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IFAC-PapersOnLine 48-4 (2015) 492–497

APPLICATION AND TECHNOLOGY OF THERMAL IMAGINE CAMERA

APPLICATION AND TECHNOLOGY OF THERMAL IMAGINE CAMERA
IN MEDICINE
APPLICATION AND TECHNOLOGY OF THERMAL IMAGINE CAMERA
IN MEDICINE
IN MEDICINE
P. Rajmanova. P. Nudzikova. D. Vala
P. Rajmanova. P. Nudzikova. D. Vala
P. Rajmanova. P. Nudzikova. D. Vala
*VSB Technical University of Ostrava, Ostrava 70833
*VSB Technical  of Ostrava, Ostrava 70833
University
Czech Republic (Tel
*VSB(Tel :+420
Technical 597 325 278; e-mail: petra.rajmanova@vsb.cz).
Czech Republic :+420 University of Ostrava,
597 325 278; Ostrava 70833
e-mail: petra.rajmanova@vsb.cz).
Czech Republic (Tel :+420 597 325 278; e-mail: petra.rajmanova@vsb.cz).
Abstract: This review is about modern infrared imaging technology and application in medicine. The
Abstract:
method is based This review is about
on naturally modern
emitted infrared
infrared imaging
radiation fromtechnology and application
the skin surface. This methodin medicine.
is used as Thea
Abstract:
method is This review
based on is about
naturally modern
emitted infrared
infrared imaging
radiation fromtechnology
the skin and application
surface. This in medicine.
method is used Thea
as
method
method ofbased
is research
on for early
naturally pre-clinical
emitted infrared diagnosis
radiation and control
from the skin during
surface. treatment
This method of homeostatic
is used as a
method of The
imbalance. research
method for is early pre-clinicalno-contact,
non-invasive, diagnosis safe and control
and without duringany treatment
contact of withhomeostatic
radiation.
method of The
imbalance. research
method for is early pre-clinicalno-contact,
non-invasive, diagnosis safe and control
and duringany
without treatment
contact of
withhomeostatic
radiation.
Scanning
imbalance.and The imaging
methodtechniques, when applied
is non-invasive, to medicine,
no-contact, safe and are without
helpful in anydiagnosis
contact of some critical
Scanning
illnesses and
that imaging
affect techniques,
human body. when
Imaging applied to medicine,
techniques can usearethe helpful in diagnosis
electromagnetic ofwith
some
spectrum
radiation.
critical
for the
Scanning that
illnesses and affect
imaging techniques,
human body. when
Imaging applied to medicine,
techniques can usearethe helpful in diagnosisspectrum
electromagnetic of some for critical
the
visibility
illnesses of of internal
thatinternal anatomy
affect anatomy
human body. and organs
Imaging and for the
techniquesdetection of
can use tumours and further
the electromagnetic anomalies.
spectrum for the
visibility and organs and for the detection of tumours and further anomalies.
© 2015, IFAC
visibility
Keywords: (International
ofThermal
internal imagingFederation
anatomy and organs
camera, of and
Automatic
thermogram, Control)
for thecolour,
detection Hosting
of tumours
radiation, by Elsevier
image and Ltd. All
further
processing rights reserved.
anomalies.
Keywords: Thermal imaging camera, thermogram, colour, radiation, image processing
Keywords: Thermal imaging camera, thermogram, colour, radiation, image processing
 Thermal camera generate thermal images that are referred as
1. INTRODUCTION  Thermal camera generate
1. INTRODUCTION thermograms
Thermal camera Wiecek et al.thermal
generate (2002). images
thermal
that are referred as
images that are referred as
thermograms Wiecek et al. (2002).
A thermal imaging 1. INTRODUCTION
camera detects radiation in the infrared thermograms Wiecek et al. (2002).
A thermal
range of theimaging camera
electromagnetic detects
spectrum radiation in the infrared
and produces images 2. APPLICATION OF THERMAL IMAGINE CAMERA IN
A thermal
range of theimaging camera detects
electromagnetic spectrum radiation
and in the infrared
produces images 2. APPLICATION OF THERMAL MEDICINEIMAGINE CAMERA IN
of radiation, called thermogram. The study of temperature 2. APPLICATION OF THERMAL
range
of of the electromagnetic
radiation, called thermogram. spectrum
The and produces
study of images
temperature MEDICINEIMAGINE CAMERA IN
has widespread
of radiation, applications
called thermogram.acrossThe science,
studyindustry and also
of temperature MEDICINE
has
in widespread
medicine. applications
Digital infrared across
thermal science,
imagingindustry
is and as
used alsoa Thermal imaging has been used mainly for research over the
has
in widespread
medicine. applications
Digital infrared across
thermal science,
imagingindustry
is usedand as alsoa Thermal imaging has been used mainly for research over the
method of research for early pre-clinical diagnosis and last 50 years Thermal imaging usedcamera
mainlyhas forbeen used over
to study
in medicine.
method
control
Digital infrared
of research
during treatment forof early thermal imagingdiagnosis
pre-clinical
homeostatic
is used as
imbalances. Thermal anda Thermal
last
alastnumber
imaging
50 years ofThermal has been
diseases. imaging
Skin camera has
temperature
research
beencan used the
to study
reflect the
method
control of
during research
treatment for early
ofused pre-clinical
homeostatic diagnosis
imbalances. Thermal and 50
apresence years Thermal
numberofofinflammation imaging
diseases. Skin camera has been
temperaturetissues, used
can reflectto study
the
imaging camera has been in medical diagnostics since apresence
numberofofinflammation
diseases. Skin in underlying
temperaturetissues, or
can reflect where
the
control
imaging during
camera treatment
has been ofused
homeostatic
in medical imbalances.
diagnostics Thermalsince in underlying or where
the 1960scamera
Ring ethas al. been
(2012). This method isdiagnostics
a non-invasive, blood
presence flowof is increased or
inflammation in decreased
underlying due to aorclinical
tissues, where
imaging
the 1960s Ring et al. used
(2012). This in medical
method is a non-invasive, since blood flow is increased or decreased due to a clinical
contactless
the 1960s Ringsystem of recording
et al. (2012). This body temperature,
method completely abnormality
is a non-invasive, blood flow Ring et al. (2012).
is increased or decreased due to a clinical
contactless system of recording body temperature, completely abnormality Ring et al. (2012).
safe and
contactless uses
systemno radiation.
of recording There
body are two
temperature, equipment
completely for abnormality Ring et al. (2012).
safe and uses
monitoring no radiation.
IR camera and a There
PC for are imagetwoprocessing.
equipment The for
safe and uses
monitoring no radiation.
IR camera and a There
PC for areimagetwoprocessing.
equipment The for 2.1 General Health
system
monitoringmeasures temperature
IR camera and a PC ranging
for imagefrom 10°C –
processing. 55°C The to 2.1 General Health
system
an measures
accuracy of temperature
0.1°C. Focus ranging
adjustment from
can 10°C
cover – 55°C
small areas to 2.1 General Health
system
an measures
accuracy of temperature
0.1°C. Focus ranging from
adjustment can 10°C small
cover – 55°C areas to IR camera can be used for thermal challenge test for
down to 75x75mm. The medical applications of DITI (Digital IR camera the
quantifying can vasospastic
be used forreaction thermalfoundchallenge test for
in Raynaud´s
an
downaccuracy of
to 75x75mm. 0.1°C. Focus
The medical adjustment
applicationscan cover small
of DITI (Digital areas IR camera the can vasospastic
be used forreaction thermalfoundchallenge test for
Infrared Thermal Imaging) are extensive, particularly in the quantifying
phenomenon. Thevasospastic
first step isreaction
to do thermogram in Raynaud´s
of dorsal
down
Infraredto 75x75mm.
Thermal The medical
Imaging) are applications
extensive, of DITI (Digital
particularly in the quantifying the found in Raynaud´s
fields of Rheumatology, Neurology, Oncology, phenomenon. of bothThe first There
step ismustto do bethermogram of on
dorsal
Infrared
fields Thermal
of and Imaging) are extensive,
Rheumatology, Neurology, particularly in the surface
Oncology, phenomenon. Thehands.
first There
step ismustto do plastic gloves
thermogram of on the
dorsal
Physiotherapy sports medicine. Thermography is special surface
hands. of
Then both
the hands.
hands are immersed beinplastic
water gloves
bath with the
18-
fields
Physiotherapyof Rheumatology,
and sports medicine. Neurology,
Thermography Oncology,
is 3special surface of both hands. There must beinplastic gloves on 18-
the
tool for diagnostics Diakides et al. (2012). There are areas hands.
20°C for Then the
1 min. hands
After thatare immersed
the temperature water bath with
is monitored. IR
Physiotherapy
tool for and sports
diagnostics Diakides medicine.
et al. Thermography
(2012). There areis 3special
areas hands. Then the hands are immersed in water bath with 18-
where 20°C for 1 min. After that the temperature is monitored. IR
tool forIR camera is very
diagnostics Diakidesuseful.
et One of themThere
al. (2012). is inflammatory
are 3 areas camera can be used for detecting areas with disorders on the
where
disease
where IR
IR camera
that is
meansisearly
camera
very useful.
very detection
useful. One
Oneof ofof them is
cardiovascular diseases, places where it is not possible to use radiation, such IR
inflammatory
them is inflammatory
20°C
camera forcan1 min.
be After
used for that the
detecting temperature
areas with is monitored.
disorders on the
us
disease
arthritis,that means early
rheumatism, deepdetection
burns, of cardiovascular
chronic pain and diseases,
etc. The camera
places can be itused
where for
not detecting
is teething possible areas
to usewith disorderssuch
radiation, on the
us
disease
arthritis,that means early
rheumatism, deepdetection
burns, of cardiovascular
chronic pain andbe diseases,
etc. The placestonsillitis,where rhinitis,
it is teething
not possible problems, otitis
to useotitis and
radiation, etc.. The
suchThe us
next one is neovascular disease. In this case, it can cancer tonsillitis, rhinitis,
canrhinitis,
help to teething problems,
locate tumours’ size andandand etc..
tumour area.
arthritis,
next one rheumatism,
is neovascular deep burns,
disease. In chronic
this pain
case, it andbeetc.
can The system
cancer tonsillitis, problems, otitis etc.. The
diagnoses one is system can help itto can locatemonitor
tumours’healing
size andprocess.
tumour Next
area.
next one isbefore
diagnoses before
any anatomical
neovascular disease. In changes.
any anatomical this case, The
changes. it canlast
The be cancer
last one is After
system surgery,
can help itto can locatemonitor
tumours’healing
size andprocess.
tumour Next
area.
neurology. In neurology, the IR camera can detect places After surgery,
diagnoses
neurology. before
In any anatomical
neurology, the IR changes.can
camera Thedetect
last oneplaces is application
After is gynaecology.
surgery, it can monitor healing process. Next
where
neurology.flood In does not flow.
neurology, the IRThere cameraare cantwodetect typesplaces of application is gynaecology.
where flood
thermography does
in not flow.
medicine. There
One of are
them two is types
passive of application is gynaecology.
where flood does
thermography in not flow. One
medicine. Thereof are them twois types passive of In In
this figure,
this figure,
there is thermogram of hands with Complex
there is thermogram of hands with Complex
thermography.
thermography in This means
medicine. that
One own own radiation
of them of
is passive the Regional
In this figure, Pain Syndrome.
there is thermogram of hands with Complex
thermography.
investigated This means that radiation of the Regional Pain Syndrome.
thermography.body
investigated body Thisisis
measured
means
measured that and
and ownrecalculated
radiation of
recalculated
to the
to
the Regional Pain Syndrome.
the
temperature.
investigated The bodyother type is active
is measured and thermography
recalculated to thatthe is
temperature.
dynamic The
process other type isdifferent
requiring active thermography
methods of that
image is
temperature.
dynamic The other
process type isdifferent
requiring active thermography
methods of that
image is
processing.
dynamic The process
process is based
requiring on the excitation
different methods of sample
of image
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by applyingThe processinto
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processing.
by applying The processinto
energy is based
it on measuring
and the excitation the of thermal
sample
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response.
by applying Thermal
energy cameras
into ithaveand sensors
measuring that the
capturethermalthe
response.
emitted orThermal
reflected cameras
thermal have sensorsfrom
radiation that the
capture the
objects.
response.
emitted orThermalreflectedcamerasthermalhave sensorsfrom
radiation that the
capture the
objects.
emitted or reflected thermal radiation from the objects.
2405-8963 © 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
Copyright
Peer review©under
IFAC responsibility
2015 492Control.
of International Federation of Automatic
Copyright © IFAC 2015
10.1016/j.ifacol.2015.07.083 492
Copyright © IFAC 2015 492
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2.3 Musculoskeletal and Sports Medicine

Infrared thermography is used by chiropractors, neurologists

and also by orthopaedists. Camera can show strained or torn
muscle because this dysfunction releases chemicals causing
increased heat. Thermography can also show tennis elbow.
Painful muscle within the elbow is associated with hot areas
on thermogram. Hildebrandt et al. (2010).
In the picture there is thermogram of knee. This thermogram
shows poor metabolic activity of the lower quadriceps muscle
under resting conditions. Hildebrandt et al. (2010).

Fig. 1. Thermogram of hands with Complex Regional Pain

Syndrome (8)

2.2 Breast Health

Breast cancer is the most common cancer among women.

The breast health is the most applied area of medical
thermography. This area includes breast cancer, benign
tumours, mastitis and fibrocystic disease. Metastatic cancers
create heat that can be imaged by digital infrared imaging.
This is due to two separate connected factors. The detection
of breast cancer is based on temperature comparison of
tumour tissue with temperature of opposite breast. Tumors Fig. 3. Ankle pain (2)
are like heat sources embedded inside breast tissue. Umadevi
et al. (2009). Thermography was approved as a tool for
2.4 Neurological Medicine
screening of breast cancer in 1982 by US Food and Drug
Administration (FDA). It can diagnose the first steps of
breast cancer much earlier than other diagnostic methods. IR Thermography can demonstrate permanency of spinal
camera can detect tumour in breast eight years before injuries that are causing a human’ disability. Thermography
mammography screening. Studies show that early detection can also shows diagnosis of various types of headache
can lead to 85% survival chance compared to 10% for late (migraine, cluster, cervical spine related). Some of pains can
detection. Therefore, early detection is the key factor for be visualized by thermal imaging, since it is responsible for
successful breast cancer treatments Head et al. (2002). cutaneous blood flow, as well as other activities.

The mammography screenings can diagnostic cancer in In the picture, there is thermogram picture of migraine.
1bilion cells size. That means that breast cancer has grown
for 8 years and mammography screening shows wrong
results. There is one more positive thing concerning IR
camera. Mammography screening significantly increases
creation of breast cancer, because of radiation and it is
painful.
The picture on the right shows woman with breast cancer.
The cancerous tissue appears in red because of the heat
generated by the higher metabolic activity and the increased
blood supply of cancerous tissue. These are clear cut
examples, the extremes of the spectrum. And we know from
subsequent clinical verification that the subject on the right
does indeed breast cancer.
Fig. 4. Men with migraine (10)
About 50% of patients with diabetes mellitus have problems
with feet. These feet complications are caused by decreased
blood supply (vascular disorder) and loss of sensation
(neuropathy). The vascular disorder and neuropathy cause
changes in skin surface temperature. Different temperature
between healthy foot and sick foot can be seen by thermal
imaging camera.
Fig. 2. Thermogram of women with breast cancer (9)

493
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2.5 Dermatology Medicine
In dermatology medicine there is infrared thermography used
for getting precise level of information with skin tumours and
skin cancers detection, and wound healing as well. There are
some other non-pathological structures that are detectable by
infrared imagin, such as scars, vessels, arteriovenous
anastomoses and injuries Lahiri et al. (2012).
Fig. 5. Skin tumours (10)
2.6 Dental care
In dental care Thermal imaging camera is used for
visualization of temperature distribution on oral tissues.
There is possibility to take thermal images of the posterior
portion or palate with using a mirror. In the thermal picture,
temperature differences are shown between teeth, free
gingiva, attached gingiva and alveolar mucosa. IR cameras
are used for measuring temperature changes in the
application of new methods and dental materials that are
applied in dental care. There is also possibility to screen
individuals for dental decay and cavitation without screening
x-rays by IR camera.
This is the thermogram of gingivitis.
Fig. 6. Gingivitis (10)
2.7 Genecology
May be this field is the most potential field for the application
of thermography. IR camera can be used for monitoring of
internal female genitalia during pregnancy, significant
494
changes in size and vascularity, increase in uterine volume
during pregnancy that leads to increase in the number and
size of blood vessels. There is also possibility to monitor
postpartum pains by it Lahiri et al. (2012).
2.8 3D Thermography
The 2D thermograms are dependent on the distance and angle
between the camera and the observed object. It is very
difficult to carry out quantitative and reproducible
measurement or to correlate two different 2D thermograms of
the same object. Integrating 3D scanning techniques with
thermograms can help creating standardised thermograms.
The basic technique is structured light 3D scanning. It is of
low cost because of electronic device. There is no need of
special camera. This technique is quick and the process is
fully automated. The combination of 3D model and 3D
scanner can define spatial data that include shape and
temperature distribution information. Furthermore correlating
3D thermograms are easier and to be used and can be
performed by using 3D point registration algorithms.
Grubisic et al. (2011).
3. TECHNOLOGY
Thermography is a real-time temperature measurement
technique being used to produce coloured visualization of
thermal energy. The thermal energy is emitted by the
measured site. It has temperature above absolute zero. About
80% of emitted infrared radiation of human skin has
wavelength range of 8-15µm. The technology converts
receiving electromagnetic radiation into electrical signals.
This signal is processed in PC and matched to colours on the
screen for calculations. Fig.7, there is block diagram of
thermal imagine camera technology.
Fig. 7. Block diagram of thermal imagine camera technology
(12)
3.1 Infrared sources
All objects with an absolute temperature of over -273 °C
(0K) radiate infrared energy. The emissivity of human body
is 0.96 – 0.98. The Thermal imagine camera can provide an
image of skin temperature distribution. It does not provide
data about depth inside of the body.
3.2 Transmission system
The example of infrared media includes vacuum, atmosphere
and optical fibres.
3.3 Optical system
Optical system detects infrared radiation. It consists of lenses,
shutter and focus. Optical lenses are made of quartz, CaF2.
Ge and Si. In some applications, band-pass filters may be
needed to utilize a specific wavelength, as well as choppers
for passing and interrupting a beam of infrared radiation.
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3.4 Detector
The infrared detector converts electromagnetic radiation into
electrical signal. The electrical signal is digitized by A/D
convertor and transformed to the final thermogram. IR
detectors for thermal imaging have number of applications in
industry, security, search & rescue, surveillance, medicine,
research, meteorology, climatology and astronomy. There are
two main types of IR detectors, thermal and photonic. The
thermal sensing mechanism occurs trough many temperature
dependent phenomena. The thermal detectors respond to
energy of incident radiation and subsequent warming
changing their parameters. This change converts to electrical
signal. The most common type of thermal detectors is
microbolometers. Microbolometer is a specific type of
resistor. It is based on changes in resistance of the heat
sensing material due to the incident IR radiation.
Photodetectors respond to the absorbed photo excitation of
free carriers charge (photoelectric effects themselves create a
measurable electric signal. There are few of parameters of
detectors:
 Integral sensitive – K [VW-1] – It is given by the
quotient electrical signal at sensor output U and
radiation flux Φ which falls on the surface of
detector.
U
K (13)
 and any measurements made from image processing.
 Spectral sensitive – K (λ) indicates the dependence
of the sensor output U to the wavelength of the
incident radian flux.
U
K (13)
 
 Time constant τ IDC specifies the minimum time that
the detector needs to detect changes in irradiance
and measure the change in temperature.
 NEP = noise equivalent power – it is a measure of
sensitivity of IR detectors. It is defined as the signal
power that gives a signal-to-noise ratio of one in a
one hertz output bandwidth. An output bandwidth of
one hertz is equivalent to half a second of
integration time. This is the quantity of incident light
equal to the intrinsic noise level of a detector.
 Detectivity – D - it is the photo sensitivity per unit
active area of a detector which makes it easier to
compare the characteristics of different detectors.
1
D (13)
NEP
The thermal detectors are cheaper, they also have less
detectivity on high frequency, less sensitivity and they have
higher time constant Karim et al. (2013)
495
3.6 Calibration of thermal imagine camera
Many thermal imaging systems are designed to detect
temperature differences, not map to calibrated temperature. If
the camera is calibrated, it means that thermal differences can
be quantified and separated from display settings and digital
compression artefacts. The calibration method must be
relevant for the application. There is internal calibration and
external calibration. External calibration devices are available
from numerous sources. The thermal imagine camera must be
calibrated just prior usage and calibration imagery recorded,
or the calibration source must be placed in the image while
data are collected. Internal calibration is more popular.
Internal calibration simplifies the entire data collection
process.
3.7 Signal processing
There is an output signal from detector. This signal is quite
small and needs to be amplified. For that process, it is
necessary to design a preamplifier, it is necessary to consider
impedance that matches the detector, low noise, and
bandwidth.
4. REPORTING, THERMAL IMAGE PROCESSING AND
ARCHIVING
The software programmes largely dictate the layout for a
clinical report. The report includes images, demographic data
4.1 Colour and Temperature Scale
Every image must carry the indication of temperature range,
with colour code/temperature scale. The default colour scale
often shows white as hot, then yellow and red, following the
hot metal scale. The so-called rainbow or spectral order of
colours is more widely recognised, especially by colleagues
who are not used to the other colour scales used by engineers.
4.2 Own Image processing
There are some advanced approaches for passive
thermography that are based on 1st and 2nd order statistical
parameters and image differentiation by classification. For
active thermography, there are used for example Fast Fourier
Transformation or Wavelet Transform. By using new
transform methods, we can exploit the thermal parameters of
the anisotropic sample showing defects, multilayer structure
or thin coatings. The modern thermal image processing uses
many methods starting from pre-processing with filtering
through algorithms based on histograms up to advanced
neural network applications and non-linear transform for
image.
As a first step of thermal image processing histogram is used.
The histogram describes the frequency of existence of pixels
of the same intensity in whole image or in the region of
interest. It represents distribution of the probability function
of the existence of the given intensity in the image.
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N 1 M 1
H (i )   ( pm, x , i )  for i  0,1...L  1
n m
 ( pm, n, i )  10 for p m,n i
Where: for p m,n i
There is also method for contrast enhancement and proper
edge filtering that is based on statistical differencing. There is
each pixel value scaled by the standard deviation calculated
in its neighbourhood.
F (i , j )
G (i , j ) 
S (i , j )
where : F (i, j ), S (i, j )
They represent the original pixel value and standard
deviation. If the standard deviation is higher it will cause that
the pixel value is lower. The standard deviation for WxW
Window of the image is calculated at:
1/ 2
1 i  w j  w 2 
S (i, j )   F ( m, n )  M ( m,n )  
W i  w j  w

where M (m, n) denotes the mean value of the part of the
image in the window.
For medical application the temperature change is very low.
Interpolation and resembling is one of the methods to
improve the accuracy of geometrical parameter estimation,
such as areas, lengths, mean temperature in regions, etc.
There are many interpolation functions that can be used for
image processing; square, triangle, bell and cubic, Gaussian
functions are the most used. There is also possibility to get
more advanced statistical information on thermal images.
This information can be derived from second order
parameters. They are defined on so-called co-occurrence
matrix. Such matrix represents the joint probability of two
pixels having i-th and j-th intensity at the different distances
“d”, in the different directions. The matrix gives more
information on intensity distribution over the whole image.
This can be used to separate and classify thermal images. The
other function is wavelet transform. Wavelet transform can
provide global and also detail information. This function is
based on image filtering. The image is represented by rows
and columns. For filtering, it is used low and high pass linear
filter. Next step of image processing is classification that is
based on Artificial Neural Network (ANN). ANN is the
nonlinear system. For classification is important to have
enough data during learning phase and sometimes it is better
or necessary to repeat training of ANN with different initial
values of the neuron weight Wiecek (2005).
4.3 Archiving Images and Data
Computer file archives are now common place. They are a
valuable reference for repeated investigations at the same
patient. A multiple window facility in the software will allow
(14) the operator to recall series of earlier pictures for comparison,
and to ensure that the same positions and temperature settings
have been used. Matrix of 4x4 images is adequate with
possibilities to zoom on any combination of frames for the
report. Sometimes it is better or necessary to repeat training
of ANN with different initial values of the neuron weight
Wiecek (2005).
6. CONCLUSIONS
Thermography is very helpful method based on measuring
temperature of scan surface. It is modern technology for
(15)
better understanding of the regulation of skin blood flow, it
definitely has improved the capability in medical use.
Modern thermal imaging has already been digital and
quantifiable. It is ready to be integrated into hospitals.
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ACKNOWLEDGMENT

This work was supported by project SP2015/184, "Control of

power systems with renewable and alternative energy
sources." of Student Grant System, VSB-TU Ostrava.

This work was also supported by scholarship of Ostrava

2014/2015 of the Czech Republic, founded by the Ostrava
city by the resistance of social affairs, education, and sport
and leisure activities.

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