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I
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c
b
ic
y
cles
h
a
v
e
o
v
er
th
e
y
ea
r
s
b
e
en
g
ai
n
i
n
g
an
i
n
cr
ea
s
ed
d
u
e
to
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eir
lo
w
er
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co
s
t
an
d
en
v
ir
o
n
m
e
n
tal
f
r
ien
d
lin
es
s
[
4
]
.
On
e
o
f
th
e
r
ea
s
o
n
s
cited
f
o
r
th
e
p
o
p
u
lar
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y
o
f
t
h
e
elec
tr
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i
s
th
atit
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as
t
h
e
ed
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e
o
f
r
elat
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g
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er
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er
g
y
e
f
f
icien
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y
o
v
er
th
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o
t
h
er
en
er
g
y
f
o
r
m
s
.
Hen
ce
,
a
s
i
g
n
i
f
ica
n
t
n
u
m
b
er
o
f
i
n
d
iv
id
u
als
t
h
ese
d
ay
s
o
p
t
f
o
r
an
elec
tr
ic
b
ic
y
cle
r
ath
er
t
h
an
a
n
elec
tr
ic
ca
r
o
r
an
elec
tr
ic
m
o
to
r
c
y
cle
[
5
]
.
I
t
is
w
o
r
th
h
ig
h
lig
h
ti
n
g
t
h
at
s
t
u
d
ies
w
h
ic
h
h
a
v
e
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o
k
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in
to
th
e
elec
t
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o
n
icall
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o
p
er
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g
v
eh
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les ar
e
s
ca
r
ce
.
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h
e
m
o
to
r
w
h
ich
o
p
er
ates
th
e
b
icy
cle
is
t
h
e
m
o
s
t
i
m
p
o
r
ta
n
t
co
m
p
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n
e
n
t
w
h
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h
r
eq
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ir
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m
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s
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h
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co
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r
s
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o
f
d
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s
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g
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n
g
t
h
e
b
ic
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h
e
t
y
p
e
a
n
d
th
e
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er
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o
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m
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n
ce
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h
ar
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ter
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tr
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c
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ip
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m
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y
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n
i
f
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t
co
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th
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all
p
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o
r
m
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ce
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f
th
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E
lectr
ic
B
icy
c
le
[
6
]
.
Am
o
n
g
t
h
e
t
y
p
es
o
f
elec
tr
ic
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o
to
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eq
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ip
p
ed
w
it
h
b
ic
y
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les
ar
e
in
ter
alia,
M
u
lti
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Fl
u
x
P
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m
a
n
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n
t
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g
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t
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S
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to
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P
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n
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s
Ma
c
h
in
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s
(
P
MSM
s
)
[
7
]
-
[
9
]
.
E
v
en
th
o
u
g
h
m
a
n
y
o
f
it
s
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m
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p
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is
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icles
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t
s
h
o
u
ld
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as
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ab
ly
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an
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ter
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r
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s
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n
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it
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n
d
r
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b
u
s
t r
o
to
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s
tr
u
ctu
r
e
[
1
2
]
-
[
1
3
]
.
2.
O
P
E
RAT
I
N
G
P
RINC
I
P
L
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I
NIT
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A
L
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SI
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N
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8
S
-
1
2
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P
M
F
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M
P
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et
Fl
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u
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254
252
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(
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253
4.
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ACK
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Gr
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n
Ma
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y
s
ia
(
MO
HE
)
.
RE
F
E
R
E
NC
E
S
[1
]
P
.
S
.
Kim
,
e
t
a
l.
,
“
A
me
th
o
d
f
o
r
fu
tu
re
c
o
st
e
stima
ti
o
n
o
f
h
y
b
rid
e
lec
tric
v
e
h
icle
”
,
IEE
E
1
9
9
9
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
Driv
e
S
y
ste
m
s,
v
o
l.
1
,
p
p
.
3
1
5
-
3
2
0
,
1
9
9
9
.
[2
]
S.
A
.
Zu
lk
if
li
,
e
t
a
l.
,
“
De
v
e
lo
p
me
n
t
o
f
a
re
tro
fi
t
s
p
li
t
-
a
x
le
p
a
r
a
ll
e
l
h
y
b
rid
e
lec
tric
v
e
h
icle
wit
h
i
n
wh
e
e
l
mo
to
rs
”
,
4
th
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
In
te
ll
ig
e
n
t
a
n
d
A
d
v
a
n
c
e
d
S
y
ste
m
s (ICIA
S
),
v
o
l.
2
,
p
p
.
5
8
2
-
5
8
7
,
2
0
1
2
.
[3
]
H.
S
.
M
o
h
a
m
e
d
,
e
t
a
l.
,
“
M
o
ti
o
n
Co
n
tro
l
f
o
r
a
P
M
S
M
i
n
HEV
A
p
p
li
c
a
ti
o
n
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Eme
rg
i
n
g
T
e
c
h
n
o
l
o
g
y
a
n
d
A
d
v
a
n
c
e
d
En
g
in
e
e
rin
g
,
v
o
l
/i
ss
u
e
:
2
(
10
)
,
p
p
.
4
3
5
-
4
3
9
,
2
0
1
2
.
[4
]
W
.
Du
,
et
a
l.
,
“
Res
e
a
rc
h
o
n
b
a
tt
e
ry
to
rid
e
c
o
mfo
rt
o
f
e
lec
tric
b
icy
c
le
b
a
se
d
o
n
mu
lt
i
-
b
o
d
y
d
y
n
a
mic
s
th
e
o
ry
,”
2
0
0
9
IEE
E
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
A
u
to
m
a
ti
o
n
a
n
d
L
o
g
isti
c
s,
S
h
e
n
y
a
n
g
,
p
p
.
1
7
2
2
-
1
7
2
6
,
2
0
0
9
.
[5
]
E.
Ce
u
c
a
a
n
d
V.
T
rif
a
,
“
S
tra
teg
y
a
p
p
r
o
a
c
h
fo
r
d
e
v
e
lo
p
in
g
th
e
c
o
n
t
ro
l
mo
d
e
f
o
r
mo
d
e
rn
e
-
b
ike
c
o
n
tr
o
ll
e
r
d
e
v
e
lo
p
e
d
in
la
b
o
ra
to
ry
a
t
“
1
d
e
c
e
mb
rie
1
9
1
8
”
u
n
ive
rs
it
y
o
f
a
lb
a
iu
l
i
a
,
”
S
e
m
ico
n
d
u
c
t
o
r
Co
n
f
e
re
n
c
e
(CA
S
),
2
0
1
5
In
tern
a
ti
o
n
a
l,
S
in
a
ia,
p
p
.
2
3
7
-
2
4
0
,
2
0
1
5
.
[6
]
E.
He
in
e
n
,
e
t
a
l
.
,
“
Co
m
m
u
ti
n
g
b
y
b
ic
y
c
le:
a
n
o
v
e
r
v
ie
w
o
f
t
h
e
l
it
e
ra
tu
re
,
”
T
ra
n
sp
o
rt
Rev
iews
,
v
o
l.
3
0
,
p
p
.
5
9
-
9
6
,
2
0
1
0
.
[7
]
J.
M
.
S
e
o
,
e
t
a
l
.
,
“
A
d
e
sig
n
o
f
m
u
lt
i
fl
u
x
p
e
rm
a
n
e
n
t
-
ma
g
n
e
t
m
a
c
h
in
e
fo
r
e
lec
tric
b
icy
c
les
,”
2
0
1
5
9
th
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
P
o
w
e
r
El
e
c
tro
n
ics
a
n
d
ECC
E
A
sia
(ICP
E
-
ECCE
A
s
ia),
S
e
o
u
l,
p
p
.
1
4
5
7
-
1
4
6
1
,
2
0
1
5
.
[8
]
J.
L
in
,
e
t
a
l.
,
“
Ex
tern
a
l
-
Ro
t
o
r
6
-
1
0
S
w
it
c
h
e
d
Re
lu
c
tan
c
e
M
o
to
r
f
o
r
a
n
El
e
c
tri
c
Bicy
c
le
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
T
ra
n
sp
o
rta
ti
o
n
El
e
c
trif
ica
ti
o
n
,
vol
/i
ss
u
e
:
1
(
4
)
,
p
p
.
3
4
8
-
3
5
6
,
2
0
1
5
.
[9
]
S
.
B.
Bh
a
t,
e
t
a
l.
,
“
De
sig
n
a
n
d
a
n
a
lys
is
o
f
fer
rite
b
a
se
d
p
e
rm
a
n
e
n
t
ma
g
n
e
t
mo
t
o
r
fo
r
e
lec
tric
a
ss
ist
b
icy
c
le
,
”
El
e
c
tri
c
a
l
M
a
c
h
in
e
s (ICE
M
),
2
0
1
4
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
Be
rli
n
,
p
p
.
1
0
6
-
1
1
1
,
2
0
1
4
.
[1
0
]
M
.
Z.
Isla
m
a
n
d
S
.
Ch
o
i:
“
De
sig
n
o
f
ra
re
-
e
a
rt
h
fre
e
fi
v
e
-
p
h
a
se
o
u
ter
-
ro
to
r IP
M
mo
to
r
d
riv
e
fo
r
e
lec
tric
b
icy
c
le
,
”
IEE
E
A
p
p
li
e
d
P
o
w
e
r
El
e
c
tro
n
ics
Co
n
f
e
re
n
c
e
a
n
d
Ex
p
o
sit
io
n
,
L
o
n
g
Be
a
c
h
,
CA
,
p
p
.
6
3
1
-
6
3
7
,
2
0
1
6
.
[1
1
]
K.
S
.
Kim
,
e
t
a
l.
,
“
De
sig
n
a
n
d
a
n
a
lys
is
o
f
o
u
ter
ro
to
r
typ
e
IPM
S
M
fo
r
a
n
e
lec
tric
b
icy
c
le
,
”
INT
EL
EC
2
0
0
9
-
3
1
st
In
tern
a
ti
o
n
a
l
T
e
lec
o
m
m
u
n
ica
ti
o
n
s E
n
e
rg
y
Co
n
f
e
re
n
c
e
,
In
c
h
e
o
n
,
p
p
.
1
-
4
,
2
0
0
9
.
[1
2
]
E.
Ho
a
n
g
,
e
t
a
l
.
,
“
S
wit
c
h
i
n
g
fl
u
x
p
e
rm
a
n
e
n
t
ma
g
n
e
t
p
o
lyp
h
a
se
d
sy
n
h
ro
n
o
u
s
ma
c
h
in
e
s
,
”
P
ro
c
.
7
th
Eu
r.
Co
n
f
.
P
o
w
e
r
El
e
c
tro
n
.
a
nd
A
p
p
li
c
a
t,
v
o
l
.
3
,
p
p
.
9
0
3
-
9
0
8
,
1
9
9
7
.
[1
3
]
C.
X.
W
a
n
g
,
e
t
a
l.
,
“
D
e
sig
n
o
f
a
th
re
e
p
h
a
se
f
lu
x
re
v
e
rsa
l
m
a
c
h
in
e
,
”
EM
PS
,
v
o
l.
2
7
,
p
p
.
8
4
9
-
8
6
3
,
1
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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IJ
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1
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201
7
:
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–
254
254
Erw
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ti
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rim
w
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ra
(UiT
M
),
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lan
g
o
r,
M
a
la
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in
2
0
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.
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a
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d
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m
b
e
d
d
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d
p
o
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e
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tro
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ics
.
Evaluation Warning : The document was created with Spire.PDF for Python.