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J
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)
Vo
l.
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,
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.
2
,
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201
8
,
p
p
.
859
~
8
6
4
I
SS
N:
2088
-
8
694
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tor Speed
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Art
icle
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nfo
AB
ST
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R
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Dec
2
1
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R
ev
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J
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2
2
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2
0
1
8
A
cc
ep
ted
Feb
7
,
2
0
1
8
T
h
is
p
a
p
e
r
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re
se
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ts
a
c
o
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l
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d
c
o
n
tro
l
sy
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ru
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les
s d
c
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to
b
e
u
ti
l
ize
d
fo
r
e
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m
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.
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h
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e
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ti
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e
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m
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e
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e
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tain
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t
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).
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s d
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e
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In
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:
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ad
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i
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Me
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t
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en
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Ku
lli
y
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ter
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m
ail:
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in
@
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.
m
y
1.
I
NT
RO
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I
O
N
Dir
ec
t
cu
r
r
en
t
m
o
to
r
(
w
id
el
y
k
n
o
w
n
as
DC
m
o
to
r
)
h
as
its
o
w
n
lo
n
g
h
i
s
to
r
y
.
T
h
is
t
y
p
e
o
f
m
o
to
r
h
as
b
ee
n
u
s
ed
in
i
n
d
u
s
tr
ies
f
o
r
m
an
y
y
ea
r
s
.
Fo
r
ab
o
u
t
1
5
0
y
ea
r
s
,
d
ir
ec
t
cu
r
r
en
t
m
ac
h
in
e
s
h
av
e
s
h
o
w
ed
th
eir
i
m
p
o
r
tan
t
r
o
le
i
n
elec
tr
ic
d
r
iv
es
[
1
]
.
”
T
h
is
is
d
u
e
to
th
e
ir
co
n
tr
ib
u
tio
n
s
i
n
s
i
m
p
le
m
ea
n
s
a
n
d
p
r
ec
is
e
w
a
y
o
f
co
n
tr
o
l
f
o
r
elec
tr
ical
m
ac
h
in
e
s
.
T
h
er
e
ar
e
a
lo
t
o
f
ad
v
an
ta
g
es
th
a
t
ar
e
r
elate
d
to
th
eir
a
p
p
licatio
n
i
n
d
r
iv
e
s
s
u
c
h
as
ea
s
y
ad
j
u
s
t
m
en
t o
f
r
o
t
atio
n
al
s
p
ee
d
,
u
n
co
m
p
l
icate
d
s
tar
t
-
u
p
an
d
r
e
v
er
s
al,
s
tab
ilit
y
in
co
n
tr
o
llin
g
s
m
al
l
s
p
ee
d
,
f
ast
r
esp
o
n
s
e
to
ch
an
g
e
p
ar
am
eter
s
i
n
elec
tr
ic
s
u
p
p
l
y
a
n
d
m
a
n
y
m
o
r
e
[
1
]
”.
A
l
m
o
s
t
ev
er
y
m
ec
h
a
n
ical
ele
m
e
n
t u
s
ed
n
o
w
ad
a
y
s
i
n
t
h
is
er
a
is
ac
co
m
p
li
s
h
ed
b
y
elec
tr
i
c
m
o
to
r
s
an
d
o
n
e
o
f
t
h
e
m
i
s
D
C
m
o
to
r
.
E
lectr
ic
m
ac
h
in
e
m
ea
n
s
t
h
e
m
ac
h
in
e
i
s
co
n
v
er
tin
g
elec
tr
i
ca
l
en
er
g
y
to
m
ec
h
an
ica
l
en
e
r
g
y
[
2
]
.
I
t
s
h
o
w
s
th
a
t
t
h
e
elec
tr
ic
m
o
to
r
p
la
y
s
a
h
u
g
e
r
o
le
i
n
h
u
m
a
n
lif
e.
E
lectr
ic
m
o
to
r
s
co
m
e
i
n
v
ar
io
u
s
s
ize
s
;
t
h
e
y
h
av
e
h
u
g
e
o
r
s
m
all
m
o
to
r
.
Hu
g
e
m
o
to
r
is
a
k
in
d
o
f
m
o
to
r
th
at
w
id
el
y
u
s
ed
in
in
d
u
s
tr
y
b
ec
au
s
e
o
f
it
s
ca
p
ab
ilit
y
to
tak
e
lo
ad
s
o
f
t
h
o
u
s
a
n
d
s
o
f
h
o
r
s
ep
o
w
er
[
2
]
.
So
m
e
ex
a
m
p
les
o
f
h
u
g
e
m
o
to
r
ap
p
licatio
n
ar
e
elev
ato
r
s
,
elec
tr
ic
tr
ai
n
s
,
h
o
is
t
,
h
ea
v
y
m
et
al
r
o
lli
n
g
m
ills
a
n
d
etc.
B
esid
es,
f
o
r
s
m
all
m
o
t
o
r
th
e
y
ar
e
w
id
el
y
u
s
ed
i
n
au
to
m
o
b
ile
s
,
r
o
b
o
ts
,
h
an
d
p
o
w
er
to
o
ls
an
d
m
an
y
m
o
r
e.
A
ll
o
f
th
e
s
e
ap
p
licatio
n
s
ar
e
v
er
y
f
a
m
iliar
an
d
s
o
i
m
p
o
r
tan
t to
h
u
m
an
.
Dir
ec
t c
u
r
r
en
t
(
DC
)
m
o
to
r
is
v
er
y
u
s
ef
u
l d
u
e
to
it
s
ca
p
ab
ilit
y
in
co
n
tr
o
llin
g
t
h
e
s
p
ee
d
o
f
t
h
e
v
e
h
icles.
I
t
also
h
as
s
i
m
p
le
co
n
tr
o
lli
n
g
s
y
s
te
m
o
n
th
e
i
n
tr
in
s
ic
d
ec
o
u
p
lin
g
b
et
w
ee
n
t
h
e
f
l
u
x
a
n
d
th
e
to
r
q
u
e.
A
s
t
h
e
n
a
m
e
g
iv
e
n
,
b
r
u
s
h
d
c
m
o
to
r
u
s
es
b
r
u
s
h
e
s
f
o
r
its
co
m
m
u
tati
o
n
th
e
n
b
ec
a
u
s
e
o
f
t
h
at
it
h
as
s
o
m
e
l
i
m
itatio
n
s
o
f
s
p
ee
d
an
d
lif
eti
m
e
[
2
]
.
Ho
w
e
v
er
,
b
r
u
s
h
les
s
DC
(
B
L
DC
)
m
o
t
o
r
h
as
b
ee
n
i
n
tr
o
d
u
ce
d
to
o
v
er
co
m
e
th
i
s
p
r
o
b
le
m
d
u
e
to
it
s
p
h
y
s
ical
s
p
ec
ialit
y
.
Sin
ce
B
L
D
C
m
o
to
r
d
o
n
o
t
r
eq
u
ir
e
a
n
y
b
r
u
s
h
es
to
o
p
er
ate,
th
e
r
is
k
o
f
th
e
m
o
to
r
to
b
e
w
o
r
n
o
u
t
d
u
e
to
th
e
b
r
u
s
h
e
s
is
eli
m
i
n
ated
,
h
e
n
ce
p
r
o
v
id
e
a
lo
n
g
er
m
o
to
r
li
f
eti
m
e
[
2
]
.
T
h
is
ad
v
a
n
ta
g
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
859
–
864
860
m
ak
e
B
L
D
C
m
o
to
r
b
ec
o
m
es
f
a
m
o
u
s
an
d
w
id
el
y
u
s
ed
in
in
d
u
s
tr
y
b
u
t
s
i
n
ce
it
is
a
n
o
n
-
li
n
ea
r
s
y
s
te
m
th
u
s
it
n
ee
d
s
m
o
r
e
co
m
p
licated
s
p
ee
d
co
n
tr
o
ller
th
an
co
n
v
e
n
tio
n
al
DC
m
o
to
r
.
No
w
ad
a
y
s
,
B
L
D
C
m
o
to
r
is
wid
el
y
u
s
ed
i
n
in
d
u
s
tr
y
co
m
p
ar
ed
to
b
r
u
s
h
ed
d
c
m
o
to
r
.
B
L
D
C
m
o
to
r
i
s
a
p
er
m
a
n
e
n
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
t
h
at
co
n
tr
o
ls
ar
m
at
u
r
e
cu
r
r
en
ts
b
y
u
s
i
n
g
p
o
s
itio
n
d
etec
to
r
s
a
n
d
in
v
er
ter
s
i
n
it
s
o
p
er
atio
n
[
3
]
.
T
h
is
t
y
p
e
o
f
m
o
to
r
i
s
n
o
t so
d
i
f
f
er
en
t
w
i
th
an
y
o
t
h
er
co
n
v
en
t
io
n
al
m
o
to
r
s
.
I
t a
ls
o
h
as
s
tato
r
an
d
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u
t
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d
if
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in
s
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m
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a
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v
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n
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L
D
C
m
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is
elec
tr
o
n
ica
ll
y
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o
m
m
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m
a
k
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v
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r
tu
all
y
m
ai
n
te
n
a
n
ce
f
r
ee
m
o
to
r
[
3
]
.
B
L
DC
m
o
to
r
s
ar
e
a
d
er
iv
ativ
e
f
r
o
m
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d
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m
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to
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L
D
C
m
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ex
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t p
o
p
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[
3
]
.
I
n
th
is
r
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c
h
w
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k
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w
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r
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Ho
n
d
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C
B
R
2
5
0
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Fig
u
r
e
2
(
a)
)
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ith
t
h
e
B
L
DC
m
o
to
r
an
d
b
atter
ies
(
Fig
u
r
e
2
(
b
)
)
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p
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th
at
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m
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e
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n
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s
e
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o
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r
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ab
o
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t b
atter
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r
ain
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.
Fig
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r
e
2
(
a)
.
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h
e
o
r
ig
in
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Ho
n
d
a
C
B
R
2
5
0
cc
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r
ep
r
o
d
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ce
d
f
r
o
m
[
6
]
)
Fig
u
r
e
2
(
b
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.
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h
e
r
etr
o
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itted
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o
to
r
b
ik
e
w
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th
e
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atter
y
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n
d
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D
C
m
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P
I
D
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n
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as
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n
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DC
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D
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n
tr
o
ller
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ts
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r
o
p
o
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[
4
]
.
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r
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ti
m
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th
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co
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tr
o
ller
[
4
]
.
I
n
th
is
p
r
o
j
ec
t,
1
4
s
ets
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f
lith
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m
ir
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atter
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e
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s
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as th
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m
ai
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g
y
f
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r
th
is
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tr
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to
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b
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2.
RE
S
E
ARCH
M
E
T
H
O
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t,
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5
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4
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m
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p
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r
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s
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n
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r
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n
th
e
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ic
m
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Fig
u
r
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3
)
.
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h
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m
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p
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Fig
u
r
e
3
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5
k
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4
8
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m
o
to
r
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I
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f
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4
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ar
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f
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m
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Pa
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Va
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A
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f
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Fi
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r
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4
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Fig
u
r
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4
.
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tep
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I
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2
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8
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9
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2
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J
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Fig
u
r
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4
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l
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h
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e
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o
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r
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te
g
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et
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HP
C
3
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H
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ies
m
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co
r
p
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r
ate
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w
it
h
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s
y
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te
m
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Fig
u
r
e
5
.
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lo
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d
iag
r
a
m
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f
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m
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ai
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w
a
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as i
t is
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ed
to
co
r
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t th
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etw
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m
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h
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p
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ialit
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t
h
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it c
o
m
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l
l P
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Der
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to
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f
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n
t a
n
d
s
tab
le
s
y
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te
m
[
6
]
.
T
h
e
o
u
tp
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t r
esp
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s
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o
f
t
h
e
B
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m
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h
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e
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s
ca
d
ed
P
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as
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i
m
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ted
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h
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Si
m
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v
ir
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as
s
h
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in
Fig
u
r
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6
.
A
s
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in
p
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f
4
8
V
w
as p
r
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v
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n
tr
o
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an
d
B
L
D
C
m
o
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co
n
f
ig
u
r
at
io
n
i
n
th
i
s
s
i
m
u
latio
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.
Fig
u
r
e
6
.
C
lo
s
ed
lo
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p
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te
m
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m
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li
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as o
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s
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i
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Fi
g
u
r
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7
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d
Fig
u
r
e
8.
Fig
u
r
e
7
.
C
lo
s
ed
lo
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p
cu
r
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(
PI
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o
ller
; K
p
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2
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K
i
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d
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Dr
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8
694
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s
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h
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2
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ar
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ar
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en
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d
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ed
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s
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te
m
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o
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co
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ld
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e
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at
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t
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e
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ee
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f
1
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h
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o
m
f
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t
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id
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s
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d
to
a
n
o
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te
n
d
,
m
a
y
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is
k
i
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in
j
u
r
y
.
T
h
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ad
d
itio
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al
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I
co
n
tr
o
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m
a
in
ta
in
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t
h
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ap
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f
s
p
ee
d
tr
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n
g
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ed
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ce
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th
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p
er
ce
n
ta
g
e
o
v
er
s
h
o
o
t.
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h
e
s
y
s
te
m
w
as
f
u
r
t
h
er
i
m
p
r
o
v
ed
w
it
h
t
h
e
in
te
g
r
atio
n
o
f
P
I
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co
n
tr
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ller
.
T
h
e
s
p
ee
d
o
f
th
e
m
o
to
r
w
as
p
r
eser
v
ed
at
its
o
p
ti
m
u
m
s
p
ee
d
an
d
th
e
p
er
ce
n
ta
g
e
o
v
er
s
h
o
o
t
w
as
co
m
p
letel
y
eli
m
i
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ated
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lt
h
o
u
g
h
th
e
r
esp
o
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s
e
ti
m
e
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lo
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d
o
w
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to
7
.
8
x
1
0
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2
m
illi
s
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n
d
s
,
it
is
s
till
d
ee
m
ed
as
a
f
a
s
t
r
esp
o
n
s
e.
W
it
h
t
h
is
co
n
f
i
g
u
r
atio
n
,
t
h
e
ca
p
ab
ilit
y
o
f
t
h
e
m
o
to
r
to
p
r
o
v
id
e
o
p
ti
m
u
m
s
p
ee
d
co
u
ld
b
e
ac
h
ie
v
e
d
w
h
ile
as
s
u
r
i
n
g
t
h
e
co
m
f
o
r
t a
n
d
s
a
f
et
y
o
f
t
h
e
r
id
er
s
.
I
m
p
r
o
v
e
m
e
n
ts
o
f
th
e
m
o
to
r
p
er
f
o
r
m
an
ce
co
u
ld
b
e
f
u
r
t
h
er
ex
p
lo
r
ed
in
ter
m
s
o
f
s
e
lf
-
t
u
n
in
g
ca
p
ab
ilit
y
s
u
c
h
as
w
o
r
k
s
b
y
[
7
]
as
w
el
l
as
d
if
f
er
e
n
t
co
n
tr
o
l
alg
o
r
it
h
m
s
[
8
-
9
]
.
T
h
e
u
p
g
r
ad
es
s
h
o
u
ld
b
e
tar
g
eted
to
en
s
u
r
in
g
m
o
to
r
w
o
r
k
in
g
at
its
o
p
tim
a
l
s
p
ee
d
(
h
en
ce
r
ed
u
ce
b
atter
y
co
n
s
u
m
p
tio
n
)
w
h
ile
tak
i
n
g
in
to
co
n
s
id
er
atio
n
its
s
tab
ilit
y
as
w
ell
a
s
p
er
f
o
r
m
a
n
ce
er
r
o
r
s
.
T
h
e
co
m
f
o
r
t
an
d
s
af
et
y
o
f
t
h
e
r
id
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s
s
h
o
u
ld
also
b
e
th
e
u
t
m
o
s
t i
m
p
o
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tan
t
f
ac
to
r
s
i
n
d
esig
n
i
n
g
th
e
m
o
to
r
co
n
tr
o
ller
s
.
4.
CO
NCLU
SI
O
N
T
o
co
n
clu
d
e,
P
I
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co
n
tr
o
ller
ca
n
b
e
co
n
s
id
er
ed
as
o
n
e
th
e
b
est
co
n
tr
o
ller
s
to
co
n
tr
o
l
th
e
s
p
ee
d
o
f
B
L
DC
m
o
to
r
d
u
e
to
its
ca
p
ab
ilit
y
o
n
m
ain
ta
in
i
n
g
to
th
e
d
esire
d
s
p
ee
d
(
2
7
7
r
ad
/s
)
at
r
ap
id
tr
an
s
ien
t
r
esp
o
n
s
e
(
7
.
8
x
1
0
-
2
m
il
lis
ec
o
n
d
s
)
.
T
h
e
in
teg
r
at
io
n
o
f
th
e
co
n
tr
o
ller
als
o
h
as
p
r
o
v
id
ed
an
ad
v
an
tag
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u
s
p
o
ten
tial,
w
h
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g
u
ar
a
n
teei
n
g
u
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er
’
s
s
af
e
t
y
an
d
co
m
f
o
r
t.
T
h
e
n
e
x
t
s
ta
g
e
o
f
t
h
is
r
esear
ch
w
o
r
k
w
il
l
b
e
th
e
i
n
teg
r
at
io
n
b
et
w
ee
n
th
e
m
o
to
r
co
n
tr
o
ller
an
d
th
e
B
L
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m
o
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f
.
S
p
ee
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al
y
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s
as
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atter
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e
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ated
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a
s
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t
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O
pen lo
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
,
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
1
8
:
859
–
864
864
ACK
NO
WL
E
D
G
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M
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NT
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h
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au
th
o
r
s
w
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to
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a
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I
UM
R
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tiati
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Gr
an
t
Sc
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e
(
R
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0
2
3
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as
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s
Kn
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f
er
P
r
o
j
ec
t G
r
an
t (
KT
P
1
5
-
0
1
0
-
0
0
1
1
)
f
o
r
f
u
n
d
i
n
g
th
i
s
p
r
o
j
ec
t.
RE
F
E
R
E
NC
E
S
[1
]
W
a
c
h
P
.
Bru
sh
les
s
DC
M
o
to
r
D
riv
e
s
(B
L
DC).
In
:
D
y
n
a
m
ics
a
n
d
Co
n
tr
o
l
o
f
El
e
c
tri
c
a
l
Driv
e
s.
S
p
rin
g
e
r,
Be
rli
n
,
He
id
e
lb
e
rg
.
2
0
1
1
:
2
8
1
-
3
8
0
.
[2
]
J.
G
ri
ff
in
,
“
DC m
o
to
rs,”
El
e
c
tro
n
ics
a
n
d
P
o
we
r
,
1
9
8
2
.
28
(
1
),
1
0
9
.
[3
]
S
.
Ba
ld
u
rss
o
n
.
BL
DC
M
o
to
r
M
o
d
e
ll
i
n
g
a
n
d
Co
n
tr
o
l
–
A
M
a
tl
a
b
/
S
im
u
li
n
k
I
m
p
le
m
e
n
tatio
n
.
M
S
c
T
h
e
sis.
Un
iv
e
rsit
y
o
f
G
o
th
e
n
b
u
rg
;
2
0
0
5
.
[4
]
K.
S
.
Ra
o
a
n
d
R
.
M
is
h
ra
,
“
Co
m
p
a
ra
ti
v
e
stu
d
y
o
f
P
,
P
I
a
n
d
P
ID
c
o
n
tro
ll
e
r
f
o
r
sp
e
e
d
c
o
n
tro
l
o
f
VSI
-
f
e
d
in
d
u
c
ti
o
n
m
o
to
r,
”
In
t.
J
.
En
g
.
De
v
.
Res
.
,
v
o
l
.
2
,
n
o
.
2
,
p
p
.
2
3
2
1
–
9
9
3
9
,
2
0
1
4
.
[5
]
H.
F
.
P
ra
se
t
y
o
,
A
.
S
.
Ro
h
m
a
n
,
F
.
I.
Ha
riad
i,
a
n
d
H.
Hin
d
e
rsa
h
,
“
Co
n
tr
o
ls
o
f
BL
DC
M
o
t
o
rs
in
El
e
c
tri
c
V
e
h
icle
T
e
stin
g
S
i
m
u
lato
r,
”
6
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
S
y
ste
m
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
(
ICS
ET
)
,
Ba
n
d
u
n
g
,
p
p
.
173
-
1
7
8
,
2
0
1
6
.
[6
]
O.
J.
Og
u
n
to
y
in
b
o
,
P
ID
Co
n
tr
o
l
o
f
Bru
sh
les
s
DC
M
o
to
r
a
n
d
Ro
b
o
t
T
ra
jec
to
r
y
P
lan
n
i
n
g
S
im
u
latio
n
w
it
h
M
AT
LAB/S
im
u
li
n
k
,
B.
IT
Diss
e
r
tatio
n
.
V
a
a
sa
Un
iv
e
rsit
y
o
f
A
p
p
li
e
d
S
c
ien
c
e
s; 2
0
0
9
.
[7
]
M
.
A
.
A
b
d
e
l
G
h
a
n
y
,
e
t
a
l.
“
A
No
v
e
l
F
u
z
z
y
S
e
l
f
-
T
u
n
in
g
T
e
c
h
n
iq
u
e
o
f
S
in
g
le
Ne
u
ro
n
P
ID
C
o
n
tr
o
ll
e
r
f
o
r
Bru
sh
les
s
DC M
o
t
o
r”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m (
IJ
PE
DS
).
2
0
1
7
.
8
(4
)
:
1
7
0
5
-
1
7
1
3
.
[8
]
P
ri
ta
A
.
,
e
t
a
l.
“
Co
m
p
a
r
a
ti
v
e
S
tu
d
y
o
f
F
u
z
z
y
L
o
g
ic
Ba
se
d
S
p
e
e
d
Co
n
tr
o
l
o
f
M
u
lt
il
e
v
e
l
In
v
e
rter
fe
d
Bru
sh
les
s
DC
M
o
to
r
Driv
e
”
.
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
i
v
e
S
y
ste
m (
I
J
PE
DS
).
2
0
1
4
.
4
(
1
):
70
-
80
.
[9
]
L
e
i
Jin
-
li
,
“
A
d
a
p
ti
v
e
Co
n
tro
l
f
o
r
Bru
sh
les
s
DC
M
o
to
r
Ba
se
d
o
n
F
u
z
z
y
In
f
e
re
n
c
e
”
.
T
EL
KOM
NIKA
In
d
o
n
e
si
a
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
.
2
0
1
4
.
1
2
(5
):
3
3
9
2
-
3
3
9
8
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
M
u
h
a
m
a
d
S
y
a
k
ir
A
d
li
S
u
laim
a
n
w
a
s
b
o
rn
in
Ku
a
la
L
u
m
p
u
r,
M
a
lay
sia
o
n
2
6
th
o
f
M
a
y
1
9
9
4
.
He
c
o
m
p
lete
d
h
is
d
e
g
re
e
in
Ba
c
h
e
lo
r
o
f
M
e
c
h
a
tro
n
ics
En
g
i
n
e
e
rin
g
f
ro
m
fa
c
u
lt
y
o
f
e
n
g
in
e
e
rin
g
a
t
In
tern
a
ti
o
n
a
l
Isla
m
ic
Un
iv
e
rsit
y
M
a
la
y
sia
(IIUM
)
G
o
m
b
a
k
,
M
a
la
y
sia
in
2
0
1
7
.
He
d
id
re
se
a
rc
h
w
o
rk
s
o
n
Bru
sh
les
s DC (B
L
DC)
m
o
to
r
sp
e
e
d
c
o
n
tro
ll
e
r
f
o
r
e
le
c
tri
c
m
o
to
rb
ik
e
a
s
p
a
rt
o
f
h
is
f
in
a
l
y
e
a
r
p
ro
jec
t
.
N.H.H.
M
o
h
a
m
a
d
Ha
n
if
re
c
e
i
v
e
d
h
e
r
B.
En
g
(Ho
n
s.)
f
ro
m
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
P
ET
RON
A
S
,
M
a
la
y
sia
in
2
0
0
2
a
n
d
c
o
m
p
lete
d
h
e
r
M
S
c
in
C
o
n
tr
o
l
S
y
ste
m
s
f
ro
m
I
m
p
e
ri
a
l
Co
ll
e
g
e
,
L
o
n
d
o
n
,
U.K.,
in
2
0
0
4
.
S
h
e
w
a
s
a
w
a
rd
e
d
th
e
P
h
D
d
e
g
re
e
in
El
e
c
tro
n
ic
s
&
Co
m
p
u
ter
S
c
ien
c
e
f
ro
m
Un
iv
e
rsit
y
o
f
S
o
u
th
a
m
p
to
n
,
U.
K
in
2
0
1
6
.
S
h
e
is
c
u
rre
n
tl
y
a
n
A
ss
istan
t
P
ro
f
e
ss
o
r
a
t
th
e
M
e
c
h
a
tro
n
ics
De
p
a
rtm
e
n
t,
In
tern
a
ti
o
n
a
l
Isla
m
i
c
Un
iv
e
rsit
y
M
a
la
y
sia
.
H
e
r
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
re
h
a
b
il
it
a
ti
o
n
r
o
b
o
ti
c
s,
h
a
p
ti
c
tec
h
n
o
lo
g
y
,
e
n
e
rg
y
h
a
rv
e
stin
g
,
we
a
ra
b
le
d
e
v
ic
e
s
a
s
we
ll
a
s
in
stru
m
e
n
tatio
n
a
n
d
c
o
n
t
ro
l.
D
r
Ha
z
rin
is
a
m
e
m
b
e
r
o
f
IE
EE
,
IET
(T
h
e
In
stit
u
ti
o
n
o
f
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
)
a
s
w
e
ll
a
s Bo
a
rd
o
f
En
g
in
e
e
rs M
a
la
y
sia
(BEM
).
S
it
i
F
a
u
z
iah
T
o
h
a
is
c
u
rre
n
tl
y
a
n
A
ss
o
c
iate
P
ro
f
e
ss
o
r
a
t
th
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
in
e
e
rin
g
,
In
tern
a
ti
o
n
a
l
Isla
m
i
c
Un
iv
e
rsit
y
M
a
l
a
y
sia
(IIUM
).
S
h
e
re
c
e
iv
e
d
B.
En
g
(Ho
n
s)
in
El
e
c
tri
c
a
l
a
n
d
El
e
c
tro
n
ics
E
n
g
in
e
e
rin
g
f
ro
m
Un
iv
e
rsit
y
Tec
h
n
o
lo
g
y
P
e
tro
n
a
s
a
n
d
late
r
re
c
e
iv
e
d
M
S
c
f
ro
m
Un
iv
e
rsiti
S
a
in
s
M
a
la
y
sia
in
e
le
c
tri
c
a
l
e
n
g
in
e
e
rin
g
.
S
h
e
th
e
n
c
o
m
p
lete
d
h
e
r
P
h
.
D
in
A
u
to
m
a
ti
c
Co
n
tro
l
a
n
d
S
y
ste
m
s
En
g
in
e
e
rin
g
f
ro
m
T
h
e
Un
iv
e
rs
i
ty
o
f
S
h
e
ff
ield
in
2
0
1
0
.
He
r
c
u
rre
n
t
re
se
a
rc
h
in
tere
st
s
a
r
e
b
a
tt
e
ry
m
a
n
a
g
e
m
e
n
t
s
y
ste
m
,
e
n
e
rg
y
re
d
u
c
ti
o
n
f
o
r
e
lec
tri
c
m
o
to
rc
y
c
le
d
e
v
e
lo
p
m
e
n
t
a
s
we
ll
a
s
h
y
b
rid
re
n
e
w
a
b
le
e
n
e
rg
y
a
p
p
li
c
a
ti
o
n
s
u
si
n
g
c
o
m
p
u
tatio
n
a
l
in
telli
g
e
n
c
e
m
e
th
o
d
s
.
Dr
T
o
h
a
is
a
se
n
io
r
m
e
m
b
e
r
o
f
IEE
E
a
n
d
a
lso
a
P
ro
f
e
ss
io
n
a
l
En
g
in
e
e
r
in
M
a
la
y
sia
a
s
w
e
ll
a
s
a
Ch
a
rter
e
d
En
g
in
e
e
r
w
it
h
E
n
g
in
e
e
rin
g
Co
u
n
c
il
,
T
h
e
In
st
it
u
t
io
n
o
f
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
Un
it
e
d
Kin
g
d
o
m
.
S
h
e
is
a
lso
a
n
a
c
ti
v
e
m
e
m
b
e
r
o
f
Yo
u
n
g
S
c
ien
ti
st
Ne
tw
o
rk
,
A
c
a
d
e
m
y
o
f
S
c
ien
c
e
s M
a
la
y
sia
(YSN
-
A
S
M
).
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