I
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ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
24
,
No
.
3
,
Dec
em
b
er
20
21
,
p
p
.
1
4
3
2
~
1
4
3
6
I
SS
N:
2502
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4
7
5
2
,
DOI
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1
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1
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2
4
.i
3
.
pp
1
4
3
2
-
1
4
3
6
1432
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Desig
n of
v
ehicle
using
Ackermann
steer
ing
with
I
o
T co
ncept
Albert
P
a
ul Ar
un
k
um
a
r,
P
a
l
a
nis
a
m
y
R
.
,
Selv
a
k
um
a
r
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.
,
Ush
a
S
.
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T
ha
m
izh T
hentr
a
l T
.
M
.
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K
a
rt
hik
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n
D
.
De
p
a
rtme
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t
o
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EE
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S
R
M
In
sti
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t
e
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
lo
g
y
,
Ka
t
tan
k
u
lath
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r
,
In
d
ia
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
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y:
R
ec
eiv
ed
May
19
,
2
0
2
1
R
ev
is
ed
Oct
29
,
2
0
2
1
Acc
ep
ted
No
v
1
,
2
0
2
1
El
e
c
tri
c
v
e
h
icle
s
a
re
b
e
c
o
m
in
g
m
o
re
d
e
m
a
n
d
in
g
t
h
e
se
d
a
y
s.
In
th
is
p
r
o
jec
t
th
e
p
o
ss
ib
i
li
ty
o
f
u
sin
g
Ac
k
e
rm
a
n
ste
e
rin
g
wi
th
e
lec
tri
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se
r
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o
m
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x
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.
S
c
a
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h
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l
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a
s
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ll
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to
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le
o
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g
o
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th
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wh
e
e
ls.
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a
lso
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v
o
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h
e
fro
n
t
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sli
p
p
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g
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n
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c
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a
tes
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ll
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k
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ste
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e
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ters
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wh
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th
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l
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e
a
s
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ires
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ter
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Th
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m
icro
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tro
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se
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i
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p
ro
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ATM
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a
1
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2
3
2
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se
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tran
sm
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K
ey
w
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s
:
Ack
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m
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Ar
d
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in
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T
Sen
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Veh
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T
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s
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CC B
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C
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r
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Palan
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Dep
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titu
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k
r
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co
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1.
I
NT
RO
D
UCT
I
O
N
Du
e
to
in
cr
ea
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ed
u
s
es
o
f
v
eh
icles
an
d
tr
an
s
p
o
r
tatio
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ch
o
f
v
eh
icle’
s
s
tab
ilit
y
an
d
co
n
tr
o
llab
ilit
y
ar
e
d
em
an
d
e
d
[
1
]
.
T
h
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p
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r
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ch
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b
ased
o
n
p
r
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ig
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[
2
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-
[
5
]
.
T
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ip
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I
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J
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C
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Sci
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N:
2502
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4
7
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2
Desig
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A
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[
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2
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ased
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2
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2
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.
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I
n
t
h
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s
p
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e
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t
t
h
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w
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r
v
o
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o
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t
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d
t
o
t
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o
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l
s
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m
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l
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t
a
t
i
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y
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h
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v
a
r
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a
t
i
o
n
o
f
v
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l
t
a
g
e
t
h
r
o
u
g
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e
p
o
t
e
n
t
i
o
m
e
t
e
r
.
O
n
t
u
r
n
i
n
g
t
h
e
s
p
e
e
d
,
t
h
e
i
n
n
e
r
w
h
ee
l
s
l
o
ws
d
o
w
n
a
n
d
s
p
e
e
d
o
f
t
h
e
o
u
t
e
r
w
h
e
e
l
r
is
e
s
u
p
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n
p
r
o
p
o
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t
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o
n
a
l
t
o
t
h
e
a
c
t
u
a
l
a
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g
u
l
a
r
v
e
l
o
c
i
t
y
.
A
p
o
s
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ti
o
n
a
l
e
n
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o
d
e
r
i
s
u
s
e
d
f
o
r
t
h
e
s
t
e
e
r
i
n
g
,
w
h
i
c
h
g
i
v
es
u
s
t
h
e
a
n
g
l
e
o
f
t
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r
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i
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g
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f
t
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c
a
r
.
A
s
i
t
t
a
k
e
s
t
u
r
n
b
o
t
h
t
h
e
f
r
o
n
t
w
h
e
e
l
s
p
o
i
n
t
o
u
t
to
s
a
m
e
c
e
n
te
r
C
o
f
t
u
r
n
i
n
g
m
a
k
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g
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h
e
i
r
r
a
d
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u
s
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r
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m
C
.
t
h
u
s
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n
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f
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o
m
n
o
r
m
a
l
d
i
f
f
e
r
e
n
t
.
4.
CO
NCLU
SI
O
N
T
h
e
o
b
jectiv
e
was
d
eter
m
in
in
g
th
e
an
g
le
o
f
th
e
wh
ee
ls
wh
i
ch
is
d
o
n
e
b
y
ac
k
er
m
a
n
’
s
p
r
in
cip
le.
T
h
e
r
esu
lts
o
f
th
e
an
g
le
ar
e
o
b
tai
n
ed
b
y
u
s
in
g
s
er
ial
d
ata
tr
a
n
s
m
is
s
io
n
b
y
m
ax
2
3
2
u
s
in
g
t
h
e
m
icr
o
co
n
tr
o
ller
AT
Me
g
a1
6
.
T
h
e
r
ea
d
in
g
s
s
h
o
wn
in
th
e
co
m
p
u
ter
is
d
eter
m
in
ed
b
y
u
s
in
g
th
e
f
r
e
q
u
en
c
y
o
f
o
s
cillato
r
,
p
r
escalar
an
d
f
r
eq
u
en
cy
wh
ich
is
eq
u
al
to
5
0
Hz.
I
t
ta
k
es
th
e
d
ata
f
r
o
m
m
icr
o
co
n
tr
o
ller
an
d
s
en
d
s
it
th
r
o
u
g
h
USAR
T
.
T
h
e
ab
o
v
e
ex
p
er
im
en
t
a
n
d
th
eo
r
y
ca
n
also
b
e
a
p
p
licab
le
f
o
r
th
e
4
-
wh
ee
l
d
r
iv
in
g
v
eh
icle.
Ack
er
m
an
n
l
g
e
o
m
etr
y
is
to
av
o
id
l
th
e
n
ee
d
f
o
r
tire
s
to
s
lip
s
id
ewa
y
s
l
wh
en
f
o
llo
win
g
th
e
p
a
th
ar
o
u
n
d
a
c
u
r
v
e.
RE
F
E
R
E
NC
E
S
[1
]
P
.
A.
S
imio
n
e
sc
u
a
n
d
D
.
Be
a
le,
“
Op
ti
m
u
m
sy
n
th
e
sis
o
f
th
e
fo
u
r
-
b
a
r
fu
n
c
ti
o
n
g
e
n
e
ra
to
r
i
n
it
s
sy
m
m
e
tri
c
e
m
b
o
d
ime
n
t:
th
e
Ac
k
e
rm
a
n
n
st
e
e
rin
g
li
n
k
a
g
e
,
”
M
e
c
h
M
a
c
h
T
h
e
o
ry
,
v
o
l.
37
,
n
o
.
12
,
p
p
.
1
4
8
7
-
1
5
0
4
,
2
0
0
2
,
d
o
i:
1
0
.
1
0
1
6
/S
0
0
9
4
-
1
1
4
X(0
2
)0
0
0
7
1
-
X
.
[2
]
P
.
A.
S
imio
n
e
sc
u
a
n
d
S
.
R.
S
m
it
h
,
“
In
it
ial
e
stim
a
tes
in
t
h
e
d
e
si
g
n
o
f
c
e
n
tral
-
lev
e
r
ste
e
rin
g
li
n
k
a
g
e
s
,
”
J
.
M
e
c
h
.
De
s
.,
v
o
l.
1
2
4
,
n
o
.
4
,
p
p
.
6
4
6
-
6
5
1
,
2
0
0
2
,
d
o
i:
1
0
.
1
1
1
5
/
1
.
1
5
0
5
8
5
3
.
[3
]
A.
G
.
Erd
m
a
n
,
G
.
N.
S
a
n
d
o
r
,
a
n
d
S.
Ko
ta,
“
M
e
c
h
a
n
ism
d
e
sig
n
:
a
n
a
ly
sis
a
n
d
sy
n
t
h
e
sis
,
”
En
g
lew
o
o
d
Cl
if
fs,
NJ
:
Pre
n
ti
c
e
Ha
ll
,
p
p
.
12
-
1
9
,
2
0
0
1
,
d
o
i:
1
0
.
1
0
1
6
/
j.
m
e
c
h
m
a
c
h
th
e
o
ry
.
2
0
0
8
.
0
2
.
0
1
4
.
[4
]
A.
R
.
Ha
n
z
a
k
i
,
P
.
V.
M
.
Ra
o
,
a
n
d
S
.
K.
S
a
h
a
,
“
Kin
e
m
a
ti
c
a
n
d
se
n
siti
v
it
y
a
n
a
l
y
sis
a
n
d
o
p
ti
m
iza
ti
o
n
o
f
p
la
n
a
r
ra
c
k
-
a
n
d
-
p
i
n
io
n
ste
e
rin
g
li
n
k
a
g
e
s
,
”
M
e
c
h
a
n
ism
a
n
d
M
a
c
h
i
n
e
T
h
e
o
ry
,
v
o
l
.
44
,
n
o
.
1
,
p
p
.
42
-
56
,
2
0
0
9
,
d
o
i:
1
0
.
1
0
1
6
/j
.
m
e
c
h
m
a
c
h
th
e
o
r
y
.
2
0
0
8
.
0
2
.
0
1
4
[5
]
E.
Ch
ic
u
re
l
,
“
A
ste
e
rin
g
i
n
ter
v
a
l
m
e
c
h
a
n
ism
,
”
M
e
c
h
M
a
c
h
T
h
e
o
ry
,
v
o
l.
34
,
n
o
.
3
,
p
p
.
421
-
4
3
6
,
1
9
9
9
,
d
o
i:
1
0
.
1
0
1
6
/S
0
0
9
4
-
1
1
4
X(9
8
)0
0
0
4
6
-
9
.
[6
]
D
.
D
.
A
rd
a
y
fio
a
n
d
D
.
Q
iao
,
“
A
n
a
ly
ti
c
a
l
d
e
sig
n
o
f
se
v
e
n
jo
i
n
t
sp
a
ti
a
l
ste
e
rin
g
m
e
c
h
a
n
ism
s
,
”
M
e
c
h
M
a
c
h
T
h
e
o
ry
,
v
o
l.
22
,
n
o
.
4
,
p
p
.
3
1
5
-
3
1
9
,
1
9
8
7
,
d
o
i:
1
0
.
1
0
1
6
/0
0
9
4
-
1
1
4
X(
8
7
)
9
0
0
2
0
-
6
.
[7
]
M
.
L.
F
e
lzie
n
a
n
d
D.
Cr
o
n
i
n
,
“
S
tee
rin
g
e
rro
r
o
p
ti
m
iza
ti
o
n
o
f
th
e
M
a
c
p
h
e
rso
n
str
u
t
a
u
t
o
m
o
ti
v
e
fro
n
t
su
sp
e
n
sio
n
,
”
M
e
c
h
M
a
c
h
T
h
e
o
ry
,
v
o
l
.
20
,
n
o
.
1
,
p
p
.
17
-
2
6
,
1
9
8
5
,
d
o
i:
1
0
.
1
0
1
6
/0
0
9
4
-
1
1
4
X(8
5
)9
0
0
5
4
-
0
.
[8
]
D.
A.
M
a
n
tara
s,
L.
P
a
b
l
o
,
a
n
d
V.
Ca
rlo
s
,
“
De
v
e
lo
p
m
e
n
t
a
n
d
v
a
li
d
a
ti
o
n
o
f
a
t
h
re
e
-
d
ime
n
sio
n
a
l
k
i
n
e
m
a
ti
c
m
o
d
e
l
fo
r
th
e
M
c
P
h
e
rso
n
ste
e
rin
g
a
n
d
s
u
sp
e
n
sio
n
m
e
c
h
a
n
ism
s
,”
M
e
c
h
a
n
ism
a
n
d
M
a
c
h
in
e
T
h
e
o
ry
,
v
o
l.
39
,
n
o
.
6
,
pp.
6
0
3
-
6
1
9
,
2
0
0
4
,
d
o
i:
1
0
.
1
0
1
6
/
j
.
m
e
c
h
m
a
c
h
th
e
o
ry
.
2
0
0
3
.
1
2
.
0
0
6
.
[
9
]
A
.
C
a
r
c
a
t
e
r
r
a
a
n
d
W
.
D
’
A
m
b
r
o
g
i
o
,
“
A
f
u
n
c
t
i
o
n
g
e
n
e
r
a
t
i
n
g
d
i
f
f
e
r
e
n
t
i
a
l
m
e
c
h
a
n
i
s
m
f
o
r
a
n
e
x
a
c
t
s
o
l
u
t
i
o
n
o
f
t
h
e
s
t
e
e
r
i
n
g
p
r
o
b
l
e
m
,”
M
e
c
h
a
n
i
s
m
a
n
d
M
a
c
h
i
n
e
T
h
e
o
r
y
,
v
o
l
.
33
,
n
o
.
5
,
p
p
.
535
-
5
4
9
,
1
9
9
8
,
d
o
i
:
1
0
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1
0
1
6
/
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0
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4
-
1
1
4
X
(
9
7
)
0
0
0
7
2
-
4
.
[1
0
]
M.
Ra
g
h
a
v
a
n
,
“
Nu
m
b
e
r
a
n
d
d
i
m
e
n
sio
n
a
l
sy
n
th
e
sis
o
f
i
n
d
e
p
e
n
d
e
n
t
su
s
p
e
n
sio
n
m
e
c
h
a
n
ism
s
,
”
M
e
c
h
a
n
ism
a
n
d
M
a
c
h
i
n
e
T
h
e
o
ry
,
v
o
l.
31
,
n
o
.
8
,
p
p
.
9
9
9
-
1
1
9
5
,
d
o
i:
1
0
.
1
0
1
6
/0
0
9
4
-
1
1
4
X(9
6
)8
4
6
0
5
-
2
.
[1
1
]
X.
Hu
a
n
g
a
n
d
Y.
Zh
a
n
g
,
“
Re
li
a
b
il
it
y
se
n
siti
v
it
y
a
n
a
l
y
sis
f
o
r
ra
c
k
-
a
n
d
-
p
in
io
n
ste
e
rin
g
li
n
k
a
g
e
s”
J
.
M
e
c
h
.
De
s
.
,
v
o
l.
1
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.
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.
4
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0
1
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[1
2
]
T.
Emu
ra
a
n
d
A.
Ara
k
a
wa
,
“
A
n
e
w
ste
e
rin
g
m
e
c
h
a
n
ism
u
sin
g
n
o
n
c
irc
u
lar
g
e
a
rs
,
”
J
S
M
E
I
n
t
J
.
,
v
o
l
.
35
,
n
o
.
4
,
pp.
6
0
4
-
6
1
0
,
1
9
9
2
,
d
o
i:
1
0
.
1
2
9
9
/
j
sm
e
c
1
9
8
8
.
3
5
.
6
0
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
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4
7
5
2
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n
d
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J
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&
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Sci,
Vo
l.
2
4
,
No
.
3
,
Dec
em
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er
20
21
:
1
4
3
2
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1
4
3
6
1436
[1
3
]
D.
B.
D
o
n
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e
r,
“
F
u
n
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ti
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n
g
e
n
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t
io
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u
ti
li
z
in
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a
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ig
h
t
-
li
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k
m
e
c
h
a
n
ism
a
n
d
o
p
ti
m
ize
d
n
o
n
-
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ircu
lar
g
e
a
r
e
lem
e
n
ts
with
a
p
p
l
ica
ti
o
n
t
o
a
u
t
o
m
o
ti
v
e
ste
e
rin
g
,
”
Pro
c
IM
e
c
h
E
,
Pa
rt
C:
J
M
e
c
h
a
n
ica
l
E
n
g
i
n
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e
rin
g
S
c
ien
c
e
,
v
o
l.
2
1
5
,
n
o
.
7
,
pp.
8
4
7
-
8
5
7
,
2
0
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1
,
d
o
i:
1
0
.
1
2
4
3
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0
9
5
4
4
0
6
0
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1
5
2
4
0
9
0
.
[1
4
]
G
.
M
il
ler,
R.
Re
e
d
,
a
n
d
F
.
Wh
e
e
ler,
“
Op
ti
m
u
m
Ac
k
e
rm
a
n
f
o
r
i
m
p
ro
v
e
d
ste
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g
a
x
le
ti
re
we
a
r
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n
tru
c
k
s
,
”
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A
E
T
e
c
h
n
ica
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Pa
p
e
r
,
1
9
9
1
,
d
o
i:
1
0
.
4
2
7
1
/9
1
2
6
9
3
.
[1
5
]
R.
P
a
lan
isa
m
y
a
n
d
V.
Krish
n
a
sa
m
y
,
“
A
3
D
-
sp
a
c
e
v
e
c
to
r
m
o
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u
la
ti
o
n
a
lg
o
rit
h
m
fo
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th
re
e
p
h
a
se
fo
u
r
wire
n
e
u
tral
p
o
i
n
t
c
lam
p
e
d
i
n
v
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m
s
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s
p
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we
r
q
u
a
li
ty
c
o
m
p
e
n
sa
to
r
,
”
En
e
rg
ies
,
v
o
l.
10
,
n
o
.
1
1
,
2
0
1
7
,
d
o
i:
1
0
.
3
3
9
0
/en
1
0
1
1
1
7
9
2
.
[1
6
]
R.
P
a
lan
isa
m
y
,
K.
Vijay
a
k
u
m
a
r
,
a
n
d
B
.
Ka
rth
i
k
e
y
a
n
,
“
Hy
b
ri
d
E
n
e
rg
y
S
o
u
rc
e
F
e
d
F
u
z
z
y
-
Ba
se
d
S
VPW
M
f
o
r
5
-
Lev
e
l
NPC
In
v
e
rter
with
G
rid
Co
n
n
e
c
ted
S
y
ste
m
,
”
J
o
u
rn
a
l
o
f
Ci
rc
u
it
s,
S
y
ste
ms
a
n
d
Co
mp
u
ter
s
,
v
o
l.
3
0
,
n
o
.
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0
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2
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2
1
,
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o
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:
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0
2
1
8
1
2
6
6
2
1
5
0
1
8
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2
.
[1
7
]
S
.
G
.
F
e
rn
a
n
d
e
z
,
R.
P
a
lan
isa
m
y
,
a
n
d
K.
Vijay
a
k
u
m
a
r,
“
G
P
S
&
G
S
M
b
a
se
d
a
c
c
id
e
n
t
d
e
tec
ti
o
n
a
n
d
a
u
to
in
ti
m
a
ti
o
n
,”
In
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
Co
m
p
u
ter
sc
ien
c
e
,
v
o
l.
11
,
n
o
.
1,
p
p
.
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-
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.
[1
8
]
D.
S
e
lv
a
b
h
a
ra
th
i
a
n
d
N.
M
u
r
u
g
a
n
a
n
th
a
m
,
“
E
x
p
e
rime
n
tal
a
n
a
ly
sis
o
n
b
a
tt
e
r
y
b
a
se
d
h
e
a
lt
h
m
o
n
it
o
r
in
g
sy
ste
m
fo
r
e
lec
tri
c
v
e
h
icle
,
”
M
a
ter
i
a
ls T
o
d
a
y
:
Pro
c
e
e
d
in
g
s
,
v
o
l.
4
5
,
2
0
2
1
,
pp.
1
5
5
2
-
1
5
5
8
,
d
o
i:
1
0
.
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0
1
6
/j
.
m
a
tp
r.
2
0
2
0
.
0
8
.
3
0
3
.
[1
9
]
R.
P
a
lan
isa
m
y
a
n
d
K.
Vija
y
a
k
u
m
a
r
,
“
P
a
p
e
r
S
VPW
M
f
o
r
3
-
p
h
a
se
3
-
lev
e
l
n
e
u
tral
p
o
in
t
c
lam
p
e
d
i
n
v
e
rter
fe
d
in
d
u
c
ti
o
n
m
o
t
o
r
c
o
n
tr
o
l
,
”
I
n
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
C
o
mp
u
ter
S
c
ien
c
e
,
v
o
l.
9
,
n
o
.
3
,
p
p
.
7
0
3
-
710
,
2
0
1
8
,
d
o
i:
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c
s.v
9
.
i
3
.
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p
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0
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-
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.
[2
0
]
C.
Ho
tt
e
n
t
o
t,
V.
M
e
i
n
e
s,
a
n
d
M
.
P
in
c
k
a
e
rs,
“
Ex
p
e
rime
n
ts
o
n
a
u
to
n
o
m
o
u
s
a
n
d
a
u
t
o
m
a
ted
d
riv
in
g
:
a
n
o
v
e
rv
ie
w
2
0
1
5
,
”
ANW
B
T
h
e
Ha
g
u
e
re
p
o
rt)
.
Retrie
v
e
d
o
n
S
e
p
tem
b
e
r
3
(2
0
1
5
)
,
2
0
1
8
.
[2
1
]
S.
P
ra
m
a
n
ik
,
“
Kin
e
m
a
ti
c
sy
n
t
h
e
sis
o
f
a
six
-
m
e
m
b
e
r
m
e
c
h
a
n
ism
f
o
r
a
u
to
m
o
ti
v
e
ste
e
rin
g
,
”
J
M
e
c
h
De
s
,
v
o
l.
1
2
4
,
n
o
.
4
,
p
p
.
6
4
2
-
6
4
5
,
2
0
0
2
,
d
o
i:
1
0
.
1
1
1
5
/
1
.
1
5
0
3
3
7
2
.
[2
2
]
R.
P
a
lan
isa
m
y
,
T
.
H.
A
.
S
in
g
h
,
A
.
Ra
n
jan
,
a
n
d
J.
S
i
n
g
h
,
“
BLDC
m
o
t
o
r
d
ri
v
e
n
e
lec
tri
c
sk
a
teb
o
a
r
d
u
s
in
g
S
VPW
M
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
E
n
g
i
n
e
e
rin
g
,
v
o
l.
1
0
,
n
o
.
1
,
p
p
.
7
1
1
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7
1
8
,
2
0
2
0
,
d
o
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1
0
.
1
1
5
9
1
/
ij
e
c
e
.
v
1
0
i1
.
p
p
7
1
1
-
718
.
[2
3
]
S
.
G
.
F
e
rn
a
n
d
e
z
e
t
a
l.
,
“
Un
m
a
n
n
e
d
a
n
d
a
u
to
n
o
m
o
u
s
g
r
o
u
n
d
v
e
h
icle
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
ter
E
n
g
in
e
e
rin
g
,
v
o
l.
9
,
n
o
.
5
,
p
p
.
4
4
6
6
-
4
4
7
2
,
2
0
1
9
,
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1
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.
v
9
i
5
.
p
p
4
4
6
6
-
4
4
7
2
.
[2
4
]
C.
S
u
h
a
n
d
A
.
W.
M
e
c
k
len
b
u
r
g
,
“
Op
ti
m
a
l
d
e
sig
n
o
f
m
e
c
h
a
n
ism
s
with
t
h
e
u
se
o
f
m
a
tri
c
e
s
a
n
d
lea
st
sq
u
a
re
s
,
”
M
e
c
h
M
a
c
h
T
h
e
o
ry
,
v
o
l.
8
,
p
p
.
4
7
9
-
4
9
5
,
1
9
7
3
,
d
o
i:
1
0
.
1
0
1
6
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0
9
4
-
1
1
4
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7
3
)
9
0
0
2
2
-
0
.
[2
5
]
K.
Ho
jj
a
ti
-
Ema
m
i,
B
.
S
.
D
h
il
l
o
n
,
a
n
d
K.
Je
n
a
b
,
"
Re
li
a
b
il
it
y
p
re
d
ictio
n
fo
r
th
e
v
e
h
icle
s
e
q
u
i
p
p
e
d
with
a
d
v
a
n
c
e
d
d
riv
e
r
a
ss
istan
c
e
sy
ste
m
s
(AD
A
S
)
a
n
d
p
a
ss
iv
e
sa
fe
ty
s
y
ste
m
s
(P
S
S
),
"
In
t
.
J
.
In
d
u
st
.
E
n
g
.
C
o
mp
u
t,
v
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l.
3
,
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j
.
ij
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.
2
0
1
2
.
0
8
.
0
0
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.
[
2
6
]
P
.
A
.
S
i
m
i
o
n
e
s
c
u
a
n
d
I
.
T
a
l
p
a
s
a
n
u
,
“
S
y
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e
s
i
s
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a
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i
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a
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u
s
t
a
b
l
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d
-
w
i
d
t
h
f
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u
r
w
h
e
e
l
t
r
a
c
t
o
r
,
”
M
e
c
h
M
a
c
h
T
h
e
o
r
y
,
v
o
l
.
42
,
n
o
.
5
,
p
p
.
526
-
5
4
0
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2
0
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,
d
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1
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/
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.
m
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c
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.
2
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0
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0
6
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Evaluation Warning : The document was created with Spire.PDF for Python.