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I
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4856
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R
EF
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[
1]
S
.
G
.
T
z
a
f
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t
as
,
"
9
-
M
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b
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R
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V
: V
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o M
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v
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r
,
2
01
4,
pp.
31
9
-
3
84.
[
2]
J
. L
i
n
, C
. C
. L
i
n
, a
n
d
H
.
S
.
L
o
, "
P
s
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u
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our
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v
ol
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3
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p.
42
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37,
10/
9/
20
09
.
[
3]
C.
-
C
.
C
he
a
h,
C
.
L
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u,
a
nd J
.
-
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.
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l
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.
[
4]
C.
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ol
.
1
9,
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.
6
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-
70
2,
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0
3.
[
5]
C
. C
. C
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e
a
h
, S
. K
a
w
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m
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r
a
, a
n
d
S
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our
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s
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v
ol
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1
6,
pp.
1
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4,
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99.
[
6]
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, "
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15
.
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9]
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1
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1
2]
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28,
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p.
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-
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99
8.
[
1
3]
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on,
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3:
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, p
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Time
(s)
Sca
lin
g facto
r
Fuzzy in
pu
t sca
lin
g fa
cto
rs
Jo
in
t1
Jo
in
t2
Jo
in
t3
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