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in
g
g
iv
e
n
to
an
o
u
tp
u
t.
T
h
is
p
r
o
ce
s
s
i
n
v
o
l
v
es
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
,
lo
g
ic
o
p
er
atio
n
s
,
an
d
I
F
-
T
HE
N
r
u
le
s
[
1
2
]
.
T
h
e
r
esu
lt
o
f
t
h
is
p
r
o
ce
s
s
w
i
ll
p
r
o
d
u
ce
a
s
y
s
te
m
ca
ll
ed
Fu
zz
y
I
n
f
er
e
n
ce
S
y
s
te
m
(
FIS)
.
I
n
f
u
zz
y
lo
g
ic
,
th
er
e
ar
e
av
ai
lab
le
s
e
v
e
r
al
t
y
p
es
o
f
FIS
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n
cl
u
d
ed
Ma
m
d
an
i
[
1
2
-
14]
,
Su
g
en
o
[
1
5
-
17]
,
an
d
T
s
u
k
a
m
o
to
[
1
9
]
.
T
h
e
f
u
zz
y
co
n
tr
o
l
s
y
s
te
m
ai
m
s
to
eli
m
in
ate
o
v
er
s
h
o
o
t
an
d
m
in
i
m
ize
er
r
o
r
s
[
1
8
,
1
9
]
.
T
h
e
R
C
P
S
co
n
tr
o
l
s
y
s
te
m
r
eq
u
ir
es
co
n
t
r
o
ls
th
at
m
i
n
i
m
ize
o
v
er
s
h
o
o
t
an
d
er
r
o
r
,
d
u
e
to
th
e
d
em
an
d
s
o
f
m
a
x
i
m
u
m
ac
cu
r
ac
y
.
T
h
is
p
ap
er
d
is
cu
s
s
es
t
h
e
i
m
p
le
m
e
n
tatio
n
o
f
f
u
zz
y
co
n
tr
o
l
s
y
s
te
m
w
it
h
S
u
g
e
n
o
Mo
d
el
f
o
r
co
n
tr
o
llin
g
R
o
tar
y
C
ar
P
ar
k
in
g
s
y
s
te
m
(
R
C
P
S).
T
h
e
s
y
s
te
m
is
test
ed
o
n
a
m
i
n
iat
u
r
e
R
C
P
S
co
n
s
is
t
in
g
o
f
6
s
p
ac
e
s
lo
ts
f
o
r
v
e
h
icle
s
.
T
h
e
f
u
zz
y
co
n
tr
o
l
s
y
s
te
m
is
ap
p
lied
af
ter
a
k
i
n
e
m
atic
a
n
al
y
s
is
o
f
th
e
d
esig
n
ed
R
C
P
S
[
2
0
]
.
T
h
e
r
esp
o
n
s
e
o
f
t
h
e
R
C
P
S
m
i
n
iat
u
r
e
co
n
tr
o
l
s
y
s
te
m
w
it
h
F
u
zz
y
w
ill
t
h
en
b
e
co
m
p
ar
ed
w
i
th
th
e
co
n
v
e
n
tio
n
al
co
n
tr
o
l s
y
s
te
m
.
2.
P
RO
P
O
SE
D
M
O
DE
L
F
O
R
RCP
S WI
T
H
K
I
N
E
M
AT
I
C
ANALY
SI
S
R
o
tar
y
ca
r
p
ar
k
i
n
g
s
y
s
te
m
r
e
q
u
ir
es
p
o
s
itio
n
in
g
a
n
d
s
u
p
p
l
y
ca
lcu
latio
n
o
f
th
e
r
ig
h
t
p
o
w
e
r
to
av
o
id
f
ail
u
r
e.
Dete
r
m
in
in
g
t
h
e
lo
ca
tio
n
an
d
d
i
s
tan
ce
o
f
th
e
s
lo
t
w
il
l
af
f
ec
t
th
e
m
o
to
r
s
p
ee
d
a
n
d
p
o
w
er
r
eq
u
ir
e
m
en
ts
th
at
m
u
s
t
b
e
p
r
o
v
id
ed
.
P
o
w
er
an
d
s
p
ee
d
r
eq
u
ir
e
m
en
t
s
ar
e
al
s
o
af
f
ec
ted
b
y
t
h
e
n
u
m
b
er
,
s
iz
e,
an
d
lo
ad
o
f
ea
c
h
s
lo
t.
K
i
n
e
m
atic
a
n
al
y
s
i
s
i
s
r
e
q
u
ir
ed
b
y
cr
ea
ti
n
g
a
m
at
h
e
m
atica
l
m
o
d
el
to
d
eter
m
i
n
e
th
e
s
lo
t
p
o
s
it
io
n
a
n
d
o
p
tim
a
l
p
o
w
er
r
eq
u
ir
e
m
e
n
t
i
n
ea
ch
co
n
d
it
io
n
b
ec
au
s
e
in
R
C
P
S
t
h
er
e
is
a
ch
a
n
g
e
o
f
r
o
tatio
n
m
o
tio
n
in
t
o
tr
an
s
latio
n
al
m
o
tio
n
.
T
h
e
m
o
d
el
u
s
ed
in
p
er
f
o
r
m
i
n
g
k
i
n
e
m
at
ic
an
al
y
s
is
to
cr
ea
te
a
R
C
P
S
m
at
h
e
m
a
tical
m
o
d
el
is
th
e
r
o
tar
y
ca
r
p
ar
k
in
g
s
c
h
e
m
e
s
h
o
w
n
i
n
Fi
g
u
r
e
1
[
2
0
]
.
Fig
u
r
e
1
.
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e
m
e
o
f
r
o
tar
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ca
r
p
ar
k
in
g
s
y
s
te
m
I
n
Fi
g
u
r
e
1
,
i
t
is
a
s
s
u
m
ed
t
h
at
o
n
e
s
lo
t
ca
n
o
n
l
y
b
e
o
cc
u
p
ied
b
y
o
n
e
ca
r
.
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n
t
h
e
p
ar
k
i
n
g
s
y
s
te
m
m
ec
h
a
n
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m
as
s
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w
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Fi
g
u
r
e
1
,
th
er
e
ar
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an
g
le
s
an
d
s
l
o
t
p
o
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itio
n
s
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o
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d
in
ates
(
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h
e
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d
iv
id
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n
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le
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n
to
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i
x
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ar
ts
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.
(
0
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6
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1
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an
d
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2
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T
h
e
d
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io
n
i
s
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ased
o
n
t
h
e
ch
a
n
g
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o
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t
h
e
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m
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to
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tr
a
n
s
la
tio
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,
v
ice
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er
s
a
[
2
0
]
.
T
h
e
eq
u
atio
n
f
o
r
d
eter
m
i
n
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n
g
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s
.
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h
e
eq
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s
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o
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m
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t
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s
k
etch
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in
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r
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d
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as to
p
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d
u
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q
u
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(
1
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d
(
2
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[
2
0
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.
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N:
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4752
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ith
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]
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[
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4
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3
.
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uzzif
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cm
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s
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g
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n
its
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ea
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c
lo
ck
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n
e,
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ated
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ir
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m
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h
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zz
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g
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ee
n
in
Fi
g
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r
e
9
,
w
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w
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w
c
h
a
r
t
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ill
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s
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at
Fig
u
r
e
10.
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h
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u
ltra
s
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n
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e
n
s
o
r
w
ill
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o
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l
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4
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ased
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CO
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.
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ev
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RE
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.
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Evaluation Warning : The document was created with Spire.PDF for Python.
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[4
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[5
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[7
]
J.
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[8
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[9
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[1
4
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[1
6
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[1
8
]
H.
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.
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.
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sh
im
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[1
9
]
J.
S
.
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g
e
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C.
T
.
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u
n
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a
n
d
E.
M
izu
tan
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Ne
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o
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:
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.
Up
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le Ri
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ti
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ll
,
2
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8
.
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