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to
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n
ilater
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b
il
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an
d
m
u
ltil
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[
1
]
.
T
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cu
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b
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teleo
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o
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[
2
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.
C
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w
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it
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AC
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DC
m
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I
n
[
3
]
[
4
]
a
P
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co
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co
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[
5
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teleo
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eq
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ir
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[
6
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Fo
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DOB
[
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DOB
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r
an
g
e.
T
h
e
lo
w
DOB
is
f
ir
s
t
o
r
d
er
lo
w
p
a
s
s
f
il
ter
t
h
at
i
m
p
r
o
v
e
th
e
r
o
b
u
s
t
n
es
s
o
f
t
h
e
s
y
s
te
m
b
u
t
r
ed
u
ce
th
e
p
er
f
o
r
m
a
n
ce
.
T
h
e
d
y
n
a
m
ic
s
ch
ar
ac
ter
is
tic
o
f
lo
w
DOB
r
es
u
lts
i
n
e
f
f
icie
n
t b
an
d
w
id
th
.
Fig
u
r
e
1
.
T
h
e
Fo
u
r
-
C
h
an
n
el
Ar
ch
itect
u
r
e
o
f
B
ilater
al
C
o
n
tr
o
l
Fig
u
r
e
2
.
B
ilater
al
C
o
n
tr
o
l B
lo
ck
Diag
r
a
m
T
h
e
R
T
OB
is
u
s
ed
to
esti
m
at
e
r
ea
ctio
n
f
o
r
ce
f
r
o
m
th
e
e
n
v
ir
o
n
m
e
n
t.
R
T
OB
is
u
s
ed
to
r
ep
lace
th
e
f
o
r
ce
s
en
s
o
r
s
[
9
]
.
Fo
r
ce
s
en
s
o
r
s
b
ec
au
s
e
s
e
n
s
o
r
s
h
a
v
e
n
ar
r
o
w
b
an
d
w
id
t
h
an
d
ac
co
m
p
a
n
ied
w
it
h
n
o
is
e
t
h
at
m
ak
e
t
h
e
s
y
s
te
m
u
n
s
tab
le.
T
h
e
d
esig
n
o
f
DOB
an
d
R
T
OB
e
f
f
ec
t
th
e
s
tab
ili
t
y
an
d
t
h
e
tr
an
s
p
ar
en
c
y
[
1
0
]
,
w
h
il
e
th
e
ac
cu
r
ac
y
o
f
t
h
e
s
y
s
te
m
p
o
s
itio
n
tr
ac
k
in
g
i
s
af
f
ec
ted
b
y
t
h
e
P
D.
T
h
e
b
lo
ck
d
iag
r
am
o
f
th
e
h
ap
tic
b
ilater
a
l
s
y
s
te
m
i
s
s
h
o
w
n
i
n
f
ig
u
r
e
tw
o
.
T
h
e
DOB
o
u
tp
u
t
i
m
p
r
o
v
es
th
e
i
n
n
er
lo
o
p
p
er
f
o
r
m
a
n
ce
an
d
th
e
R
T
OB
i
m
p
r
o
v
es
t
h
e
o
u
ter
lo
o
p
p
er
f
o
r
m
a
n
ce
.
B
asicall
y
,
th
e
s
y
s
te
m
w
o
r
k
s
a
s
f
o
llo
w
:
t
h
e
m
ast
er
s
y
s
te
m
m
o
tio
n
i
s
d
etec
ted
b
y
t
h
e
en
co
d
er
.
T
h
e
s
ig
n
al
i
s
s
e
n
t
f
r
o
m
th
e
e
n
co
d
er
to
d
if
f
er
en
tia
to
r
th
at
d
er
iv
e
th
e
v
elo
cit
y
.
T
h
is
s
tep
p
r
o
d
u
ce
n
o
is
e.
T
h
en
,
th
e
s
ig
n
al
is
s
en
t
to
lo
w
p
as
s
f
ilter
to
eli
m
in
a
te
th
e
n
o
is
e
p
r
o
d
u
ce
d
b
y
th
e
d
if
f
er
e
n
tiato
r
.
T
h
e
v
elo
cit
y
i
s
s
e
n
t
to
DOB
a
n
d
t
h
e
p
o
s
iti
o
n
is
s
e
n
t
to
t
h
e
d
i
f
f
er
en
tial
m
o
d
e.
th
e
f
o
r
ce
is
d
er
iv
ed
an
d
s
en
t
to
t
h
e
co
m
m
o
n
m
o
d
e.
th
e
s
la
v
e
m
o
to
r
m
o
v
e
s
th
e
s
a
m
e
m
o
tio
n
p
r
o
d
u
ce
d
b
y
th
e
m
a
s
ter
m
o
to
r
.
an
y
i
n
ter
ac
tio
n
w
it
h
t
h
e
en
v
ir
o
n
m
e
n
t
b
y
t
h
e
s
la
v
e
m
an
ip
u
lato
r
w
il
l
b
e
r
ef
lecte
d
b
ac
k
to
th
e
m
o
to
r
o
f
th
e
m
a
s
ter
an
d
w
ill b
e
f
elt
b
y
t
h
e
o
p
er
ato
r
.
T
h
is
p
ap
er
in
v
es
tig
ate
s
t
h
e
e
f
f
ec
ts
o
f
t
h
e
p
ar
a
m
eter
s
v
ar
iat
io
n
o
f
b
ilater
al
co
n
tr
o
ller
o
n
t
h
e
s
tab
ilit
y
,
th
e
tr
a
n
s
p
ar
en
c
y
a
n
d
t
h
e
ac
c
u
r
ac
y
.
B
ased
o
n
th
e
in
v
es
tig
a
ti
o
n
,
w
e
w
a
n
t
to
s
elec
t
t
h
e
s
u
ita
b
le
p
ar
am
e
ter
s
t
h
at
r
esu
lt
lo
w
er
o
p
er
atio
n
f
o
r
ce
at
th
e
m
a
s
ter
m
a
n
ip
u
la
to
r
.
A
t
t
h
e
s
a
m
e
ti
m
e
k
ee
p
i
n
g
th
e
ac
c
u
r
ac
y
o
f
th
e
p
o
s
it
io
n
tr
ac
k
in
g
b
et
w
ee
n
t
h
e
m
a
s
t
er
a
n
d
th
e
s
la
v
e
m
a
n
ip
u
la
to
r
s
.
T
h
e
p
ap
er
is
o
r
g
an
ized
a
s
f
o
llo
w:
s
ec
tio
n
1
is
a
b
r
ief
in
tr
o
d
u
ctio
n
o
f
th
e
b
ilater
al
h
ap
tic
co
n
tr
o
ller
.
Sectio
n
2
d
is
cu
s
s
es
th
e
m
e
th
o
d
o
lo
g
y
,
t
h
e
s
e
tu
p
o
f
t
h
e
ex
p
er
i
m
e
n
t a
n
d
th
e
m
a
th
e
m
ati
ca
l r
ep
r
esen
tatio
n
o
f
b
ilater
al
co
n
tr
o
l.
Sectio
n
3
is
ab
o
u
t
th
e
ex
p
er
i
m
e
n
t r
es
u
lt
s
an
d
d
is
c
u
s
s
io
n
.
Sec
tio
n
4
is
a
co
n
clu
s
io
n
a
n
d
f
u
tu
r
e
w
o
r
k
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
p
r
o
t
o
ty
p
e
h
ar
d
w
ar
e
o
f
t
h
e
ex
p
er
i
m
e
n
t
is
s
h
o
w
n
in
F
ig
u
r
e
3
an
d
it
r
eq
u
ir
es
a
g
ea
r
ed
DC
-
Mo
to
r
w
it
h
i
n
s
talled
en
co
d
er
o
n
it,
m
icr
o
-
b
o
x
,
m
o
to
r
d
r
iv
er
an
d
p
o
w
er
s
u
p
p
l
y
.
Mic
r
o
-
b
o
x
is
r
ea
l
ti
m
e
co
n
tr
o
ller
th
at
is
u
s
ed
to
i
n
ter
f
ac
e
t
h
e
h
ar
d
w
ar
e
m
o
d
u
le
w
i
th
p
r
o
g
r
a
m
m
i
n
g
h
o
s
t
(
e.
g
.
co
m
p
u
ter
)
.
T
h
e
ad
v
an
ta
g
e
s
m
icr
o
b
o
x
is
t
h
at
it
h
as
h
i
g
h
p
er
f
o
r
m
a
n
c
e,
co
n
s
u
m
e
lo
w
p
o
w
er
,
s
m
all
s
ize,
A
D/D
A
,
E
n
co
d
er
an
d
DI
/O
m
o
d
u
le
s
.
T
h
e
p
o
w
er
s
u
p
p
l
y
u
s
ed
ca
n
d
eli
v
e
r
3
o
u
tp
u
t
t
y
p
e
s
:
+5
V/1
0
A
,
+
1
5
V
/
3
.
5
A
an
d
1
5
V
/
1
A
.
T
w
o
s
y
s
te
m
s
ar
e
u
s
ed
in
t
h
e
ex
p
er
i
m
en
t.
t
h
e
s
a
m
e
c
o
m
p
o
n
en
t
s
ar
e
u
s
ed
in
b
o
th
s
y
s
te
m
s
.
A
DC
-
m
o
to
r
is
u
s
ed
as
an
ac
t
u
ato
r
.
A
n
attac
h
ed
g
ea
r
h
ea
d
to
th
e
m
o
t
o
r
is
to
in
cr
ea
s
e
t
h
e
to
r
q
u
e
o
f
th
e
o
u
tp
u
t
b
y
a
r
atio
o
f
3
6
:1
.
T
h
e
m
o
to
r
h
as
a
n
en
co
d
er
th
at
h
a
s
5
0
0
0
p
u
ls
e/r
ev
.
T
h
e
m
o
to
r
d
r
iv
er
is
n
ee
d
e
d
to
m
a
k
e
t
h
e
m
icr
o
-
b
o
x
o
u
t
p
u
t
cu
r
r
e
n
t
s
u
itab
le
f
o
r
th
e
m
o
to
r
.
T
h
e
cu
r
r
en
t d
eli
v
er
ed
b
y
t
h
e
m
icr
o
b
o
x
is
n
o
t
en
o
u
g
h
to
ac
ti
v
ate
t
h
e
g
ea
r
ed
DC
-
m
o
to
r
.
T
h
e
o
v
er
all
w
o
r
k
i
n
g
p
r
i
n
cip
le
as
s
h
o
w
n
i
n
f
ig
u
r
e
3
i
s
t
h
at
t
h
e
m
aster
m
o
to
r
is
ac
tu
ated
b
y
e
x
ter
n
al
f
o
r
ce
w
h
ic
h
ca
l
led
o
p
er
atio
n
al
f
o
r
ce
ap
p
li
ed
b
y
a
h
u
m
a
n
.
T
h
e
ai
m
o
f
th
e
h
ar
d
w
ar
e
is
to
an
al
y
ze
th
e
f
ac
to
r
s
th
at
en
ab
le
u
s
to
u
s
e
les
s
o
p
er
atio
n
f
o
r
ce
to
m
o
v
e
t
h
e
s
la
v
e
m
an
ip
u
lato
r
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
:
648
–
659
650
Fig
u
r
e
3
.
T
h
e
E
x
p
er
im
e
n
tal
H
ar
d
w
ar
e
Setu
p
2
.
1
B
ila
t
er
a
l C
o
ntr
o
ller
B
ilater
al
co
n
tr
o
l
s
y
s
te
m
i
s
b
ased
o
n
ac
ce
ler
atio
n
-
b
ased
m
et
h
o
d
an
d
h
as
t
w
o
m
o
d
es,
co
m
m
o
n
m
o
d
e
an
d
d
if
f
er
en
tial
m
o
d
e.
Dif
f
er
en
tial
m
o
d
e
tr
ac
k
s
t
h
e
p
o
s
itio
n
b
et
w
ee
n
m
as
ter
an
d
s
la
v
e
m
o
to
r
s
(
as
in
eq
u
atio
n
1
)
.
T
h
e
id
ea
l
tr
ac
k
in
g
s
h
o
u
ld
r
esu
lt
ze
r
o
.
A
co
m
m
o
n
m
o
d
e
is
to
co
n
tr
o
l
t
h
e
f
o
r
ce
f
r
o
m
t
h
e
m
a
s
ter
m
o
to
r
an
d
co
p
y
it to
th
e
s
la
v
e
m
o
to
r
as
i
n
eq
u
atio
n
2
.
(
1
)
(
2
)
)
(
3
)
)
(
4
)
(
5
)
C
p
in
eq
u
atio
n
3
an
d
4
is
f
o
r
th
e
P
D
co
n
tr
o
ller
in
eq
u
atio
n
5
.
I
t c
an
b
e
w
r
itten
a
s
in
6
.
(
6
)
T
h
e
P
D
d
esig
n
i
s
b
u
ilt a
n
d
test
ed
b
ased
o
n
th
e
r
eq
u
ir
e
m
en
t o
f
m
o
to
r
p
ar
a
m
eter
s
.
T
h
e
o
v
er
all
m
o
d
el
o
f
th
e
P
D
is
ex
p
lai
n
ed
in
[
1
1
]
.
2
.
2
Dis
t
urba
nce
O
bs
er
v
er
DOB
co
m
p
e
n
s
ate
s
th
e
d
is
t
u
r
b
an
ce
f
o
r
ce
s
o
f
th
e
m
o
to
r
in
th
e
in
n
er
lo
o
p
o
f
th
e
b
ilater
al
co
n
tr
o
ller
an
d
est
i
m
ate
s
it.
DOB
is
d
es
i
g
n
is
s
h
o
w
n
i
n
t
h
e
f
o
llo
w
i
n
g
eq
u
atio
n
s
.
T
h
e
p
ar
a
m
e
ter
s
d
e
f
i
n
itio
n
s
u
s
ed
in
t
h
e
p
ap
er
ar
e
as f
o
llo
w
:
A
ctu
al
in
er
t
ia
n
th
e
n
omi
n
a
l
in
e
r
tia
A
cc
eler
atio
n
o
f
th
e
m
o
to
r
;
Me
ch
an
ical
to
r
q
u
e;
L
o
ad
to
r
q
u
e
E
x
ter
n
al
to
r
q
u
e
ap
p
lied
o
n
th
e
s
y
s
te
m
I
n
ter
n
al
to
r
q
u
e
C
o
u
lo
m
b
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q
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atio
n
1
5
is
th
e
e
s
ti
m
ated
to
r
q
u
e
in
th
e
DOB
.
Ho
w
e
v
e
r
,
th
e
to
r
q
u
e
esti
m
ated
in
D
OB
is
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ilter
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as
i
n
eq
u
atio
n
1
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.
Gd
o
b
is
th
e
C
u
t
-
Of
f
f
r
eq
u
e
n
c
y
.
(1
6
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2
.
3
Rea
ct
i
o
n T
o
rque
O
bs
er
v
er
R
T
OB
an
d
DOB
h
av
e
s
i
m
i
la
r
s
tr
u
ct
u
r
e
R
T
OB
r
ep
lace
th
e
u
s
e
o
f
s
e
n
s
o
r
s
i
n
b
ilater
al
co
n
tr
o
ller
.
R
T
OB
is
DOB
ap
p
licatio
n
.
I
t
esti
m
ates
t
h
e
i
m
p
ed
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ce
o
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th
e
en
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ir
o
n
m
e
n
t
o
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in
o
t
h
er
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o
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d
s
esti
m
ate
th
e
r
ea
ctio
n
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o
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i
n
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h
e
m
o
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t
h
a
t is cr
ea
ted
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y
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n
ter
ac
tio
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e
n
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ir
o
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en
t.
T
h
e
r
ea
ctio
n
f
o
r
ce
is
est
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m
a
ted
b
y
eq
u
atio
n
1
8
(1
7
)
(1
8
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(
19
)
T
h
e
in
itial
p
ar
a
m
eter
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o
f
t
h
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er
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m
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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
:
648
–
659
652
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1
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h
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t P
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n
t
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7
1
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a
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1
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g
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m2
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3.
RE
SU
L
T
S
A
ND
AN
AL
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SI
S
I
n
th
i
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s
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it
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p
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n
t
h
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r
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lt
s
o
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r
esear
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a
n
d
at
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e
s
a
m
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ti
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i
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i
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n
th
e
co
m
p
r
eh
en
s
i
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e
d
is
cu
s
s
io
n
.
R
es
u
lts
is
p
r
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te
d
in
f
i
g
u
r
e
s
,
g
r
ap
h
s
a
n
d
tab
les
3
.
1
.
T
he
ef
f
ec
t
s
o
f
DO
B
& R
T
O
B
T
h
e
f
ir
s
t
e
x
p
er
i
m
e
n
t
i
s
to
a
n
al
y
ze
th
e
DOB
cu
t
o
f
f
f
r
eq
u
en
c
y
v
ar
iatio
n
i
m
p
ac
t
o
n
t
h
e
b
ilater
al
co
n
tr
o
ller
p
er
f
o
r
m
an
ce
.
T
h
e
DOB
esti
m
ate
t
h
e
d
is
t
u
r
b
an
c
e
in
t
h
e
i
n
n
er
lo
o
p
o
f
th
e
b
il
ater
al
co
n
tr
o
ller
an
d
co
m
p
e
n
s
ate
it.
T
h
e
DOB
d
o
es
n
o
t
af
f
ec
t
o
r
d
r
iv
e
t
h
e
co
n
tr
o
ller
to
w
ar
d
in
s
ta
b
ilit
y
.
B
u
t
it
e
f
f
ec
t
s
t
h
e
o
p
er
atio
n
al
f
o
r
ce
,
th
e
tr
an
s
p
ar
en
c
y
s
m
o
o
t
h
n
ess
o
f
th
e
m
o
tio
n
.
Fi
g
u
r
es
4
to
7
s
h
o
w
s
t
h
e
e
f
f
ec
ts
a
n
d
t
h
e
ch
an
g
es
o
f
p
o
s
it
io
n
tr
ac
k
i
n
g
an
d
f
o
r
ce
o
f
t
h
e
b
ilater
al
co
n
tr
o
ller
as
t
h
e
c
u
t
o
f
f
f
r
eq
u
e
n
c
y
o
f
t
h
e
DOB
is
in
cr
ea
s
ed
f
r
o
m
5
0
,
1
0
0
,
2
0
0
,
5
0
0
.
Fig
u
r
e
4
.
P
o
s
itio
n
an
d
T
o
r
q
u
e
R
esp
o
n
s
e
w
i
th
D
OB
Fre
q
u
en
c
y
=5
0
Fig
u
r
e
5
.
P
o
s
itio
n
an
d
T
o
r
q
u
e
R
esp
o
n
s
e
w
i
th
D
OB
Fre
q
u
en
c
y
=1
0
0
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
P
o
w
E
lec
&
Dr
i
S
y
s
t
I
SS
N:
2
0
8
8
-
8
694
Th
e
E
ffect
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f P
a
r
a
mete
r
s
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a
r
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tio
n
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n
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ila
tera
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n
tr
o
ller
(
S
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r
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b
d
o
A
li
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653
Fig
u
r
e
6
.
P
o
s
itio
n
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d
T
o
r
q
u
e
R
esp
o
n
s
e
w
i
th
D
OB
Fre
q
u
en
c
y
=2
0
0
Fig
u
r
e
7
.
P
o
s
itio
n
an
d
T
o
r
q
u
e
R
esp
o
n
s
e
w
i
th
D
OB
Fre
q
u
en
c
y
=5
0
0
T
h
e
g
ain
ed
r
es
u
lt
s
in
F
i
g
u
r
e
4
s
h
o
w
s
t
h
e
P
o
s
itio
n
an
d
to
r
q
u
e
r
esp
o
n
s
e
w
i
th
DOB
f
r
eq
u
en
c
y
=5
0
.
T
h
e
p
o
s
itio
n
r
esp
o
n
s
e
a
s
ill
u
s
tr
ated
is
n
o
t
s
m
o
o
t
h
.
I
n
t
h
e
r
ea
l
m
o
tio
n
it
r
es
u
lt
s
h
a
k
i
n
g
in
t
h
e
m
o
to
r
li
n
k
.
Ho
w
e
v
er
,
th
e
er
r
o
r
tr
ac
k
in
g
b
et
w
ee
n
t
h
e
m
a
s
ter
an
d
t
h
e
s
la
v
e
is
s
m
al
l
ev
e
n
t
h
o
u
g
h
t
h
e
m
o
tio
n
is
n
o
t
s
m
o
o
t
h
.
As
t
h
e
Gd
o
b
is
in
cr
ea
s
ed
th
e
m
o
tio
n
b
ec
o
m
e
s
m
o
o
t
h
er
an
d
th
e
er
r
o
r
b
et
w
ee
n
th
e
m
a
s
t
er
p
o
s
itio
n
an
d
t
h
e
s
lav
e
p
o
s
itio
n
is
r
ed
u
ce
d
a
s
s
h
o
w
n
i
n
tab
le
I
I
.
Ho
w
e
v
er
,
th
e
to
r
q
u
e
is
a
f
f
ec
ted
n
e
g
ati
v
el
y
.
As
w
e
ca
n
s
ee
t
h
at
th
e
tr
an
s
p
ar
en
c
y
i
s
r
ed
u
ce
d
.
A
g
o
o
d
tr
an
s
p
ar
en
c
y
m
ea
n
s
t
h
at
th
e
m
a
ter
to
r
q
u
e
is
f
u
ll
y
r
ep
r
o
d
u
ce
d
b
y
t
h
e
s
la
v
e
m
o
to
r
.
th
er
e
ar
e
a
f
e
w
r
ea
s
o
n
s
f
o
r
th
i
s
i
m
p
ac
t.
T
h
e
f
ir
s
t
g
r
ap
h
s
h
o
w
s
a
g
o
o
d
tr
an
s
p
ar
en
c
y
b
ec
au
s
e
Gd
o
b
is
less
t
h
a
n
Gr
to
b
in
tab
le
I
.
W
h
en
GDOB
is
lar
g
er
t
h
an
G
R
T
OB
th
e
n
o
i
s
e
is
i
n
cr
ea
s
ed
.
T
ab
le
2
s
h
o
w
s
t
h
e
er
r
o
r
in
th
e
p
o
s
it
io
n
an
d
t
h
e
f
o
r
ce
b
et
w
ee
n
t
h
e
m
a
s
ter
an
d
th
e
s
la
v
e
m
an
ip
u
lato
r
s
.
T
ab
le
2
.
T
h
e
P
a
r
am
eter
s
o
f
D
OB
Fre
q
u
en
c
y
D
o
b
T
o
r
q
u
e
e
r
r
o
r
P
o
si
t
i
o
n
e
r
r
o
r
50
0
.
2
8
0
6
0
.
0
0
5
7
1
0
0
0
.
2
8
3
1
0
.
0
0
3
4
2
0
0
0
.
4
6
7
2
0
.
0
0
2
5
5
0
0
0
.
6
2
4
3
0
.
0
0
2
0
T
h
e
s
ec
o
n
d
ex
p
er
i
m
en
t
is
to
v
ar
y
t
h
e
r
ea
ctio
n
to
r
q
u
e
p
ar
a
m
eter
s
w
h
ile
t
h
e
DOB
an
d
th
e
o
th
er
p
ar
am
eter
s
r
e
m
ain
as
s
h
o
w
n
i
n
tab
le
I
.
t
h
e
r
es
u
lt
s
ar
e
s
h
o
wn
i
n
f
i
g
u
r
es
8
,
9
,
1
0
.
T
ab
le
3
s
h
o
w
s
t
h
e
r
es
u
lt
s
i
n
ter
m
s
o
f
er
r
o
r
d
ata
as th
e
p
ar
am
eter
s
o
f
R
T
OB
f
r
eq
u
en
c
y
c
h
an
g
e
f
r
o
m
5
0
to
5
0
0
T
a
b
le
3
.
T
h
e
P
ar
am
eter
s
o
f
D
OB
Fre
q
u
en
c
y
R
T
O
B
T
o
r
q
u
e
e
r
r
o
r
P
o
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t
i
o
n
e
r
r
o
r
50
0
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4
2
0
0
0
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0
0
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7
1
0
0
0
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2
8
4
2
0
.
0
0
7
1
2
0
0
0
.
4
2
4
4
0
.
0
0
4
5
5
0
0
0
.
4
4
0
0
0
.
0
0
2
5
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
:
648
–
659
654
T
h
e
th
ir
d
ex
p
er
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m
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h
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T
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itio
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OB
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r
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r
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ate
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d
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d
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T
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t
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ai
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ain
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A
s
h
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at
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d
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e
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ec
ts
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n
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s
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ar
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d
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e
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t
m
u
ch
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t
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k
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n
g
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n
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e
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ar
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eter
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h
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(
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n
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0
1
)
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e
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ted
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s
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n
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.
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m
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n
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e
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