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m
by
us
i
n
g
a
dapt
i
v
e
…
(
T
am
m
am
Kha
dour
)
191
r
o
b
us
t
n
e
s
s
de
m
o
n
s
t
r
a
t
e
d
go
o
d
a
c
c
ur
a
c
y
a
n
d
e
ff
i
c
i
e
n
c
y
fo
r
t
h
e
b
e
a
r
i
n
gs
-
o
n
l
y
t
r
a
c
ki
n
g
p
r
o
b
l
e
m
c
o
m
pa
r
e
d
t
o
t
h
e
o
r
i
g
i
na
l
a
l
go
r
i
t
h
m
o
f
CK
F
[12]
.
I
n
a
d
a
pt
i
v
e
K
a
l
m
a
n
f
i
l
t
e
r
(A
K
F
)
t
h
e
f
i
l
t
e
r
a
dj
us
t
s
i
t
s
k
n
o
w
l
e
dge
a
bo
ut
t
h
e
m
e
a
n
a
n
d
c
o
v
a
r
i
a
n
c
e
m
a
t
ri
x
v
a
l
ue
s
a
c
c
o
r
di
ng
t
o
t
h
e
ga
p
b
e
t
w
e
e
n
t
h
e
pr
e
d
i
c
t
e
d
e
s
t
i
m
a
t
i
o
n
s
a
nd
t
h
e
c
urr
e
n
t
m
e
a
s
u
r
e
m
e
nt
s
.
A
n
e
w
m
e
t
h
o
do
l
o
g
y
i
s
pr
o
pos
e
d
b
a
s
e
d
o
n
t
h
e
us
e
of
w
e
i
gh
t
e
d
l
e
a
s
t
s
qua
r
e
s
m
e
t
h
o
do
l
o
g
y
i
n
s
t
e
a
d
o
f
t
r
a
d
i
t
i
o
na
l
l
e
a
s
t
s
qua
r
e
a
pp
r
o
a
c
h
[1
3]
.
T
h
e
e
s
t
i
m
a
t
i
o
n
o
f
pa
r
a
m
e
t
e
r
a
nd
s
t
a
t
e
o
f
n
o
n
l
i
n
e
a
r
hi
g
h
-
s
pe
e
d
ob
j
e
c
t
s
by
a
da
pt
i
v
e
un
s
c
e
n
t
e
d
K
a
l
m
a
n
f
i
l
t
e
r
i
s
p
r
o
pos
e
d
i
n
[14]
.
T
h
e
n
a
v
i
g
a
t
i
o
n
s
y
s
t
e
m
de
pe
n
ds
o
n
s
e
n
s
o
r
s
o
ut
put
,
w
h
e
r
e
t
h
e
n
a
v
i
g
a
t
i
o
n
o
ut
put
m
us
t
b
e
a
c
c
ur
a
t
e
a
n
d
r
o
b
us
t
w
i
t
h
e
rr
o
n
e
o
us
m
e
a
s
ur
e
m
e
n
t
s
w
h
i
c
h
c
a
us
e
d
f
r
o
m
n
o
i
s
e
,
t
h
a
t
m
a
ke
s
t
h
e
n
o
i
s
e
pr
o
c
e
s
s
v
e
r
y
i
m
po
r
t
a
nt
f
o
r
s
e
n
s
o
r
s
a
n
d
c
o
n
t
r
o
l
p
r
o
c
e
s
s
i
n
m
o
b
i
l
e
r
o
b
o
t
[15].
U
s
i
n
g
a
m
o
b
i
l
e
r
o
bo
t
fo
r
fo
l
l
ow
i
n
g
s
o
un
d
s
o
urc
e
s
i
n
r
e
a
l
t
i
m
e
de
pe
n
di
ng
o
n
a
n
a
c
t
i
v
e
v
i
r
t
u
a
l
im
pe
da
n
c
e
a
l
go
r
i
t
h
m
f
o
r
o
bs
t
a
c
l
e
a
vo
i
da
n
c
e
w
h
e
r
e
t
h
e
n
e
w
a
l
go
ri
t
hm
c
ha
n
ge
s
t
h
e
i
m
pe
d
a
n
c
e
d
y
n
a
m
i
c
a
l
l
y
i
n
t
w
o
c
a
s
e
s
:
o
n
e
di
s
t
a
n
c
e
s
e
n
s
o
r
a
n
d
t
w
o
di
s
t
a
n
c
e
s
e
n
s
o
r
s
,
u
s
i
ng
m
o
r
e
ul
t
ra
s
o
n
i
c
s
e
n
s
o
r
s
f
o
r
f
ut
u
r
e
r
e
s
e
a
r
c
h
[16].
Im
p
l
e
m
e
n
t
e
d
b
i
n
a
r
y
m
o
t
i
o
n
s
e
n
s
o
r
s
f
o
r
t
h
e
p
r
o
b
l
e
m
of
a
ut
o
m
a
t
e
d
po
s
i
t
i
o
n
e
s
t
i
m
a
t
i
o
n,
us
i
ng
P
a
s
s
i
v
e
In
f
r
a
r
e
d
(P
IR
)
m
o
t
i
o
n
s
e
n
s
o
r
s
w
i
t
h
t
h
e
s
ugge
s
t
e
d
e
s
t
i
m
a
t
o
r,
de
ve
l
o
p
t
h
e
de
t
e
c
t
i
o
n
s
y
s
t
e
m
by
di
ffe
r
e
nt
s
e
n
s
o
r
m
o
de
l
s
a
n
d
a
rra
n
ge
m
e
n
t
s
i
s
a
f
ut
u
r
e
w
o
r
k
[1
7].
A
v
e
r
y
i
m
po
rt
a
nt
K
a
l
m
a
n
F
i
l
t
e
r
us
e
i
s
t
o
r
e
duc
e
t
h
e
n
o
i
s
e
o
n
t
h
e
a
c
c
e
l
e
r
o
m
e
t
e
r
a
nd
gy
r
o
s
c
o
pe
s
e
n
s
o
r
s
f
o
r
qua
d
r
o
t
o
r
na
v
i
ga
t
i
o
n
s
y
s
t
e
m
,
w
h
e
r
e
t
h
e
b
i
a
s
a
nd
z
e
r
o
v
e
l
oc
i
t
y
c
o
m
pe
n
s
a
t
i
o
n
s
a
r
e
a
b
l
e
t
o
i
m
p
r
o
v
e
t
h
e
po
s
i
t
i
o
n
e
s
t
i
m
a
t
i
o
n
of
t
h
e
qua
d
r
o
t
o
r
by
r
e
duc
i
ng
t
h
e
e
ffe
c
t
s
of
dr
i
f
t
due
t
o
i
nt
e
gra
t
i
o
n
[18]
.
T
h
e
c
o
n
t
r
i
b
ut
i
o
n
s
o
f
t
hi
s
s
t
u
dy
a
r
e
t
h
e
de
v
e
l
o
pm
e
n
t
i
n
b
e
a
r
i
n
gs
-
o
n
l
y
t
a
r
ge
t
s
t
a
t
e
e
s
t
i
m
a
t
i
o
n
t
ra
c
ki
n
g
pr
o
b
l
e
m
by
us
i
n
g
m
a
n
y
K
a
l
m
a
n
F
i
l
t
e
r
a
l
go
r
i
t
hm
s
(
E
K
F
,
U
K
F
,
CK
F
)
t
o
r
e
duc
e
t
h
e
n
o
i
s
e
o
n
t
h
e
s
e
n
s
o
r,
i
m
p
r
o
v
i
n
g
t
h
e
a
c
c
ura
c
y
of
e
s
t
i
m
a
t
i
o
n
by
a
ddi
n
g
a
t
h
i
rd
s
e
ns
o
r
a
s
ha
r
dw
a
r
e
s
o
l
ut
i
o
n
,
w
h
i
c
h
a
v
o
i
d
t
h
e
t
a
r
ge
t
m
o
ve
m
e
n
t
o
n
t
h
e
s
t
r
a
i
g
h
t
l
i
n
e
b
e
t
w
e
e
n
t
w
o
s
e
n
s
o
r
s
,
a
n
d
c
h
a
n
ge
t
h
e
a
l
i
g
nm
e
n
t
o
f
t
h
o
s
e
t
hr
e
e
s
e
n
s
o
r
s
t
o
ha
v
e
a
n
a
c
c
ur
a
t
e
e
s
t
i
m
a
t
i
o
n.
A
n
o
t
h
e
r
s
o
l
ut
i
o
n
i
s
s
o
f
t
w
a
r
e
de
pe
ndi
n
g
o
n
[
19]
w
hi
c
h
i
s
b
a
s
e
d
o
n
t
h
e
i
nn
o
v
a
t
i
o
n
-
b
a
s
e
d
a
da
pt
i
v
e
e
s
t
i
m
a
t
i
o
n
(IA
E
)
a
pp
r
o
a
c
h
a
n
d
t
h
e
a
da
pt
i
v
e
f
a
di
n
g
K
a
l
m
a
n
f
i
l
t
e
r
(A
F
K
F
)
a
pp
r
o
a
c
h.
T
h
i
s
m
e
t
h
o
d
w
a
s
us
e
d
t
o
s
o
l
v
e
m
e
a
s
ur
e
m
e
n
t
v
a
ri
a
n
c
e
u
n
c
e
rt
a
i
nt
y
w
i
t
h
t
w
o
s
e
n
s
o
r
s
i
n
l
i
n
e
a
r
s
t
a
t
e
s
.
I
n
t
hi
s
pa
pe
r
w
e
w
i
l
l
us
e
t
h
e
a
l
go
ri
t
hm
s
p
r
e
s
e
nt
e
d
i
n
[19
]
b
ut
w
e
w
i
l
l
c
h
a
nge
t
h
e
f
l
ow
c
h
a
r
t
o
f
t
h
e
(IA
E
,
A
F
K
F
)
a
l
go
ri
t
hm
s
t
o
b
e
s
ui
t
a
b
l
e
f
o
r
n
o
nl
i
n
e
a
r
m
e
a
s
u
r
e
m
e
n
t
a
s
a
d
a
pt
i
v
e
n
o
n
l
i
n
e
a
r
K
a
l
m
a
n
f
i
l
t
e
r
(A
N
K
F
)
f
o
r
t
w
o
s
e
n
s
o
r
s
.
R
e
s
ul
t
s
w
i
l
l
t
h
e
n
b
e
c
o
m
pa
r
e
d
.
T
h
e
s
t
r
uc
t
u
r
e
o
f
t
h
i
s
pa
pe
r
i
s
a
s
fo
l
l
ow
s
:
S
e
c
t
i
o
n
t
w
o
pr
e
s
e
n
t
s
t
h
e
be
a
ri
n
g
-
o
nl
y
t
ra
c
ki
n
g
m
o
de
l
.
S
e
c
t
i
o
n
t
hr
e
e
de
s
c
r
i
b
e
s
n
o
n
l
i
n
e
a
r
K
a
l
m
a
n
f
i
l
t
e
r
s
(E
K
F
,
U
K
F
,
a
n
d
CK
F
).
S
e
c
t
i
o
n
f
o
ur
c
o
n
c
e
rn
s
p
r
o
po
s
e
d
m
e
t
h
o
d
us
i
n
g
A
d
a
p
t
i
v
e
K
a
l
m
a
n
f
i
l
t
e
r
i
m
pl
e
m
e
n
t
a
t
i
o
n.
I
n
s
e
c
t
i
o
n
f
i
v
e
s
i
m
ul
a
t
i
o
n
r
e
s
ul
t
s
a
r
e
c
o
m
pa
r
e
d
(E
K
F
,
U
K
F
,
a
nd
CK
F
)
i
n
t
w
o
s
e
n
s
o
r
s
c
a
s
e
,
t
hr
e
e
s
e
n
s
o
r
s
c
a
s
e
a
n
d
us
i
ng
p
r
o
po
s
e
d
A
N
K
F
w
i
t
h
t
w
o
s
e
n
s
o
r
s
c
a
s
e
.
F
i
n
a
l
y
c
o
n
c
l
us
i
o
n
w
i
l
l
b
e
p
r
e
s
e
n
t
e
d
i
n
s
e
c
t
i
o
n
s
i
x.
2.
B
EA
R
I
N
G
-
O
N
L
Y
TR
A
C
K
I
N
G
M
O
D
EL
T
a
r
ge
t
m
o
t
i
o
n
a
nd
s
e
n
s
o
r
m
e
a
s
u
r
e
m
e
n
t
m
o
de
l
s
i
n
t
h
e
t
w
o
di
m
e
n
s
i
o
na
l
(2D
)
c
a
s
e
a
r
e
c
o
n
s
i
de
r
e
d
.
In
c
a
r
t
e
s
i
a
n
c
o
o
r
di
n
a
t
e
s
,
t
h
e
t
a
r
ge
t
s
t
a
t
e
e
k
w
i
t
h
po
s
i
t
i
o
n
(
,
)
a
nd
v
e
l
o
c
i
t
y
(
̇
,
̇
)
a
t
t
i
m
e
k
i
s
e
xpr
e
s
s
e
d
a
s
[
8]:
=
(
̇
̇
)
(1)
T
h
e
dy
n
a
m
i
c
s
o
f
t
h
e
t
a
rge
t
i
s
m
o
de
l
e
d
a
s
a
l
i
n
e
a
r,
d
i
s
c
r
e
t
i
z
e
d
W
i
e
n
e
r
v
e
l
oc
i
t
y
m
o
de
l
:
11
1
0
0
0
1
0
0
0
1
0
0
0
0
1
k
k
k
T
T
e
e
v
(2)
W
h
e
r
e
1
k
v
i
s
G
a
us
s
i
a
n
p
r
o
c
e
s
s
n
o
i
s
e
w
i
t
h
z
e
r
o
m
e
a
n
a
nd
c
o
v
a
r
i
a
n
c
e
:
32
32
2
1
2
2
11
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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
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:
2502
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4752
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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2502
-
4752
In
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.
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]
Y
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ho
u,
C
.
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ha
ng
,
Y
.
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ha
ng
,
a
nd
J
.
Z
h
a
ng
,
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ne
w
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pt
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s
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ua
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uns
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ou
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e
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os
p
ac
e
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ngi
ne
e
r
i
n
g,
v
o
l
.
2
015
,
2015
.
[
10]
K
.
P
.
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.
C
h
a
nd
r
a
,
D
.
-
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.
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u,
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o
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a
i
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e
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ub
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ur
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m
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s
e
d
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l
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t
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o
n
a
n
d
m
a
pp
i
ng
,
"
i
n
W
or
l
d
C
ong
r
e
s
s
,
20
11
,
v
o
l
.
18
,
no
.
1
,
pp
.
2121
-
21
25.
[
11]
I
.
A
r
a
s
a
r
a
t
n
a
m
a
nd
S
.
H
a
y
ki
n,
"
C
ub
a
t
u
r
e
K
a
l
m
a
n
f
i
l
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e
r
i
ng
:
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p
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ul
n
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pa
c
e
a
pp
l
i
c
a
t
i
o
ns
,
"
e
d
,
2009
.
[
12]
P
.
H
.
L
e
o
n
g
,
S
.
A
r
ul
a
m
pa
l
a
m
,
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.
A
.
L
a
m
a
he
w
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,
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nd
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.
D
.
A
bha
y
a
pa
l
a
,
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a
us
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-
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s
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y
t
r
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c
ki
ng
,
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E
E
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gn
al
P
r
oc
e
s
s
i
ng
L
e
t
t
e
r
s
,
v
o
l
.
21,
no
.
5,
p
p.
513
-
517
,
2014
.
[
13]
M
.
O
us
s
a
l
a
h
a
n
d
J
.
D
e
S
c
hut
t
e
r
,
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da
pt
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v
e
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a
l
m
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n
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l
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e
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n
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oc
e
e
di
ngs
of
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he
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nt
e
r
n
at
i
on
al
Se
m
i
na
r
on
M
oda
l
A
nal
y
s
i
s
,
2001
,
v
o
l
.
3
,
pp
.
1225
-
12
32:
C
i
t
e
s
e
e
r
.
[
14]
F
.
D
e
ng
,
J
.
C
he
n
,
a
nd
C
.
C
he
n
,
"
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da
pt
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v
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nt
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d
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o
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l
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oni
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s
,
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o
l
.
2
4,
no
.
4,
p
p.
65
5
-
665,
2
013
.
[
15]
S
i
t
i
N
ur
m
a
i
n
i
,
B
a
m
ba
ng
T
ut
uko
,
"
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nt
e
l
l
i
g
e
nt
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o
bo
t
i
c
s
N
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v
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g
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t
i
o
n
S
y
s
t
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m
:
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bl
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t
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l
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ou
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na
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c
a
l
and
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om
pu
t
e
r
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n
gi
ne
e
r
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ng
(
I
J
E
C
E
)
V
o
l
.
7,
N
o
.
6,
D
e
c
e
m
be
r
2017
,
pp.
37
11~
3726
.
[
16]
J
i
nho
K
i
m
,
J
a
ng
m
y
ung
L
e
e
,
"
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n
A
c
t
i
v
e
V
i
r
t
u
a
l
I
m
pe
da
nc
e
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o
nt
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l
go
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hm
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o
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l
l
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s
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o
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r
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N
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l
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nt
e
r
na
t
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ona
l
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ou
r
na
l
of
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o
bot
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c
s
and
A
u
t
om
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o
n
(
I
J
R
A
)
V
o
l
.
6,
N
o
.
2,
J
une
20
17
,
p
p.
10
1~
113
.
[
17]
B
a
s
ha
r
A
l
a
t
ha
r
i
,
M
o
ha
m
m
e
d
F
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l
i
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K
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dh
i
m
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l
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m
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l
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K
ha
m
m
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s
i
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l
i
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f
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ou
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g
and
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om
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I
J
E
E
C
S)
V
o
l
.
13,
N
o
.
1,
J
a
nu
a
r
y
2019,
pp
.
235
~
24
2.
[
18]
L
a
s
m
a
di
,
A
dha
C
a
hy
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di
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a
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dj
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H
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)
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l
.
7
,
N
o
.
5
,
O
c
t
o
be
r
2017
,
pp
.
2596
~
2
604
.
[
19]
D.
-
J
.
J
w
o
a
nd
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-
P
.
W
e
ng
,
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n
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he
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r
na
l
of
N
av
i
g
at
i
on
,
v
o
l
.
61
,
no
.
4,
pp
.
705
-
72
1,
20
08.
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