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I
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DOI
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I
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2722
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2586
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n
d
s
tr
o
n
g
m
ater
ial
f
o
r
t
h
e
b
o
d
y
th
a
t
d
o
es
n
o
t
d
e
f
o
r
m
a
n
d
cr
ac
k
w
h
en
t
h
e
d
ep
th
p
r
ess
u
r
e
in
cr
ea
s
e
s
.
T
h
e
UT
eM
r
o
b
o
t
h
as
h
ig
h
m
a
n
e
u
v
er
ab
ilit
y
,
b
u
t
i
ts
e
n
er
g
y
s
o
u
r
ce
i
s
v
er
y
li
m
ited
an
d
d
o
es
n
o
t
h
a
v
e
th
e
ab
il
it
y
to
i
n
cr
ea
s
e
d
ep
th
.
T
h
is
r
o
b
o
t
h
as
4
t
h
r
u
s
ter
s
an
d
a
v
er
y
s
m
all
b
o
d
y
th
at
g
iv
e
s
th
e
r
o
b
o
t
h
ig
h
m
an
eu
v
er
ab
ilit
y
an
d
ca
n
ea
s
il
y
cr
o
s
s
v
a
r
io
u
s
o
b
s
tacle
s
,
b
u
t
w
it
h
in
cr
ea
s
in
g
d
ep
th
,
th
e
b
o
d
y
lo
s
es
its
e
f
f
icie
n
c
y
a
n
d
also
t
h
e
li
m
ited
e
n
er
g
y
s
o
u
r
ce
r
ed
u
ce
s
t
h
e
o
p
er
atin
g
ti
m
e
o
f
th
e
r
o
b
o
t
[
1
3
]
.
I
n
ad
d
itio
n
,
d
esi
g
n
in
g
a
r
o
b
o
t
w
ith
m
u
l
tip
le
t
h
r
u
s
ter
s
to
i
n
c
r
ea
s
e
m
a
n
e
u
v
er
ab
ilit
y
a
n
d
d
ep
th
ch
a
n
g
e
i
s
v
er
y
u
s
u
al,
b
u
t
it
s
h
o
u
ld
b
e
n
o
ted
t
h
at
t
h
e
p
lace
m
en
t
o
f
m
u
lt
ip
le
th
r
u
s
ter
s
s
h
o
u
ld
b
e
s
u
c
h
t
h
at
t
h
e
w
ater
f
lo
w
p
at
h
d
o
es
n
o
t
af
f
ec
t
o
th
er
t
h
r
u
s
ter
s
.
On
b
o
th
s
id
es
o
f
t
h
e
b
o
d
y
o
f
th
e
DE
Ma
r
i
n
e
r
o
b
o
t,
m
et
al
s
h
ee
t
s
h
a
v
e
b
ee
n
p
lace
d
s
o
th
at
in
ad
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itio
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to
t
h
e
p
o
s
s
ib
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y
o
f
ad
d
in
g
f
o
u
r
th
r
u
s
ter
s
to
th
e
s
y
s
te
m
,
t
h
e
f
r
ag
i
l
e
b
o
d
y
o
f
t
h
e
r
o
b
o
t
is
p
r
o
tecte
d
f
r
o
m
b
o
th
s
id
es
s
o
th
at
it
d
o
es
n
o
t
cr
ac
k
an
d
s
i
n
k
w
h
en
it
en
co
u
n
ter
s
o
b
s
tacl
es.
B
u
t
th
e
s
e
m
eta
l
s
h
ee
t
s
h
a
v
e
li
m
ited
t
h
e
r
o
b
o
t's
m
o
v
e
m
e
n
t
s
y
s
te
m
an
d
r
ed
u
ce
d
th
e
r
o
b
o
t'
s
m
an
e
u
v
er
ab
ilit
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b
ec
au
s
e
th
e
r
o
b
o
t
n
ee
d
s
m
o
r
e
s
p
ac
e
to
tu
r
n
[
1
4
]
.
I
n
th
is
p
ap
er
,
th
e
i
n
telli
g
e
n
t
r
ep
u
ls
io
n
f
o
r
ce
b
et
w
ee
n
th
e
co
il
an
d
m
a
g
n
et
i
s
u
s
ed
to
r
ed
u
ce
th
e
p
r
ess
u
r
e
o
n
t
h
e
v
e
h
icle
b
o
d
y
at
d
if
f
er
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n
t
d
ep
th
s
,
w
h
ic
h
all
o
w
s
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n
cr
ea
s
i
n
g
t
h
e
allo
w
ab
le
b
ea
r
in
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p
r
ess
u
r
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o
f
th
e
v
e
h
icle,
e
n
ab
li
n
g
it
to
o
p
er
ate
at
m
o
r
e
d
ep
th
s
.
T
h
e
b
o
d
y
p
r
ess
u
r
e
a
n
al
y
s
is
w
a
s
s
i
m
u
lated
i
n
SOL
I
DW
O
R
KS
a
n
d
th
e
m
a
g
n
etic
s
y
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te
m
an
d
f
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zz
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co
n
tr
o
ller
ca
lcu
latio
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s
i
m
p
le
m
en
ted
as
MA
T
L
A
B
in
t
h
e
v
eh
ic
le
co
n
tr
o
l s
y
s
te
m
,
a
h
i
g
h
-
s
p
ee
d
m
i
ni
-
P
C
.
2.
T
O
O
L
S AN
D
E
Q
UIPM
E
NT
Un
d
er
w
a
ter
v
e
h
icles
h
a
v
e
m
a
n
y
c
h
alle
n
g
es
d
u
e
to
t
h
eir
w
o
r
k
in
g
co
n
d
itio
n
s
a
n
d
t
y
p
e
o
f
ac
tiv
it
y
to
b
e
ab
le
to
m
a
n
eu
v
er
p
r
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p
er
ly
in
ca
r
r
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n
g
o
u
t
t
h
eir
m
is
s
io
n
.
T
h
ese
ch
alle
n
g
e
s
ca
n
b
e
t
h
e
e
f
f
ec
ts
o
f
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n
d
er
w
ater
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ess
u
r
e
o
n
th
e
b
o
d
y
,
i
n
cr
ea
s
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n
g
t
h
e
w
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ig
h
t
o
f
t
h
e
s
y
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te
m
d
u
e
to
th
e
in
s
ta
llatio
n
o
f
eq
u
ip
m
en
t
an
d
th
r
u
s
ter
s
[
3
]
-
[
8
]
.
I
n
th
i
s
r
esear
ch
,
w
e
d
esi
g
n
ed
a
lig
h
t
w
e
ig
h
t
A
UV
eq
u
i
p
p
ed
w
it
h
t
w
o
ca
m
er
as
to
tr
ac
k
th
e
s
u
r
r
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n
d
in
g
e
n
v
ir
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n
m
en
t.
I
t
c
an
p
er
f
o
r
m
3
6
0
°
m
a
n
e
u
v
er
u
n
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er
w
ater
w
i
th
o
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l
y
t
w
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r
o
tati
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g
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ter
s
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n
d
a
m
as
s
s
h
i
f
ter
t
h
at
m
o
v
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h
o
r
iz
o
n
tall
y
in
s
id
e
its
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o
d
y
.
T
o
th
e
b
est
au
t
h
o
r
s
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k
n
o
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led
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e,
t
h
is
is
t
h
e
f
ir
s
t
o
f
it
s
k
in
d
.
W
e
also
i
m
p
le
m
e
n
ted
an
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icie
n
t
alg
o
r
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h
m
to
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UV
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ch
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g
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n
p
o
s
itio
n
w
it
h
m
i
n
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m
al
en
er
g
y
co
n
s
u
m
p
tio
n
.
I
t
m
atch
e
s
i
n
r
ea
l
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ti
m
e
t
h
e
d
ata
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ei
v
ed
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m
e
m
b
ed
d
ed
s
e
n
s
o
r
s
w
i
th
th
e
i
m
a
g
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f
r
o
m
t
w
o
ca
m
er
as
a
n
d
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s
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s
y
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te
m
.
E
ac
h
o
f
t
h
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o
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p
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p
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ce
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t
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atter
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ce
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t
h
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V’
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er
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y
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s
e
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d
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y
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o
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UV
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n
w
ater
.
T
h
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b
o
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d
s
ar
e
co
n
n
ec
ted
to
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m
i
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co
m
p
u
ter
lo
ca
ted
in
th
e
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o
tto
m
o
f
t
h
e
A
UV
.
W
ith
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v
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y
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ig
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it
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f
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g
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b
atter
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m
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as
w
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A
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ch
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af
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t,
an
d
s
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o
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test
r
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te
to
r
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ch
it
s
ta
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g
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[
6
]
-
[8
]
.
Fig
u
r
e
1
(
a
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s
h
o
w
s
p
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b
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an
d
Fi
g
u
r
e
1
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[
1
5
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(
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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Desig
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r
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b
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t: (
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Dif
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r
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2
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1
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B
o
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a
t
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T
h
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P
T
FE
T
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lo
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[
7
]
.
T
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n
is
a
p
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ly
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er
w
ith
a
m
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lecu
le
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ch
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[
7
]
.
T
h
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ater
ial
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s
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y
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g
a
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m
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.
I
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s
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in
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T
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b
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t
T
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et
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ea
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r
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i
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d
if
f
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t
at
m
o
s
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h
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an
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te
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co
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w
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[
7
]
.
T
h
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P
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s
o
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AUV
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MS5
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4
B
A
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o
r
k
s
w
i
th
th
e
I
2
C
p
r
o
to
co
l a
n
d
h
as a
m
ea
s
u
r
e
m
e
n
t a
cc
u
r
ac
y
an
d
m
ea
s
u
r
in
g
p
o
w
er
o
f
u
p
to
1
4
b
a
r
s
[
6
]
,
[
7
]
.
3.
M
AG
NE
T
I
C
RE
L
A
T
I
O
NS
L
et
u
s
as
s
u
m
e
a
c
y
l
in
d
r
ical
co
il
co
ax
ial
w
i
th
th
e
z
-
ax
i
s
o
f
a
c
y
li
n
d
r
ical
co
o
r
d
in
ate
s
y
s
te
m
.
B
y
d
iv
id
in
g
t
h
e
e
n
v
ir
o
n
m
en
t
i
n
to
h
o
m
o
g
en
eo
u
s
p
ar
ts
,
th
e
m
ag
n
etic
p
o
ten
tial
ca
n
b
e
ca
lc
u
la
ted
b
y
s
o
l
v
i
n
g
th
e
n
o
n
-
h
o
m
o
g
e
n
o
u
s
P
o
is
s
o
n
eq
u
atio
n
.
T
h
e
g
o
v
er
n
i
n
g
P
o
is
s
o
n
eq
u
atio
n
f
o
r
ca
lcu
lati
n
g
th
e
v
ec
to
r
m
ag
n
eti
c
p
o
ten
tial is as
(
1
)
[
9
]
.
∇
2
=
−
(
1
)
W
h
er
e
μ
is
th
e
p
er
m
ea
b
ilit
y
,
A
i
s
th
e
v
ec
to
r
p
o
ten
tial,
an
d
J
th
e
v
ec
to
r
cu
r
r
en
t d
en
s
it
y
.
I
n
a
s
y
m
m
etr
ical
e
n
v
ir
o
n
m
e
n
t
w
it
h
r
esp
ec
t to
th
e
z
-
a
x
is
,
t
h
e
p
o
ten
tial o
f
ea
ch
zo
n
e
is
as
(
2
)
[
4
]
.
A
=
∑
(
a
n
I
1
(
k
n
r
)
+
b
n
K
1
(
k
n
r
)
n
−
C
n
L
1
(
k
n
r
)
)
s
in
(
k
n
z
)
(
2
)
W
h
er
e
I
m
an
d
K
m
ar
e
th
e
m
o
d
if
ie
d
B
ess
el
f
u
n
ctio
n
s
o
f
th
e
f
ir
s
t
an
d
s
ec
o
n
d
t
y
p
e
s
,
an
d
L
i
s
th
e
m
o
d
i
f
ied
Stru
v
e
f
u
n
ctio
n
.
T
h
e
co
ef
f
ici
en
t
C
n
i
s
ca
lc
u
lated
ac
co
r
d
in
g
to
th
e
cu
r
r
en
t
d
en
s
it
y
J
a
n
d
th
e
co
ef
f
icie
n
t
s
an
d
ar
e
ca
lcu
lated
b
ased
o
n
th
e
b
o
u
n
d
ar
y
co
n
d
itio
n
s
.
I
f
t
h
e
s
y
s
te
m
is
a
s
s
u
m
ed
h
o
m
o
g
en
eo
u
s
,
th
e
m
a
g
n
etic
p
o
ten
tial
A
an
d
t
h
e
m
a
g
n
e
tic
f
ield
ar
e
ca
lcu
lated
d
ir
ec
tl
y
.
I
n
th
i
s
p
ap
er
,
th
e
p
er
m
ea
b
ilit
y
o
f
th
e
m
ag
n
et
i
s
co
n
s
id
er
ed
eq
u
al
to
th
at
o
f
t
h
e
air
.
An
y
cu
r
r
en
t
d
e
n
s
it
y
in
a
g
i
v
en
v
o
l
u
m
e
ca
n
b
e
eq
u
ated
w
it
h
a
m
ag
n
et
izatio
n
[
1
0
]
.
T
h
er
ef
o
r
e,
a
c
y
li
n
d
r
ical
m
a
g
n
e
t
ca
n
b
e
eq
u
ated
w
it
h
a
th
i
n
-
walled
cy
l
in
d
r
i
ca
l
co
il,
an
d
th
e
m
ag
n
etic
r
elatio
n
s
ca
n
b
e
w
r
itte
n
b
ased
o
n
th
e
eq
u
iv
ale
n
t c
o
il
as s
h
o
w
n
in
F
i
g
u
r
e
2
.
Fo
r
a
m
a
g
n
et,
th
e
p
o
lar
izatio
n
o
f
th
e
m
ag
n
et
P
ca
n
b
e
eq
u
ate
d
w
it
h
th
e
c
u
r
r
en
t d
en
s
it
y
[
1
6
]
.
∇
×
=
0
(
3
)
I
f
th
e
m
ag
n
et
i
s
a
c
y
li
n
d
r
ical
m
ag
n
et,
t
h
e
eq
u
i
v
ale
n
t c
u
r
r
en
t
d
en
s
it
y
is
ca
lc
u
lated
as (
4
)
[
1
0
]
.
=
×
0
(
4
)
W
h
er
e
n
is
a
u
n
it
v
ec
to
r
p
er
p
en
d
icu
lar
to
th
e
o
u
ter
s
u
r
f
ac
e
o
f
th
e
m
a
g
n
et
an
d
0
is
th
e
v
ac
u
u
m
m
ag
n
eti
c
p
er
m
ea
b
ili
t
y
co
n
s
ta
n
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
3
,
Sep
tem
b
er
2
0
2
1
:
2
0
7
–
2
2
3
210
T
h
e
f
o
r
ce
b
et
w
ee
n
t
w
o
co
ils
i
s
ca
lc
u
lated
b
y
th
e
f
in
ite
ele
m
en
t
m
et
h
o
d
.
E
ac
h
co
il
is
d
i
v
id
ed
in
to
a
n
u
m
b
er
o
f
c
u
r
r
en
t
-
ca
r
r
y
i
n
g
lo
o
p
s
an
d
th
e
f
o
r
ce
b
et
w
ee
n
ea
c
h
lo
o
p
is
o
b
tain
ed
b
y
t
h
e
Ma
x
w
ell
lo
o
p
r
elatio
n
s
(
r
elatio
n
5
)
.
Fin
all
y
,
t
h
e
f
o
r
c
e
b
et
w
ee
n
t
h
e
t
w
o
co
ils
is
o
b
tain
ed
b
y
s
u
m
m
i
n
g
t
h
e
ele
m
en
ts
u
p
[
1
7
]
.
T
h
e
m
ag
n
etic
f
o
r
ce
b
et
w
ee
n
t
w
o
c
o
ax
ial
cu
r
r
en
t lo
o
p
s
(
Ma
x
w
e
ll
lo
o
p
)
is
ca
lcu
lated
as
(
5
)
an
d
(
6
)
.
2
0
1
2
2
12
2
2
1
4
Q
k
I
I
k
z
F
E
k
K
k
k
RR
(
5
)
W
ith
2
12
2
2
12
4
Q
RR
k
R
R
z
(
6
)
W
h
er
e
R
1
is
th
e
r
ad
iu
s
o
f
th
e
f
ir
s
t
c
u
r
r
en
t
lo
o
p
,
R
2
i
s
t
h
e
r
ad
iu
s
o
f
t
h
e
f
ir
s
t
c
u
r
r
en
t
lo
o
p
,
z
Q
is
t
h
e
d
is
ta
n
ce
b
et
w
ee
n
t
h
e
t
w
o
lo
o
p
s
,
I
1
a
n
d
I
2
ar
e
th
e
c
u
r
r
en
t
o
f
lo
o
p
s
,
E
(
k
)
an
d
K(
k
)
ar
e
ellip
tic
in
teg
r
als
o
f
f
ir
s
t
an
d
s
ec
o
n
d
k
i
n
d
.
Fig
u
r
e
2
.
E
q
u
iv
ale
n
t c
y
l
in
d
r
ic
al
m
ag
n
et
a
n
d
th
i
n
-
w
alled
co
il
4.
ST
R
E
SS
Fo
r
ea
ch
s
u
r
f
ac
e
ele
m
e
n
t,
a
s
y
m
m
etr
ic
m
a
tr
ix
o
f
th
e
s
tr
es
s
es
ap
p
lied
o
n
it
is
w
r
i
tten
,
w
h
ic
h
is
ca
lled
a
s
tr
ess
te
n
s
o
r
[
1
8
]
.
=
[
σ
τ
τ
τ
σ
τ
τ
τ
σ
]
(
7
)
W
h
er
e
σ
is
th
e
v
er
tica
l
s
tr
e
s
s
an
d
τ
i
s
t
h
e
s
h
ea
r
s
tr
es
s
.
Stre
s
s
eq
u
atio
n
s
ar
e
d
i
f
f
er
en
t
ial
eq
u
atio
n
s
w
it
h
b
o
u
n
d
ar
y
co
n
d
itio
n
s
.
T
h
e
v
er
tical
s
tr
ess
is
o
b
tain
ed
b
y
th
e
s
u
m
o
f
ax
ial
an
d
f
lex
u
r
al
s
tr
es
s
.
T
ab
le
1
s
h
o
w
s
th
e
f
o
r
m
u
la
f
o
r
v
er
tica
l a
n
d
s
h
ea
r
s
tr
ess
e
s
[
1
9
]
,
[
2
0
]
.
T
ab
le
1
.
Ver
tical
an
d
s
h
ea
r
s
tr
ess
es
f
o
r
m
u
la
D
e
scri
p
t
i
o
n
F
o
r
mu
l
a
Ty
p
e
o
f
st
r
e
ss
e
s
D
i
v
i
d
i
n
g
t
h
e
s
h
e
a
r
f
o
r
c
e
b
y
t
h
e
c
r
o
ss
-
se
c
t
i
o
n
a
l
a
r
e
a
=
S
h
e
a
r
st
r
e
ss
D
i
v
i
d
i
n
g
t
h
e
v
e
r
t
i
c
a
l
f
o
r
c
e
b
y
t
h
e
c
r
o
ss
-
se
c
t
i
o
n
a
l
a
r
e
a
=
A
x
i
a
l
st
r
e
ss
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2586
I
n
crea
s
in
g
th
e
o
p
era
tin
g
d
ep
t
h
o
f a
n
a
u
to
n
o
mo
u
s
u
n
d
erw
a
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er v
eh
icle
u
s
in
g
a
n
i
n
tellig
en
t
…
(
A
li J
eb
elli
)
211
A
cc
o
r
d
in
g
to
th
e
b
ea
m
th
eo
r
y
,
b
ased
o
n
th
e
ass
u
m
p
tio
n
s
o
f
p
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e
s
ec
tio
n
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e
m
ai
n
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n
g
p
lan
e
an
d
n
eg
l
ig
ib
le
tr
a
n
s
v
er
s
e
s
tr
ain
,
t
h
e
s
tr
ai
n
v
ar
ie
s
li
n
ea
r
l
y
w
it
h
th
ic
k
n
e
s
s
[
1
9
]
.
W
h
en
t
h
e
p
ar
t
u
n
d
er
s
t
u
d
y
i
s
is
o
tr
o
p
ic
an
d
h
o
m
o
g
e
n
eo
u
s
,
t
h
ese
eq
u
atio
n
s
b
ec
o
m
e
l
in
ea
r
an
d
ar
e
w
r
itte
n
b
ased
o
n
th
e
l
o
ad
ap
p
lied
o
n
th
e
s
u
r
f
ac
e
[
1
9
]
,
[
2
0
]
.
T
h
i
s
m
ea
n
s
th
at
f
o
r
th
e
lo
ad
s
P
1
an
d
P
2
an
d
th
e
s
ca
lar
co
ef
f
icie
n
ts
a
an
d
b
in
a
s
p
ec
i
f
ic
ele
m
e
n
t,
th
e
r
elatio
n
is
(
8
)
.
1
=
(
1
)
,
2
=
(
2
)
→
(
1
+
2
)
=
1
+
2
(
8
)
T
h
e
ap
p
lied
lo
a
d
in
th
is
p
ap
er
is
w
ater
p
r
ess
u
r
e.
T
h
e
w
ater
p
r
ess
u
r
e
o
n
t
h
e
b
o
d
y
i
s
o
b
tain
ed
b
ased
o
n
(
9
)
.
=
ℎ
(
9)
W
h
er
e
g
is
t
h
e
ac
ce
ler
atio
n
o
f
g
r
av
it
y
(
Nea
r
E
ar
th
'
s
s
u
r
f
ac
e,
th
is
p
ar
a
m
eter
i
s
ap
p
r
o
x
i
m
at
el
y
9
.
8
1
m
/
s
2
)
;
h
i
s
th
e
d
ep
th
o
f
w
a
ter
an
d
ρ
is
th
e
d
en
s
it
y
o
f
w
ater
(
1
0
0
0
k
g
/
m
3
)
.
T
h
er
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o
r
e,
b
y
in
cr
ea
s
i
n
g
th
e
w
ater
d
ep
th
b
y
1
m
eter
,
th
e
ap
p
lied
p
r
ess
u
r
e
i
n
c
r
ea
s
es b
y
9
.
8
1
*
1
0
3
P
a.
T
h
e
m
a
x
i
m
u
m
v
o
n
Mise
s
all
o
w
ab
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lo
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n
a
b
o
d
y
m
ad
e
o
f
P
T
FE
is
6
.
5
7
MP
a
[
2
0
]
.
Vo
n
Mise
s
s
tr
ess
o
n
t
h
e
b
o
d
y
f
o
r
a
d
ep
th
o
f
1
m
eter
u
n
d
er
w
ater
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
Fig
u
r
e
3
.
Vo
n
Mises
s
tr
e
s
s
at
a
d
ep
th
o
f
1
m
u
n
d
er
w
ater
T
h
e
m
ax
i
m
u
m
s
tr
ess
i
n
t
h
e
v
eh
icle
n
o
s
e
is
9
.
6
3
*
1
0
5
P
a,
w
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I
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2722
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2586
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I
SS
N
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2722
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2586
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Evaluation Warning : The document was created with Spire.PDF for Python.