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el
s
w
e
p
r
o
p
o
s
e
to
ap
p
ly
f
o
r
ce
b
alan
ci
n
g
s
y
s
te
m
s
(
FB
S)
w
h
ic
h
ar
e
u
s
ed
n
o
w
in
e
n
g
in
ee
r
i
n
g
o
f
g
r
av
it
y
f
o
r
ce
b
alan
cin
g
s
y
s
te
m
s
o
f
v
ar
io
u
s
ite
m
s
.
FB
S
is
w
id
el
y
u
s
ed
in
d
ev
elo
p
m
en
t
o
f
s
i
m
u
lato
r
s
f
o
r
tr
ain
in
g
astro
n
au
t
s
to
w
o
r
k
i
n
co
n
d
itio
n
s
o
f
co
m
p
lete
o
r
p
ar
tial
g
r
av
it
y
[
7
]
.
R
elatin
g
to
I
M
th
e
w
o
r
k
in
g
p
r
in
cip
le
o
f
elec
tr
o
m
ec
h
a
n
ical
FB
S
w
ill
b
e
th
e
g
r
av
it
y
b
y
p
ar
tial
co
m
p
e
n
s
atio
n
o
f
its
w
e
ig
h
t
a
s
w
ell
a
s
f
r
ictio
n
f
o
r
ce
s
an
d
in
er
tia
o
f
ad
d
ed
m
ass
[
3
].
Du
e
to
ten
s
io
n
o
f
m
ec
h
a
n
ica
l
tr
an
s
m
is
s
io
n
s
an
d
co
n
s
tr
u
ct
io
n
s
I
M
[
8
]
h
elp
s
to
in
cr
ea
s
e
d
y
n
a
m
ic
lo
ad
s
an
d
to
in
cr
ea
s
e
o
u
tp
u
t
co
o
r
d
in
ates
o
s
cillatio
n
s
p
ar
tic
u
lar
l
y
in
th
e
m
ec
h
a
n
is
m
o
f
v
er
tical
lo
ad
m
o
tio
n
s
y
s
te
m
(
VM
S)
[
9
]
.
T
h
er
ef
o
r
e,
cu
r
r
en
tl
y
u
s
ed
th
e
t
y
p
ical
co
n
tr
o
l
s
y
s
te
m
s
o
f
I
M
elec
tr
ic
d
r
iv
es,
o
f
te
n
d
o
n
o
t
p
r
o
v
id
e
th
e
d
esire
d
ac
c
u
r
ac
y
o
f
s
p
ee
d
m
o
d
e
s
o
p
er
atio
n
a
n
d
p
o
s
itio
n
i
n
g
o
f
ca
r
r
ied
ite
m
s
d
u
e
to
t
h
e
p
r
ese
n
ce
o
f
elastic
co
n
n
ec
tio
n
s
i
n
t
h
e
s
y
s
te
m
h
ar
d
w
ar
e,
th
e
clea
r
an
ce
s
an
d
t
h
e
k
i
n
e
m
at
ic
er
r
o
r
s
o
f
to
o
th
g
ea
r
s
[
1
0
]
.
Du
e
to
it
t
h
e
d
ev
elo
p
m
e
n
t
a
n
d
d
esig
n
o
f
e
f
f
icie
n
t
E
MS
w
h
ic
h
p
r
o
v
id
e
b
alan
cin
g
lo
a
d
s
b
y
ad
j
u
s
ti
n
g
t
h
e
d
am
p
i
n
g
f
o
r
ce
s
o
f
I
M
ac
t
u
ato
r
s
p
r
in
g
y
o
s
cillat
io
n
s
w
o
u
ld
b
e
p
r
o
s
p
ec
tiv
e
[
11
-
12
].
3.
CURR
E
NT
CO
N
T
RO
L
S
Y
ST
E
M
S O
F
I
NDUST
RI
AL
M
ANIPULAT
O
RS
Qu
alit
y
an
d
r
eliab
le
I
M
o
p
e
r
a
tio
n
is
lar
g
el
y
d
eter
m
i
n
ed
b
y
t
h
e
d
esig
n
o
f
th
e
m
ec
h
a
n
is
m
a
n
d
co
n
tr
o
l
s
y
s
te
m
o
f
th
e
ac
t
u
ato
r
,
w
h
ic
h
g
en
er
all
y
m
ee
t
s
t
h
e
f
o
llo
w
i
n
g
r
eq
u
ir
e
m
en
ts
:
a.
P
r
o
v
id
in
g
th
e
p
o
s
s
ib
ilit
y
o
f
th
e
m
o
tio
n
s
p
ee
d
co
n
tr
o
l o
f
lo
ad
u
n
it
;
b.
T
ap
e
r
in
g
o
f
m
an
ip
u
lato
r
s
p
ee
d
w
it
h
o
u
t j
er
k
s
,
v
ib
r
atio
n
an
d
s
u
b
s
id
e
n
ce
o
f
t
h
e
lo
ad
;
c.
A
cc
eler
atio
n
co
n
s
tr
ai
n
t o
f
t
h
e
d
r
iv
e
in
t
h
e
s
tar
t
-
b
r
ak
e
m
o
d
es
to
r
ed
u
ce
th
e
d
y
n
a
m
ic
lo
ad
s
i
n
its
h
ar
d
w
ar
e.
T
h
e
ab
o
v
e
m
e
n
tio
n
ed
r
eq
u
ir
e
m
en
ts
p
r
o
v
id
e
m
o
s
t
l
y
elec
t
r
ic
d
r
iv
es
(
E
D)
w
it
h
co
n
ti
n
u
o
u
s
a
n
d
s
u
f
f
icie
n
tl
y
p
r
ec
is
e
e
n
g
i
n
e
s
p
ee
d
co
n
tr
o
l.
No
w
ad
a
y
s
b
ea
r
in
g
les
s
p
er
m
a
n
en
t
m
ag
n
et
s
y
n
c
h
r
o
n
o
u
s
m
o
to
r
ar
e
o
f
ten
ap
p
lied
in
t
h
e
d
ev
elo
p
m
en
t
o
f
I
M
[
4
]
.
I
n
co
n
tr
o
l
s
y
s
te
m
s
o
f
elec
tr
ic
d
r
iv
es
(
E
D)
th
e
f
ee
d
b
ac
k
o
f
en
g
i
n
e
s
p
ee
d
an
d
cu
r
r
en
t
s
h
all
b
e
d
es
ig
n
a
ted
[
13
,
14
]
.
W
h
ile
i
m
p
lem
en
tin
g
I
M
E
D
t
h
e
s
u
b
o
r
d
in
ate
co
n
tr
o
l
s
y
s
te
m
s
ar
e
o
f
ten
u
s
ed
th
at
ar
e
n
o
ted
f
o
r
ea
s
in
ess
s
y
n
t
h
esi
s
an
d
s
e
tti
n
g
u
p
,
th
e
ab
ilit
y
to
r
ec
eiv
e
t
h
e
r
eq
u
ir
ed
co
n
tr
o
l
ac
tio
n
s
f
o
r
ea
c
h
co
n
tr
o
lled
p
ar
a
m
eter
,
b
y
tak
in
g
i
n
to
ac
co
u
n
t
t
h
e
l
i
m
itatio
n
s
o
f
co
n
tr
o
lled
co
o
r
d
in
ates
at
a
g
iv
e
n
le
v
el.
T
h
e
s
u
b
o
r
d
in
ate
co
n
tr
o
l s
y
s
te
m
o
f
E
D
is
lar
g
el
y
m
ad
e
d
o
u
b
le
-
lo
o
p
w
h
en
i
n
ter
n
al
cir
cu
it
p
atte
r
n
ed
to
th
e
o
p
ti
m
u
m
m
o
d
u
le
p
er
f
o
r
m
s
th
e
f
u
n
ctio
n
o
f
e
n
g
i
n
e
c
u
r
r
en
t
li
m
ita
tio
n
in
tr
an
s
itio
n
m
o
d
es
an
d
ca
r
r
ies
o
u
t
d
is
tu
r
b
an
ce
attac
k
s
at
t
h
e
ca
ten
ar
y
v
o
lta
g
e
s
u
r
g
e
a
n
d
t
h
e
s
p
ee
d
co
n
tr
o
l
cir
c
u
it
m
ee
t
s
r
eq
u
ir
ed
p
r
o
ce
s
s
s
p
ec
if
icatio
n
s
.
W
h
ile
d
esig
n
i
n
g
I
M
it
i
s
cr
iti
ca
l
to
s
elec
t
th
e
f
i
x
atio
n
p
o
in
t
s
in
th
e
w
o
r
k
in
g
b
o
d
y
p
o
s
itio
n
in
g
.
T
h
e
s
i
m
p
le
s
t
w
a
y
i
s
to
u
s
e
a
n
ele
ctr
o
m
ec
h
a
n
ical
b
r
ak
e.
Ho
w
e
v
er
,
th
e
m
an
ip
u
lato
r
ac
t
u
ato
r
h
as
a
h
i
g
h
f
le
x
u
r
a
l
co
m
p
lia
n
ce
a
n
d
u
n
d
er
v
ar
io
u
s
ex
citatio
n
s
it
i
s
s
u
b
j
ec
t
to
p
er
f
o
r
m
s
p
r
in
g
y
o
s
cillatio
n
s
.
T
h
e
r
ef
o
r
e,
th
e
r
eq
u
ir
ed
ac
cu
r
ac
y
o
f
I
M
s
p
ee
d
co
n
tr
o
l
ac
tu
ato
r
ca
n
n
o
t
b
e
ass
u
r
e
d
.
I
n
th
is
ca
s
e
E
D
is
eq
u
ip
p
ed
w
ith
a
n
e
g
ati
v
e
f
ee
d
b
ac
k
to
th
e
e
n
g
i
n
e
v
o
lta
g
e
an
d
a
p
o
s
iti
v
e
c
u
r
r
en
t
f
ee
d
b
ac
k
w
h
ic
h
is
ab
l
y
to
in
cr
e
ase
th
e
r
i
g
id
it
y
o
f
m
ec
h
a
n
ical
c
h
ar
ac
ter
is
tic
s
an
d
to
b
alan
ce
th
e
d
is
t
u
r
b
an
ce
s
ca
u
s
ed
b
y
t
h
e
lo
ad
.
Sp
ec
ial
asp
ec
ts
o
f
I
M
k
in
e
m
atic
s
w
it
h
as
y
n
ch
r
o
n
o
u
s
E
D
co
n
tr
o
lled
w
it
h
ch
a
n
g
i
n
g
th
e
s
tato
r
v
o
ltag
e
ca
u
s
e
a
n
u
m
b
er
o
f
s
p
e
cif
ic
r
eq
u
ir
e
m
en
ts
o
f
t
h
e
co
n
t
r
o
l s
y
s
te
m
.
I
f
t
h
e
ac
ti
v
e
lo
ad
to
r
q
u
e
o
n
th
e
en
g
i
n
e
s
h
a
f
t,
it
i
s
r
eq
u
ested
to
u
s
e
o
f
o
n
e
-
d
ir
ec
tio
n
al
p
o
w
er
tr
an
s
m
is
s
io
n
f
r
o
m
t
h
e
e
n
g
in
e
to
t
h
e
lo
ad
m
a
n
ip
u
lato
r
u
n
i
t,
it c
au
s
es a
s
i
g
n
i
f
ica
n
t i
n
c
r
ea
s
e
o
f
h
ea
t
lo
s
s
e
s
in
th
e
e
n
g
i
n
e
w
h
ich
ap
p
ea
r
w
h
i
le
u
s
i
n
g
t
h
e
p
ar
a
m
eter
m
o
d
e
o
f
s
p
ee
d
co
n
tr
o
l.
I
M
c
o
n
tr
o
l
s
y
s
te
m
s
w
it
h
f
r
eq
u
e
n
c
y
-
co
n
tr
o
lled
asy
n
c
h
r
o
n
o
u
s
elec
tr
ic
d
r
iv
e
ar
e
d
esig
n
ed
i
n
th
e
f
o
r
m
o
f
a
n
au
to
m
atic
co
n
tr
o
l
s
y
s
te
m
w
it
h
f
ee
d
b
ac
k
o
f
th
e
en
g
i
n
e
s
p
ee
d
an
d
ac
ce
ler
atio
n
,
b
ec
au
s
e
t
h
i
s
s
tr
u
ct
u
r
e
co
m
p
letel
y
m
ee
t
s
t
h
e
m
an
ip
u
lato
r
r
eq
u
ir
e
m
e
n
ts
[
15
].
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
P
r
o
s
p
ec
tive
E
lectro
mec
h
a
n
ica
l Co
n
tr
o
l S
ystems
o
f I
n
d
u
s
tr
ia
l Ma
n
ip
u
l
a
to
r
E
ffo
r
ts
(
A
.
A
.
Da
n
s
h
in
a
)
418
4.
P
O
T
E
N
T
I
A
L
S
T
RUC
T
UR
E
O
F
T
H
E
M
ANIPULA
T
O
R
CO
NT
O
L
S
YS
T
E
M
W
h
ile
r
ev
ie
w
i
n
g
th
e
w
a
y
s
o
f
en
g
i
n
ee
r
i
n
g
a
n
d
i
m
p
le
m
e
n
tati
o
n
o
f
I
M
it
w
as
d
etec
ted
th
at
t
h
e
co
n
tr
o
l
task
o
f
c
u
r
r
en
t
m
a
n
ip
u
lato
r
s
i
s
th
e
s
p
ee
d
co
n
tr
o
l a
n
d
th
e
r
eg
u
lato
r
s
etti
n
g
o
f
th
eir
co
n
tr
o
l s
y
s
te
m
i
s
f
u
l
f
i
lled
in
ter
m
s
o
f
t
h
e
tr
an
s
itio
n
p
r
o
ce
s
s
d
ata
ca
u
s
ed
b
y
t
h
e
c
h
an
g
e
o
f
co
n
tr
o
l a
ctio
n
.
Du
e
to
th
e
f
ac
t
t
h
at
i
n
f
ac
t
u
al
I
M
th
e
e
n
g
i
n
e
co
n
n
ec
tio
n
w
it
h
t
h
e
ac
t
u
ato
r
i
s
n
o
t
co
m
p
letel
y
r
i
g
id
,
s
o
w
h
ile
s
t
u
d
d
in
g
E
D
s
y
s
te
m
s
o
f
m
a
n
ip
u
la
to
r
s
,
th
e
a
llo
w
an
ce
o
f
th
e
r
ig
id
co
n
n
ec
t
io
n
o
f
t
h
e
en
g
i
n
e
s
h
a
f
t
an
d
t
h
e
d
ev
ice
ca
n
lead
to
s
ig
n
i
f
ica
n
t
er
r
o
r
s
.
I
n
r
ea
lity
t
h
e
m
ec
h
a
n
ical
tr
an
s
m
is
s
io
n
s
ten
s
io
n
ca
n
n
o
t
b
e
tak
e
n
in
to
ac
co
u
n
t
w
h
e
n
t
h
e
n
atu
r
al
f
r
e
q
u
en
c
y
o
f
t
h
e
s
y
s
te
m
m
ec
h
a
n
ical
o
s
cil
latio
n
s
is
s
i
g
n
if
ica
n
tl
y
h
ig
h
er
t
h
an
th
e
f
r
eq
u
en
c
ies ac
ce
p
tab
le
f
o
r
th
e
elec
tr
ic
d
r
iv
e
co
n
tr
o
l s
y
s
te
m
s
.
No
w
ad
a
y
s
al
l
m
an
u
f
ac
t
u
r
er
s
d
o
th
eir
b
est
to
m
ak
e
I
M
o
f
e
asier
d
esi
g
n
t
h
at
r
ed
u
ce
s
t
h
e
r
ig
id
it
y
o
f
m
ec
h
a
n
ical
tr
a
n
s
m
is
s
io
n
s
ite
m
s
a
n
d
ca
u
s
es
to
in
cr
ea
s
in
g
t
h
e
i
m
p
ac
t
o
f
s
p
r
in
g
y
co
n
n
ec
t
io
n
s
o
n
th
eir
w
o
r
k
.
Ho
w
e
v
er
th
e
p
r
esen
ce
o
f
s
p
r
in
g
y
e
le
m
e
n
t
s
(
SE)
in
th
e
m
ec
h
a
n
ical
p
ar
t
o
f
E
MS
lead
s
to
an
in
cr
ea
s
ed
v
ar
iab
ilit
y
o
f
it
s
co
o
r
d
in
ates:
r
aisi
n
g
th
e
d
y
n
a
m
ic
lo
ad
s
o
f
m
ec
h
an
ica
l
tr
an
s
m
i
s
s
io
n
s
an
d
in
cr
ea
s
in
g
th
e
s
p
ee
d
co
n
tr
o
l e
r
r
o
r
s
o
r
p
o
s
itio
n
o
f
t
h
e
ac
tu
ato
r
[
1
6
,
1
7
].
W
h
ile
r
ev
ie
w
in
g
th
e
ap
p
r
o
ac
h
es
to
en
g
i
n
ee
r
in
g
o
f
p
r
o
s
p
ec
tiv
e
E
M
S
o
f
in
d
u
s
tr
ial
m
an
i
p
u
lato
r
s
i
t
w
a
s
d
etec
ted
th
at
it
is
p
o
s
s
ib
le
to
r
ed
u
ce
th
e
i
m
p
ac
t
o
f
e
m
er
g
i
n
g
s
p
r
in
g
y
o
s
cillat
io
n
s
an
d
to
i
m
p
r
o
v
e
t
h
e
q
u
alit
y
o
f
I
M
o
p
er
atio
n
w
h
i
le
i
m
p
le
m
e
n
ti
n
g
th
eir
co
n
tr
o
l
s
y
s
te
m
w
h
ic
h
p
r
o
v
id
es
th
e
f
o
r
ce
co
n
tr
o
l
in
ac
tu
ato
r
s
an
d
m
ec
h
a
n
ical
tr
an
s
m
i
s
s
io
n
[
1
8
]
.
I
n
th
is
ca
s
e
th
e
co
n
tr
o
l
s
y
s
te
m
o
f
I
M
ca
n
b
e
i
m
p
le
m
en
ted
u
s
i
n
g
th
e
f
o
r
ce
b
alan
cin
g
p
r
in
cip
le
an
d
th
e
in
f
o
r
m
atio
n
o
f
th
e
e
f
f
o
r
t
in
th
e
ite
m
s
u
s
p
e
n
s
io
n
d
ev
ice,
its
w
ei
g
h
t
a
n
d
f
o
r
ce
in
ter
ac
tio
n
s
o
cc
u
r
r
ed
wh
ile
t
h
e
ac
t
u
ato
r
m
o
tio
n
[
4
,
5
]
.
W
h
ile
i
m
p
le
m
en
tin
g
FB
S
th
e
e
n
g
in
e
s
h
o
u
ld
d
ev
elo
p
f
o
r
ce
eq
u
al
to
t
h
e
w
e
i
g
h
t
o
f
t
h
e
ite
m
,
b
u
t
o
p
p
o
s
ite
i
n
d
ir
ec
tio
n
.
T
o
i
m
p
le
m
e
n
t
s
u
c
h
s
y
s
te
m
s
w
e
n
ee
d
to
b
e
a
w
ar
e
o
f
t
h
e
ac
t
u
ato
r
s
d
y
n
a
m
ic
lo
ad
s
th
at
it
is
r
eq
u
ir
ed
to
u
s
e
t
h
e
h
ig
h
l
y
r
eliab
le
i
n
o
p
er
atio
n
s
en
s
o
r
s
an
d
to
i
m
p
le
m
e
n
t t
h
e
co
n
tr
o
l
s
y
s
te
m
o
f
ad
d
itio
n
al
f
ee
d
b
ac
k
cir
cu
its
.
Su
c
h
m
et
h
o
d
o
f
co
n
tr
o
l is
w
id
el
y
u
s
ed
in
th
e
d
ev
elo
p
m
e
n
t
o
f
s
i
m
u
la
to
r
s
w
it
h
f
o
r
ce
b
alan
cin
g
s
y
s
te
m
s
f
o
r
tr
ain
in
g
as
tr
o
n
au
t
s
an
d
test
in
g
s
p
ac
e
p
r
o
d
u
ct
[
9
, 1
9
].
A
p
p
ea
r
in
g
m
ec
h
an
i
s
m
s
o
f
o
s
cillatio
n
s
i
n
s
id
e
SE
(
Sp
r
i
n
g
y
E
le
m
e
n
ts
)
a
n
d
d
y
n
a
m
i
c
lo
ad
s
in
co
n
s
tr
u
ct
io
n
s
a
n
d
m
ac
h
in
er
y
o
f
I
M
(
I
n
d
u
s
tr
ial
Ma
n
ip
u
lat
o
r
s
)
ca
n
b
e
lim
ited
b
y
E
D
(
E
lectr
ic
Dr
iv
e)
.
I
t
b
ec
o
m
e
s
p
o
s
s
ib
le
d
u
e
to
th
e
cr
ea
tio
n
o
f
ad
d
itio
n
al
f
o
r
ce
im
p
ac
t
w
ith
t
h
e
aid
o
f
elec
tr
ic
en
g
i
n
e,
w
h
ic
h
i
s
in
ter
ac
ti
n
g
w
i
th
t
h
e
m
o
m
e
n
t
u
m
in
m
ec
h
an
ical
g
ea
r
s
o
f
m
a
n
ip
u
lato
r
[
20
].
I
n
d
u
s
tr
ial
m
a
n
ip
u
la
to
r
s
w
it
h
FB
S
(
Fo
r
ce
-
B
alan
c
in
g
S
y
s
te
m
s
)
,
p
r
o
v
id
in
g
t
h
e
s
tatic
lo
ad
co
m
p
e
n
s
at
io
n
o
f
o
b
j
ec
t,
h
av
e
t
h
e
f
o
llo
w
i
n
g
ad
v
an
tag
e
s
:
a.
k
ee
p
in
g
th
e
o
b
j
ec
t in
s
u
s
p
en
d
i
n
g
co
n
d
itio
n
s
w
i
th
o
u
t b
r
ea
k
u
s
e;
b.
ab
s
en
ce
o
f
s
p
ee
d
ass
i
g
n
m
en
t b
lo
ck
;
c.
p
o
s
s
ib
ilit
y
o
f
s
i
g
n
i
f
ica
n
t d
ec
r
ea
s
e
o
f
o
p
er
ato
r
ef
f
o
r
t
w
h
ile
m
o
v
in
g
th
e
o
b
j
ec
t;
d.
o
b
j
ec
t p
o
s
itio
n
in
g
p
r
ec
is
io
n
wh
ile
i
m
p
le
m
e
n
ti
n
g
o
f
s
u
c
h
co
n
tr
o
l s
y
s
te
m
d
ep
en
d
s
o
n
o
p
er
ato
r
ac
tio
n
s
.
E
lectr
ic
d
r
iv
e
f
o
r
FB
S
in
s
talli
n
g
s
h
o
u
ld
m
ai
n
tai
n
t
h
e
h
ig
h
-
ac
cu
r
ac
y
e
f
f
o
r
t
e
x
ec
u
t
iv
e
d
ev
ices
in
s
id
e
SE,
w
h
ich
ar
e
eq
u
al
to
g
r
av
i
tatio
n
al
f
o
r
ce
o
f
w
ei
g
h
t
d
ep
r
iv
ed
o
b
j
ec
t
w
it
h
d
if
f
er
en
t
ap
p
lied
f
o
r
ce
s
.
E
f
f
o
r
t
s
y
s
te
m
i
m
p
le
m
e
n
ted
i
n
s
u
c
h
w
a
y
allo
w
s
r
ea
lizi
n
g
t
h
e
w
ei
g
h
t
d
ep
r
iv
ed
o
b
j
ec
t
m
o
tio
n
d
u
e
to
th
e
in
ap
p
r
ec
iab
le
p
r
ess
u
r
e
d
o
n
e
b
y
o
p
er
ato
r
.
T
h
u
s
,
th
e
m
ai
n
tas
k
o
f
E
D
is
to
b
alan
ce
th
e
o
b
j
ec
t
w
ei
g
h
t
an
d
r
esis
tin
g
f
o
r
ce
s
o
f
its
m
o
tio
n
.
T
h
er
ef
o
r
e,
th
e
o
b
ject
m
o
v
i
n
g
w
il
l
b
e
d
ef
in
ed
b
y
t
h
e
ef
f
o
r
t
r
eg
u
lati
n
g
m
is
ta
k
e,
w
h
at
i
s
n
ee
d
ed
to
b
e
m
i
n
i
m
ized
v
ia
ta
s
k
ac
co
m
p
lis
h
i
n
g
o
f
s
elec
tio
n
th
e
r
eg
u
latin
g
s
y
s
te
m
e
f
f
ic
ien
t
s
tr
u
ct
u
r
e
an
d
p
ar
am
eter
s
s
y
n
t
h
esi
s
o
f
co
n
tr
o
l d
ev
ices [
2
-
21
].
5.
RE
S
E
ARC
H
R
E
SU
L
T
S
C
o
n
s
id
er
ed
p
r
in
cip
als
o
f
d
ev
elo
p
m
e
n
t
an
d
i
m
p
le
m
e
n
t
atio
n
w
a
y
s
o
f
I
M
co
n
tr
o
l
s
y
s
te
m
s
d
em
o
n
s
tr
ated
t
h
e
n
ee
d
o
f
Ve
r
tical
Mo
v
in
g
S
y
s
te
m
(
VM
S)
in
itiatio
n
f
o
r
I
M,
w
h
ich
i
s
r
ea
lizin
g
th
e
h
i
g
h
-
ac
cu
r
ac
y
e
f
f
o
r
t r
eg
u
lati
n
g
in
s
i
d
e
ex
ec
u
ti
v
e
ele
m
en
t
s
.
Sp
ec
if
ic
o
f
VM
S
p
er
f
o
r
m
a
n
ce
,
i
m
p
le
m
e
n
ted
d
u
e
to
FB
S
u
s
e
,
is
co
n
d
itio
n
ed
b
y
t
h
e
f
ac
t
t
h
a
t th
e
m
ai
n
task
o
f
E
D
a
n
d
r
eg
u
lati
n
g
s
y
s
t
e
m
i
s
k
ee
p
i
n
g
u
p
t
h
e
e
f
f
o
r
t
eq
u
als
to
v
al
u
e
o
f
g
r
a
v
itatio
n
f
o
r
ce
s
o
n
lo
ad
,
b
u
t
it
s
m
o
v
i
n
g
is
r
ea
lized
o
n
l
y
u
n
d
er
o
u
ts
id
e
i
m
p
ac
t
s
d
o
n
e
b
y
o
p
er
ato
r
,
an
d
n
o
t b
y
elec
tr
ic
e
n
g
i
n
e.
T
ak
in
g
i
n
to
ac
co
u
n
t
t
h
e
f
u
n
cti
o
n
in
g
f
ea
tu
r
e
s
o
f
I
M
a
n
d
r
eq
u
ir
e
m
en
ts
to
VM
S,
th
e
e
f
f
icie
n
t
s
tr
u
ct
u
r
e
o
f
ef
f
o
r
t r
eg
u
latin
g
s
y
s
te
m
is
d
ef
in
ed
i
n
s
t
u
d
y
[
1
]
.
Fo
r
th
e
b
en
ef
it o
f
p
r
o
tectiv
e
f
u
n
ctio
n
r
ea
lizatio
n
f
o
r
cu
r
r
en
t
l
i
m
it
in
g
a
n
d
s
tab
iliza
tio
n
o
f
e
n
g
i
n
e
m
o
m
en
tu
m
u
n
d
er
th
e
i
n
f
lu
e
n
ce
o
f
d
if
f
er
e
n
t
p
ar
a
m
etr
ical
d
is
t
u
r
b
an
ce
s
,
i
t
is
n
ec
e
s
s
ar
y
to
ap
p
l
y
t
h
e
in
v
er
s
e
f
ee
d
b
ac
k
alo
n
g
t
h
e
e
n
g
in
e
c
u
r
r
en
t.
P
r
o
v
is
io
n
o
f
r
eq
u
ested
d
y
n
a
m
i
c
ch
ar
ac
ter
is
tic
s
o
f
VM
S
elec
tr
ic
d
r
iv
e
f
o
r
I
M
ca
n
b
e
s
u
p
p
o
r
ted
b
y
ap
p
lian
ce
th
e
f
lex
ib
le
f
ee
d
b
ac
k
o
v
er
t
h
e
d
if
f
er
e
n
tial
co
e
f
f
ic
ien
t
o
f
el
ec
tr
ic
en
g
in
e
a
n
g
u
lar
s
p
ee
d
[
22
]
.
T
ec
h
n
ical
r
ea
lizatio
n
o
f
s
u
ch
co
r
r
ec
tiv
e
f
ee
d
b
ac
k
ca
n
b
e
f
u
l
f
illed
b
y
th
e
d
if
f
er
en
t
iatio
n
o
f
tac
h
o
g
e
n
er
ato
r
v
o
ltag
e.
I
t
ca
n
b
e
d
escr
ib
ed
in
s
id
e
VM
S
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
2
,
J
u
n
e
2
0
1
6
:
4
1
6
–
4
2
1
419
co
n
tr
o
l
s
y
s
te
m
v
ia
th
e
ti
m
e
d
if
f
er
e
n
ci
n
g
co
n
s
tan
t,
o
n
th
e
ass
u
m
p
tio
n
o
f
f
ac
t
th
at
i
n
tr
o
d
u
ce
d
d
if
f
er
en
tial
co
n
s
tr
ain
t is id
ea
l.
R
ev
ie
w
o
f
l
iter
atu
r
e
[
14
-
23
]
is
r
ev
ea
led
th
at
f
o
r
VM
S
i
m
p
le
m
en
tatio
n
f
o
r
I
M,
u
s
in
g
f
o
r
ce
-
b
alan
ci
n
g
p
r
in
cip
als
i
n
t
h
e
p
r
esen
ce
o
f
s
ev
er
e
r
eq
u
ir
e
m
e
n
t
s
f
o
r
e
f
f
o
r
t
r
eg
u
la
tin
g
ac
c
u
r
ate,
is
n
ec
es
s
ar
y
to
h
a
v
e
t
h
e
m
ai
n
f
ee
d
b
ac
k
o
n
ef
f
o
r
t in
s
id
e
ex
ec
u
ti
v
e
d
ev
ice,
an
d
p
r
o
p
er
in
f
o
r
m
atio
n
ab
o
u
t i
t c
an
b
e
r
ec
eiv
e
d
v
ia
ef
f
o
r
t sen
s
o
r
.
R
elied
o
n
th
e
m
et
h
o
d
o
f
co
n
tr
o
l
d
ev
ice
s
y
n
th
e
s
is
tas
k
ac
co
m
p
lis
h
i
n
g
,
p
r
ese
n
ted
i
n
[
1
-
3
]
,
th
e
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
e
f
f
o
r
t r
eg
u
lato
r
(
1
)
w
as
f
o
u
n
d
ed
b
y
th
e
f
o
llo
w
in
g
w
a
y
:
(
)
(
)
(
)
(
)
(
)
(
1
)
w
h
er
e
–
co
ef
f
icie
n
t o
f
e
f
f
o
r
t r
eg
u
la
tin
g
cir
c
u
it g
ea
r
;
–
–
co
n
s
tan
t
s
o
f
e
f
f
o
r
t r
eg
u
lati
n
g
.
R
esear
ch
e
s
o
n
m
at
h
e
m
atica
l
m
o
d
el
an
d
o
n
VM
S
m
o
c
k
-
u
p
f
o
r
I
M
w
er
e
co
m
p
leted
w
h
e
n
p
ar
am
eter
v
alu
e
s
co
m
p
lied
w
it
h
p
ar
a
m
et
er
s
o
f
m
a
n
ip
u
lato
r
t
y
p
e
MP
-
1
0
0
.
R
esu
lts
o
f
test
s
ar
e
in
tr
o
d
u
ce
d
o
n
Fi
g
u
r
e
1
a
s
m
o
m
e
n
t
u
m
v
ar
iatio
n
o
s
cillo
g
r
a
m
in
s
id
e
s
p
r
in
g
y
e
le
m
e
n
t
w
h
ile
o
u
ts
id
e
i
m
p
ac
t
in
g
.
а)
b)
Fig
u
r
e
1
.
Diag
r
a
m
s
o
f
tr
an
s
ie
n
t p
r
o
ce
s
s
esin
s
id
e
o
p
en
lo
o
p
(
a
)
FB
S f
o
r
I
M
an
d
in
s
id
e
в clo
s
ed
lo
o
p
(
b
)
F
B
S
f
o
r
I
M
w
it
h
d
if
f
er
en
t e
f
f
o
r
t r
eg
u
la
to
r
s
An
al
y
s
i
s
o
f
p
r
ese
n
ted
tr
an
s
i
en
t
p
r
o
ce
s
s
es
d
e
m
o
n
s
tr
ates
t
h
at
t
h
er
e
is
a
n
ef
f
ic
ien
t
d
a
m
p
e
n
i
n
g
o
f
s
p
r
in
g
y
o
s
cillati
o
n
s
,
a
n
d
e
x
is
ten
ce
o
f
s
y
n
th
e
s
ized
e
f
f
o
r
t
r
eg
u
lato
r
allo
w
s
g
u
ar
a
n
te
ein
g
t
h
e
r
eq
u
ir
ed
p
er
f
o
r
m
a
n
ce
q
u
alit
y
i
n
s
id
e
i
n
tr
o
d
u
ce
d
FB
S
s
tr
u
ct
u
r
e
f
o
r
I
M.
Ov
er
co
r
r
ec
tio
n
o
f
ef
f
o
r
t
v
ar
iatio
n
p
r
o
ce
s
s
in
s
id
e
SE
w
a
s
r
ed
u
ce
d
f
r
o
m
8
9
%
to
4
.
2
%,
an
d
estab
li
s
h
ed
r
eg
u
la
tin
g
m
i
s
ta
k
e
w
a
s
also
r
e
d
u
ce
d
f
r
o
m
4
8
%
to
2
.
8
%.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
PEDS
I
SS
N:
2
0
8
8
-
8
694
P
r
o
s
p
ec
tive
E
lectro
mec
h
a
n
ica
l Co
n
tr
o
l S
ystems
o
f I
n
d
u
s
tr
ia
l Ma
n
ip
u
l
a
to
r
E
ffo
r
ts
(
A
.
A
.
Da
n
s
h
in
a
)
420
6.
CO
NCLU
SI
O
N
R
ea
lizatio
n
o
f
f
o
r
ce
-
b
ala
n
ci
n
g
p
r
in
cip
al
w
h
ile
d
e
v
elo
p
in
g
t
h
e
ef
f
o
r
t
co
n
tr
o
l
s
y
s
te
m
o
f
I
M
en
ab
les
to
d
ef
in
e
t
h
e
f
o
llo
w
i
n
g
ad
v
a
n
tag
es
w
h
ic
h
ar
e
i
m
p
r
o
v
i
n
g
th
e
p
e
r
f
o
r
m
an
ce
q
u
alit
y
:
a.
Dec
r
ea
s
in
g
o
f
m
ec
h
a
n
ical
g
ea
r
s
p
r
in
g
y
n
e
g
ati
v
e
in
f
l
u
e
n
ce
;
b.
Op
er
ato
r
im
p
ac
t d
ir
ec
tl
y
o
n
t
h
e
s
u
s
p
e
n
d
in
g
lo
ad
;
c.
Mo
v
in
g
t
h
e
lo
ad
in
lo
ck
ed
p
o
s
itio
n
w
it
h
r
eq
u
ir
ed
ac
cu
r
ac
y
c
o
n
tr
o
lled
b
y
o
p
er
ato
r
;
d.
E
asin
e
s
s
o
f
lo
ad
m
o
v
in
g
alo
n
g
n
o
t p
r
e
-
d
ef
i
n
ed
p
ath
.
A
p
p
licatio
n
o
f
in
d
u
s
tr
ial
m
a
n
ip
u
lato
r
s
w
it
h
FB
S
is
esp
ec
ia
ll
y
i
m
p
o
r
tan
t
w
h
ile
w
o
r
k
i
n
g
w
it
h
lar
g
e
-
d
i
m
en
s
io
n
o
b
j
ec
ts
w
h
ic
h
s
ize
co
m
p
licates
th
e
p
o
s
itio
n
in
g
v
is
io
n
a
n
d
r
eq
u
ir
es
p
ar
ticip
ati
o
n
o
f
a
f
e
w
p
eo
p
le,
o
w
i
n
g
to
t
h
e
f
ac
t
th
at
t
h
e
m
o
v
in
g
s
p
ee
d
a
n
d
p
o
s
itio
n
i
n
g
s
p
ee
d
is
d
ef
in
ed
a
n
d
c
o
n
tr
o
lled
b
y
o
p
er
ato
r
h
an
d
s
v
ia
p
er
m
a
n
e
n
t
co
n
tact
w
it
h
m
a
n
ip
u
lated
o
b
j
ec
t.
E
f
f
icie
n
t
u
s
e
o
f
I
M
w
i
th
FB
S
i
s
p
o
s
s
ib
l
y
w
h
e
n
t
h
er
e
is
a
n
ee
d
to
p
er
f
o
r
m
t
h
e
j
o
b
w
ith
f
r
ag
ile
o
b
j
ec
ts
,
an
d
it
i
s
s
i
g
n
if
ica
n
t
to
li
m
it
t
h
e
m
o
v
in
g
s
p
ee
d
d
ir
ec
tl
y
b
y
o
p
er
ato
r
,
th
at
all
o
w
s
ex
cl
u
d
in
g
t
h
e
p
r
o
b
ab
le
co
llis
io
n
a
n
d
th
e
b
r
ea
k
i
n
g
o
f
m
o
v
i
n
g
p
r
o
d
u
cts.
ACK
NO
WL
E
D
G
E
M
E
NT
S
W
o
r
k
in
g
r
es
u
lt
s
w
as
o
b
tai
n
ed
w
it
h
s
u
p
p
o
r
t
b
y
t
h
e
p
r
o
j
ec
t
No
.
2
8
7
8
"
Dev
elo
p
m
e
n
t
o
f
d
esig
n
t
h
eo
r
y
an
d
p
r
ac
tice
o
f
s
i
m
u
lato
r
s
tr
u
ctu
r
e
s
an
d
m
o
b
ile
o
b
j
ec
ts
elec
tr
ical
s
y
s
te
m
s
"
,
th
e
s
ta
te
t
ask
No
.
2
0
1
4
/1
4
3
p
er
f
o
r
m
ed
w
it
h
i
n
a
b
asic u
n
it.
RE
F
E
R
E
NC
E
S
[1
]
N.
A
.
S
u
k
h
e
n
k
o
a
n
d
G
.
Ya
.
P
y
a
ti
b
ra
to
v
,
"
El
e
c
tro
m
e
c
h
a
n
ica
l
a
n
d
M
e
c
h
a
tr
o
n
ic
Co
n
tr
o
l
S
y
ste
m
s
o
f
In
d
u
strial
M
a
n
ip
u
lato
rs E
f
f
o
rt"
,
M
o
n
o
g
ra
p
h
,
Pl
a
t
o
v
S
o
u
th
-
Ru
ss
ia
n
S
t
a
te P
o
ly
tec
h
n
i
c
Un
ive
rs
it
y
(
NPI),
No
v
o
c
h
e
rk
a
ss
k
,
1
6
2
p
,
2
0
1
4
.
[2
]
A
h
m
a
d
Ri
y
a
d
F
ird
a
u
s
a
n
d
A
rie
f
S
y
a
ich
u
Ra
h
m
a
n
,
"
G
e
n
e
ti
c
Alg
o
rit
h
m
o
f
S
li
d
in
g
M
o
d
e
Co
n
t
ro
l
De
sig
n
f
o
r
M
a
n
ip
u
lato
r
Ro
b
o
t"
,
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
C
o
mp
u
t
in
g
El
e
c
tro
n
ics
a
n
d
C
o
n
tro
l
,
v
o
l
.
1
0
,
N
o
.
4
,
p
p
.
645
-
6
5
4
,
De
c
e
m
b
e
r
2
0
1
2
.
[3
]
N.
A
.
S
u
k
h
e
n
k
o
a
n
d
G
.
Ya
.
P
y
a
ti
b
ra
to
v
,
"
P
e
rf
e
c
ti
n
g
o
f
Ba
lan
c
e
d
M
a
n
i
p
u
lat
o
rs
Co
n
tr
o
l
S
y
ste
m
s
"
,
S
c
ien
ti
f
ic
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
i
a
n
El
e
c
tro
me
c
h
a
n
ics
,
N
o
5
,
p
p
.
7
7
-
8
1
,
2
0
1
0
.
[4
]
No
rm
a
ish
a
ra
h
M
a
m
a
t,
e
t
a
l.
,
"
B
e
a
rin
g
les
s
P
e
rm
a
n
e
n
t
M
a
g
n
e
t
S
y
n
c
h
ro
n
o
u
s
M
o
t
o
r
u
si
n
g
In
d
e
p
e
n
d
e
n
t
Co
n
tro
l"
,
In
ter
n
a
t
io
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
ms
(
IJ
P
EDS
)
,
v
o
l.
6
,
No
.
2
,
p
p
.
2
3
3
-
2
4
1
,
J
u
n
e
2
0
1
5
.
[5
]
Ho
ss
e
in
S
a
d
e
g
h
L
a
fm
e
jan
i
a
n
d
Ha
ss
a
n
Zara
b
a
d
ip
o
u
r
,
"
M
o
d
e
li
n
g
,
S
im
u
latio
n
a
n
d
P
o
siti
o
n
Co
n
tro
l
o
f
3
DO
F
Ar
ti
c
u
late
d
M
a
n
ip
u
lat
o
r"
,
In
d
o
n
e
sia
n
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
En
g
in
e
e
rin
g
a
n
d
In
f
o
rm
a
ti
c
s
(
IJ
EE
I)
,
v
o
l.
2
,
No
.
3
,
p
p
.
132
-
1
4
0
,
S
e
p
tem
b
e
r
2
0
1
4
.
[6
]
M
o
h
.
Kh
a
iru
d
in
,
"
D
y
n
a
m
ic
M
o
d
e
ll
in
g
o
f
a
F
lex
ib
le
L
in
k
M
a
n
ip
u
lato
r
R
o
b
o
t
Us
in
g
Am
m
"
,
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
t
i
n
g
E
lec
tro
n
ics
a
n
d
C
o
n
tr
o
l
,
v
o
l
.
6
,
No
.
3
,
p
p
.
1
8
5
-
1
9
0
,
De
c
e
m
b
e
r
2
0
0
8
.
[7
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
,
e
t
a
l.
,
"
S
tatu
s,
P
r
o
b
lem
s
a
n
d
P
e
rf
e
c
ti
n
g
W
a
y
s
o
f
Zero
-
G
r
a
v
it
y
I
m
it
a
ti
o
n
f
o
r
S
p
a
c
e
Tec
h
n
ica
l
P
r
o
d
u
c
ts
G
ro
u
n
d
A
d
ju
stm
e
n
t"
,
S
c
ien
ti
fi
c
-
E
d
u
c
a
ti
o
n
a
l
a
n
d
Ap
p
li
e
d
J
o
u
rn
a
,
Iz
v
e
stiya
V
u
zo
v
,
S
e
v
e
ro
-
Ka
v
k
a
zs
k
ii
Reg
io
n
,
T
e
c
h
n
ica
l
S
c
ien
c
e
,
e
d
.
N
o
No
3
,
4
,
p
p
.
3
9
-
4
9
,
1
9
9
5
.
[8
]
M
.
Kh
a
iru
d
in
,
e
t
a
l
.
,
"
S
y
ste
m
Id
e
n
ti
f
ica
ti
o
n
a
n
d
L
M
I
Ba
se
d
Ro
b
u
st
P
ID
Co
n
tr
o
l
o
f
a
Tw
o
-
L
in
k
F
lex
ib
le
M
a
n
ip
u
lato
r"
,
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
mp
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
C
o
n
tr
o
l
,
v
o
l
.
1
2
,
N
o
.
4
,
p
p
.
8
2
9
-
8
3
8
,
De
c
e
m
b
e
r
2
0
1
4
.
[9
]
G
.
Ya
.
P
y
a
ti
b
ra
to
v
a
n
d
I.
K
h
a
sa
m
b
iev
,
"
A
c
ti
v
e
D
a
m
p
e
n
in
g
th
e
S
p
rin
g
y
Os
c
il
latio
n
s
o
f
Ex
e
c
u
ti
v
e
M
e
c
h
a
n
ism
f
o
r
Ba
lan
c
e
d
M
a
n
i
p
u
lat
o
rs
b
y
El
e
c
tri
c
Driv
e
"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
ia
n
E
lec
tro
m
e
c
h
a
n
ics
,
e
d
.
N
o
4
,
p
p
.
5
5
-
6
1
,
2
0
0
7
.
[1
0
]
M
o
h
a
m
m
a
d
Kh
a
iru
d
in
,
e
t
a
l.
,
"
D
y
n
a
m
ic
M
o
d
e
l
a
n
d
Ro
b
u
st
C
o
n
tr
o
l
o
f
F
lex
ib
le
L
in
k
Ro
b
o
t
M
a
n
ip
u
lat
o
r"
,
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ic
a
ti
o
n
C
o
mp
u
ti
n
g
El
e
c
tro
n
ics
a
n
d
Co
n
tro
l
,
v
o
l
.
9
,
No
.
2
,
p
p
.
2
7
9
-
2
8
6
,
A
u
g
u
st 2
0
1
1
.
[1
1
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
,
"
P
a
ra
m
e
tri
c
a
l
W
a
y
s
o
f
Da
m
p
e
n
in
g
th
e
M
e
c
h
a
n
ism
S
p
rin
g
y
Os
c
il
latio
n
s"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
i
a
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
4
,
p
p
.
2
1
-
2
6
,
2
0
1
3
.
[1
2
]
G
.
Ya
.
P
y
a
ti
b
ra
to
v
,
"
El
e
c
tri
c
W
ir
e
s
Co
n
tro
l
li
n
g
S
u
b
o
r
d
i
n
a
te
S
y
ste
m
Op
ti
m
iza
ti
o
n
T
a
k
in
g
in
to
A
c
c
o
u
n
t
M
e
c
h
a
n
ica
l
G
e
a
rs E
ff
o
rt"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
ia
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
6
,
p
p
.
7
2
-
8
2
,
1
9
8
6
.
[1
3
]
P
.
N.
Be
ly
a
n
in
e
d
.
,
"
Ba
lan
c
e
d
M
a
n
ip
u
lato
rs"
,
M
a
sh
i
n
o
str
o
e
n
ie
,
M
o
sc
o
w,
2
6
4
p
,
1
9
8
8
.
[1
4
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
,
"
P
rin
c
ip
les
o
f
De
v
e
lo
p
m
e
n
t
a
n
d
Re
a
li
z
a
ti
o
n
f
o
r
Eff
o
rt
Co
n
tro
l
S
y
ste
m
In
sid
e
S
p
rin
g
y
G
e
a
rs
o
f
El
e
c
tro
m
e
c
h
a
n
ica
l
Un
it
s"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
r
n
a
l,
Ru
ss
i
a
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
5
,
p
p
.
7
3
-
8
3
,
1
9
9
8
.
[1
5
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
a
n
d
N.
A
.
S
u
k
h
e
n
k
o
,
"
A
p
p
li
c
a
ti
o
n
o
f
A
lt
e
rn
a
ti
v
e
Cu
rre
n
t
El
e
c
tri
c
D
riv
e
w
h
i
le
P
ro
s
p
e
c
ti
v
e
S
y
st
e
m
s
o
f
Ba
lan
c
e
d
M
a
n
ip
u
lato
r
s
De
v
e
lo
p
m
e
n
t"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
ia
n
E
lec
tro
me
c
h
a
n
ics
,
e
d
.
№
1
,
p
p
.
3
7
-
3
9
,
2
0
1
1
.
[1
6
]
G
.
Ya
.
P
y
a
ti
b
ra
to
v
,
"
Op
ti
m
iza
ti
o
n
o
f
Da
m
p
e
n
in
g
th
e
S
p
r
in
g
y
M
e
c
h
a
n
ica
l
Os
c
il
latio
n
s
u
n
d
e
r
F
o
rc
e
Distu
rb
a
n
c
e
"
,
In
ter
u
n
ive
rs
it
y
,
El
e
c
tric Dr
ive
S
y
ste
m W
o
rk
in
g
Co
n
d
it
io
n
s Op
ti
miz
a
ti
o
n
,
Kr
a
sn
o
y
a
rs
k
,
p
p
.
4
8
-
5
3
,
1
9
9
7
.
[1
7
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
,
"
L
i
m
it
in
g
Ca
p
a
b
il
it
ies
o
f
El
e
c
tri
c
Dri
v
e
w
h
il
e
Da
m
p
e
n
in
g
th
e
S
p
rin
g
y
M
e
c
h
a
n
ism
Os
c
il
latio
n
s"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l,
Ru
ss
ia
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
4
,
p
p
.
6
3
-
6
8
,
2
0
1
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
694
IJ
PEDS
Vo
l.
7
,
No
.
2
,
J
u
n
e
2
0
1
6
:
4
1
6
–
4
2
1
421
[1
8
]
N.
A
.
S
u
k
h
e
n
k
o
,
O.
A
.
Kra
v
c
h
e
n
k
o
,
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
,
"
F
o
rc
e
-
Ba
lan
c
in
g
El
e
c
tri
c
Driv
e
o
f
B
a
lan
c
e
d
M
a
n
ip
u
lato
r"
:
Pa
te
n
t
2
4
5
4
6
9
4
,
M
P
K
G
0
5
В
1
3
/
0
0
-
No
2
0
1
1
1
1
7
9
2
1
/
0
8
;
re
q
.
0
4
/0
5
/2
0
1
1
;
p
u
b
l
.
2
7
/
0
6
/
2
0
1
2
,
b
u
l
.
№
18.
[1
9
]
N.
A
.
S
u
k
h
e
n
k
o
a
n
d
O.
A
.
Kra
v
c
h
e
n
k
o
,
"
W
a
y
s
a
n
d
M
e
th
o
d
s
o
f
Op
ti
m
iza
ti
o
n
th
e
S
tr
u
c
tu
re
a
n
d
t
h
e
G
ra
v
it
a
ti
o
n
F
o
rc
e
Co
m
p
e
n
sa
ti
o
n
El
e
c
tro
m
e
c
h
a
n
ica
l
S
y
ste
m
P
a
ra
m
e
ter
s"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l
,
Ru
ss
ia
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
5
,
p
p
.
3
0
-
3
6
,
2
0
0
3
.
[2
0
]
N.
A
.
S
u
k
h
e
n
k
o
,
"
Dire
c
ti
o
n
s
a
n
d
W
a
y
s
o
f
P
e
rf
e
c
ti
n
g
th
e
El
e
c
tro
m
e
c
h
a
n
ica
l
Co
n
tro
l
S
y
ste
m
s
o
f
In
d
u
stria
l
M
a
n
ip
u
lato
r
Im
p
a
c
ts
"
,
in
Pro
c
e
e
d
in
g
s
o
f
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
VII
I
(
All
-
Ru
ss
ia
XIX
)
o
n
Au
t
o
ma
ted
El
e
c
tric
Dr
ive
AE
P
-
2
0
1
4
,
2
V
o
l
,
P
u
b
l.
M
o
rd
o
v
sk
ii
Un
ive
rs
iy
,
Og
a
re
v
Na
ti
o
n
a
l
Res
e
a
rc
h
in
g
M
o
rd
o
v
ia
S
ta
te
Un
ive
rs
it
y
,
V
o
l
.
2
,
7
-
9
,
p
p
.
5
3
1
-
5
3
5
,
Oc
t
o
b
e
r
2
0
1
4
.
[2
1
]
O.
A
.
Kr
a
v
c
h
e
n
k
o
,
e
t
a
l.
,
"
De
v
e
l
o
p
m
e
n
t
a
n
d
Re
a
li
z
a
ti
o
n
P
ri
n
c
ip
l
e
s
o
f
G
r
a
v
it
a
ti
o
n
F
o
rc
e
Co
m
p
e
n
sa
ti
o
n
S
y
ste
m
"
,
S
c
ien
ti
fi
c
-
E
d
u
c
a
t
io
n
a
l
a
n
d
A
p
p
l
i
e
d
J
o
u
rn
a
,
Izv
e
stiya
Vu
z
o
v
,
S
e
v
e
ro
-
Ka
v
k
a
zs
k
ii
Reg
io
n
,
T
e
c
h
n
ica
l
S
c
i
e
n
c
e
,
e
d
.
No
2
,
p
p
.
3
2
-
3
5
,
2
0
1
3
.
[2
2
]
G
.
Ya
.
P
y
a
ti
b
ra
to
v
a
n
d
N.
A
.
S
u
k
h
e
n
k
o
,
"
El
e
c
tro
m
e
c
h
a
n
ica
l
F
o
rc
e
-
Ba
lan
c
in
g
S
y
ste
m
s
o
f
W
e
ig
ht
-
Ha
n
d
li
n
g
M
a
n
ip
u
lato
rs"
,
S
e
rie
s o
f
Po
we
r E
n
g
i
n
e
e
rin
g
,
Bu
l
letin
S
US
U
,
e
d
.
N
o
4
,
V
o
l.
1
4
,
p
p
.
6
7
-
7
5
,
2
0
1
4
.
[2
3
]
G
.
Y
a
.
P
y
a
ti
b
ra
to
v
a
n
d
O.
A
.
K
ra
v
c
h
e
n
k
o
,
"
De
v
e
lo
p
m
e
n
t
a
n
d
I
m
p
le
m
e
n
ti
n
g
th
e
Ef
f
o
rts
Co
n
tro
l
S
y
ste
m
s
In
sid
e
S
p
rin
g
y
G
e
a
rs
a
n
d
Ex
e
c
u
ti
v
e
D
e
v
ice
s
o
f
El
e
c
tro
m
e
c
h
a
n
ica
l
Un
it
s"
,
S
c
ien
ti
fi
c
a
n
d
T
e
c
h
n
ica
l
J
o
u
rn
a
l
,
Ru
ss
ia
n
El
e
c
tro
me
c
h
a
n
ics
,
e
d
.
No
1
,
p
p
.
4
5
-
5
6
,
2
0
0
8
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Ni
k
o
l
a
y
Ale
x
a
n
d
r
o
v
ic
h
S
u
k
h
e
n
k
o
,
se
n
io
r
lec
tu
re
r
o
f
th
e
"
P
o
w
e
r
S
u
p
p
ly
a
n
d
El
e
c
tri
c
Driv
e
"
d
e
p
a
rtm
e
n
t
o
f
P
lato
v
S
o
u
t
h
-
Ru
ss
ian
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
(NP
I).
De
f
e
n
d
e
d
th
e
th
e
sis
f
o
r
th
e
d
e
g
re
e
o
f
c
a
n
d
id
a
te
o
f
tec
h
n
ica
l
sc
ien
c
e
s
o
n
"
A
c
ti
v
e
e
lec
tro
m
e
c
h
a
n
ica
l
f
o
rc
e
s
c
o
m
p
e
n
sa
ti
o
n
s
y
ste
m
s o
f
b
a
lan
c
e
d
m
a
n
ip
u
lato
rs
"
in
2
0
1
1
.
He
is
d
e
p
a
rtm
e
n
t
h
e
a
d
o
n
sc
ien
ti
f
ic
w
o
rk
a
n
d
in
n
o
v
a
t
io
n
a
c
ti
v
it
y
i
n
P
lat
o
v
S
o
u
th
-
R
u
ss
ian
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
(NP
I)
.
T
h
e
p
u
rsu
a
n
c
e
o
f
th
e
re
se
a
rc
h
e
s
o
n
d
e
sig
n
o
f
p
e
rsp
e
c
ti
v
e
c
o
n
tro
l
s
y
ste
m
s o
f
in
d
u
strial
m
a
n
ip
u
lato
r
s is
sc
ien
ti
f
ic a
c
ti
v
it
y
.
He
tak
e
s p
a
rt
in
d
e
sig
n
,
d
e
v
e
lo
p
m
e
n
t
a
n
d
m
o
d
if
ic
a
ti
o
n
o
f
e
le
c
tro
m
e
c
h
a
n
ica
l
f
o
rse
-
b
a
lan
sin
g
sy
ste
m
s.
G
e
o
r
g
iy
Ya
k
o
v
l
e
v
ic
h
Py
a
tib
r
a
to
v
,
p
ro
f
e
s
so
r
o
f
th
e
"
P
o
w
e
r
S
u
p
p
ly
a
n
d
El
e
c
tri
c
Driv
e
"
d
e
p
a
rtm
e
n
t
o
f
P
lato
v
S
o
u
t
h
-
Ru
ss
ian
S
tate
P
o
ly
tec
h
n
ic
Un
iv
e
rsit
y
(NP
I)
.
De
f
e
n
d
e
d
th
e
th
e
sis
f
o
r
th
e
d
e
g
re
e
o
f
c
a
n
d
id
a
te
o
f
tec
h
n
ica
l
sc
ien
c
e
s
o
n
"
I
m
p
ro
v
e
o
f
e
lec
t
ric
d
riv
e
f
o
r
o
f
d
y
n
a
m
ic
lo
a
d
s
c
o
n
stra
in
t
in
m
e
c
h
a
n
ica
l
g
e
a
rs
o
f
w
o
rk
in
g
m
a
c
h
in
e
"
in
1
9
8
0
.
De
f
e
n
d
e
d
th
e
t
h
e
sis
f
o
r
th
e
d
e
g
re
e
o
f
d
o
c
to
r
o
f
tec
h
n
ica
l
sc
ien
c
e
s
o
n
"
T
h
e
th
e
o
ry
d
e
v
e
lo
p
m
e
n
t
a
n
d
p
ra
c
ti
c
e
o
f
f
o
rc
e
c
o
n
tro
l
i
n
e
lec
tro
m
e
c
h
a
n
ica
l
s
y
ste
m
s
w
it
h
e
las
ti
c
c
o
n
n
e
c
ti
o
n
s"
in
2
0
0
0
.
His
tra
m
li
n
e
o
f
s
c
ien
ti
f
ic
th
o
u
g
h
t
is
a
re
a
li
z
a
ti
o
n
a
n
d
re
se
a
rc
h
o
f
e
le
c
tro
m
e
c
h
a
n
ica
l
c
o
n
tro
l
s
y
ste
m
s o
f
e
ff
o
rts
in
ten
si
o
n
m
e
c
h
a
n
ica
l
g
e
a
rs an
d
c
o
n
str
u
c
ti
o
n
s o
f
w
o
rk
in
g
m
a
c
h
in
e
s.
An
g
e
la
Ale
x
a
n
d
r
o
v
n
a
D
a
n
sh
i
n
a
re
c
e
iv
e
d
q
u
a
li
f
ic
a
ti
o
n
o
f
th
e
e
n
g
in
e
e
r
in
"
T
h
e
e
lec
tri
c
d
riv
e
a
n
d
a
u
t
o
m
a
ti
c
o
f
in
d
u
strial
i
n
sta
ll
a
ti
o
n
a
n
d
tec
h
n
o
l
o
g
ica
l
c
o
m
p
lex
"
in
2
0
1
3
.
S
h
e
is
p
o
stg
ra
d
u
a
te
stu
d
e
n
t
o
f
th
e
"
P
o
w
e
r
S
u
p
p
ly
a
n
d
El
e
c
tri
c
Driv
e
"
d
e
p
a
rt
m
e
n
t
o
f
P
lato
v
S
o
u
t
h
-
Ru
ss
ian
S
tate
P
o
ly
e
c
h
n
ica
l
Un
iv
e
rsit
y
(
NP
I)
w
it
h
2
0
1
3
.
Co
n
d
u
c
ts
re
se
a
rc
h
o
n
th
e
f
ield
o
f
d
e
v
e
lo
p
m
e
n
t
o
f
c
o
n
tro
l
a
n
d
r
o
b
o
t
ic s
y
ste
m
s
w
it
h
f
o
rc
e
s co
m
p
e
n
sa
t
io
n
sy
ste
m
s.
Le
r
m
o
n
t
Ly
e
v
i
k
o
v
ic
h
Altu
n
y
a
n
re
c
e
i
v
e
d
q
u
a
li
f
ica
ti
o
n
o
f
th
e
b
a
c
h
e
lo
r
i
n
"
El
e
c
tro
tec
h
n
ics
,
e
lec
tri
c
ian
a
n
d
e
lec
tro
m
e
c
h
a
n
ics
"
in
2
0
1
4
.
He
is
c
a
n
d
id
a
te
f
o
r
a
m
a
ste
r
'
s
d
e
g
re
e
o
f
th
e
"
P
o
w
e
r
S
u
p
p
ly
a
n
d
El
e
c
tri
c
Driv
e
"
d
e
p
a
rt
m
e
n
t
o
f
P
lat
o
v
S
o
u
t
h
-
Ru
ss
ian
S
tate
P
o
ly
e
c
h
n
ica
l
Un
iv
e
rsity
(NP
I).
Co
n
d
u
c
ts
re
se
a
rc
h
o
n
t
h
e
f
ield
o
f
d
e
v
e
lo
p
m
e
n
t
si
m
u
lato
rs f
o
r
p
e
o
p
l
e
w
it
h
v
io
latio
n
s
o
f
m
u
sc
u
lo
sk
e
le
tal
sy
ste
m
.
He
is
th
e
w
in
n
e
r
o
f
a
g
r
a
n
t
"
P
a
rti
c
i
p
a
n
t
o
f
Yo
u
th
S
c
ien
ti
f
ic
a
n
d
In
n
o
v
a
ti
v
e
Co
m
p
e
ti
ti
o
n
"
("
Clev
e
r
M
a
n
"
).
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