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n J
o
urna
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E
lect
rica
l En
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ineering
a
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Co
m
p
u
t
er
Science
Vo
l.
22
,
No
.
3
,
J
u
n
e
202
1
,
p
p
.
1672
~
1
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7
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SS
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ttp
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Dy
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ly
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r,
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n
d
t
h
is
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il
l
re
strict
it
s
f
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n
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ti
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n
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li
ty
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h
is
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se
a
rc
h
a
i
m
s
to
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p
ro
v
e
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b
e
S
a
t’s
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o
w
e
r
c
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m
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n
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m
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lem
e
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e
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n
d
f
re
q
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n
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y
s
c
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li
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g
(DV
F
S
)
tec
h
n
iq
u
e
to
on
-
b
o
a
rd
a
n
d
d
a
ta
h
a
n
d
li
n
g
su
b
sy
ste
m
(O
BDH
).
DV
F
S
w
il
l
f
in
d
th
e
b
e
st
o
p
e
ra
ti
n
g
f
re
q
u
e
n
c
y
to
e
x
e
c
u
te
a
ll
o
f
O
BDH
’s
tas
k
.
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h
is
p
a
p
e
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x
p
lai
n
s
h
o
w
we
d
e
t
e
rm
in
e
d
th
e
tas
k
se
t,
re
p
re
se
n
ti
n
g
a
ll
ro
u
ti
n
e
tas
k
s
p
e
r
f
o
rm
e
d
b
y
OB
DH
d
u
ri
n
g
n
o
rm
a
l
o
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e
ra
ti
o
n
m
o
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e
.
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e
h
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v
e
si
m
u
late
d
th
e
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k
se
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u
sin
g
tw
o
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F
S
a
lg
o
rit
h
m
s,
sta
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e
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rli
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e
a
d
li
n
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f
irst
(EDF
)
a
n
d
c
y
c
le
c
o
n
se
rv
in
g
e
d
f
(CC
EDF
).
T
h
e
re
su
lt
s
h
o
w
s
th
a
t
b
o
t
h
sc
h
e
d
u
l
in
g
a
lg
o
rit
h
m
s
g
iv
e
a
sim
il
a
r
re
su
lt
to
o
u
r
tas
k
se
t.
H
o
w
e
v
e
r,
w
h
e
n
th
e
sc
h
e
d
u
ler
is
c
o
n
f
ig
u
re
d
a
s
non
-
p
re
e
m
p
ti
v
e
,
th
e
sim
u
lato
r
f
a
il
e
d
t
o
sc
h
e
d
u
le
t
h
e
c
rit
ica
l
tas
k
.
It
m
e
a
n
s
th
a
t
t
h
e
sy
ste
m
f
a
il
s
to
w
o
rk
a
s
in
te
n
d
e
d
.
T
h
e
re
f
o
re
,
w
e
c
o
n
c
lu
d
e
th
a
t
w
e
n
e
e
d
to
im
p
lem
e
n
t
m
i
x
e
d
-
c
rit
ica
l
it
y
s
c
h
e
d
u
li
n
g
to
p
re
v
e
n
t
c
rit
ica
l
tas
k
s
f
ro
m
b
e
in
g
a
b
o
rte
d
b
y
th
e
sy
ste
m
.
K
ey
w
o
r
d
s
:
C
u
b
eSat
D
y
n
a
m
ic
v
o
lta
g
e
an
d
f
r
eq
u
e
n
c
y
s
ca
lin
g
On
-
b
o
ar
d
an
d
d
ata
h
an
d
lin
g
Sch
ed
u
l
in
g
al
g
o
r
ith
m
Si
m
u
latio
n
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
No
o
r
A
zu
r
ati
Ah
m
ad
R
az
ak
Fac
u
lt
y
o
f
T
ec
h
n
o
lo
g
y
an
d
I
n
f
o
r
m
atics
Un
i
v
er
s
iti T
ek
n
o
lo
g
i M
ala
y
s
ia
Su
lta
n
Ya
h
y
a
P
etr
a
St.
,
5
4
1
0
0
Ku
ala
L
u
m
p
u
r
,
Ma
la
y
s
ia
E
m
ail: a
z
u
r
ati@
u
t
m
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
C
ali
f
o
r
n
ia
p
o
l
y
tec
h
n
ic
i
n
tr
o
d
u
ce
d
C
u
b
eSat
i
n
1
9
9
9
.
I
t
w
as
i
n
itiall
y
u
s
ed
as
an
ed
u
ca
tio
n
al
p
r
o
j
ec
t
to
g
iv
e
s
t
u
d
en
ts
p
r
ac
tical
e
x
p
er
ien
ce
in
s
a
tellite
s
y
s
te
m
e
n
g
in
ee
r
i
n
g
[
1
]
.
C
u
b
eSat
’
s
s
iz
e
v
ar
ies
f
r
o
m
1
U
(
1
0
x
10
x
1
0
cm
)
,
2
U,
3
U,
6
U
an
d
as
b
ig
as
2
7
U
(
3
Ux
3
Ux
3
U)
.
It
’
s
s
m
all
s
ize
al
lo
w
s
d
ev
elo
p
er
s
to
r
ed
u
ce
co
m
p
o
n
e
n
t
s
an
d
lau
n
c
h
in
g
c
o
s
ts
[
2
]
.
A
f
ter
2
0
y
ea
r
s
,
m
o
r
e
th
an
1
0
0
0
C
u
b
eSats
w
er
e
lau
n
c
h
ed
in
to
s
p
ac
e.
C
u
b
eSat
s
ar
e
n
o
t o
n
l
y
d
e
v
elo
p
ed
b
y
ac
ad
e
m
ic
in
s
tit
u
tio
n
s
,
b
u
t
m
o
r
e
t
h
a
n
5
0
% o
f
t
h
e
C
u
b
e
Sats
la
u
n
c
h
ed
w
er
e
d
ev
e
lo
p
ed
b
y
co
m
m
er
cial
s
ec
t
o
r
s
[
3
]
.
C
u
b
eSat
p
r
o
v
id
es
an
e
x
ce
lle
n
t
p
lat
f
o
r
m
to
d
ev
elo
p
lo
w
-
co
s
t
s
atelli
tes,
b
u
t
it
also
h
as
ce
r
tain
co
n
s
tr
ain
ts
th
at
m
u
s
t
b
e
co
n
s
i
d
er
ed
d
u
r
in
g
t
h
e
d
e
s
ig
n
a
n
d
d
ev
elo
p
m
e
n
t
p
h
a
s
e.
T
h
e
s
ize
o
f
C
u
b
eSat
li
m
it
s
t
h
e
s
ize
o
f
s
o
lar
ar
r
ay
s
t
h
at
ca
n
b
e
m
o
u
n
ted
o
n
it
s
s
u
r
f
ac
e.
1
U
C
u
b
eSat
ca
n
o
n
l
y
h
a
v
e
a
m
ax
i
m
u
m
1
0
0
cm
2
s
u
r
f
ac
e
ar
ea
to
m
o
u
n
t
s
o
lar
ar
r
ay
s
o
n
ea
ch
s
id
e.
T
h
er
ef
o
r
e,
C
u
b
eSat
ca
n
o
n
l
y
g
e
n
er
ate
a
s
m
all
a
m
o
u
n
t
o
f
p
o
w
er
f
r
o
m
it
s
s
o
lar
p
an
el.
B
esid
es
th
at,
C
u
b
eSa
t
h
as
m
i
n
i
m
al
s
p
ac
e
f
o
r
b
atter
ies
t
h
at
p
r
o
v
id
e
p
o
w
er
to
all
s
u
b
s
y
s
te
m
s
d
u
e
to
its
s
tr
u
ct
u
r
e
s
ize.
T
h
is
s
itu
a
tio
n
r
es
tr
icts
t
h
e
d
ev
elo
p
er
f
r
o
m
u
s
i
n
g
h
ig
h
p
o
w
er
co
n
s
u
m
p
tio
n
co
m
p
o
n
e
n
t
s
a
n
d
li
m
its
th
e
C
u
b
eSat
m
is
s
io
n
.
A
lo
t
o
f
r
esear
ch
h
a
s
b
ee
n
d
o
n
e
to
i
m
p
r
o
v
e
t
h
e
p
o
w
er
co
n
s
u
m
p
tio
n
o
f
th
e
C
u
b
eSat.
T
h
ey
tr
y
to
ex
te
n
d
C
u
b
eSat
’
s
o
p
er
atio
n
al
li
f
et
i
m
e
b
y
i
m
p
r
o
v
in
g
th
e
d
esig
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Dyn
a
mic
fr
eq
u
en
cy
s
ch
ed
u
lin
g
fo
r
C
u
b
eS
a
t's o
n
-
b
o
a
r
d
a
n
d
d
a
ta
h
a
n
d
lin
g
…
(
S
h
a
r
iz
a
l F
a
d
lie
S
a
b
r
i
)
1673
o
f
elec
tr
ical
p
o
w
er
s
u
b
s
y
s
te
m
s
[
4
]
,
[
5
]
o
r
in
tr
o
d
u
cin
g
n
e
w
h
ar
d
w
ar
e
t
h
at
ca
n
p
r
o
d
u
ce
en
er
g
y
m
o
r
e
ef
f
icien
tl
y
[
6
]
.
T
h
er
e
is
also
r
esear
ch
f
o
cu
s
in
g
o
n
th
e
en
er
g
y
b
u
d
g
e
t
to
h
elp
C
u
b
eSat
d
ev
elo
p
er
s
s
elec
t
co
m
p
o
n
e
n
t
s
ef
f
icie
n
tl
y
b
ased
o
n
th
eir
m
is
s
io
n
r
eq
u
ir
e
m
en
ts
[
7
]
.
T
h
is
r
esear
ch
ai
m
s
to
r
ed
u
ce
th
e
C
u
b
eSat
's
p
o
w
er
co
n
s
u
m
p
tio
n
b
y
f
o
cu
s
in
g
o
n
tas
k
s
c
h
ed
u
lin
g
i
n
on
-
b
o
ar
d
an
d
d
ata
h
a
n
d
lin
g
s
u
b
s
y
s
te
m
(
OB
DH)
.
OB
DH
is
th
e
s
u
b
s
y
s
te
m
t
h
at
co
n
tr
o
ls
al
l
th
e
p
r
o
ce
s
s
e
s
an
d
co
m
m
u
n
icate
s
w
it
h
all
s
u
b
s
y
s
te
m
s
i
n
t
h
e
C
u
b
eSat
[
8
]
.
E
v
en
t
h
o
u
g
h
OB
DH
t
y
p
icall
y
co
n
s
u
m
es
le
s
s
p
o
w
er
th
an
o
t
h
er
s
u
b
s
y
s
te
m
s
[
9
]
,
it
p
la
y
s
a
v
ital
r
o
le
in
m
an
a
g
i
n
g
p
r
o
ce
s
s
es
o
r
task
s
.
Hi
g
h
p
o
w
er
co
n
s
u
m
p
tio
n
tas
k
s
s
h
a
ll
o
n
l
y
b
e
e
x
ec
u
ted
w
h
e
n
r
eq
u
ir
ed
,
an
d
OB
DH
s
h
all
m
o
n
ito
r
b
atter
y
lev
e
ls
b
ef
o
r
e
an
y
s
ch
ed
u
led
ta
s
k
ca
n
b
e
ex
ec
u
ted
.
I
n
th
is
r
esear
ch
,
a
n
e
w
en
er
g
y
-
a
w
ar
e
s
c
h
ed
u
li
n
g
al
g
o
r
ith
m
w
ill
b
e
d
ev
elo
p
ed
f
o
r
OB
DH.
T
h
e
alg
o
r
ith
m
i
s
d
y
n
a
m
ic
v
o
ltag
e
an
d
f
r
eq
u
e
n
c
y
s
ca
l
in
g
(
DV
FS
)
alg
o
r
ith
m
b
ased
o
n
ea
r
lies
t
d
ea
d
lin
e
f
ir
s
t
(
E
DF)
s
ch
ed
u
lin
g
.
I
n
cu
r
r
en
t
OB
DH
d
esig
n
,
th
er
e
is
n
o
s
ch
ed
u
li
n
g
alg
o
r
ith
m
i
m
p
le
m
e
n
ted
.
T
h
er
ef
o
r
e,
w
e
p
lan
a
f
e
w
ex
p
er
i
m
en
t
s
to
u
n
d
er
s
ta
n
d
h
o
w
it
w
ill
af
f
ec
t
t
h
e
OB
DH
o
p
er
atio
n
.
T
h
is
p
ap
er
w
ill
r
ep
o
r
t
th
e
ex
p
er
im
e
n
t
to
id
en
tify
t
h
e
s
u
itab
ilit
y
o
f
t
h
e
alg
o
r
it
h
m
s
u
s
i
n
g
p
r
ee
m
p
ti
v
e
an
d
n
o
n
-
p
r
ee
m
p
ti
v
e
s
c
h
ed
u
li
n
g
f
o
r
a
tas
k
s
et
th
at
r
ep
r
esen
t
s
C
u
b
eSat
’
s
o
p
er
atio
n
.
T
h
e
ex
p
er
i
m
en
t o
n
l
y
c
h
o
o
s
es i
m
p
o
r
tan
t ta
s
k
f
r
o
m
ea
c
h
s
u
b
s
y
s
te
m
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
On
-
b
o
ar
d
d
ata
h
an
d
lin
g
s
u
b
s
y
s
te
m
(
OB
DH)
is
co
n
n
ec
ted
to
all
s
u
b
s
y
s
te
m
s
an
d
m
a
n
a
g
es
all
th
e
p
r
o
ce
s
s
es
o
r
task
s
as
r
eq
u
ir
ed
.
Fig
u
r
e
1
s
h
o
w
s
OB
DH
co
n
n
ec
ts
to
th
e
c
o
m
m
u
n
ica
tio
n
s
s
u
b
s
y
s
te
m
(
C
OM
S),
e
lectr
ical
p
o
w
er
s
u
b
s
y
s
te
m
(
E
P
S),
attitu
d
e
d
eter
m
i
n
atio
n
a
n
d
co
n
tr
o
l
s
u
b
s
y
s
te
m
(
ADCS
)
,
th
er
m
a
l
s
u
b
s
y
s
te
m
,
an
d
p
ay
lo
ad
[
1
0
]
.
T
h
ese
s
u
b
s
y
s
te
m
s
m
a
y
h
a
v
e
s
e
n
s
o
r
s
an
d
ac
tu
ato
r
s
to
g
iv
e
in
p
u
t
to
OB
DH
an
d
allo
w
it
to
m
ak
e
p
o
s
it
io
n
al
ad
j
u
s
t
m
en
ts
t
o
ac
h
iev
e
m
is
s
io
n
r
eq
u
ir
e
m
en
t
s
.
Fig
u
r
e
1
.
C
u
b
eSat
's s
u
b
s
y
s
te
m
s
C
OM
S
p
la
y
s
i
m
p
o
r
tan
t
r
u
les
to
r
ec
eiv
e
an
d
tr
an
s
m
it
d
ata
b
et
w
ee
n
C
u
b
eSat
a
n
d
t
h
e
g
r
o
u
n
d
s
tatio
n
.
OB
DH
w
i
ll
r
ec
eiv
e
a
n
d
d
ec
o
d
e
co
m
m
a
n
d
s
f
r
o
m
t
h
e
g
r
o
u
n
d
an
d
s
en
d
tele
m
etr
y
a
n
d
p
a
y
lo
a
d
d
ata
b
ac
k
.
T
h
ese
task
s
ar
e
cr
itical
b
ec
au
s
e,
w
i
th
o
u
t
co
m
m
a
n
d
f
r
o
m
t
h
e
g
r
o
u
n
d
,
C
u
b
eSat
ca
n
n
o
t
ex
ec
u
te
its
m
is
s
io
n
.
E
P
S
d
is
tr
ib
u
tes p
o
w
er
to
all
s
u
b
s
y
s
te
m
s
an
d
e
n
s
u
r
es t
h
e
C
u
b
eSat
h
as e
n
o
u
g
h
p
o
w
er
to
co
n
tin
u
e
o
p
er
atio
n
u
n
t
il t
h
e
en
d
o
f
its
m
i
s
s
io
n
.
OB
DH
w
il
l
ch
ec
k
th
e
b
atter
y
v
o
ltag
e
an
d
cu
r
r
en
t
s
u
p
p
lied
to
all
s
u
b
s
y
s
te
m
s
an
d
s
to
r
e
th
e
d
ata
as h
o
u
s
e
k
ee
p
in
g
d
ata
[
1
1
]
.
A
D
C
S
is
r
esp
o
n
s
ib
le
f
o
r
ch
ec
k
in
g
t
h
e
o
r
ien
ta
tio
n
o
f
th
e
C
u
b
eSat
a
n
d
m
ak
i
n
g
co
r
r
ec
tio
n
s
i
f
n
ec
es
s
ar
y
.
I
t
is
a
cr
u
cial
s
u
b
s
y
s
te
m
if
t
h
e
m
is
s
io
n
r
eq
u
ir
es
p
o
in
tin
g
ac
cu
r
ac
y
,
s
u
c
h
as
an
i
m
a
g
i
n
g
m
is
s
io
n
.
OB
DH
w
i
ll
en
s
u
r
e
t
h
e
ca
m
er
a
is
p
o
in
ti
n
g
i
n
t
h
e
r
ig
h
t
d
ir
ec
tio
n
b
ef
o
r
e
an
i
m
ag
e
ca
n
b
e
t
ak
en
.
I
f
n
o
t,
OB
DH
w
il
l c
o
m
m
a
n
d
ADC
S to
m
a
k
e
th
e
co
r
r
ec
tio
n
.
A
DC
S is
al
s
o
u
s
ed
to
s
tab
ilize
t
h
e
C
u
b
eSat
i
n
o
r
b
it.T
h
e
th
er
m
al
s
u
b
s
y
s
te
m
w
i
ll
co
n
ti
n
u
o
u
s
l
y
m
o
n
ito
r
t
h
e
te
m
p
er
at
u
r
e
o
f
ev
er
y
s
u
b
s
y
s
te
m
.
I
n
o
r
b
it,
C
u
b
e
Sat
is
ex
p
o
s
ed
to
th
e
ex
tr
e
m
e
h
o
t
an
d
co
ld
en
v
ir
o
n
m
en
t.
T
h
er
ef
o
r
e,
it
is
cr
u
cial
to
m
ak
e
s
u
r
e
th
e
te
m
p
er
atu
r
e
is
al
w
a
y
s
w
it
h
i
n
ev
er
y
co
m
p
o
n
en
t
's
o
p
er
atio
n
a
l
te
m
p
er
atu
r
e
r
an
g
e.
OB
DH
w
il
l
m
o
n
ito
r
th
e
te
m
p
er
at
u
r
e
p
er
io
d
ically
,
s
to
r
e
it
as
h
o
u
s
ek
ee
p
i
n
g
d
ata,
an
d
tak
e
ap
p
r
o
p
r
iate
ac
tio
n
if
th
e
te
m
p
er
atu
r
e
ex
ce
ed
s
its
li
m
it.
C
u
b
eSat
's
p
a
y
lo
ad
is
t
h
e
s
u
b
s
y
s
te
m
th
at
p
er
f
o
r
m
s
t
h
e
f
u
n
cti
o
n
o
f
t
h
e
p
r
i
m
ar
y
m
is
s
io
n
.
Fo
r
i
m
a
g
i
n
g
m
is
s
io
n
s
,
th
e
p
a
y
lo
ad
ca
n
b
e
a
ca
m
er
a.
T
h
e
d
o
s
im
e
ter
ca
n
b
e
a
p
ay
lo
ad
f
o
r
a
s
cien
tif
ic
m
i
s
s
io
n
,
an
d
an
te
n
n
as
ar
e
a
p
ay
lo
ad
f
o
r
a
co
m
m
u
n
icatio
n
m
i
s
s
io
n
.
OB
DH
m
u
s
t
co
n
s
id
er
p
ay
lo
ad
'
s
tas
k
as
o
n
e
o
f
th
e
h
ig
h
es
t
p
r
io
r
ity
tas
k
s
to
p
r
ev
e
n
t d
ata
co
llected
to
b
ec
o
m
e
in
v
alid
o
r
u
n
u
s
ab
le.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2502
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
0
2
1
:
1
6
7
2
-
1
6
7
8
1674
E
v
er
y
tas
k
d
escr
ib
ed
ab
o
v
e
h
as
d
if
f
er
en
t
cr
itica
li
t
y
a
n
d
p
r
io
r
it
y
.
T
h
e
task
s
also
h
a
v
e
d
if
f
er
en
t
len
g
t
h
o
f
ex
ec
u
tio
n
ti
m
es,
a
n
d
s
o
m
e
task
s
ca
n
b
e
p
r
ee
m
p
ted
.
T
h
er
ef
o
r
e,
s
ch
ed
u
l
in
g
all
th
e
tas
k
s
ar
e
co
m
p
lex
.
Fo
r
th
is
r
esear
c
h
,
tas
k
s
ar
e
s
elec
te
d
b
ased
o
n
m
i
s
s
io
n
o
p
er
atio
n
s
,
w
h
ic
h
ar
e
r
elate
d
to
d
ay
-
to
-
d
ay
ac
ti
v
it
ies
[
1
2
]
.
T
h
e
ac
tiv
ities
in
cl
u
d
e
b
u
s
o
p
er
atio
n
s
(
co
llectin
g
h
o
u
s
ek
ee
p
i
n
g
d
ata)
,
co
m
m
u
n
icatio
n
s
(
tr
an
s
m
itt
in
g
d
ata
an
d
r
ec
eiv
in
g
co
m
m
a
n
d
)
,
an
d
p
ay
l
o
ad
o
p
er
atio
n
s
(
i
m
a
g
in
g
)
.
T
o
s
im
p
li
f
y
th
e
s
ch
ed
u
li
n
g
p
r
o
b
lem
i
n
t
h
i
s
p
ap
er
,
f
e
w
ass
u
m
p
tio
n
s
[
1
3
]
-
[
1
5
]
ar
e
m
ad
e
as
f
o
llo
w
s
:
i)
A
l
l
tas
k
s
ar
e
in
n
o
r
m
al
o
p
er
atio
n
al
m
o
d
e
;
ii)
A
ll
ta
s
k
s
ar
e
in
d
ep
en
d
en
t
o
f
o
t
h
er
tas
k
a
n
d
r
eso
u
r
ce
s
;
ii
i)
A
ll
task
s
ar
e
p
er
io
d
ic
;
iv
)
T
h
e
task
is
ab
o
r
ted
if
it
m
is
s
ed
its
d
e
ad
lin
es
;
an
d
v)
C
u
b
eSat
o
n
l
y
co
m
m
u
n
icate
s
w
it
h
o
n
l
y
o
n
e
g
r
o
u
n
d
s
tatio
n
.
T
ask
s
in
th
is
r
esear
c
h
ar
e
d
ef
i
n
ed
b
y
f
o
u
r
p
ar
a
m
eter
s
: p
er
io
d
,
d
ea
d
lin
e,
ac
tu
al
e
x
ec
u
t
io
n
ti
m
e
(
A
E
T
)
,
an
d
w
o
r
s
t
-
ca
s
e
ex
ec
u
tio
n
t
i
m
e
(
W
C
E
T
)
[
1
6
]
.
Valu
e
f
o
r
ev
er
y
p
ar
a
m
eter
is
g
i
v
en
b
ased
o
n
g
e
n
er
al
C
u
b
eSa
t
o
p
er
atio
n
[
1
7
]
.
T
ab
le
1
s
h
o
w
s
th
e
s
elec
ted
ta
s
k
s
f
o
r
th
i
s
r
ese
ar
ch
an
d
its
p
ar
a
m
eter
s
.
T
h
e
cr
iticalit
y
o
f
th
e
ta
s
k
is
also
id
en
ti
f
ied
f
o
r
t
h
e
n
e
x
t p
h
ase
o
f
t
h
i
s
r
esear
ch
.
T
ab
le
1
.
T
ask
s
et
T
a
sk
D
e
t
a
i
l
s
P
e
r
i
o
d
/
D
e
a
d
l
i
n
e
(
ms)
A
E
T
(
ms)
W
C
ET
(
ms)
C
r
i
t
i
c
a
l
i
t
y
T
1
S
e
n
so
r
(
T
h
e
r
mal
)
3
0
0
5
7
L
O
W
T
2
EPS
3
0
0
4
7
L
O
W
T
3
A
D
C
S
1
0
0
20
25
L
O
W
T
4
I
mag
i
n
g
(
P
a
y
l
o
a
d
)
5
0
0
1
2
H
I
G
H
T
5
C
O
M
S
50
1
2
H
I
G
H
T
h
e
f
ir
s
t
task
,
T
1
,
is
to
ac
q
u
ir
e
r
ea
d
in
g
f
r
o
m
te
m
p
er
atu
r
e
s
e
n
s
o
r
s
.
E
ac
h
s
u
b
s
y
s
te
m
w
ill
h
av
e
at
least
o
n
e
s
en
s
o
r
.
OB
DH
w
ill
o
b
tain
r
ea
d
in
g
s
ev
er
y
5
m
in
u
te
s
.
T
2
is
a
task
to
g
et
a
b
atter
y
v
o
ltag
e
a
n
d
cu
r
r
en
t
s
u
p
p
lied
to
ev
er
y
s
u
b
s
y
s
te
m
.
T
h
is
task
is
ess
e
n
ti
al
to
k
n
o
w
h
o
w
m
u
ch
is
b
atter
y
lev
e
l
an
d
to
d
etec
t
an
o
m
a
lie
s
o
n
s
u
b
s
y
s
te
m
s
.
T
h
e
th
ir
d
tas
k
,
T
3
,
d
ea
ls
w
it
h
atti
tu
d
e
d
et
er
m
in
a
tio
n
u
s
i
n
g
th
e
g
lo
b
al
p
o
s
itio
n
in
g
s
er
v
ice
(
GP
S)
r
ec
eiv
er
.
T
4
an
d
T
5
ar
e
task
s
i
n
v
o
l
v
i
n
g
ca
p
t
u
r
in
g
i
m
ag
e
s
a
n
d
tr
an
s
m
itti
n
g
t
h
e
i
m
ag
e
d
ata
an
d
tele
m
etr
y
to
th
e
g
r
o
u
n
d
s
tat
io
n
.
T
h
ese
task
s
ar
e
ca
teg
o
r
ized
as h
i
g
h
cr
itica
lit
y
tas
k
s
D
y
n
a
m
i
c
v
o
l
t
a
g
e
a
n
d
f
r
e
q
u
e
n
c
y
s
c
a
l
i
n
g
(
D
V
F
S
)
i
s
a
t
e
c
h
n
i
q
u
e
i
m
p
l
e
m
e
n
t
e
d
a
t
t
h
e
o
p
e
r
a
t
i
n
g
s
y
s
t
e
m
l
e
v
e
l
t
o
r
e
d
u
c
e
p
o
w
e
r
c
o
n
s
u
m
p
t
i
o
n
d
u
r
i
n
g
o
p
e
r
a
t
i
o
n
.
T
h
e
t
e
c
h
n
i
q
u
e
i
s
d
y
n
a
m
i
c
a
l
l
y
a
d
j
u
s
t
i
n
g
t
h
e
p
r
o
c
e
s
s
o
r
’
s
v
o
l
t
a
g
e
a
n
d
f
r
e
q
u
e
n
c
y
b
a
s
e
d
o
n
t
a
s
k
e
x
e
c
u
t
i
o
n
t
i
m
e
[
1
8
]
.
D
V
F
S
e
x
p
l
o
i
t
s
t
h
e
u
n
u
s
e
d
C
P
U
t
i
m
e
s
b
e
t
w
e
e
n
W
C
E
T
a
n
d
D
e
a
d
l
i
n
e
,
w
h
i
c
h
i
s
a
l
s
o
k
n
o
w
n
a
s
s
l
a
c
k
.
T
h
e
r
e
a
r
e
t
w
o
t
y
p
e
s
o
f
s
l
a
c
k
:
s
t
a
t
i
c
a
n
d
d
y
n
a
m
i
c
.
S
t
a
t
i
c
s
l
a
c
k
i
s
a
u
s
u
a
l
s
l
a
c
k
,
a
n
d
d
y
n
a
m
i
c
s
l
a
c
k
i
s
a
n
i
n
t
e
r
v
a
l
b
e
t
w
e
e
n
A
E
T
a
n
d
W
C
E
T
.
F
i
g
u
r
e
2
s
h
o
w
s
t
h
e
d
i
f
f
e
r
e
n
c
e
b
e
t
w
e
e
n
s
t
a
t
i
c
a
n
d
d
y
n
a
m
i
c
s
l
a
c
k
.
Fig
u
r
e
2
.
Static a
n
d
d
y
n
a
m
ic
s
lack
T
h
is
ex
p
er
i
m
en
t
i
m
p
le
m
en
ts
t
w
o
DVFS
al
g
o
r
ith
m
s
b
ase
d
o
n
th
e
ea
r
lies
t
d
ea
d
lin
e
f
ir
s
t
(
E
DF)
s
ch
ed
u
lin
g
:
Static
E
DF
al
g
o
r
i
th
m
an
d
c
y
clic
c
y
c
le
c
o
n
s
er
v
in
g
E
DF
(
C
C
E
DF)
al
g
o
r
ith
m
[
1
9
]
.
Static
E
DF
u
s
e
s
s
ta
tic
s
lack
to
s
c
h
ed
u
le
th
e
tas
k
s
.
B
ased
o
n
t
h
e
p
r
o
ce
s
s
o
r
u
t
ilizatio
n
o
f
th
e
tas
k
s
et,
t
h
e
m
i
n
i
m
u
m
f
r
eq
u
en
c
y
w
il
l b
e
d
eter
m
in
ed
.
A
ll ta
s
k
is
ex
ec
u
ted
at
t
h
e
s
a
m
e
f
r
eq
u
en
c
y
.
On
th
e
o
t
h
er
h
an
d
,
C
C
E
D
F
s
ca
les
t
h
e
f
r
eq
u
e
n
c
y
u
s
i
n
g
d
y
n
a
m
ic
s
lac
k
.
T
h
e
f
ir
s
t
ta
s
k
w
ill
b
e
ex
ec
u
ted
b
ased
o
n
its
W
C
E
T
.
Af
ter
th
e
co
m
p
letio
n
o
f
th
e
f
ir
s
t
task
,
i
f
th
e
tas
k
f
i
n
i
s
h
e
s
b
ef
o
r
e
its
W
C
E
T
,
th
e
s
ch
ed
u
ler
w
i
ll
tr
an
s
f
er
th
e
r
e
m
ai
n
in
g
ti
m
e
to
th
e
n
e
x
t
ta
s
k
.
T
h
e
f
r
eq
u
en
c
y
f
o
r
th
e
n
ex
t
t
ask
is
s
ca
led
d
o
w
n
b
ased
o
n
t
h
e
r
e
m
a
in
i
n
g
ti
m
e
g
iv
en
.
Fi
g
u
r
e
3
s
h
o
w
s
t
h
e
d
i
f
f
e
r
en
ce
b
et
w
ee
n
s
tat
ic
E
DF
an
d
C
C
E
DF
s
c
h
ed
u
le
f
o
r
a
s
i
m
i
lar
task
s
et.
Evaluation Warning : The document was created with Spire.PDF for Python.
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n
d
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J
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&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Dyn
a
mic
fr
eq
u
en
cy
s
ch
ed
u
lin
g
fo
r
C
u
b
eS
a
t's o
n
-
b
o
a
r
d
a
n
d
d
a
ta
h
a
n
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lin
g
…
(
S
h
a
r
iz
a
l F
a
d
lie
S
a
b
r
i
)
1675
Fig
u
r
e
3
.
Static E
DF a
n
d
C
C
E
DF sch
ed
u
li
n
g
T
h
e
task
s
e
t
w
as
s
ch
ed
u
led
u
s
in
g
t
w
o
to
o
ls
.
T
h
e
f
ir
s
t
to
o
l
is
Si
m
So
,
an
o
p
en
-
s
o
u
r
ce
s
o
f
t
w
a
r
e
w
r
itte
n
in
P
y
th
o
n
[
2
0
]
.
Sim
So
s
u
p
p
o
r
ts
2
5
s
ch
ed
u
ler
s
f
o
r
th
e
u
n
ip
r
o
ce
s
s
o
r
an
d
m
u
ltip
r
o
ce
s
s
o
r
p
latf
o
r
m
.
I
t
g
e
n
er
ates
r
esu
lt
s
in
th
e
f
o
r
m
o
f
a
Gan
tt
ch
ar
t,
w
h
ic
h
is
ea
s
y
to
u
n
d
e
r
s
tan
d
.
Si
m
s
o
is
u
s
ed
to
s
im
u
late
th
e
task
s
et
as
p
r
ee
m
p
ti
v
e
tas
k
s
.
T
h
e
s
ec
o
n
d
to
o
l
is
a
w
eb
-
b
ased
s
i
m
u
l
ato
r
w
r
i
tten
i
n
j
av
as
cr
ip
t.
T
h
e
s
ch
ed
u
ler
i
n
th
i
s
s
i
m
u
lato
r
i
s
b
ased
o
n
th
e
alg
o
r
ith
m
b
y
P
illai
[
2
1
]
.
T
h
is
s
i
m
u
lato
r
w
ill
s
c
h
ed
u
le
th
e
ta
s
k
s
et
as
a
n
o
n
-
p
r
ee
m
p
ti
v
e
tas
k
.
DVFS
alg
o
r
it
h
m
i
s
i
m
p
le
m
e
n
ted
o
n
th
e
p
r
o
ce
s
s
o
r
th
at
ca
n
r
u
n
i
n
m
u
ltip
le
f
r
eq
u
en
ci
es.
I
n
th
i
s
r
esear
ch
,
w
e
w
ill
u
s
e
th
e
ST
M3
2
F7
m
icr
o
co
n
tr
o
ller
f
a
m
il
y
.
T
h
e
p
r
o
ce
s
s
o
r
h
as
s
ev
en
(
7
)
f
r
eq
u
en
c
y
s
ca
lin
g
[
2
2
]
,
as
s
h
o
w
n
in
T
ab
l
e
2
.
W
e
h
av
e
s
ca
led
th
e
p
r
o
ce
s
s
o
r
s
p
ee
d
b
ased
o
n
th
e
f
r
eq
u
en
c
y
.
E
v
e
n
th
o
u
g
h
th
e
p
r
o
ce
s
s
o
r
h
a
s
s
ev
e
n
s
p
ee
d
s
,
in
th
is
s
i
m
u
latio
n
,
o
n
l
y
f
iv
e
(
5
)
,
h
ig
h
e
s
t
s
p
ee
d
s
ca
le
i
s
u
s
e
d
b
ec
au
s
e
t
h
e
o
t
h
er
t
w
o
ar
e
to
o
s
lo
w
a
n
d
w
ill
f
ail
to
s
ch
ed
u
le
t
h
e
tas
k
s
e
t.
T
h
e
s
i
m
u
lat
io
n
i
s
d
o
n
e
f
o
r
1
5
0
0
m
s
a
n
d
i
f
an
y
ta
s
k
m
is
s
es it
s
d
ea
d
lin
e,
it
w
ill b
e
a
b
o
r
ted
.
T
ab
le
1
.
Fre
q
u
en
c
y
s
ca
li
n
g
f
o
r
ST
M3
2
F7
m
icr
o
co
n
tr
o
ller
f
a
m
il
y
N
o
.
F
r
e
q
u
e
n
c
y
(
M
H
z
)
S
p
e
e
d
sca
l
e
1
2
1
6
1
2
2
0
0
0
.
9
3
3
1
8
0
0
.
8
3
4
1
6
8
0
.
7
8
5
1
4
4
0
.
6
7
6
60
0
.
2
8
7
25
0
.
1
1
3.
RE
SU
L
T
S
A
ND
D
IS
CU
SS
I
O
N
Fig
u
r
e
4
s
h
o
w
s
t
h
e
s
i
m
u
latio
n
r
es
u
lt
f
o
r
s
tat
ic
E
DF
u
s
in
g
Si
m
So
.
T
h
e
s
ch
ed
u
ler
u
tili
ze
d
1
0
0
%
o
f
C
P
U
ti
m
e
co
m
p
ar
ed
to
th
e
s
t
an
d
ar
d
E
DF
s
ch
ed
u
ler
[
2
3
]
,
a
s
s
h
o
w
n
in
Fi
g
u
r
e
5
.
A
ll
tas
k
is
ex
ec
u
ted
at
0
.
6
7
p
r
o
ce
s
s
o
r
s
p
ee
d
w
h
ic
h
is
t
h
e
l
o
w
est
s
p
ee
d
s
et
f
o
r
t
h
e
s
i
m
u
la
tio
n
.
Fro
m
t
h
e
ch
ar
t,
w
e
ca
n
o
b
s
er
v
e
th
at
n
o
tas
k
m
is
s
es
it
s
d
ea
d
lin
e,
an
d
all
task
h
as
lo
n
g
er
ex
ec
u
tio
n
ti
m
e
c
o
m
p
ar
ed
to
th
eir
W
C
E
T
.
Fo
r
ex
a
m
p
le,
T
3
is
r
u
n
f
o
r
8
4
m
s
,
m
o
r
e
th
a
n
th
r
ee
ti
m
es lo
n
g
er
t
h
an
i
ts
W
C
E
T
.
T
h
e
r
esu
lt
also
s
h
o
w
s
th
at
o
n
l
y
T
3
is
n
o
t
p
r
ee
m
p
ted
b
ec
au
s
e
its
ex
ec
u
tio
n
ti
m
e
tak
e
s
a
lo
n
g
ti
m
e
an
d
al
w
a
y
s
i
m
m
i
n
en
t
to
its
d
ea
d
lin
e.
T
h
e
s
itu
atio
n
is
ac
ce
p
tab
le
b
ec
au
s
e
task
p
r
io
r
ity
is
b
as
ed
o
n
a
task
th
at
is
n
ea
r
to
its
d
ea
d
lin
e.
Ho
w
e
v
er
,
if
th
e
p
r
io
r
ity
al
s
o
co
n
s
id
er
s
th
e
cr
iticalit
y
o
f
th
e
tas
k
,
th
e
s
ch
ed
u
ler
m
a
y
h
a
v
e
a
p
r
o
b
lem
to
s
ch
ed
u
le
th
i
s
task
s
et.
I
n
a
r
ea
l
s
itu
atio
n
,
T
4
an
d
T
5
ar
e
cr
itical
task
s
an
d
s
h
o
u
ld
n
o
t
b
e
p
r
ee
m
p
ted
.
Nex
t,
w
e
s
i
m
u
la
te
th
e
task
s
et
u
s
i
n
g
C
C
E
DF
s
ch
ed
u
ler
,
an
d
th
e
r
esu
l
t
is
s
i
m
ilar
to
s
tatic
E
DF.
T
h
is
h
ap
p
en
ed
b
ec
au
s
e
th
e
p
r
o
ce
s
s
o
r
h
as
a
h
u
g
e
s
lac
k
t
i
m
e,
an
d
0
.
6
7
is
th
e
lo
w
es
t
s
p
ee
d
s
ca
le
s
et
f
o
r
s
i
m
u
lat
io
n
.
T
h
er
ef
o
r
e,
C
C
E
D
F d
o
es n
o
t p
r
o
v
id
e
a
d
if
f
er
en
t
r
esu
lt.
Fo
r
n
o
n
-
p
r
ee
m
p
tiv
e
tas
k
s
i
m
u
latio
n
,
t
h
e
J
av
a
Scr
ip
t
s
i
m
u
la
to
r
f
ails
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te
T
4
an
d
T
5
f
o
r
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o
th
t
y
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o
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s
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h
ed
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ler
s
.
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o
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s
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e
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s
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ir
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6
7
.
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h
is
r
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l
t
s
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o
w
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at
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ler
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m
a
y
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av
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if
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ic
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lt
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le
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n
o
n
-
p
r
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m
p
ti
v
e
tas
k
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et
s
u
cc
e
s
s
f
u
ll
y
.
Fro
m
t
h
is
s
i
m
u
latio
n
,
w
e
k
n
o
w
t
h
at
cr
itical
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s
ar
e
f
ailed
in
n
o
n
-
p
r
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m
p
tiv
e
s
ch
ed
u
lin
g
.
T
h
er
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o
r
e,
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u
r
n
ex
t
p
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ase
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t
h
is
r
e
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r
ch
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e
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h
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iticali
t
y
o
f
t
h
e
ta
s
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r
co
n
s
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er
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.
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e
w
il
l
lo
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to
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h
e
DVFS
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g
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ith
m
f
o
r
m
i
x
ed
-
cr
iticalit
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s
c
h
e
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u
lin
g
[
2
4
]
.
I
n
m
i
x
ed
-
cr
it
icalit
y
s
c
h
ed
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li
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g
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o
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-
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i
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eir
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ee
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eir
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er
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o
r
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ce
[
2
5
]
,
[
2
6
]
.
W
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e
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o
t
id
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ied
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n
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itab
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la
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li
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n
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ce
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ller
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o
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DH.
Fre
eR
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w
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s
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Evaluation Warning : The document was created with Spire.PDF for Python.
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ch
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ler
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e
s
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m
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latio
n
,
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d
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n
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id
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tatic
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n
s
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m
p
tio
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s
u
c
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as
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e
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ea
k
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d
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s
ip
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e
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icr
o
co
n
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o
ller
o
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n
s
[
2
7
]
.
T
h
er
ef
o
r
e,
test
in
g
o
n
th
e
p
r
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to
ty
p
e
w
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l
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w
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s
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d
er
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d
m
o
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ab
o
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t
d
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m
ic
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d
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tatic
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m
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n
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Fig
u
r
e
4
.
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u
latio
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s
in
g
Si
m
So
Fig
u
r
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5
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DF si
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CO
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N
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r
w
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k
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tify
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g
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i
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le
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et
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ep
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ig
n
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f
ica
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o
p
er
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h
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t
ask
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et
co
n
s
is
t
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o
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a
tas
k
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b
s
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te
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s
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m
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s
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C
E
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o
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e
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r
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m
p
tiv
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d
n
o
n
-
p
r
ee
m
p
ti
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e
tas
k
.
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h
e
r
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lt
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if
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e
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et
w
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n
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ler
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n
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e
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h
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u
lab
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er
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a
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ce
.
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h
e
s
ch
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ler
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ailed
to
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ch
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le
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itical
ta
s
k
s
w
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e
n
w
e
s
et
t
h
e
tas
k
s
et
as
n
o
n
-
p
r
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m
p
tiv
e.
Fro
m
t
h
i
s
r
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u
lt,
w
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u
n
d
er
s
ta
n
d
t
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at
w
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n
ee
d
to
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n
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er
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k
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iticali
t
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a
s
o
n
e
o
f
t
h
e
s
ch
ed
u
li
n
g
p
ar
a
m
eter
s
.
W
e
w
il
l
i
m
p
le
m
en
t
m
i
x
ed
-
cr
iticalit
y
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ch
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u
lin
g
f
o
r
th
i
s
r
esear
c
h
.
As
a
m
i
x
ed
-
cr
iticali
t
y
s
y
s
te
m
,
C
u
b
eSat
h
a
s
m
u
l
tip
le
lev
e
ls
o
f
tas
k
cr
itical
it
y
:
lo
w
-
cr
itical
a
n
d
m
i
s
s
io
n
-
cr
i
tic
al
task
s
.
W
e
w
ill
i
m
p
le
m
en
t
a
n
e
w
DV
FS
s
c
h
ed
u
ler
to
a
C
u
b
eSat
’
s
p
r
o
to
t
y
p
e
th
at
is
b
ei
n
g
d
e
v
elo
p
ed
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
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N:
2502
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4752
Dyn
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S
[1
]
L
.
Be
rth
o
u
d
,
e
t
a
l
.
,
“
Un
iv
e
rsity
C
u
b
e
S
a
t
P
r
o
jec
t
M
a
n
a
g
e
m
e
n
t
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u
c
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ss
,
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3
3
rd
An
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u
a
l
AI
AA
/US
U Co
n
fer
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n
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o
n
S
ma
ll
S
a
telli
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S
S
C1
9
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W
KIII
-
07
,
2
0
1
9
.
[2
]
A
.
M
e
h
rp
a
rv
a
r,
“
Cu
b
e
S
a
t
De
s
ig
n
S
p
e
c
if
ica
ti
o
n
s Re
v
isio
n
1
3
,
”
T
h
e
Cu
b
e
S
a
t
Pr
o
g
ra
m
,
2
0
1
4
.
[3
]
T
.
V
il
lela
,
C.
A
u
g
u
sto
C
o
sta
,
A
.
M
.
Bra
n
d
ã
o
,
a
n
d
F
.
T
.
Bu
e
n
o
,
“
T
o
wa
rd
s
th
e
T
h
o
u
sa
n
d
th
C
u
b
e
S
a
t:
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S
tatisti
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l
Ov
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rv
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,
In
ter
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ti
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.
[4
]
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.
El
b
re
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h
t
,
e
t
a
l
.
,
“
1
U
C
u
b
e
S
a
t
d
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sig
n
f
o
r
in
c
re
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se
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Pr
o
c
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e
d
in
g
s o
f
t
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1
st
I
A
A
Co
n
f
e
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n
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e
o
n
Un
ive
rs
it
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S
a
telli
te M
issio
n
s
,
p
p
.
1
-
7
,
2
0
1
1
.
[
5
]
T
.
A
b
u
r
o
u
k
,
S
.
K
i
m
,
H
.
M
a
s
u
i
,
a
n
d
M
.
C
h
o
,
“
D
e
s
i
g
n
,
F
a
b
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c
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t
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o
n
,
a
n
d
T
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s
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1
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p
p
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7
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7
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2
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1
8
.
[6
]
S
.
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in
g
h
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A
.
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h
riv
a
sta
v
,
a
n
d
S
.
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a
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a
,
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GA
N
F
ET
B
a
se
d
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u
b
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sa
t
El
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c
tri
c
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,”
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p
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[7
]
S
.
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terl
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a
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.
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2
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.
[8
]
A
.
E.
P
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tra
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B.
A
ll
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in
o
A
.
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.
,
C.
A
t
m
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,
a
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M
S
.
He
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“
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-
Bo
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Da
ta
Ha
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(OBD
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p
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6
9
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f
o
r
IiNUSAT
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1
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a
telli
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[9
]
R.
M
a
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m
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.
M
a
h
m
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d
,
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id
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sig
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[1
2
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m
b
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rto
n
a
n
d
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lav
iu
s
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a
li
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r
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3
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l.
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4
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issio
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5
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S.
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Jo
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g
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S
.
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g
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.
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.
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a
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a
n
d
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B
o
u
w
m
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r
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m
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m
m
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lf
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t
n
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n
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th
In
t
e
rn
a
ti
o
n
a
l
Astro
n
a
u
ti
c
a
l
Co
n
g
re
ss
:
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0
0
8
,
2
0
0
8
.
[1
6
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S
.
F
.
S
a
b
ri
,
N.
A
z
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ra
ti
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h
m
a
d
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b
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d
d
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.
M
o
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d
Da
u
d
,
a
n
d
K.
Ka
m
a
rd
in
,
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rg
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f
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ter
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[1
7
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A
.
A
k
h
o
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ry
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e
t
a
l.
,
“
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sig
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d
A
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terr
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li
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m
f
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r
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n
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sa
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,
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2
0
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4
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8
4
.
[
1
8
]
A
.
Z
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l
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w
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k
i
,
A
.
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,
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v
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.
[1
9
]
S
.
S
a
h
a
a
n
d
B
.
Ra
v
in
d
ra
n
,
“
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n
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x
p
e
rime
n
tal
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a
lu
a
ti
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re
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l
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DV
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sc
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d
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li
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g
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m
s
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in
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5
t
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a
l
In
ter
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p
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3
6
7
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3
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.
[2
0
]
M
.
Ch
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ra
m
y
,
P
.
E.
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d
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,
a
n
d
A
.
M
.
Dé
p
lan
c
h
.
,
“
S
im
S
o
:
A
sim
u
latio
n
to
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l
to
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v
a
lu
a
te
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l
-
ti
m
e
m
u
lt
ip
ro
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e
ss
o
r
sc
h
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d
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li
n
g
a
lg
o
rit
h
m
s
,
”
5
th
In
ter
n
a
ti
o
n
a
l
W
o
rk
sh
o
p
o
n
An
a
lys
is
T
o
o
ls a
n
d
M
e
th
o
d
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l
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ies
fo
r
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e
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ti
me
S
y
ste
ms
(W
AT
ER
S
)
,
2
0
1
4
.
[2
1
]
P.
P
il
lai
a
n
d
K.
G
.
S
h
in
,
“
Re
a
l
-
ti
m
e
d
y
n
a
m
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v
o
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g
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p
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ra
ti
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g
s
y
ste
m
s
,
”
S
IGO
PS
Op
e
ra
ti
n
g
S
y
ste
ms
Rev
iew
,
v
o
l.
3
5
,
n
o
.
5
,
p
p
.
8
9
-
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4
5
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0
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5
9
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5
0
2
0
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4
.
[
2
2
]
D
i
g
i
.
K
e
y
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l
e
c
t
r
o
n
i
c
s
,
“
S
T
M
i
c
r
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e
c
t
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i
c
s
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S
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x
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t
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”
2017
.
[
O
n
l
i
n
e
]
.
A
v
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l
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b
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e
:
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s
:
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/
w
w
w
.
d
i
g
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k
e
y
.
c
o
m
/
[2
3
]
A
.
Ku
m
a
r
a
n
d
A
.
Ba
sh
ir.
“
En
e
rg
y
h
a
rv
e
stin
g
e
a
rli
e
st
d
e
a
d
li
n
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f
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t
sc
h
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d
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li
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g
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lg
o
rit
h
m
f
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c
re
a
sin
g
li
f
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m
e
o
f
re
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l
ti
m
e
s
y
ste
m
s
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
&
Co
mp
u
ter
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g
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n
e
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rin
g
,
v
o
l.
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.
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p
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.
v
9
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p
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4
5
.
[2
4
]
S
.
N.
M
a
id
i
n
,
N.
A
.
A
h
m
a
d
,
K.
Ka
m
a
rd
in
,
a
n
d
S
.
S
a
h
ib
u
d
d
in
,
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e
rf
o
rm
a
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a
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p
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t
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m
in
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icro
c
o
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tro
l
ler
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d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
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c
trica
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g
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g
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n
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ter
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e
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v
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l.
1
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.
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p
p
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5
.
i2
.
p
p
6
7
8
-
6
8
7
.
[2
5
]
E.
R.
W
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g
n
se
n
,
R
.
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.
Evaluation Warning : The document was created with Spire.PDF for Python.