three kinds of typical wind turbines were adopted respectively in the transient stability analysis in order to compare their effects on the system. 1) Type B: Wound Rotor Induction Generator; Case 1: 345kV Jhang-Bin bus faults Fig. 3 shows the transient voltage and frequency at the PCC of the wind farm. The fault occurs at 1 sec. During the fault, the voltage reduces instantaneously to 0.216pu (peak system) and 0.05pu (off-peak system) respectively. In this case, the adopted wind turbines are only equipped with under-voltage relay without LVRT function. The setting on the tripping time of the under-voltage relay in the used wind turbine is longer than that of the circuit breaker in the system. Therefore, after the fault clears, the wind farm stays online. Fig. 4 shows the transient active power and frequency curves during the fault: each wind turbine reduces its active power output to zero. It is observed that there is a little overshoot accompanying with oscillation phenomenon at the post-fault frequency. Fig. 5 shows the transient reactive power and voltage curves during the fault. After the fault clears, the above mentioned variables would recover to the original condition.

Fig. 4.

Transient active power and frequency of Type B turbine output

Fig. 5.

Transient reactive power and voltage of Type B turbine output

Fig. 3.

Transient voltage and frequency at the PCC of the wind farm with Type B turbines

Case 2: 161kV Jhang-Bin bus faults Fig. 6 shows the transient voltage and frequency at the PCC of the wind farm. During the fault, the voltage reduces instantaneously to 0pu so that the under-voltage relay is activated; then the wind farm trips offline after 0.16 sec, which causes the frequency at the PCC to be reduced instantaneously to 58.16Hz. It is observed that there is oscillation phenomenon at the post-fault frequency and voltage curves, which is affected by the nearby thermal plants. Although the wind farm is disconnected with the grid, the system voltage and frequency still recover to the original condition after the fault clears.

Fig. 6.

Transient voltage and frequency at the PCC of the wind farm with Type B turbines

Fig. 7.

Transient voltage and frequency at the PCC of the wind farm with Type C turbines

2) Type C: Doubly Fed Induction Generator; Case 1: 345kV Jhang-Bin bus faults Fig. 7 shows the transient voltage and frequency at the PCC of the wind farm. In the meantime, the output of each wind turbine is shown as Fig. 8 and Fig. 9. During the fault, the PCC voltage reduces instantaneously to 0.22pu (peak system) and 0.05pu (off-peak system) respectively. In this case, the adopted DFIG wind turbines possess LVRT function, which supports reactive power during the fault to try to prevent voltage dips and maintain the rated output voltage of wind turbines. Fig. 9 indicates the maximum reactive power support from each DFIG turbine is 1.57MVAr (peak system) or 1.3MVAr (off-peak system) during the fault, which maintains the output voltage of wind turbines at 0.4pu (peak system) and 0.28pu (off-peak system) respectively. Obviously, this voltage drop is less severe than that in the Type B case (Fig. 5). Based on the simulation result, the wind farm will trip offline after 0.17 sec in the off-peak system because of excessive voltage dip. Conversely, the wind farm will stay online after the fault clears under the peak system. Case 2: 161kV Jhang-Bin bus faults Fig. 10 shows the transient voltage and frequency at the PCC of the wind farm. During the fault, the voltage reduces immediately to 0pu because the 161kV bus is very close to the wind farm PCC, which causes the wind farm to be disconnected from the system. Similar to the case of 345kV bus fault, each wind turbine during the fault provides reactive power to try to relieve voltage drop. In this case, each wind turbine supports 1.21MVAr to the grid. Fig.11 and Fig. 12 show the output of each wind turbine; it is observed that the frequency dip due to the wind farm tripping is obvious. Although the wind farm is finally disconnected from the system, the grid voltage and frequency still recover to the original condition after the fault clears.

Fig. 8.

Transient active power and frequency of Type C turbine output

Fig. 9.

Transient reactive power and voltage of Type C turbine output

least to a 5-sec long period. In this work, the 0.5-sec ZVRT capability was adopted in this Type D wind turbines. Furthermore, the adopted wind turbines can also support reactive power to the grid during the fault. Based on the simulation result, the wind farm will stay online after the fault clears under the peak and off-peak conditions.

Fig. 10. Transient voltage and frequency at the PCC of the wind farm with Type C turbines

Fig. 13. Transient voltage and frequency at the PCC of the wind farm with Type D turbines

Fig. 11. Transient active power and frequency of Type C turbine output

Fig. 14. Transient active power and frequency of Type D turbine

Fig. 12. Transient reactive power and voltage of Type C turbine output

3) Type D: Synchronous Generator with a full-scale power converter; Case 1: 345kV Jhang-Bin bus faults Fig. 13 shows the transient voltage and frequency at the PCC of the wind farm. In the meantime, the output of each wind turbine is shown as Fig. 14 and Fig. 15. During the fault, the PCC voltage reduces instantaneously to 0.21pu (peak system) and 0.05pu (off-peak system) respectively. According to the technical document of the adopted fullscale-converter synchronous wind turbine, its capability on zero voltage ride through (ZVRT) is allowed from 0.5-sec at

Fig. 15. Transient reactive power and voltage of Type D turbine output

Case 2: 161kV Jhang-Bin bus faults

Fig. 16 shows the transient voltage and frequency at the PCC of the wind farm. During the fault, the voltage reduces instantaneously to 0pu; in the meantime, the wind turbines also reduce their active and reactive power output to zero (Fig. 17 and Fig.18). Due to their ZVRT characteristic, the adopted wind turbines in the off-peak system would still be connected with the grid after the fault clears. By contrast, the wind farm will be disconnected with the grid under the peak system because, after the fault clears, the output voltage of the wind turbine does not recover back to the pre-fault condition. Fig. 18 shows the post-fault voltage curve of each wind turbine; it is obvious that the recovery voltage is kept under 0.79pu so that the under-voltage relay is activated to trip the wind farm to be offline. This phenomenon would be caused by the disturbance of the two nearby thermal plants, which is operated in the peak system.

Fig. 18. Transient reactive power and voltage of Type D turbine output

V. CONCLUSIONS This paper has discussed the impact study of the first offshore wind farm project in Taiwan, including power flow, fault current, voltage variation, and transient stability computations. The simulation results have shown that it is possible to connect such a large-scale offshore wind farm as Jhang-Bin, 108MW, to the 161kV network in the central Taiwan without any network reinforcement. Based on the study experience, several viewpoints have been highlighted: z z z The grid strength would affect the system impact of a wind power integration system. Variable speed wind turbines, such as Type C and Type D, seem to have a better dynamic performance than limited-speed Type B wind turbines In the design phase of the wind farm, it has to be decided if the wind power units should produce reactive power to support the grid during faults. Under transient fault situations both the voltage and frequency have to be considered to assess the impact of wind power on the system stability The voltage at the PCC has to recover quickly after the clearance of the fault. REFERENCES
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Fig. 16. Transient voltage and frequency at the PCC of the wind farm with Type D turbines

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M.S.E.E degree, He will join the Taiwan Power Company as an engineer. His research interests include the micro grid control and integration of large amounts of wind power into existing power systems.

Yuan-Kang Wu was born in 1970. He received his Ph.D. degree in Electronic and Electrical Engineering from the University of Strathclyde at Glasgow, UK, in 2004. He was a researcher at the Industrial Technology Research Institute (ITRI) and an engineer at the Taiwan Electric Research and Testing Center (TERTC) in Taiwan. He is presently an Assistant Professor in the Department of Electrical Engineering at National Penghu University, Taiwan, working in the area of wind power system, renewable energy forecasting techniques, power system control and management, distributed generation and smart grid control Ching-Yin Lee was born in 1957. He received his B.S.E.E. degree from National Taiwan Institute of Technology in 1983, M.S.E.E. degree from National Taiwan University in 1986 and Ph.D. from National Taiwan University of Science and Technology in 1992. Professor Lee worked with Northern Taiwan Telecommunication from 1979 to 1986. Since 1986, he has worked with the Department of Electrical Engineering, National Taipei University of Technology (NTUT). He was the chairperson of the E.E. department from 1992 to 1995, a visiting scholar at the University of Texas at Arlington from 1996 to 1997, the dean of extension education office, the head of secretary office from 1997 to 2001, the dean of general affairs from 2001 to 2006, the dean of college of management from 2007 to 2008 and the vice-president at National Taipei University of Technology from 2006 to 2009. Currently, he is an honorable professor at NTUT, and a Professor and the head of secretary office at Tungnan University in Taiwan. His research interests are in power system operation, particularly in voltage stability analysis, reactive power planning, contingency analysis, power quality, distributed generation, micro grid simulation, and renewable energy Shu-Ging He was born in 1986. He received his B.S.E.E. degree from the National Penghu University in 2008. He is currently pursuing the M.S.E.E degree at the National Taipei University of Technology. After completing his