Wyniki wyszukiwania - BazTech

1

Event-based S-transform approach for nonintrusive load monitoring

Khalid K., Mohamed A., Shareef H., Sabeeh M.

Przegląd Elektrotechniczny

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2016

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R. 92, nr 5

194--198

EN

In this study, a nonintrusive load monitoring system is developed by analyzing the power signal obtained from a single point of power meter installation to detect ON/OFF load activities. A mathematically designed model with backpropagation neural network is utilized in load pattern recognition to decompose the load operation. Leveraging its unique load signature profile, the S-transform approach is employed to extract the features from the aggregate power signal and analyze the detection of load start-up transient from signal processing. To improve the accuracy of load identification for unknown data, the power factor is used as an additive feature with 99.32% load recognition accuracy.

PL

W artykule analizowany jest system monitorowania obciążenia sieci. Wykorzystano sieć neuronową do rozpoznawania rodzaju Transformata S jest użyta do ekstrakcji danych z sygnału mocy. Dodatkowo do identyfikacji obciążenia użyto współczynnik mocy.

2

Managing the Distributed Generation Units in a Microgrid using a Fuzzy-PI Controller

Salam A. A., Mohamed A., Hannan M. A., Shareef H.

Przegląd Elektrotechniczny

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2015

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R. 91, nr 10

148-153

EN

A power distribution system with distributed generations can operate as a microgrid under specific conditions. A microgrid can be operated under grid-connected and islanded modes seamlessly without disrupting the loads within the microgrid. This study analyzes the intelligent control of a microgrid with a pulse-width modulation-controlled voltage source inverter. Switching patterns are generated through a fuzzy proportional-integral (PI) controller. This study aims to develop a fuzzy-PI controller and compare its performance with that of a PI controller in controlling the voltage and frequency of a microgrid under disturbances in a Matlab/Simulink environment. Results show that the fuzzy-PI controller has higher capability, precision, and robustness than the PI controller in quickly restoring and stabilizing the microgrid. A simulation experiment is also performed to verify the greater validity and effectiveness of the microgrid equipped with the fuzzy-PI controller than with the PI controller. The developed fuzzy-PI controller can reduce the total harmonic distortion by 0.46%.

PL

W artykule analizowano inteligentne sterowanie mikrosiecią z wykorzystaniem przekształtnika sterowanego metodą modulacji szerokości impulsu. Jako sterownik wykorzystano proporcjonalno całkujący układ z logika rozmytą. Zbadano pracę układu w sieci z zakłóceniami. Stwierdzono znaczące przewagi kontrolera pracującego z logika rozmytą w porównaniu do układów konwencjonalnvch.

3

Effect of grid-connected photovoltaic systems on static and dynamic voltage stability with analysis techniques – a review

Kamaruzzaman Z. A., Mohamed A., Shareef H.

Przegląd Elektrotechniczny

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2015

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R. 91, nr 6

134-138

EN

This paper presents an overview on the effect of grid-connected photovoltaic (PV) system on static and dynamic voltage stability and discusses the analysis techniques used to quantify the effect. A review on the published works showed that the PV system design, PV parameters and the distinct design of power system network affect system voltage stability. Furthermore, a discussion is also made on the optimization techniques used for determining optimum PV placement and sizing for the purpose of improving voltage stability.

PL

W artykule dokonano przeglądu metod analizy wpływu dołączenia systemu fotowoltaicznego na właściwości statyczne i dynamiczne sieci. Odpowiedni projekt wpływa na stabilność napięciową. Analizowano też metody optymalizacji położenia systemu.

4

A Review of Techniques for Optimal Placement and Sizing of Electric Vehicle Charging Stations

Islam M. M., Shareef H., Mohamed A.

Przegląd Elektrotechniczny

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2015

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R. 91, nr 8

122-126

EN

Fossil fuel depletion and greenhouse gas emission from the burning of fossil fuels motivates policymakers to find an alternative road transport system. Electric vehicles (EVs) are considered as one of the best solutions in road transportation system as EVs can reduce the dependence on fossil fuel and diminish transportation-related emissions from carbon dioxide emission and other pollutants. The key issue in this system is recharging the EV batteries before they are exhausted. Thus, charging stations (CS) should be carefully located to ensure that EV users can access the stations within their driving range. This study represents a survey of the literature focused on the numerous optimization techniques employed from the last decade to determine the optimal EVCS placement and sizing problems.

PL

Zasadniczym problemem w rozwoju pojazdów elektrycznych jest zapewnienie nich naładowania przed pełnym rozładowaniem. Dlatego równie ważnym zagadnieniem jest właściwe rozplanowanie lokalizacji stacji ładowania. W artykule analizowane są różne techniki optymalizacji lokalizacji jak i wielkości stacji.

5

Under Voltage Load Shedding Scheme Using Meta-heuristic Optimization Methods

Verayiah R., Mohamed A., Shareef H., Abidin I. Z.

Przegląd Elektrotechniczny

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2014

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R. 90, nr 11

162--168

EN

Load shedding has been extensively studied because of multiple power system failure occurrences worldwide. Reliable techniques are required to provide rapid and precise load shedding to avert voltage collapse in power networks. Meta-heuristic optimization approaches are currently the widely developed methods because of their robustness and flexibility in dealing with complex and non-linear systems. These methods include genetic algorithm, fuzzy logic control, particle swarm optimization, artificial neural network, ant colony optimization, big-bang big-crunch optimization, and many others. This study provides an overview of all the meta-heuristic methods implemented for under voltage load shedding in power systems.

PL

Pozbywanie się obciążenia jest istotne z punktu widzenia możliwego zapadu systemu przesyłu energii. Do tego celu wykorzystuje się optymalizację meta-heurystyczną głównie dzięki odporności i szerokim możliwościom. W skład metody wchodzą: algorytm genetyczny, logika rozmyta, algorytmy mrówkowe, sieci neuronowe. W artykule dokonano przeglądu tych metod.

6

Review of Under-voltage Load Shedding Schemes in Power System Operation

Verayiah R., Mohamed A., Shareef H., Zainal Abidin I.

Przegląd Elektrotechniczny

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2014

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R. 90, nr 7

99--103

EN

A voltage collapse event is complex and localized in nature, but its effect is extensive. A vital effect of voltage collapse is total system collapse or blackouts, which will result in a significant loss to utility companies. Online monitoring of power system stability has thus become an important factor for electric power utilities. The final resort prevent the occurrence of a voltage collapse incident is the implementation of an undervoltage load shedding (UVLS) scheme. This paper focuses on the introduction of the UVLS scheme and presents an overview of the principles of the UVLS that are crucial to the design of such a protection scheme. This paper also presents the existing industrial practices and other research methods available to date.

PL

W artykule opisano algorytm UVLS (Under Voltage Shedding Schemes) zastosowany do monitorowania stabilności systemu energetycznego I zapobiegania jego zapaściom. Artykuł jest przeglądem metod stosowanych w praktyce oraz prac badawczych w tej dziedzinie.

7

Adaptive interval type2 fuzzy hysteresis-band current-controlled active power filter for power quality improvement

Jajarmi H. R. I., Mohamed A., Shareef H., Subiyanto

Przegląd Elektrotechniczny

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2014

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R. 90, nr 9

140--145

EN

This paper presents a novel adaptive hysteresis current control based on interval type2 fuzzy logic for active power filter to eliminate harmonics and compensate for reactive power. A new method to generate reference compensating current for the fundamental active current component is also proposed using the recursive discrete Fourier transform. The switching frequency of the conventional fixed hysteresis band (HB) control during the fundamental period is varied; thus causing harmonic ripple of the load current. This problem can be solved using adaptive HB control strategy. In this study, a fuzzy logic controller is used for base control because of its advantages over other adaptive HB techniques, such as mathematical simplicity, ease in adding heuristic knowledge, and robust changes in system operating conditions. An interval type2 fuzzy-adaptive HB technique is utilized for the current control to enhance the switching signals produced by the voltage source inverter. Based on the supply voltage and the slope of the reference current, this controller changes the hysteresis bandwidth. To control the DC capacitor voltage, an interval type2 fuzzy logic based controller is developed. Simulation results of the shunt active power filter with an interval type2 fuzzy adaptive HB current controller are examined and compared with the conventional controller. The results verify the effectiveness of the proposed controller in reducing total harmonic distortion from 21.03% to 2.12% and reactive power from 2616 Var to 6.28Var.

PL

Zaprezentowano nową metodę adaptacyjnego sterowanie prądem w celu eliminacji harmonicznych i kompensacji mocy biernej. Wykorzystano aktywny filtr bazujący na logice rozmytej typu 2. Stosuje się adaptacyjne histerezowe sterowanie w celu poprawy sygnału przełączania wytwarzanego przez przekształtnik napięciowy. Sterownik zmienia szerokość histerezy bazując na wartości napięcia zasilaniam i szybkości zmian pradu. Zmniejszono zawartość harm onicznych z 21% do 2 % i moc bierna z 2616 Var do 6,3 VAR.

8

Review of Voltage Sag Source Identification Methods for Power Quality Diagnosis

Kazemi A., Mohamed A., Shareef H., Zayandehroodi H.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 8

143--146

EN

Voltage sag is considered as one of the most common power quality problems causing sensitive equipment to malfunction and many industrial process interruptions. Complains about the economic loss and equipment damage from industrial customers has stimulated the investigation on the voltage sag source location. As a result, many efforts have been made to know the location of voltage sags by utilizing various concepts. Generally, there are two broad categories of methods to locate voltage sags source, namely, single and multi-monitor based methods. Therefore, the purpose of this paper is to present a comprehensive review of articles that involves various methods to identify the location of voltage sag source. Accordingly, the concepts, advantages and disadvantages of these methods are discussed and tabulated for review. Although this paper does not exhibit a numerical performance comparison, most of the research publications under the subject of voltage sag source location methods have been sorted and appended for a rapid reference.

PL

Zapady napięcia są jednym z ważniejszych parametrów opisjących jakość energii. Mogą one powodować uszkodzenia urządeń i zakłócenia procesów przemysłowych. Artykuł omawia metody lokalizacji źródeł zapadów napięcia. Zaprezentowano przegląd publikacji opisujących ten problem uwypuklając zalety i wady każdej z metod.

9

Power Quality Analysis of Grid-Connected Photovoltaic Systems in Distribution Networks

Farhoodnea M., Mohamed A., Shareef H., Zayandehroodi H.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 2a

208--213

EN

This paper presents a dynamic PQ analysis on the effects of high-penetrated grid-connected photovoltaic (PV) systems in a distribution system under different weather conditions. To track practical considerations, all information on PV units and weather conditions given in this paper were collected from different solar panel producers and from the Malaysian Meteorological Department (MMD), respectively. A 1.8-MW gridconnected PV system in a radial 16-bus test system is modeled and simulated using Matlab/Simulink software to study the effects of this technology on the system under different levels of solar irradiation. The simulation results proved that the presence of high-penetrated grid-connected PV systems could cause power quality problems such as voltage raise, voltage flicker, and power factor reduction.

PL

W artykule przedstawiono analizę dynamicznych zmian mocy w dużym systemie fotowoltaicznym dołączonym do sieci, w przypadku rożnych warunków pogodowych. W badaniach wykorzystano rzeczywiste informacje pogodowe. Model sumacyjny stworzono w programie MatlabSimulink, a następnie sprawdzono jego działanie w warunkach różnego poziomu zadanego nasłonecznienia. Wyniki pokazały, że duże zespoły paneli PV, podłączone do sieci, mogą wywołać problemy z jakością energii.

10

Optimal Sizing and Placement of Distributed Generation in Distribution System Considering Losses and THDv using Gravitational Search Algorithm

Abdul Kadir A., Mohamed A., Shareef H., Che Wanik M., Ibrahim A.A.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 4

132-136

EN

This paper presents a new method for determining optimal sizing and suitable placement for distributed generation (DG) in distribution system. A multi-objective function is created to minimise the total losses and average voltage total harmonic distortion (THDv) of the distribution system. The proposed method utilizes gravitational search algorithm (GSA )in the optimization process and its performance is compared with other optimization techniques such as particle swarm optimisation (PSO) and evolutionary programming (EP). The results show that the GSA performs better than PSO and EP by giving the best fitness value and convergence rate.

PL

W artykule opisano metodę optymalizacji rozmieszczenia i mocy generatorów energii w systemie rozproszonym. Opracowana została funkcja wielokryterialna, służąca do minimalizacji całkowitych strat i wskaźnik THD napięcia. Optymalizacja dokonywana jest z wykorzystaniem algorytmu GSA. Jego działanie zostało porównane z działaniem innych metod, jak PSO i EP. Przedstawiono wyniki porównania.

11

Multi-Objective Optimization Based Approaches for Active Power Filter Design- A Comparison

Imani H. R., Mohamed A., Shareef H., Eslami M.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 6

98--103

EN

This paper introduces an optimal active power filter design method to compensate simultaneously current harmonics and reactive power of a nonlinear load. The power filter consists of a passive RL low-pass filter placed in series with the load and a pure active filter which has RL elements connected in series with insulated gate bipolar transistors (IGBT) based voltage source converter. The filter is supposed to inject a current into the connection node of the load and grid in order to eliminate current harmonics and its imaginary current. The voltage source converter is placed in a hysteresis feedback control loop to generate the reference current. The band width and output amplitude of the hysteresis controller are optimized with inductance of RL filters. In solving the optimization problem, three objective functions are considered which include minimizing current total harmonic distortion (THD), maximizing power factor and minimizing the IGBT bridge current. The four optimization methods applied are the goal attainment, max ordering, non-dominated sorting genetic algorithm-II and strength Pareto evolutionary algorithm 2 (SPEA2) methods. The results of the four optimization methods are compared and it is shown that the SPEA2 method gives the best performance in terms of minimizing current THD and maximizing the power factor.

PL

Przedstawiono metody optymalizacji projektowania aktywnych filtrów mocy umożliwiające kompensację prądów harmonicznych i mocy biernej przy obciążeniu nieliniowym. Analizowany filtr składa się z pasywnego filtru dolnoprzepustowego RL połączonego szeregowo z obciążeniem i filtrem aktywnym. Filtr aktywny mam elementy R:L dołączane z wykorzystaniem tranzystora IGBT.

12

Investigation of harmonic generation from dimmable LED lamps

Uddin S., Shareef H., Hannah M.A., Mohamed A.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 4

151-155

EN

The purpose of this paper is to investigate harmonic generation from dimmable Light Emitting Diode lamps (LEDs) which are used in residential and commercial applications as an energy efficient lighting systems. It is done by conducting laboratory tests on various LED lamps and tapping the load current behavior under different conditions. Then the frequency domain analysis is performed to investigate the generated harmonics. Harmonic levels of different wattage, various branded dimmable and non dimmable LED bulbs along with dimmable compact fluorescent lamps are experimentally evaluated and compared. Experimental result shows that, all LED lamps generate very high level of harmonic during dimming operation which may affect the power quality of AC mains.

PL

W artykule opisano zagadnienie emisji harmonicznych przez ściemnianą diodę LED, wykorzystywaną do oświetlania pomieszczeń. Przeprowadzono próby laboratoryjne w różnych warunkach pracy, a na ich podstawie analizy generowanych harmonicznych. Pod tym kątem dokonano porównania działania badanych diod z innymi energooszczędnymi rozwiązaniami.

13

Hybrid Proton Exchange Membrane Fuel Cell with Battery Energy Storage for Stand-Alone Distributed Generation Applications

Zambri N. A., Mohamed A., Shareef H., Che Wanik M.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 5

161-166

EN

Hybrid power sources with energy storage elements that supply renewable energy can overcome the lack of renewable energy sources, especially with respect to load-tracking issues. Poor load-following characteristics and slow response to rapid load changes are some of the drawbacks of proton exchange membrane fuel cells (PEMFCs) because of the gas processing reaction and the fuel cell dynamics. This load tracking problem can be solved by adding an energy storage element, such as a battery or an ultra-capacitor to the system. This paper focuses on modeling of a stand-alone hybrid distributed generation (DG) system using the MATLAB/Simulink software. The model utilizes PEMFC as the main energy source, whereas the battery functions as energy storage to compensate for the limitations of PEMFC. Furthermore, the three main types of batteries are compared via simulation to identify the most suitable battery types for DG applications. The main objective of this paper is to analyze a hybrid model based on the power output across the fuel cell and in the battery terminal. Simulation results show that the delay and load-tracking problems in the PEMFC model have been resolved by the existence of the battery in the hybrid model.

PL

W artykule opisano model i badania symulacyjne hybrydowego systemu generacji energii elektrycznej. Układ złożony jest z komórek paliwowych jako głównego źródła energii oraz baterii służącej do kompensacji energii przy dynamicznej zmianie obciążenia. Dodatkowo dokonano symulacyjnego porównania zastosowania trzech typów baterii. W badaniach wykorzystano oprogramowanie Matlab-Simulink. Otrzymane wyniki potwierdziły skuteczność działania rozwiązania z dodatkową baterią.

14

Genetic algorithm for damping of power system oscillations

Eslami M., Shareef H., Khajehzadeh M.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 2a

219--222

EN

In this paper, Genetic algorithm (GA) optimization method is presented for optimal design of power system stabilizer (PSS). The design problem of the PSS parameters is formulated as an optimization problem and GA optimization method is used to search for optimal PSS parameters. The 2-area-4-machine power system, under a wide range of system configurations and operation conditions is investigated to illustrate the performance of the GA. The performance of the optimization method is compared with the conventional power system stabilizer. The eigenvalue analysis and non-linear simulation results are presented and compared to show the effectiveness of the GA optimization method in optimal tuning of PSS, to enhance power system stability.

PL

W artykule zaprezentowano metodę optymalizacji algorytmu stabilizacji systemu zasilania, z wykorzystaniem algorytmu genetycznego. Opracowana metoda została porównana w działaniu z konwencjonalnym stabilizatorem sieci. Przedstawiono wyniki przeprowadzonych symulacji nieliniowych i analizy wartości własnych.

15

Coordinated design of UPFC and PSS to improve power system stability

Eslami M., Shareef H., Mohamed A., Khajehzadeh M.

Przegląd Elektrotechniczny

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2013

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R. 89, nr 3a

153--158

EN

A modified particle swarm optimization is proposed and used for coordinated designing of the power system stabilizer and unified power flow controller as a damping controller in the multi-machine power system. For evaluation of the effectiveness and robustness of the proposed controllers, their performances have been tested on a weakly connected power system subjected to different disturbances. The results of these studies show that the proposed coordinated controllers have an excellent capability in damping power system inter-area oscillations and enhance greatly the dynamic stability of the power system.

PL

W artykule opisano metodę projektowania struktury sterowania układem elektrycznym wielomaszynowym, gwarantującej stabilność pracy i jednostkowy współczynnik mocy. W metodzie wykorzystano zmodyfikowaną optymalizację rojem cząstek. Analizy skuteczności i odporności polegała na poddaniu zakłóceniom systemu przy połączeniu słabym. Wyniki badań potwierdzają skuteczność proponowanego rozwiązania.

16

Comparison of Decentralized Voltage Control Methods for Managing Voltage Rise in Active Distribution Networks

Hashim T. J., Mohamed A., Shareef H.

Przegląd Elektrotechniczny

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2013

|

R. 89, nr 2a

214--218

EN

Integration of distributed generations (DGs) to distribution systems has posed several technical challenges for network operators. One of the main problems that has received widespread attention is the voltage rise issue. This issue has led researchers worldwide to find ways to control voltage so that an acceptable limit is maintained and delivered to consumers. In networks with DGs, the methods of voltage control have been identified as coordinated or centralized control and decentralized control. This paper presents the results and comparisons of a simulation that used these decentralized voltage control methods in managing voltage rise issues in distribution systems with DGs.

PL

W artykule przedstawiono porównanie metod sterowania zdecentralizowanego, wykorzystywanego do kontroli dopuszczalnej amplitudy napięcia w sieci, zawierającej rozproszone generatory energii elektrycznej. W tego rodzaju sieci możliwe są nieoczekiwane, skoki napięcia, co przekłada się na jakość energii, dostarczanej do użytkowników i działanie odbiorników.

17

A Review of Power Quality Monitor Placement Methods in Transmission and Distribution Systems

Kazemi A., Mohamed A., Shareef H., Zayandehroodi H.

Przegląd Elektrotechniczny

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2013

|

R. 89, nr 3a

185--188

EN

In today’s modern world, customers require a high level of power quality than ever before because of the increasing availability of semiconductor devices and microprocessors that are more sensitive against power system disturbances. One of the most frequently occurring types of power quality disturbances are voltage sags, which are considered to likely have a severe impact on sensitive load. Thus, power quality monitors (PQM) are required to be installed in many buses in a power system to assess disturbances such as voltage sags. However, the installation of PQMs at all buses considered in the system is uneconomical. Generally, PQM placement comprises four main methods, namely, monitor reach area, covering and packing, graph theory, and multivariable regression. This paper presents a comprehensive review of articles that deal with various methods of PQM placement. The concepts as well as the advantages and disadvantages of these methods are discussed and tabulated for an all-exclusive review. Although this paper does not show a comparison of numerical performance, most of the research publications on the subject of PQM placement methods are sorted and appended for easy reference. This work may be considered as an important guide for researchers who are interested in knowing and developing better PQM placement methods.

PL

W artykule przedstawiono przegląd dotychczasowych prac dotyczących określenia lokalizacji montażu urządzeń do monitoringu jakości energii w sieci. Omówiono idee działania, wady i zalety każdej z metod. Nie dokonano porównania złożoności obliczeniowej. Niniejsza praca stanowi przewodnik dla badaczy pracujących z tego typu urządzeniami.

18

Reliability Improvement in Distribution Systems by Optimal Placement of DSTATCOM Using Binary Gravitational Search Algorithm

Salman N., Mohamed A., Shareef H.

Przegląd Elektrotechniczny

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2012

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R. 88, nr 2

295-299

EN

In this paper, a new method for improving reliability level of distribution systems is presented by employing optimal placement of DSTATCOM. The binary version of the Gravitational Search algorithm (BGSA) is used to solve the DSTATCOM optimal placement problem. The simulation results show that the proposed method is efficient and feasible for improving the system reliability level by reducing load outages and momentary interruptions.

PL

Przedstawiono nową metodę poprawy niezawodności system dystrybucji energii dzięki optymalizacji DSTATCOM. Optymalne położenie DSTATCOM było określane na podstawie algorytmu BGSA. Uzyskano [poprawę dzięki dedukcji przerw w obciążeniu i chwilowych zaników.

19

Optimal Placement and Sizing of Shunt FACTS Devices in Power Systems Using Heuristic Optimization Techniques: a Comprehensive Survey

Sirjani R., Mohamed A., Shareef H.

Przegląd Elektrotechniczny

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2012

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R. 88, nr 10b

335-341

EN

The Static Var Compensator (SVC) and the Static Synchronous Compensator (STATCOM), as two components of Flexible AC Transmission System (FACTS) devices, play an important role in controlling the reactive power flow to the power network. Because of economic considerations, identifying the best location for installing the SVC and STATCOM is also important. The FACTS devices placement problem is commonly solved using heuristic optimization techniques which are diverse and have been the subject of ongoing enhancements. This paper presents a survey of the literature from the last decade that has focused on the various heuristic optimization techniques applied to determine optimal placement and sizing of the SVC and STATCOM.

PL

W artykule analizuje się optymalne usytuaowanie elementów SVC I STATCOM w systemie FACTS. Przedstawiono stan wiedzy wykorzystania do tego celu różnych heurystycznych metod optymalizacji.

20

Heuristic Optimization Techniques to Determine Optimal Capacitor Placement and Sizing in Radial Distribution Networks: A Comprehensive Review

Sirjani R., Mohamed A., Shareef H.

Przegląd Elektrotechniczny

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2012

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R. 88, nr 7a

1-7

EN

Capacitors in power systems are used to supply reactive power to minimize loss and to improve the voltage profile. The appropriate placement of capacitors is also important to ensure that system power losses and total capacitor costs are minimal. The capacitor placement problem is commonly solved using heuristic optimization techniques which are diverse and have been the subject of ongoing enhancements. This paper presents a survey of the literature from the last decade that has focused on the various heuristic optimization techniques applied to determine optimal capacitor placement and size.

PL

Kondensatory używane są w sieciach zasilających do poprawy jakości napięcia – zmniejszenia mocy biernej. Ważną rolę odgrywa umiejscowienie kondensatora. W artykule zaprezentowano przegląd literaturowy prac na temat metod optymalizacji umożliwiających określenia optymalnej pozycji i wielkości kondensatora.