power transmission line fault location based on current traveling waves
Experimental Investigations on Multi-end Fault Location System based on Current Traveling Waves
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Experimental Investigations on Multi-end FaultLocation System based on Current Traveling Waves
A. Elhaffar, student member IEEE,N. I. Elkalashy, student member IEEE and M. Lehtonen.
Abstract Traveling Waves Recorders (TWR) are used toaccurately find the location of different faults in transmissionnetworks. These recorders are installed at few substation buseswhere current traveling waves can be extracted. The recordedsignals time delay of the initial wave is recoded at each TWR. Inthis paper, the minimum travel time of the traveling wave hasbeen calculated considering Dijkstra algorithm to select thenearest TWR to the faulted line. The Wavelet Transform is usedto find the highest spectral energy of the frequency band of thetraveling wave signals. Thus, the Wavelet Transform enhancesthe traveling wave fault location. The current transformers (CT)are modeled and experimentally verified to represent thetraveling wave interaction with the CT. The secondary wiringfrom the CT secondary winding to TWR has also some effect onthe measured traveling wave signal which motivates practical
issues associated with measuring the arrival times. Correctionfactors are derived to monitor high frequency current travelingwave signals. Validation of fault location is examined byATP/EMTP simulations for typical 400 kV power system faults.
Keywords: Traveling waves, fault location, multi end method,
single phase to ground fault, modal analysis, wavelet transform.
I. INTRODUCTION
ccuratly locating faults on high voltage transmission
systems is very important for utilities to allow quick
maintenance action of the repair crew. Fault location systems
have been traditionally relied on the measurement of power
frequency components. However, traveling wave faultlocation shows an increasing interest to researchers and
utilities due to its accuracy [1]-[7].
As the number of traveling wave recorders (TWR) are
usually less than the number of buses, efficient methods are
needed to find the fault from only the existing recording units
[8]. Recently, traveling waves and the wavelet transform of
the current transient are used to extract initial arrival times of
fault initiated waves reflected from the fault point[9]-[11].
In [8], a method was developed to estimate the fault area
using several recorders scattered throughout the system by
comparing a fault signature record with calculated fault
signatures. This method is used in this presented paper
considering few recording units installed at few monitored
substations in the power system. The fault location is
determined by accurately time-tagging the arrival of the
traveling wave at these monitored substations and comparing
the time difference to the total propagation time of the lines.
The time reference signal can be attained using satellite from
A. Elhaffar, N. I. Elkalashy and M. Lehtonen are with Power System & High Voltage Engineering,
Department of Electrical and Communication Engineering, Helsinki University of Technology (TKK),
P.O.Box 3000, FIN-02015 HUT, Finland, Tel. +358 9 4515484, Fax +358 9 460224, Finland.(email:
[email protected], [email protected], [email protected]).
the Global Positioning System (GPS). Fault distance
calculation is, therefore, carried out using double end method
and pre-selected two TWR signals.
Conventional CTs are used to monitor the traveling wave
transients. In this paper, effects of CT and split-core inductive
couplers filtering current transformers on the recorded signals
and therefore on the traveling wave fault locator performance
are investigated. This investigation is carried out using the
total transfer function of the whole fault locator measuring
system. Then, a practical solution for fault location using few
traveling wave current signals is studied taking into account
CT and associated secondary system model. The signals are
analyzed using wavelet transform. A method of selecting anoptimum mother wavelet and an optimum level according to
signals energy content is presented. The minimum travel time
of the current traveling wave signal traveling to the nearest
TWR has been calculated using Dijkstra algorithm [12].
Simulation results indicate good correlation between the
estimated and actual fault locations for the studied network.
II. CURRENT TRANSFORMER MODELING
In this section, the CT modeling is presented. The
modeling is carried out with the aid of experimental results
measured at Helsinki University of Technology (TKK). The
CT used in this measurement was a hair-pin type 110 kV,
200/5 CT with three secondary windings as shown in Fig. 1.The CT modeling is divided into two parts; the low and high
frequency models. The low frequency model parameters of the
CT are calculated from open and short circuit tests of the CT
at power frequency. The inductance of secondary windings
dominates the impedance at a low frequency and the stray
capacitances have negligible effects. Open circuit tests were
only measured from the secondary side while the short circuit
tests were measured from both primary and secondary sides.
Towards high frequency transfer function modeling of the
CT, an impulse current signal was injected in the primary
winding and the output secondary current was measured using
a low inductance shunt resistor (0.4905 ). The signals aredigitally recorded using a digitizer. The digital recorded
signals are transformed using Fourier Transform to obtain the
frequency spectra from which the desired transfer functions
are calculated. The shunt capacitances representing the
capacitances of the transformer windings can no longer be
ignored. These parasitic secondary capacitances have a great
influence on the output current. Open and short circuit
impulse tests are also carried out for the abovementioned CT
to find high frequency model parameters [13]. Fig. 2 shows
secondary winding 1 spectrum during the open circuit test.
A
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Figure 1 CT High Frequency equivalent circuit.
103
104
105
1060
2
4
6
8
x 104 S1 Winding Impedance
Zs
1[Ohms]
Frequnecy [ Hz]
103
104
105
106
-100
0
100
S1 Winding Impedance Angle
Phi[deg]
Frequnecy [ Hz] Fig. 2 Open circuit test from secondary winding 1.
The frequency response measurements were carried out
using standard 1.2/50 s low impulse voltage signals for opencircuit tests and non-standard 2.2/6 s current signals for shortcircuit test. The first resonance frequency is found for each
secondary winding from its corresponding spectrum. Then,
the secondary winding shunt capacitances Cs1, Cs2and Cs3can
be calculated. Consequently, from these tests, a frequency
dependent correction factors can be obtained based on the
calculated parameters of the CT as in:
n
n
n
nn
Zc
Zs
Zm
ZsCFs ++= 1 (1)
whereZcnis the capacitance of secondary winding and n is the
secondary winding number 1, 2 and 3.
Split-core current transformers are connected directly to thesecondary of the relaying CTs for isolating high frequency
signals. They are also tested and their transfer function
calculated using the system identification tool box of
MATLAB[14].Obviously the Box-Jenkins model gives good
results as shown in Fig. 3. From impulse current
measurements, the overall transfer function was plotted
against the frequency. Therefore, the resonance frequency
values for the CT, wiring and coupler was located and
recorded. The overall transfer function bode plot is shown in
Fig. 4. Considering the interaction between the ATP/EMTP
simulated network and the transient analysis control system
(TACS) function, the transfer function of the measuring
system of the CT, secondary wiring and split-core inductive
couplers are inserted in the ATP/EMTP transmission line 110
kV model in addition to the secondary wiring cable from the
CT to the TWR as shown in Fig. 5 [15], [16].
0 1 2 3 4 5 6 7 8
x 10-6
-2
-1.5
-1
-0.5
0
0.5
1
1.5
2 x 10
-3
y1
Coupler Measured and Simulated Models Output
Measured Output Current
Box-Jenkins Model Fit: 71.22%
PEM Fit: 51.7%
Fig. 3 Inductive coupler model comparison
10
-5
10
0
10
510
-8
10-6
10-4
Amplitude
Overall Transfer function of CT and coupler
10-5
100
105
-400
-200
0
200
Phase(degrees)
Frequency (rad/s) Fig. 4 Overall transfer function of both CT and inductive coupler
110kV 110kV
Wave-imp
B1
Wave-imp
G(s)
G(s)
G(s)
Transfer function: CT and Line Couplers
Fig. 5 Simulated 110 kV transmission Line with CT Transfer Function and
secondary Wiring
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III. SIGNAL PROCESSING
A. Wavelet Analysis
The main problems that came across by using current
traveling waves are that they have no direction and are noisy.
Recently, it was shown that the wavelet transform of the
modal components of the fault initiated traveling waves is
used to estimate the location of the fault [10].
The wavelet transforms of the modal current componentsare obtained yielding the corresponding wavelet coefficients
in selected levels. The potential benefits of applying digital
wavelet transform (DWT) for analyzing traveling waves
transients have been well-recognized because of its inherent
time and frequency localization characteristics [17]. DWT
offers an alternative to windowed (Short-Time) Fourier
(STFT) analysis where a uniform window is used for all
frequencies. This problem has been solved in DWT by
employing short windows at high frequencies and long
windows at low frequencies. The windowing is performed in
practice by scaling and translating a Mother Wavelet (t).
The continuous wavelet transform (CWT) is initiallyshown in equation (8).
+
= dttx
a
bt
abaCWT )().(
1),(
(2)
The mother wavelet )(t is a band pass filter which should
satisfy some conditions: It should be short and satisfies the
relation:
+
= 0)( dtt (3)
a1 is a coefficient used in order to have the same "energy"
in each analyzing wavelet.
In practice discrete wavelet transform DWT is used
instead of CWT. The two parameters aand bare discretized.
For a signal x(t), its DWT with respect to a discrete mother
wavelet (t)can be represented by
[ ] [ ] =
k a
bnkx
anmxDWT )(
1,, (4)
The b gives the time position of the wavelet, while the
parameter acontrols its frequency.
DWT of a sampled signal is calculated by choosing a= a0m,
and b= nb0a0m. Toward better efficiency of computations, a0
and b0 are set to 2 and 1 respectively resulting in a binarydilation of 2
mand dyadic translation of 2
mn[18]. The dyadic
DWT analysis is the most popular implementation of DWT,
which is used in most applications. The discrete basis function
of the dyadic DWT is given by:
020
0
( , )
m m
m
x a nn m a
a
=
(5)
The wavelet coefficients that represent the fault traveling
wave signal are:
0 0 1 2[ ........ 1]TWC c d d d dj= (6)
wherejrepresents the total number of resolution levels.
For carrying out wavelet analysis, first, a suitable mother
wavelet must be chosen, which plays a significant role in a
fault-location scheme. In this work, an optimum mother
wavelet is selected based on the highest energy content and
based on its ability to reconstruct the original signal with
minimum errors [19],[20].
B. Optimum Wavelet FunctionDifferent wavelets can be used to decompose the fault
transient signal and extract the feature vector. A comparison
between three different groups of orthogonal wavelets was
carried out. These wavelets used in the comparison were: db2,
db4, db6, db8, db10, db20, db30, db40, sym4, sym8, sym10,
coi1..5, bior2.4, bior3.3, and bior3.7. The criterion for
selecting the proper wavelet, to be used in feature extraction,
is based on its ability to reconstruct the original signal with
minimum errors. The norm of the error is used as a
discriminator. For selecting the proper details level, the energy
content at different resolution levels is calculated and the
highest one is selected. Fig. 6 shows the details energy at sixlevels for a fault at 112.2 km from OL substation for a pre-
selected mother wavelet.
The problem now arises from which level of the sub-band
components should be used in DWT analysis procedure. The
main reason is at fault location, there is one level at which the
calculation of the fault distance is more accurate than other
levels. If the used scaling function and the wavelets form an
orthonormal basis, the Parseval's theorem relates the energy of
the fault traveling wave signal to the energy in each of the
expansion components and their wavelet coefficients.
Therefore, the energy of the fault traveling wave signal will be
partitioned at different resolution levels according to the
transmission line transients [21].
22 2
0
( ) ( ) ( )jk j k
x t dt c k d k
= = =
= + (7)where, djis thejlevel wavelet coefficient and cjis thej level
scaling coefficient.
With the energy in the expansion domain is partitioned in
time by kand in scale by j. This means that the energy of the
distorted signal can be partitioned in terms of the expansion
coefficients [21]. The above method was implemented in a
MATLAB program using the current details of the fault line
signal as the absolute sum value of the current signal details
squared computed in a discrete form, as in:2
1
( ) ( )
N
j
k
DE k d k
=
= (8)whereDE(k)is the details energy detector in discrete samples.
j is considered as the scale number, and k is the index of
wavelet details coefficients. Fig. 6 indicates that high-
frequency current was more powerful in the fault signal at the
fist level, and the signal energy was distributed over the whole
analyzed resolution levels with different magnitude [19].
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1 2 3 4 5 60
1
2
3
4
5
6x 10
6
Levels
DetailsEnergy
Fig. 6. OL current traveling wave wavelets transform details energy
0 20 40 60 80 100 120 140 160-2
-1.5
-1
-0.5
0
0.5
1
Fault Distance [km]
Error
%
Percentage Error
Fig. 7 Error analysis of single end method
IV. FAULT LOCATION PROBLEM FORMULATION
Traveling wave methods for transmission lines fault
location have been reported since a long time. Subsequentdevelopments had employed high-speed digital recording
technology to capture the traveling wave transients created by
faults. It is well known that when a fault occurs in overhead
transmission lines systems, the abrupt changes in voltage and
current at the point of the fault generate high frequency
electromagnetic travelling waves which propagate along the
transmission line in both directions away from the fault point.
If the times of arrival of the travelling waves in the two ends
of the transmission line can be measured precisely, the fault
location then can be determined by comparing the difference
between these two arrival times of the first initial traveling
wave signal.By modal transform, a three-phase system can be
represented by an earth mode and two aerial modes. Each
mode has a particular velocity and characteristic impedance.
In this paper, the aerial mode 1 signal is used in the fault
distance estimation. The modal components are obtained by:
),(),(
),(),(
txITtxI
txUTtxU
mi
mv
=
=
(9)
(10)
where Tv and Ti are voltage and current transformation
matrices, U and I are phase voltage and current components,
Um and Im are modal voltage and current components
respectively. for transposed lines to transform the transient
current signals Ia, Iband Icinto their modal components using
Clarks transformation as follows [22],[23]:
1
2
3
1 1 11
2 1 13
0 3 3
a
b
c
I I
I I
II
=
(11)
where I1 is the ground mode current, I2 and I3are known asaerial mode current components for transposed lines.
In single-ended fault location method, the signals reflected
from the fault points as well as from the remote end busbars
imposes more difficulties in finding the arrival times of the
recorded signals especially for faults at the second half of a
transmission line. The time difference between the ground and
Ariel mode wavelet coefficients (dt0) is compared with that of
the time difference produced by a fault located at the middle
of the line (dtm) [11]. If dt0dtm, then the fault will be locatedin the first half of the line and the fault distance x will be:
2
dtv
x
= (12)where x is the distance to the fault, td=(t2 t1)
which is the
time difference between two consecutive peaks of the
optimum wavelet transform detail coefficients of the recorded
currents at the terminal bus and v is the wave propagation
velocity of the aerial mode.
For a fault between the midpoint and remote end bus, some
reflections from remote end will arrived at the sending station
before the first reflection from the fault point. The time
difference between the ground and arial mode wavelet
coefficients is greater than that of the time difference
produced by a fault located at the middle of the line (dt0> dtm).Then the fault will be located in the second half of the line and
the fault distance x will be calculated using:
2 1x - (t -t )2
vL= (13)
where L is the line length and t2-t1 is the time difference
between two consecutive peaks of wavelet coefficients of the
aerial mode current signal. These signals are processed using
MATLAB [18]. Current signal was acquired at a sampling
rate of 1.25 MHz and so frequencies up to 625 kHz were
considered and the faults are simulated on the OL-KA line
using ATP/EMTP program.
In single end method, usually it is difficult to find the exactfault location if the fault inception angle or the fault resistance
changes. The auto-correlation of the details for each level
gives good fault distance estimation [24]. The fault location
percentage error using autocorrelation of the wavelet details
has shown good results as shown in Fig 7. Due to the
difficulties in finding the second peak signal, single end
traveling wave fault location method has high errors when
applied to meshed networks. The reason is the multipath
reflections from different discontinuities. Utilities prefer
multi-end fault location with few recording units.
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V. MULTI END MEHOD
Fig. 8 illustrates the single line diagram of a 400 kV
transmission network simulated using ATP/EMTP [15], in
which the processing is created by preprocessor program
ATPDraw [16]. A small part of 400kV FinGrid network has
been simulated and a fault scenario similar to that disturbances
occurs on 29.6.2002 13:12:54 (GMT) between OL-KA
substations at a distance 112.2km from OL substation. The
TWR recorders that recorded the fault signals are YL, AJ, ES,OL recorders. The minimum path for the traveling wave has
been calculated from Bus OL though OL-KA line to BUS AJ.
The fault is then calculated using two end method using the
OL and AJ recordings. Traveling wave velocities can be
determined based on the type and configuration of lines using
line/cable constant (LCC) program of ATP/EMTP[15].
The power lines studied are part of the 400 kV Finnish
EHV transmission system. The relevant lines and location of
the current transducers are shown in Fig. 8. This system has
been modeled using ATP/EMTP with measurements at three
substations: OL, AJ and ES.
If the times of arrival of the traveling waves in the chosentwo TWR units can be measured precisely, the fault location
then can be determined by comparing the difference between
these two arrival times. However, two main aspects which
affect the accuracy directly and significantly need to be
considered. One is the data synchronized sampling and the
other is arrival time detection. The former can be obtained
easily by using the Global Positioning System (GPS) which
can provide time synchronization up to maximum 1 s
accuracy over a wide area; the latter can be fulfilled by using
wavelet analysis which has already been successfully applied
in various fields in electrical engineering [19].
A MatLab program has been developed to estimate the
fault location from the first peak arrivals at three TWR units.
The minimum path for the traveling wave between the closest
two TWR units to the fault has been calculated using Dijkstra
Algorithm [12]. The maximum value of the first recorded
signals are selected as the two TWR candidates for fault
location Then, the fault distance is calculated by the double-
end method using the chosen TWR signals. For example: If a
single earth fault occurs at OL-KA line, and the best two
TWR candidates are OL and AJ recorders, the fault location
can be calculated as follows:
[OL-AJ] OL AJ
OL
line lengths + (T1 -T1 ).FL =
2
v
(14)
VI. RESULTS
The proposed approach has been tested under different system
circuit configurations, under different system and fault
conditions. The minimum path for the traveling wave has been
calculated using Dijkstra Algorithm. The fault is then
calculated using double end method using the best two fault
traveling wave signals as shown in Fig 9.
AJ
UL
OLKA
ES
RA
TM
TWR
TWR
TWR
HYYL
TWR
HU
KR
Fig. 8. Test transmission system single line diagram.
0 0.5 1 1.5 2
x 10-3
-300
-200
-100
0
100
200
300
Time [%mu s]
OptimumD
etailsCurrentLevel[A]
AJ Recoder Signal
OL Recoder Signal
Fig. 9. The optimum details level of two TWR at AJ and OL buses.
TABLEI SIMULATION RESULTS FOR ASINGLE-PHASE EARTH FAULTS
Actual Location from OLFaulted
Line % km
Estimated Location
from OL
Error %
OL-KA 20 % 32.6 32.6540 -0.1656
OL-KA 50 % 81.5 81.6586 -0.1946
OL-KA 80 % 130.4 130.4298 -0.0229
UL-ES 20 % 97.2 96.9032 0.3053
UL-ES 50 % 172.5 172.6376 -0.1096
UL-ES 80 % 50.2 49.5104 -0.2783
This method is sensitive to the travelling wave propagation
velocity which can be calculated using the LCC program.
Using a ground resistivity of 2300 .m and the data of table Ifor a horizontal transmission line configuration, the
propagation speed was found to be 29177.4 km/s. At least,
two recordings are needed for an accurate fault location in a
meshed network. Simulation studies show that for earth faults,
errors are symmetric along the transmission line except that
when fault inception angle is too small or fault location is tooclose to the line terminals.
VII. CONCLUSIONS
The experimental results reveal that CTs can be used for
monitoring high frequency current signals over a useful range
suitable for traveling wave based fault locators.
This paper presents a fault location procedure for multi end
transmission line network using current transient signals from.
For single end method, the wavelet transform of the current
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transient is used to extract arrival times of fault traveling
waves reflected from the fault point. Simulation results
indicate good correlation between the estimated and actual
fault locations for the studied transmission line. The maximum
of the squared value of auto-correlation function of optimum
level detail of the wavelet coefficients enhances the fault
location accuracy. A detailed investigation of the capabilities
of the DWT to identify, detect and localize signal disturbances
expressing power system transients and fault conditions. Aproposed DWT implementation algorithm using an optimum
mother wavelet has been introduced, examined, and validated.
The investigation results show that the DWT can detect the
band of traveling wave signals and localize them in time.
For multi end method, the minimum path for the traveling
wave has been calculated; it will be automatically done by
Dijkstra Algorithm. The fault is then calculated using two end
method using the appropriate fault recordings from the nearest
TWR recorders.
VIII. REFERENCES
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Methods for Overhead Lines, AIEE Transactions, pp. 157-160, August
1957.
[2] F. S. Caralho and S. Carneiro,Detection of Fault Induced Transients in
E.H.V. Transmission Lines for the Development of a Fault Locator,
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[3] Y. G. Paithankar and M. T. Sant, A new algorithm for relaying and
fault location based on auto-correlation of travelling waves ,
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[4] Rajendra S, McLaren PG. Traveling-wave techniques applied to
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[5] Rajendra S, McLaren PG. Traveling wave techniques applied to the
protection of teed circuits: Multi phase/multi circuit system. IEEE Trans
PAS 1985; 104, Page(s): 3551-3557.[6] Christopoulos C, Thomas D, Wright A. Scheme, based on travelling-
waves, for the protection of major transmission lines. IEEE Proc C 1988,
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[7] Aurangzeb, M.; Crossley, P.A.; Gale, P.; Fault location using the high
frequency travelling waves measured at a single location on a
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[8] Z. Galijasevic and A. Abur,'Fault Area Estimation via Intelligent
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[9] Robertson, D. C.; Camps, O. I.; Mayer, J. S. & Gish, W. B.: Wavelets
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[12] E. W.Dijkstra, A note on two problems in connection with graphs,
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[14] L.Ljung, System Identification Toolbox users Guide for use with
Matlab.
[15] Alternative Transient Program, RuleBook, 1987.
[16] Prikler, L. and Hoildalen, H. ATPDraw users' manual, SINTEF Energy
Research AS, Norway, TR F5680, ISBN 82-594-2344-8, August 2002
[17] Daubechies I. Ten lectures on wavelets , SIAM; 1992.
[18] M. Misiti, Y. Misiti, G. Oppenheim and J. Poggi, Wavelet toolbox user's
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[19] A. M. Gaouda, M. M. A. Salama, M. R. Sultan, and A. Y. Chikhani,
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IX. BIOGRAPHIESAbdelsalam Elhaffar (S03) He received the
B.Sc. (1989) and M.Sc. degrees in electrical
engineering (1999) from Garyounis University,
Libya. His worked as a protection engineer,
General Electricity Company of Libya, and as a
assistant lecturer at Engineering faculty, Gar-
Younis university. Currently, he is working
towards the Ph.D. degree at Power Systems and
High Voltage Engineering, Helsinki University of
Technology (TKK), Finland. His research interests
are: transmission line fault location, power system protection studies. E-mail:
Nagy I. Elkalashy (S06) was born in Quesna,
Egypt on August 4, 1974. He received the B.Sc.(with first class honors) and M.Sc degrees from the
Electrical Engineering Department, Faculty of
Engineering, Shebin El-Kom, Menoufiya University
in 1997 and 2002, respectively. Currently, he is
working towards the Ph.D. degree at Power Systems
and High Voltage Engineering, Helsinki University
of Technology (TKK), Finland under joint
supervision with Menoufiya University. His research
interests are high impedance fault detection, power system transient studies
including AI, EMTP simulation, and switchgear. (E-mail:
Matti Lehtonen (1959) was with VTT
Energy, Espoo, Finland from 1987 to 2003, and
since 1999 has been a professor at the HelsinkiUniversity of Technology, where he is now head
of Power Systems and High Voltage Engineering.
He received both his Masters and Licentiate
degrees in Electrical Engineering from Helsinki
University of Technology in 1984 and 1989
respectively and the Doctor of Technology
degree from Tampere University of Technology
in 1992. His main activities include power system
planning, earth fault problems, harmonic related
issues and applications of information technology in distribution systems and
distribution energy management. (Helsinki University of Technology, Power
Systems and High Voltage Engineering, e-mail: [email protected])