I
n
t
e
r
n
at
ion
al
Jou
r
n
a
l
of
Robot
ics
an
d
Au
t
om
at
ion
(
I
JRA
)
Vo
l
.
9
,
No.
1
,
M
a
r
c
h
2020,
pp.
17
~
25
I
S
S
N:
2089
-
4856,
DO
I
:
10
.
11591/
i
j
r
a
.
v
9
i
1
.
pp
17
-
25
17
Jou
r
n
al
h
o
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e
page
:
ht
tp:
//
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bi
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p
l
1.
I
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:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2089
-
4856
I
n
t
J
R
o
b
&
A
ut
o
m
,
Vo
l
.
9
,
N
o
.
1
,
M
a
r
c
h
2020
:
17
–
25
18
|
|
∫
∫
∫
(
1
)
wh
e
r
e
:
,
–
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,
w
h
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r
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t
h
r
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e
c
r
i
t
e
r
i
a
we
r
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i
m
po
r
t
a
n
t
:
t
h
e
f
i
r
s
t
na
t
ur
a
l
f
r
e
que
nc
y
in
o
r
de
r
to
i
n
c
r
e
a
s
e
s
t
i
f
f
ne
s
s
of
t
h
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t
oo
l
,
m
a
s
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t
h
a
t
m
a
y
mi
n
im
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z
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ne
r
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r
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t
s
t
a
t
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s
wa
s
de
s
c
r
i
b
e
d
in
wo
r
k
[1
,
2
].
I
m
po
r
t
a
n
t
i
nf
o
r
m
a
t
i
o
n
a
b
o
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c
b
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k
li
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pr
o
bl
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m
s
is
a
nn
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c
e
d
in
wo
r
k
[3
-
5]
.
T
h
e
u
s
a
ge
of
P
a
r
e
to
f
r
o
n
t
s
f
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l
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b
ot
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ll
u
s
t
r
a
t
e
d
in
wo
r
k
[6
-
9]
.
T
h
e
r
e
is
a
l
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o
a
wo
r
k,
wh
e
r
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t
h
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L
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nc
h
o
s
m
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d
is
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d
f
o
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s
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l
vi
ng
e
i
ge
nv
a
l
u
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pr
o
bl
e
m
s
a
n
d
is
de
s
c
r
i
b
e
d
in
[
10]
.
T
h
e
m
a
t
h
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m
a
t
i
c
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l
b
a
s
i
s
of
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f
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n
t
m
e
t
h
o
d
is
e
x
p
l
a
i
ne
d
in
wo
r
k
[
11
]
.
T
h
e
f
i
n
i
t
e
e
l
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m
e
n
t
m
e
t
h
o
d
is
us
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d
f
o
r
c
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l
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t
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n
g
t
h
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l
a
s
t
i
c
b
u
c
k
l
i
ng
pr
o
bl
e
m
b
e
c
a
us
e
it
g
i
ve
s
t
h
e
c
o
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r
e
c
t
s
o
l
ut
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o
n
a
n
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m
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of
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put
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s
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so
l
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g
w
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ge
o
m
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r
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l
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l
of
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e
c
t
is
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c
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ua
l
ly
s
im
p
li
f
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d.
(
a
)
(
b
)
F
i
gur
e
1
.
(
a
)
C
o
n
s
t
a
n
t
p
o
i
n
t
m
e
c
h
a
ni
s
m
a
n
d
(
b
)
s
ha
pe
of
t
h
e
wor
ki
n
g
s
pa
c
e
F
i
gur
e
2
.
M
o
de
l
of
m
i
n
i
m
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d
i
c
a
l
r
o
b
o
t
wi
t
h
s
e
r
i
a
l
c
h
a
i
n
2.
RE
S
E
AR
CH
M
E
T
HO
D
T
h
e
d
i
f
f
e
r
e
n
t
i
a
l
e
qua
t
i
o
n
de
s
c
r
i
b
i
ng
t
h
e
o
wn
b
uc
k
li
ng
pr
o
bl
e
m
is
f
o
r
m
u
l
a
t
e
d
a
s
:
(
2
)
wh
e
r
e
:
E
-
Y
o
un
g'
s
m
o
du
l
us
,
J
-
m
o
m
e
n
t
of
i
ne
r
t
i
a
,
F
-
e
x
t
e
r
n
a
l
f
o
r
c
e
.
By
c
o
nv
e
r
t
i
n
g
(
2)
a
n
d
s
ubs
t
i
t
ut
i
n
g
(
3)
to
(
2)
:
(
3
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
ut
o
m
I
S
S
N:
2089
-
4856
M
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-
objec
ti
v
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opti
miz
ati
on
and
li
ne
ar
buc
k
li
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f
s
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hain
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f
a
me
dical
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tool
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Gr
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w
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19
a
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qua
t
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b
t
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i
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d:
(
4
)
T
h
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ge
ne
r
a
l
s
o
l
ut
i
o
n
of
(
4)
h
a
s
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r
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go
n
o
m
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t
r
i
c
f
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r
m
:
(
5
)
If
we
t
a
ke
(
3)
,
a
n
d
we
kn
o
w
t
h
a
t
:
(
6
)
wh
e
r
e
is
a
n
a
t
ur
a
l
n
u
m
be
r
,
we
can
o
b
t
a
i
n
E
u
l
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r
's
c
r
i
t
i
c
a
l
f
o
r
c
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:
(
7
)
T
h
e
f
o
r
c
e
t
h
a
t
is
g
i
ve
n
by
(7
)
is
t
h
e
f
o
r
c
e
whi
c
h
c
a
us
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s
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l
a
s
t
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b
uc
k
li
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in
t
hi
n
r
o
d
of
l
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gt
h
l,
w
h
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n
to
t
h
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r
o
d
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ll
be
a
pp
li
e
d
a
ny
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i
s
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ur
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a
n
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.
If
to
a
t
hi
n
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o
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pp
li
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ny
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e
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im
po
r
t
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n
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de
f
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ne
l
a
m
bda
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o
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f
f
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c
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t
of
l
o
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d.
T
h
e
v
a
l
u
e
of
c
r
i
t
i
c
a
l
E
ul
e
r
’
s
l
o
a
d
can
be
de
t
e
r
m
i
ne
d
a
s
:
(
8
)
T
h
e
l
o
a
d
c
o
e
f
f
i
c
i
e
n
t
is
wr
i
t
t
e
n
a
s
:
(
9
)
T
h
e
l
i
ne
a
r
b
uc
k
li
ng
,
whi
c
h
s
c
h
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m
e
i
s
s
h
o
wn
by
F
igur
e
3,
is
de
t
e
r
m
i
ne
d
by
f
o
ll
o
w
i
ng
c
o
n
d
i
t
i
o
n
s
:
-
c
o
n
d
i
t
i
o
n
s
of
b
uc
k
li
ng
(
i
n
s
t
a
bil
i
t
y
)
(1
0
)
-
c
o
n
d
i
t
i
o
n
s
of
s
t
a
bi
li
t
y
(1
1
)
If
(
10)
o
c
c
ur
s
a
n
d
a
ny
d
i
s
t
ur
b
a
n
c
e
is
a
dde
d,
a
b
uc
k
l
i
ng
w
i
ll
a
ppe
a
r
.
If
(
11)
o
c
c
ur
s
,
t
h
e
m
e
d
i
c
a
l
r
o
b
o
t
wi
l
l
be
a
s
t
a
bl
e
m
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c
h
a
ni
c
a
l
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y
s
t
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m
.
z
y
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y
F
c
r
i
t
i
c
a
l
D
i
s
t
u
r
b
a
n
c
e
F
i
gur
e
3.
S
c
h
e
m
e
of
li
ne
a
r
b
uc
k
li
ng
2.
1.
E
igenval
u
e
p
r
ob
lem
of
l
in
e
a
r
b
u
c
k
l
in
g
u
s
in
g
t
h
e
f
in
it
e
e
l
e
m
e
n
t
m
e
t
h
od
T
h
e
b
uc
k
li
ng
c
o
e
f
f
i
c
i
e
n
t
can
be
c
a
l
c
u
l
a
t
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d
us
i
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g
t
h
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f
i
n
i
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l
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m
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t
m
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h
o
d
b
ut
t
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ki
n
g
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t
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c
c
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un
t
t
h
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e
qua
t
i
o
n
of
s
t
a
t
i
c
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qu
i
li
br
i
u
m
,
h
a
vi
ng
in
mi
nd
s
m
a
ll
d
i
s
p
l
a
c
e
m
e
n
t
s
.
T
h
e
r
e
l
a
t
i
o
ns
hi
p
b
e
t
we
e
n
e
x
t
e
r
n
a
l
f
o
r
c
e
a
n
d
d
i
s
p
l
a
c
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m
e
n
t
can
be
r
e
c
o
r
de
d
a
s
:
[
]
{
}
{
}
(1
2
)
wh
e
r
e
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2089
-
4856
I
n
t
J
R
o
b
&
A
ut
o
m
,
Vo
l
.
9
,
N
o
.
1
,
M
a
r
c
h
2020
:
17
–
25
20
[
]
:
s
t
i
f
f
ne
s
s
m
a
t
r
i
x
,
{
}
:
v
e
c
t
o
r
of
n
o
da
l
d
i
s
p
l
a
c
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m
e
n
t
,
{
}
:
v
e
c
t
o
r
of
n
o
da
l
f
o
r
c
e
s
.
T
h
e
s
t
i
f
f
ne
s
s
m
a
t
r
i
x
[
]
is
de
t
e
r
m
i
ne
d
by
:
[
]
∫
[
]
[
]
[
]
(1
3
)
wh
e
r
e
:
[
]
:
li
ne
a
r
s
t
r
a
i
n
-
d
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s
p
l
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c
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m
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n
t
m
a
t
r
i
x
{
}
=
[
B
]
{
}
(
m
a
t
r
i
x
of
s
ha
pe
f
u
n
c
t
i
o
n
)
,
[D
]
:
c
o
n
s
t
i
t
ut
i
v
e
m
a
t
r
i
x
,
{
}
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of
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t
r
a
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n
,
{
}
:
v
e
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t
o
r
of
d
i
s
p
l
a
c
e
m
e
n
t
.
[
]
∫
[
]
[
]
[
]
(1
4
)
wh
e
r
e
:
[
]
:
s
t
r
e
s
s
-
s
t
i
f
f
ne
s
s
m
a
t
r
i
x
,
[
G
]
:
o
b
t
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d
f
r
o
m
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a
pe
f
u
nc
t
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by
a
ppr
o
pr
i
a
t
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d
i
f
f
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r
e
n
t
i
a
t
i
o
n
,
[
S
]
:
i
n
i
t
i
a
l
s
t
r
e
s
s
e
s
.
(
[
]
[
]
{
}
{
}
(1
5
)
Dur
i
n
g
t
h
e
l
o
s
s
of
s
t
a
bil
i
t
y
f
o
r
e
qua
l
l
o
a
ds
,
ot
h
e
r
s
tat
e
s
of
e
qu
i
li
br
i
u
m
a
r
e
po
s
s
i
bl
e
.
(
[
]
[
]
{
}
{
}
(1
6
)
(
[
]
[
]
{
}
{
}
(1
7
)
Af
t
e
r
s
u
b
t
r
a
c
t
i
n
g
t
h
e
e
qua
t
i
o
ns
,
t
h
e
s
ymm
e
t
r
i
c
a
l
p
r
o
bl
e
m
t
h
a
t
de
f
i
ne
s
t
h
e
s
t
a
bil
i
t
y
of
t
h
e
s
u
b
s
t
i
t
ut
i
o
n
s
y
s
t
e
m
is
o
b
t
a
i
n
e
d
to
s
o
l
v
e
:
[
]
[
]
{
}
{
}
(1
8
)
:
e
i
ge
nv
a
l
u
e
s
w
hi
c
h
a
r
e
l
o
a
d
c
o
e
f
f
i
c
i
e
n
t
s
,
:
e
i
ge
nv
e
c
t
or
whi
c
h
is
s
h
a
pe
of
b
uc
k
li
ng.
L
a
n
c
h
o
s
m
e
t
h
o
d
f
o
r
l
a
r
ge
s
ymm
e
t
r
i
c
a
l
s
y
s
t
e
m
s
wa
s
us
e
d
in
o
r
de
r
to
s
o
l
v
e
t
h
e
pr
o
b
l
e
m
de
s
c
r
i
be
d
a
b
o
v
e
.
2.
2.
M
od
e
l
of
t
h
e
t
ool
To
r
e
duc
e
t
h
e
t
i
m
e
of
n
u
m
e
r
i
c
a
l
c
a
l
c
u
l
a
t
i
o
ns
,
th
e
c
l
e
a
r
i
n
g
ge
o
m
e
t
r
y
wa
s
us
e
d
a
n
d
t
h
e
t
i
m
e
of
n
u
m
e
r
i
c
a
l
c
a
l
c
u
l
a
t
i
o
ns
wa
s
s
i
g
ni
f
i
c
a
n
t
l
y
r
e
duc
e
d.
T
h
e
f
o
r
m
u
l
a
t
e
d
n
u
m
e
r
i
c
a
l
m
o
de
l
h
a
s
454534
de
gr
e
e
s
of
f
r
e
e
do
m
.
T
e
n
n
o
da
l
t
e
t
r
a
h
e
dr
a
l
e
l
e
m
e
n
t
s
we
r
e
u
s
e
d
to
di
s
c
r
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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]
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]
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]
.
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In
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s
h
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p
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of
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f
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m
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o
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f
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qua
l
s
5
.
58
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2089
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4856
I
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8.
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37
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pe
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26
.
17
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t
J
R
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b
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A
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m
I
S
S
N:
2089
-
4856
M
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3.
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r
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s
f
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m
a
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s
it
po
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de
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of
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b
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s
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T
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m
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t
a
m
o
de
l
(
r
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s
po
ns
e
s
ur
f
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)
s
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r
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d
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as
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
n
t
J
R
o
b
&
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ut
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Vo
l
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9
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N
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.
1
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M
a
r
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h
2020
:
17
–
25
24
o
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d
a
f
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23
i
t
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s
.
On
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P
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s
f
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n
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d
1
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m
m
]
d
2
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m
m
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a
s
s
[
k
g
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gur
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20.
R
e
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s
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s
ur
f
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m
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F
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21.
T
h
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r
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f
o
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c
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of
m
a
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4.
DI
S
CU
S
S
I
ON
T
h
e
m
e
d
i
c
a
l
r
o
b
o
t
is
c
ur
r
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n
t
l
y
o
n
e
of
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m
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s
t
s
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g
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f
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o
pe
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a
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n
g
t
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h
u
m
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n
b
o
d
y
.
M
e
d
i
c
a
l
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b
o
t
s
w
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h
a
s
e
r
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h
a
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n
a
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nn
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v
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s
t
r
uc
t
u
r
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s
,
f
o
r
e
x
a
m
p
l
e
:
in
c
o
n
t
r
a
s
t
to
t
h
e
Am
e
r
i
c
a
n
s
t
r
uc
t
ur
e
of
t
he
da
V
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nc
i
or
t
h
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P
o
l
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s
h
pr
o
tot
y
pe
of
R
o
bi
n
He
a
r
t
.
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is
e
x
pe
c
t
e
d
t
h
a
t
in
t
h
e
n
e
a
r
f
ut
ur
e
,
m
a
ny
m
o
de
r
n
m
e
d
i
c
a
l
r
o
b
o
t
s
wi
l
l
be
c
r
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a
t
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d,
whi
c
h
w
il
l
o
pe
r
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in
o
n
c
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l
o
g
y
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h
e
a
r
t
s
ur
ge
r
y
,
a
b
do
m
i
na
l
s
ur
ge
r
y
,
e
t
c
.
R
e
s
t
r
i
c
t
i
ve
s
a
f
e
t
y
c
r
i
t
e
r
i
a
r
e
qu
i
r
e
m
a
ny
s
t
r
uc
t
ur
a
l
a
n
a
ly
z
e
s
.
T
h
e
s
e
c
a
n
i
n
c
l
ude
:
a
n
a
ly
s
i
s
of
n
a
t
ur
a
l
f
r
e
que
nc
y
,
f
a
t
i
gue
,
t
r
a
n
s
i
e
n
t
s
t
a
t
e
s
,
to
pr
ot
e
c
t
it
a
ga
i
n
s
t
t
h
e
po
s
s
i
bil
i
t
y
of
a
r
o
b
ot
’
s
f
a
il
ur
e
dur
i
n
g
t
h
e
s
ur
ge
r
y
on
h
u
m
a
n
t
i
s
s
ue
.
An
e
f
f
e
c
t
i
v
e
m
e
t
h
o
d
of
e
x
a
mi
n
i
ng
a
m
e
d
i
c
a
l
r
o
b
o
t
s
y
s
t
e
m
is
a
n
u
m
e
r
i
c
a
l
m
e
t
h
o
d
b
a
s
e
d
on
t
h
e
f
i
n
i
t
e
e
l
e
m
e
n
t
m
e
t
h
o
d.
W
hil
e
us
i
ng
a
m
e
s
h
m
o
de
l
w
it
h
a
s
m
a
l
l
f
i
n
i
t
e
e
l
e
m
e
n
t
,
e
x
a
c
t
r
e
s
ul
t
s
c
a
n
be
o
b
t
a
i
n
e
d.
T
hi
s
m
e
t
h
o
d
c
a
n
be
c
h
e
c
k
e
d,
if
a
m
e
d
i
c
a
l
r
o
bot
wi
t
h
a
s
e
r
i
a
l
c
h
a
i
n
w
il
l
be
pr
o
n
e
to
b
uc
k
l
i
n
g
dur
i
n
g
t
h
e
c
o
n
t
a
c
t
wi
t
h
t
h
e
t
i
s
s
u
e
(
e
.
g.
h
a
r
d
b
o
n
e
t
i
s
s
ue
)
.
F
E
M
h
a
s
b
e
e
n
s
uc
c
e
s
s
f
u
ll
y
us
e
d
in
m
e
d
i
c
a
l
r
o
b
ot
a
n
a
ly
z
e
s
m
a
ny
t
i
m
e
s
.
T
he
d
i
s
c
us
s
e
d
i
s
s
ue
s
a
r
e
c
a
l
c
u
l
a
t
e
d
r
e
l
a
t
i
v
e
ly
qu
i
c
k
ly
w
i
t
h
t
h
e
us
a
ge
of
m
o
de
r
n
c
o
m
put
e
r
s
c
ur
r
e
n
t
l
y
a
v
a
il
a
bl
e
in
n
u
m
e
r
i
c
a
l
l
a
b
s
.
T
h
e
o
p
t
i
mi
z
a
t
i
o
n
c
a
l
c
u
l
a
t
i
o
n
s
t
a
ke
t
h
e
m
o
s
t
t
i
m
e
.
T
h
e
M
OG
A
ge
n
e
t
i
c
a
l
go
r
i
t
hm
m
a
ke
s
it
p
o
s
s
i
bl
e
to
f
i
nd
t
h
e
o
p
t
i
m
u
m
of
a
gl
o
b
a
l
m
u
l
t
i
-
c
r
i
t
e
r
i
o
n
f
u
nc
t
i
o
n
.
5.
CONC
L
USI
ONS
T
h
e
wo
r
k
pr
e
s
e
n
t
s
an
i
nn
o
v
a
t
i
v
e
m
o
de
l
of
a
m
e
d
i
c
a
l
r
o
b
o
t
wi
t
h
an
o
pe
n
k
i
ne
m
a
t
i
c
c
h
a
i
n
.
Du
e
to
t
h
e
c
r
i
t
e
r
i
o
n
w
i
t
h
s
upe
r
i
o
r
i
m
po
r
t
a
n
c
e
,
whi
c
h
is
s
a
f
e
t
y
,
n
u
m
e
r
i
c
a
l
e
x
a
mi
na
t
i
o
n
s
of
t
h
e
r
o
b
ot
f
o
r
t
h
e
b
uc
k
li
ng
w
i
t
h
t
h
e
us
e
of
t
he
f
i
n
i
t
e
e
l
e
m
e
n
t
m
e
t
h
o
d
wa
s
pe
r
f
o
r
m
e
d
in
o
r
de
r
to
c
h
e
c
k
if
it
c
a
n
o
c
c
ur
dur
i
n
g
t
h
e
r
o
b
ot
’
s
wo
r
k
,
f
o
r
e
x
a
m
p
l
e
dur
i
ng
t
h
e
s
e
r
vi
c
i
ng
of
an
a
r
t
i
f
i
c
i
a
l
o
r
ga
n
.
F
o
r
di
s
c
r
e
t
i
z
a
t
i
o
n
of
t
h
e
ge
o
m
e
t
r
i
c
m
o
de
l
,
t
e
t
r
a
h
e
dr
a
l
e
l
e
m
e
n
t
s
w
i
t
h
t
e
n
n
o
de
s
we
r
e
us
e
d
.
B
a
s
e
d
on
n
u
m
e
r
i
c
a
l
e
x
a
mi
na
t
i
o
n
s
,
it
wa
s
f
o
un
d
t
h
a
t
t
h
e
b
uc
k
li
ng
ph
e
n
o
m
e
n
o
n
w
il
l
n
o
t
o
c
c
ur
in
t
h
e
s
t
r
u
c
t
ur
e
of
a
m
e
d
i
c
a
l
r
o
b
o
t
wi
t
h
a
s
e
r
i
a
l
c
h
a
i
n.
T
h
e
n
u
m
e
r
i
c
a
l
M
u
l
t
i
-
c
r
i
t
e
r
i
a
o
pt
i
mi
z
a
t
i
o
n
m
o
de
l
wa
s
a
l
s
o
s
o
l
v
e
d
w
i
t
h
t
h
e
us
a
ge
of
M
OG
A
ge
n
e
t
i
c
a
l
go
r
i
t
hm
a
n
d
t
h
e
mi
n
i
m
u
m
m
a
s
s
of
t
h
e
e
f
f
e
c
t
or
a
n
d
t
h
e
m
a
xim
u
m
v
a
l
u
e
of
t
h
e
b
u
c
k
l
i
ng
c
o
e
f
f
i
c
i
e
n
t
we
r
e
o
b
t
a
i
n
e
d.
T
h
e
p
l
a
ne
r
e
s
po
n
s
e
m
e
t
h
o
d
wa
s
us
e
d
in
t
h
e
o
p
t
i
mi
z
a
t
i
o
n
r
e
s
e
a
r
c
h
e
s
.
W
he
r
e
a
s
t
h
e
o
pt
i
m
a
l
s
o
l
ut
i
o
n
wa
s
ge
n
e
r
a
t
e
d
on
t
h
e
b
a
s
i
s
of
de
s
i
g
n
a
t
e
d
P
a
r
e
to
f
r
o
n
t
s
.
A
m
e
c
ha
ni
c
a
ll
y
pr
o
pe
r
c
a
l
c
u
l
a
t
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n
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b
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e
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c
r
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i
a
a
n
d
l
im
i
t
a
t
i
o
n
s
.
RE
F
E
R
E
NC
E
S
[1
]
G
.
I
l
ew
i
c
z
,
“
N
at
u
ral
fr
e
q
u
e
n
c
i
e
s
an
d
mu
l
t
i
-
o
b
j
ec
t
i
v
e
o
p
t
i
m
i
zat
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o
n
of
the
m
o
d
e
l
of
med
i
c
a
l
ro
b
o
t
w
i
t
h
s
eri
al
k
i
n
em
at
i
c
a
l
ch
ai
n
,
”
A
d
va
n
ce
s
in
I
n
t
e
l
l
i
g
e
n
t
S
y
s
t
em
s
a
n
d
Co
m
p
u
t
i
n
g
,
vol.
519,
p
p
.
3
7
1
-
3
7
9
,
2
0
1
7
.
[2
]
G
.
I
l
ew
i
c
z
,
A.
H
ar
l
ec
k
i
,
“
Fu
l
l
D
y
n
a
mi
c
s
an
d
O
p
t
i
m
i
zat
i
o
n
of
a
Co
n
t
ro
l
l
ab
l
e
Mi
n
i
m
al
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fi
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O
rg
an
s
,
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Lect
u
r
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n
o
t
e
s
in
Net
w
o
r
k
a
n
d
S
y
s
t
em
s
,
vol.
53,
p
p
.
204
-
2
1
1
,
2
0
1
9
.
[3
]
G
.
I
l
ew
i
c
z
,
“
St
re
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g
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h
of
m
at
e
ri
a
l
s
,
”
C
e
n
t
e
r
fo
r
Mi
c
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(i
n
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l
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,
Rz
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s
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w
,
2
0
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3
.
[4
]
H
.
W
an
g
,
A.
Y
a
m
a
m
o
t
o
,
“
A
n
al
y
s
e
s
an
d
So
l
u
t
i
o
n
s
fo
r
t
h
e
Bu
ck
l
i
n
g
of
T
h
i
n
an
d
F
l
e
x
i
b
l
e
E
l
ec
t
ro
s
t
at
i
c
I
n
ch
w
o
rm
Cl
i
m
b
i
n
g
R
o
b
o
t
s
,
”
IE
E
E
Tr
a
n
s
a
c
t
i
o
n
s
on
R
o
b
o
t
i
cs
,
vol.
33
,
no.
4
,
2011.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
R
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&
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ut
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m
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N:
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25
[5
]
M.
Bo
u
r
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za
n
e
,
“
Bu
c
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l
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f
i
n
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m
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me
,
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P
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s
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h
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o
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Co
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n
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eer
i
n
g
,
v
o
l
.
I,
L
o
n
d
o
n
,
U
.
K
.
,
2012.
[6
]
R.
K
o
n
i
e
t
s
c
h
k
e
,
T.
O
rt
m
ai
e
r
,
H
.
W
ei
s
s
,
R.
E
n
g
e
l
k
e
,
G.
H
i
rzi
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g
e
r
,
“
O
p
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m
al
D
e
s
i
g
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Med
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c
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n
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m
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v
as
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rn
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0
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.
[7
]
M.
Mi
r
o
i
r,
Y.
N
g
u
y
en
,
J.
Sz
ew
c
z
y
k
,
S.
Mazal
ai
g
u
e,
E.
Fe
rrar
y
,
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St
e
rk
e
rs
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A
.
G
ra
y
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l
i
,
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b
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Fr
o
m
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M
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g
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,
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n
Th
e
2
0
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S
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In
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ys
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.
[8
]
M.
Mi
ro
i
r,
J
.
Sz
ew
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z
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k
,
Y
.
N
g
u
y
en
,
S.
Maza
l
ai
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u
e
,
O
.
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,
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D
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mal
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RAS
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R
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s
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B
i
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m
ech
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t
r
o
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cs
,
2
0
0
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.
[9
]
C.
D
ro
u
i
n
,
A
.
P
o
u
r
g
h
o
d
rat
,
S
.
Mi
o
s
s
ec
,
G
.
P
o
i
s
s
o
n
,
C.
N
el
s
o
n
,
“
D
i
me
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s
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of
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in
A
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2013
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f
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u
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.
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0
]
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.
Bo
s
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c
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S.
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an
c
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s
,
“
E
i
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m
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rs
,
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Na
t
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l
A
er
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a
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n
d
S
p
a
ce
A
d
m
i
n
i
s
t
r
a
t
i
o
n
M
em
o
r
a
n
d
u
m
,
La
n
g
l
ey
R
es
ea
r
ch
Cen
t
er
,
1991.
[1
1
]
O
.
Z
i
e
n
k
i
ew
i
c
z
,
R.
T
a
y
l
o
r
,
J
.
Z
h
u
,
F
i
n
i
t
e
el
em
en
t
m
et
h
o
d
:
It
s
b
a
s
i
s
a
n
d
f
u
n
d
a
m
en
t
a
l
s
,
E
l
s
e
v
i
e
r
,
2013
B
I
OG
RA
P
H
I
E
S
OF
AU
T
HO
RS
G
rze
g
o
rz
IL
E
W
I
C
Z
w
as
b
o
rn
in
K
at
o
w
i
ce
,
Po
l
an
d
on
D
ecem
b
e
r,
1980.
Up
to
t
h
i
s
m
o
men
t
,
h
e
h
as
b
e
en
an
em
p
l
o
y
ee
of
fo
u
r
u
n
i
v
e
rs
i
t
i
e
s
in
the
fi
e
l
d
s
of
mech
at
ro
n
i
c
s
,
b
i
o
mech
at
ro
n
i
c
s
,
mec
h
a
n
i
c
s
an
d
au
t
o
m
at
i
o
n
.
He
is
a
mem
b
e
r
of
Po
l
i
s
h
A
c
o
u
s
t
i
c
a
l
So
ci
e
t
y
.
He
h
e
l
d
a
d
i
d
ac
t
i
c
s
e
mi
n
ar
at
CE
R
N
a
n
d
A
a
c
h
en
U
n
i
v
e
rs
i
t
y
.
U
n
t
i
l
t
h
e
n
,
He
h
as
b
ee
n
t
h
e
g
en
e
ral
c
h
a
i
r
m
an
of
s
i
x
t
e
ch
n
i
c
al
c
o
n
f
e
r
e
n
ce
s
.
He
h
as
b
een
a
mem
b
e
r
of
s
e
v
e
r
al
d
o
z
e
n
c
o
n
f
e
r
e
n
ce
c
o
mmi
t
t
e
e
s
ar
o
u
n
d
t
h
e
w
o
r
l
d
.
He
is
al
s
o
in
the
e
d
i
t
o
ri
a
l
b
o
ar
d
s
of
t
ec
h
n
i
c
al
an
d
med
i
c
a
l
j
o
u
r
n
al
s
.
A
n
d
rz
ej
H
A
R
L
E
C
K
I
w
as
b
o
rn
in
Bi
el
s
k
o
-
B
i
ał
a
,
Po
l
a
n
d
on
A
u
g
u
s
t
6,
1
9
5
5
.
He
r
ece
i
v
e
d
the
M.
Sc.
an
d
Ph
.
D
.
d
eg
r
ee
s
in
t
h
e
f
i
e
l
d
of
Mach
i
n
e
D
es
i
g
n
an
d
Mai
n
t
e
n
a
n
ce
fro
m
T
ec
h
n
i
c
a
l
U
n
i
v
e
rs
i
t
y
of
L
o
d
z
(
Bra
n
c
h
in
Bi
el
s
k
o
-
B
i
al
a)
in
1980
an
d
1989,
re
s
p
ec
t
i
v
el
y
.
He
r
ecei
v
e
d
the
D
.
S
c
.
d
eg
r
ee
i
n
the
fi
e
l
d
of
Ma
c
h
i
n
e
D
e
s
i
g
n
an
d
Mai
n
t
e
n
a
n
ce
fro
m
U
n
i
v
e
rs
i
t
y
of
B
i
e
l
s
k
o
-
Bi
a
l
a
in
2003.
Si
n
ce
2004
he
is
em
p
l
o
y
ed
by
the
U
n
i
v
e
rs
i
t
y
of
Bi
el
s
k
o
-
Bi
al
a
as
an
as
s
o
c
i
at
e
p
ro
f
e
s
s
o
r.
He
is
an
au
t
h
o
ro
r
co
-
a
u
t
h
o
r
of
130
p
u
b
l
i
c
at
i
o
n
s
in
s
ci
e
n
t
i
f
i
c
j
o
u
r
n
al
s
an
d
co
n
f
e
r
en
ce
p
ro
cee
d
i
n
g
s
.
He
is
n
o
w
the
H
e
ad
of
i
n
d
e
p
e
n
d
e
n
t
S
ec
t
i
o
n
of
M
ec
h
a
n
i
c
s
as
s
o
c
i
at
e
d
w
i
t
h
the
Fac
u
l
t
y
of
M
ech
an
i
c
al
E
n
g
i
n
ee
ri
n
g
an
d
C
o
m
p
u
t
e
r
S
c
i
en
ce
s
of
the
U
n
i
v
e
rs
i
t
y
of
Bi
el
s
k
o
-
B
i
al
a
.
His
p
ap
e
rs
an
d
r
e
s
e
ar
c
h
c
o
v
e
rs
v
ar
i
o
u
s
d
i
s
c
i
p
l
i
n
e
s
of
mech
an
i
c
s
(i
n
p
art
i
c
u
l
ar
mo
d
el
l
i
n
g
of
fri
c
t
i
o
n
in
d
y
n
a
mi
c
s
of
mech
an
i
c
al
s
y
s
t
em
s
),
t
ri
b
o
l
o
g
y
,
mec
h
at
ro
n
i
c
s
an
d
co
m
p
u
t
e
r
s
ci
e
n
ce
s
.
H
e
w
as
s
u
p
e
rv
i
s
o
r
of
t
h
r
ee
d
o
c
t
o
ral
t
h
e
s
e
s
.
He
d
i
r
ec
t
ed
o
v
e
r
a
d
o
z
en
i
n
d
u
s
t
r
y
r
e
s
e
ar
ch
p
ro
j
e
c
t
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.