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ch
an
g
er
i
n
s
u
ch
m
ec
h
a
n
is
m
s
is
n
o
t
al
w
a
y
s
f
ea
s
ib
le
d
u
e
to
h
ig
h
co
s
t
,
co
m
p
lica
ted
o
p
er
atio
n
,
an
d
h
ea
v
y
r
eq
u
ir
e
m
e
n
ts
f
o
r
p
er
s
o
n
n
el
q
u
ali
f
icat
io
n
.
T
h
er
e
w
a
s
a
r
an
g
e
o
f
s
t
u
d
ies
d
ed
icate
d
to
th
e
p
u
l
s
e
-
v
ec
to
r
co
n
tr
o
l
(
h
er
ein
a
f
ter
–
P
VC
)
o
f
w
o
u
n
d
r
o
to
r
i
n
d
u
ctio
n
m
o
to
r
d
r
iv
e
(
h
er
ein
a
f
ter
–
W
R
I
M)
[
1
2
]
,
[
1
3
]
.
T
h
e
p
u
r
p
o
s
e
o
f
t
h
o
s
e
s
y
s
te
m
s
i
s
to
cr
ea
te
th
e
c
u
r
r
en
t
in
th
e
r
o
to
r
w
it
h
t
h
e
f
r
eq
u
en
c
y
s
a
m
e
to
s
tato
r
s
,
i.e
.
to
p
r
ev
en
t
s
lid
in
g
.
T
h
ey
f
air
l
y
s
u
i
t
th
e
ab
o
v
e
m
e
ch
a
n
i
s
m
s
b
ec
au
s
e
o
f
m
o
d
er
ate
co
s
t
an
d
h
av
i
n
g
n
o
ex
ce
s
s
i
v
e
ad
j
u
s
t
m
en
t
ca
p
a
b
ilit
ies,
as
w
el
l
as
s
h
o
w
lo
w
en
er
g
y
co
n
s
u
m
p
tio
n
u
n
d
er
lo
w
-
v
elo
cit
y
m
o
d
es.
C
o
n
tr
o
l
in
s
u
c
h
s
y
s
te
m
is
ca
r
r
ied
o
u
t
d
ep
en
d
in
g
o
n
th
e
r
o
to
r
an
g
u
lar
p
o
s
itio
n
–
th
u
s
,
it
is
ess
en
t
ial
eith
er
to
m
o
u
n
t t
h
e
p
o
s
itio
n
s
e
n
s
o
r
o
n
t
o
th
e
s
h
a
f
t,
o
r
to
u
s
e
th
e
m
et
h
o
d
f
o
r
in
d
ir
ec
t r
o
to
r
p
o
s
itio
n
d
eter
m
i
n
atio
n
.
P
r
ev
io
u
s
s
t
u
d
ies
a
n
d
p
ap
er
s
o
n
th
e
P
VC
o
f
m
o
to
r
d
r
iv
es
s
u
g
g
e
s
ted
th
e
P
VC
o
f
W
R
I
M
w
i
th
th
e
r
o
to
r
p
o
s
itio
n
s
e
n
s
o
r
[
1
2
]
,
d
escr
ib
e
d
th
e
d
ev
elo
p
ed
p
r
in
cip
le
an
d
alg
o
r
ith
m
f
o
r
in
d
ir
ec
t
d
eter
m
i
n
atio
n
o
f
t
h
e
in
itial
an
g
u
lar
p
o
s
itio
n
,
estab
li
s
h
ed
d
if
f
er
e
n
tial
eq
u
at
io
n
s
a
n
d
f
u
n
ctio
n
al
r
elatio
n
s
h
ip
s
b
et
w
ee
n
s
tate
v
ar
iab
les
a
n
d
r
o
to
r
tu
r
n
in
g
a
n
g
le,
g
iv
i
n
g
t
h
e
b
r
ief
ex
p
la
n
atio
n
o
f
th
e
s
y
s
te
m
m
o
d
eli
n
g
th
r
o
u
g
h
u
s
i
n
g
th
e
f
i
n
ite
ele
m
e
n
t
m
et
h
o
d
[
1
3
]
.
T
h
e
p
r
esen
t
p
ap
er
s
ets
t
h
e
p
r
o
b
le
m
o
f
d
e
v
elo
p
in
g
a
n
e
x
h
a
u
s
tiv
e
m
at
h
m
o
d
el
an
d
s
t
u
d
y
i
n
g
t
h
e
P
VC
o
f
W
R
I
M,
aim
ed
at
f
u
r
t
h
er
u
s
e
o
f
t
h
e
s
y
s
te
m
to
i
m
p
r
o
v
e
th
e
tech
n
o
lo
g
ical
p
r
o
ce
s
s
q
u
alit
y
a
n
d
en
h
a
n
ce
r
eso
u
r
ce
an
d
en
er
g
y
co
n
s
u
m
p
t
io
n
r
ea
d
in
g
s
o
f
m
ass
iv
e
m
ec
h
an
is
m
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
T
he
M
et
ho
d o
f
t
he
P
VC
o
f
WRIM
T
h
e
co
n
s
id
er
ed
P
VC
[
1
2
]
co
n
tain
s
t
h
e
t
h
r
ee
-
p
h
ase
W
R
I
M
a
n
d
th
r
ee
-
p
h
ase
t
h
y
r
is
to
r
b
r
id
g
e
r
ec
tif
ier
.
Sh
all
w
e
d
en
o
te
s
tato
r
w
i
n
d
i
n
g
s
b
y
A
X,
B
Y,
C
Z
,
an
d
p
h
a
s
es
o
f
th
r
ee
-
p
h
a
s
e
p
o
w
er
in
g
v
o
ltag
e
b
y
A
,
B
,
C
.
T
h
e
elec
tr
o
m
ag
n
etic
m
o
m
e
n
t
w
ill
b
e
f
o
r
m
ed
b
y
s
eq
u
e
n
tia
l
s
er
ies
co
n
n
ec
tio
n
o
f
t
w
o
s
ta
to
r
p
h
ases
t
h
r
o
u
g
h
co
r
r
esp
o
n
d
in
g
th
y
r
is
to
r
s
to
t
wo
r
o
to
r
w
i
n
d
in
g
s
.
T
h
e
m
a
g
n
et
o
m
o
ti
v
e
f
o
r
ce
(
h
er
ein
af
ter
-
M
MF)
v
ec
to
r
o
f
s
tato
r
w
i
n
d
i
n
g
s
p
er
f
o
r
m
s
d
i
s
cr
ete
m
o
tio
n
w
ith
a
6
0
-
d
e
g
r
ee
s
tep
.
S
w
itc
h
i
n
g
is
m
ad
e
d
ep
en
d
in
g
o
n
th
e
r
o
to
r
p
o
s
itio
n
,
th
er
eb
y
p
r
o
v
id
in
g
th
e
o
r
ie
n
tat
io
n
o
f
MM
F
v
ec
to
r
s
o
f
s
tato
r
an
d
r
o
to
r
w
i
n
d
in
g
s
to
co
r
r
esp
o
n
d
to
th
e
m
o
to
r
to
r
q
u
e.
E
ith
er
s
tato
r
w
i
n
d
in
g
i
s
lef
t
o
f
f
t
h
e
li
n
e
d
u
r
in
g
o
p
er
atio
n
o
f
t
w
o
o
th
er
o
n
e
s
.
T
h
e
ter
tiar
y
r
o
to
r
w
i
n
d
i
n
g
is
b
ein
g
o
f
f
th
e
li
n
e
d
u
r
i
n
g
t
h
e
w
h
o
le
o
p
er
atio
n
c
y
cle.
2
.
2
.
Sp
ec
if
ics o
f
M
o
delin
g
t
he
P
V
C
o
f
WRIM
a
nd
I
nd
irec
t
P
o
s
it
io
n De
t
er
m
ina
t
io
n (
I
P
D)
T
h
e
co
n
s
id
er
ed
P
VC
s
y
s
te
m
co
n
s
tit
u
tes
t
h
e
m
u
l
ti
-
p
h
ase,
p
u
ls
e,
n
on
-
li
n
ea
r
,
u
n
s
y
m
m
etr
ic
al
s
y
s
te
m
,
th
u
s
,
ex
a
m
i
n
atio
n
o
f
its
o
p
er
atio
n
in
s
tead
y
a
n
d
tr
an
s
itio
n
m
o
d
es
b
y
u
s
i
n
g
t
h
e
an
al
y
tic
m
et
h
o
d
s
f
o
r
an
al
y
zin
g
elec
tr
o
m
ag
n
etic
p
r
o
ce
s
s
es
–
f
o
r
in
s
tan
ce
,
ap
p
l
y
i
n
g
d
i
f
f
er
e
n
t
ial
eq
u
at
io
n
s
o
f
t
h
e
m
u
lt
i
-
p
h
as
e
cir
cu
it
is
in
cl
in
ed
to
ex
ce
s
s
i
v
e
co
m
p
lica
tin
g
a
n
d
ex
te
n
s
io
n
o
f
ca
lc
u
latio
n
c
o
n
d
itio
n
s
in
c
lu
d
ed
as
a
co
m
p
o
u
n
d
o
f
th
e
m
ath
m
o
d
el.
I
t
m
a
y
b
e
r
ea
s
o
n
ab
le
t
o
tak
e
ad
v
a
n
ta
g
e
o
f
u
s
in
g
th
e
p
r
o
g
r
ess
iv
e
n
u
m
er
ical
m
eth
o
d
s
f
o
r
a
n
al
y
zin
g
t
h
e
elec
tr
o
m
ag
n
etic
s
y
s
te
m
,
a
n
d
ca
lcu
late
t
h
e
m
o
to
r
d
r
iv
e
th
r
o
u
g
h
u
s
i
n
g
th
e
f
i
n
ite
ele
m
e
n
t
m
e
th
o
d
[
1
4
]
.
A
p
p
licatio
n
o
f
t
h
is
m
e
th
o
d
e
n
ab
les
to
tak
e
s
p
ec
i
f
ics
o
f
th
e
m
o
to
r
d
r
iv
e
s
y
s
te
m
in
to
ac
co
u
n
t
an
d
s
ig
n
i
f
ica
n
tl
y
s
i
m
p
li
f
y
p
r
o
ce
s
s
in
g
a
n
d
an
al
y
s
is
o
f
th
e
m
o
d
elin
g
r
esu
lts
.
A
N
SYS
E
lectr
o
m
ag
n
etic
s
s
u
ite
w
a
s
u
s
e
d
a
s
it
e
n
ab
les
to
:
cr
ea
te
a
W
R
I
M
s
tate
s
p
ac
e
m
o
d
el,
c
alcu
late
th
e
m
o
to
r
d
r
iv
e
t
h
r
o
u
g
h
u
s
in
g
th
e
f
in
ite
ele
m
e
n
t
m
et
h
o
d
;
ca
r
r
y
o
u
t
an
a
l
y
s
i
s
o
f
elec
tr
o
m
a
g
n
e
tic
p
r
o
ce
s
s
es
i
n
clo
s
e
r
elatio
n
to
th
e
p
o
w
er
ed
m
o
tio
n
s
an
d
co
n
tr
o
l
s
y
s
te
m
;
a
n
al
y
ze
c
h
a
n
g
es
o
f
cir
cu
it
c
u
r
r
en
ts
,
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
a
n
d
v
o
lta
g
es
o
n
m
o
to
r
w
i
n
d
in
g
s
,
d
ep
en
d
in
g
o
n
t
h
e
r
elati
v
e
p
o
s
itio
n
o
f
t
h
e
s
tato
r
an
d
t
h
e
r
o
to
r
.
I
n
s
o
lv
in
g
t
h
e
p
r
o
b
lem
o
f
m
at
h
e
m
at
ical
an
al
y
s
is
,
t
h
e
ex
p
er
ien
ce
o
f
m
o
d
elin
g
m
o
to
r
d
r
iv
e
s
y
s
te
m
s
u
s
in
g
t
h
e
f
in
ite
ele
m
e
n
t
m
e
th
o
d
,
d
escr
ib
ed
in
[
1
5
]
,
w
a
s
tak
e
n
i
n
to
ac
co
u
n
t.
Mo
d
elin
g
o
f
t
h
e
P
VC
s
y
s
te
m
w
it
h
i
n
d
ir
ec
t
d
eter
m
in
a
tio
n
o
f
th
e
r
o
to
r
an
g
u
lar
p
o
s
itio
n
in
A
NS
YS
E
lectr
o
m
a
g
n
etics
Su
ite
w
as
d
i
v
id
ed
in
to
th
r
ee
s
tag
e
s
:
с
r
ea
tin
g
th
e
W
R
I
M
m
o
d
el
as
a
co
n
tr
o
l
s
y
s
te
m
u
n
it,
an
d
an
al
y
s
is
o
f
it
s
o
p
er
atio
n
i
n
s
te
ad
y
an
d
tr
an
s
itio
n
m
o
d
e
s
t
h
r
o
u
g
h
u
s
in
g
th
e
f
in
ite
ele
m
e
n
t
m
et
h
o
d
;
e
n
g
i
n
ee
r
in
g
th
e
m
o
d
el
o
f
t
h
e
P
VC
s
y
s
te
m
u
s
i
n
g
t
h
e
r
o
to
r
p
o
s
itio
n
s
en
s
o
r
,
an
d
an
al
y
s
i
s
o
f
m
o
to
r
d
r
iv
e
o
p
e
r
atio
n
as
a
co
n
tr
o
l
s
y
s
te
m
p
r
o
to
ty
p
e,
w
it
h
in
d
ir
ec
t
d
eter
m
in
a
tio
n
o
f
th
e
r
o
to
r
an
g
u
lar
p
o
s
itio
n
;
d
ev
e
lo
p
in
g
t
h
e
m
o
d
el
o
f
th
e
P
VC
o
f
t
h
e
i
n
d
u
ctio
n
m
o
to
r
w
it
h
i
n
d
ir
ec
t
d
eter
m
i
n
atio
n
o
f
th
e
r
o
to
r
an
g
u
lar
p
o
s
itio
n
;
a
n
al
y
s
is
o
f
t
h
i
s
m
o
to
r
d
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I
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h
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r
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tu
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r
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to
r
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n
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cl
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m
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t
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s
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e
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l
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d
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n
d
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w
a
v
e
f
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m
co
n
tin
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o
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s
l
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s
es
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it
h
t
i
m
e
i
n
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g
u
r
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4
(
a)
,
t
h
en
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v
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o
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m
s
α
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a
n
d
α
w
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ll
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it i
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s
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g
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r
e
4
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d
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b
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a)
(
b)
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u
r
e
3
.
PP
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U
ti
m
e
g
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ap
h
s
(
a)
an
d
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ec
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n
u
n
it (
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f
u
n
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n
al
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r
a
m
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b
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u
r
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4
.
Deg
r
ee
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DR
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w
a
v
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o
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m
s
: o
u
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u
t SU
w
a
v
ef
o
r
m
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d
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u
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m
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r
t
h
er
,
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e
f
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r
m
α
eq
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al
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th
e
r
o
to
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tu
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n
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n
g
an
g
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r
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m
e
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to
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h
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c
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m
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ar
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t
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C
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le
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d
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m
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r
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n
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g
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lies
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t
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om
t
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t
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1
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VD
1
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3
6
0
7
2
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0
1
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0
α
FB
α
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α
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8
694
IJ
PEDS
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d
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h
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e
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ased
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5
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f
t
h
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r
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t
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at
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Fi
g
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s
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s
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h
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o
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h
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in
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m
p
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cl
u
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(
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m
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r
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d
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v
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s
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it
s
–
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MS
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,
R
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,
R
M
S
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.
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h
e
f
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n
ct
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al
d
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g
r
a
m
o
f
t
h
e
I
R
P
DU
(
α
C
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i
s
g
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v
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n
i
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g
u
r
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1
0
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tan
t
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s
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tat
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r
w
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d
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g
s
–
u
AX
,
u
BY
,
u
CZ
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ar
e
g
iv
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n
;
th
y
r
is
to
r
co
n
tr
o
l
w
av
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f
o
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1
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r
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d
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ar
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en
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th
e
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t
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d
th
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r
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en
t g
o
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h
s
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d
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d
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m
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g
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o
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t
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ir
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f
o
r
m
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r
ato
r
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it
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m
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n
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n
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1
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s
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g
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s
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t
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th
e
w
a
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o
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r
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h
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t
h
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ir
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y
r
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als
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,
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t
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te
g
r
a
to
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p
u
t
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ter
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e
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g
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m
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C
1
1
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,
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g
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C
2
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n
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en
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lin
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l
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e
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ee
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ir
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C
3
1
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d
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s
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r
s
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o
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u
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eg
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C
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I
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u
r
es 1
3
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(
a)
(
b
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(
c)
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u
r
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1
2
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a
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e
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ates
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y
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ased
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3
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te
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a
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ag
e
d
v
o
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e
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U
AX
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U
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n
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h
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t
i
m
e
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t
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t
h
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a
n
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6
,
t
h
e
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1
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alu
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is
f
o
r
m
ed
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e
n
ab
li
n
g
p
u
l
s
es
ar
e
f
ed
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t
h
y
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i
s
to
r
s
VD3
an
d
VD2
.
A
t
t
2
,
v
o
lta
g
e
U
AX
b
ec
o
m
e
s
lo
w
er
t
h
an
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BY
,
th
e
w
av
e
f
o
r
m
U
6
d
is
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r
s
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h
a
n
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o
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atin
g
.
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i
n
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e
ti
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5
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