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Ro
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Aut
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I
J
R
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Vo
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p
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I
SS
N:
2089
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4856
,
DOI
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1
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5
9
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[
1
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.
Xiao
m
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Z
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[
2
]
in
tr
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d
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d
R
B
F
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w
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Ya
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[
3
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c
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Fu
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-
P
I
D
to
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1
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[
3
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-
[
5
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
0
8
9
-
4856
I
J
R
A
,
Vo
l.
7
,
No
.
1
,
Ma
r
ch
2
0
1
8
:
1
–
7
2
Fu
r
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[
6
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.
Xu
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[
7
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[
8
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Dee
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[
9
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ex
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[1
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h
a
rm
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V
e
rm
a
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.
M
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n
in
telli
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t
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tro
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o
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sy
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m
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ter
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t
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l
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n
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ll
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H)
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p
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]
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m
in
g
Zu
o
,
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ter
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[3
]
J.
W
e
i,
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telli
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t
Bu
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.
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;
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[4
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ick
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a
ra
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h
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telli
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t
S
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A
c
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2
0
1
3
1
st
In
ter
n
a
ti
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a
l
Co
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n
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Arti
fi
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l
In
telli
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e
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M
o
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ti
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n
.
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ta Kin
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b
a
l
u
.
2
0
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p
.
2
3
-
2
8
.
[5
]
M
e
n
g
Qin
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so
n
g
,
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a
n
g
Qi
a
n
d
W
e
i
Ho
n
g
li
n
g
,
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sig
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f
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z
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r
li
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tro
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s
y
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m
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se
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n
M
AT
LAB/RT
W
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ter
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M
e
a
su
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t,
In
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o
n
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rb
in
.
2
0
1
3
,
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p
.
1
0
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.
[6
]
Y.
Zh
a
o
,
“
Re
se
a
rc
h
o
n
A
p
p
li
c
a
ti
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o
f
F
u
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n
tro
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in
T
w
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-
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n
tain
e
r
W
a
ter
T
a
n
k
S
y
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m
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n
tro
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2
0
1
0
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ter
n
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t
io
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a
l
C
o
n
fer
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e
Vi
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u
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ma
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In
ter
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,
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.
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in
a
.
2
0
1
0
,
p
p
.
6
7
9
-
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2
.
[7
]
X
u
X
iao
d
o
n
g
,
F
u
M
e
n
g
y
in
,
De
n
g
Zh
ih
o
n
g
a
n
d
X
u
W
e
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y
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n
,
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A
p
p
li
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ti
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u
ra
l
n
e
tw
o
rk
p
re
d
ictio
n
in
p
r
o
c
e
ss
c
o
n
tro
l”,
IEE
E
Co
n
fer
e
n
c
e
An
th
o
lo
g
y
,
C
h
in
a
,
2
0
1
3
,
p
p
.
1
-
4.
[8
]
L
.
Ce
r
v
a
n
tes
a
n
d
O.
Ca
stil
lo
,
“
In
telli
g
e
n
t
c
o
n
tr
o
l
o
f
th
e
th
re
e
-
tan
k
w
a
ter
lev
e
l
w
it
h
a
t
y
p
e
-
2
f
u
z
z
y
g
ra
n
u
lar
a
p
p
ro
a
c
h
”,
W
o
rld
A
u
t
o
ma
t
io
n
Co
n
g
re
ss
2
0
1
2
,
P
u
e
rto
V
a
ll
a
rta.
M
e
x
ico
,
2
0
1
2
,
p
p
.
1
-
6.
[9
]
D.
S
.
Bh
a
n
d
a
re
a
n
d
N.
R.
Ku
lk
a
rn
i,
“
P
e
rf
o
rm
a
n
c
e
s
e
v
a
lu
a
ti
o
n
a
n
d
c
o
m
p
a
riso
n
o
f
P
ID
c
o
n
tro
ll
e
r
a
n
d
f
u
z
z
y
lo
g
ic
c
o
n
tro
ll
e
r
f
o
r
p
ro
c
e
ss
li
q
u
id
lev
e
l
c
o
n
tro
l”,
1
5
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
n
t
ro
l,
A
u
to
m
a
ti
o
n
a
n
d
S
y
ste
ms
(
ICCAS
)
,
Bu
sa
n
.
2
0
1
5
,
p
p
.
1
3
4
7
-
1
3
5
2
.
[1
0
]
X
.
F
a
n
g
,
T
.
S
h
e
n
a
n
d
X
.
F
e
n
g
,
“
T
h
e
Ba
n
g
-
B
a
n
g
Co
n
tro
l
o
f
W
a
te
r
T
a
n
k
S
y
ste
m
Ba
s
e
d
o
n
F
u
z
z
y
De
c
isio
n
,
”
Nin
th
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
Hy
b
rid
In
tell
ig
e
n
t
S
y
ste
ms
.
S
h
e
n
y
a
n
g
.
2
0
0
9
,
p
p
.
1
2
7
-
1
3
1
.
[1
1
]
S
i
-
W
u
He
,
Ch
a
o
y
in
g
L
iu
,
Zh
e
y
i
n
g
S
o
n
g
a
n
d
Zen
g
f
a
n
g
W
a
n
g
,
“
Re
a
l
-
ti
m
e
in
telli
g
e
n
t
c
o
n
tro
l
o
f
li
q
u
i
d
lev
e
l
s
y
ste
m
b
a
se
d
o
n
M
CG
S
a
n
d
M
A
TL
A
B
”
,
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
a
c
h
in
e
L
e
a
r
n
in
g
a
n
d
Cy
b
e
rn
e
ti
c
s
,
L
a
n
z
h
o
u
,
2
0
1
4
,
p
p
.
1
3
1
-
1
3
6
.
[1
2
]
J.
Vo
jt
e
se
k
a
n
d
P
.
Do
sta
l,
“
A
d
a
p
ti
v
e
c
o
n
tr
o
l
o
f
w
a
ter
lev
e
l
in
re
a
l
m
o
d
e
l
o
f
w
a
ter
tan
k
”
,
2
0
th
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
Pro
c
e
ss
Co
n
tro
l
(
PC)
.
S
tr
b
sk
e
P
les
o
,
2
0
1
5
,
p
p
.
3
0
8
-
3
1
3
.
[1
3
]
N.
A
p
h
iratsa
k
u
n
,
W
.
S
u
v
it
tay
a
k
u
l
a
n
d
K.
S
a
i
n
g
a
m
,
“
A
U
w
a
ter
l
e
v
e
l
p
ro
c
e
ss
c
o
n
t
ro
l
sy
ste
m
”
,
1
2
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
El
e
c
trica
l
En
g
in
e
e
rin
g
/E
lec
tro
n
ics
,
Co
m
p
u
ter
,
T
e
lec
o
mm
u
n
ica
ti
o
n
s
a
n
d
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
(
ECT
I
-
CON)
,
Hu
a
Hin
.
2
0
1
5
,
p
p
.
1
-
5.
[1
4
]
S
.
C.
P
ra
tam
a
,
E.
S
u
sa
n
to
a
n
d
A
.
S
.
W
ib
o
w
o
,
“
De
sig
n
a
n
d
imp
lem
e
n
tatio
n
o
f
w
a
ter
l
e
v
e
l
c
o
n
tro
l
u
si
n
g
g
a
in
sc
h
e
d
u
li
n
g
P
ID
b
a
c
k
c
a
lcu
latio
n
in
teg
ra
to
r
A
n
ti
W
in
d
u
p
”
,
I
n
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Co
n
t
ro
l,
El
e
c
tro
n
ics
,
Ren
e
wa
b
le E
n
e
rg
y
a
n
d
Co
mm
u
n
i
c
a
ti
o
n
s (
ICCER
EC)
.
Ba
n
d
u
n
g
.
2
0
1
6
,
p
p
.
1
0
1
-
1
0
4
.
[1
5
]
S
.
Kriv
ić,
M
.
H
u
jd
u
r,
A
.
M
rz
ić
a
n
d
S
.
Ko
n
ji
c
ij
a
.
“
De
s
ig
n
a
n
d
i
m
p
le
m
e
n
tatio
n
o
f
f
u
z
z
y
c
o
n
tro
ll
e
r
o
n
e
m
b
e
d
d
e
d
c
o
m
p
u
ter
f
o
r
wa
ter
lev
e
l
c
o
n
tr
o
l”,
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
3
5
th
I
n
ter
n
a
ti
o
n
a
l
C
o
n
v
e
n
t
io
n
M
IPR
O
.
Op
a
ti
ja.
2
0
1
2
,
p
p
.
1
7
4
7
-
1
7
5
1
.
[1
6
]
P
.
Ku
m
a
r,
S
.
S
P
a
th
a
n
a
n
d
B.
M
a
sh
il
k
a
r.
“
L
iq
u
id
L
e
v
e
l
Co
n
tr
o
l
u
sin
g
P
ID
Co
n
tro
l
ler
Ba
se
d
o
n
L
a
b
V
iew
a
n
d
M
AT
LAB
so
f
t
w
a
r
e
”
,
Pre
c
e
e
d
in
g
Co
n
fer
e
n
c
e
a
t
IJ
ER
T
,
Vo
l
u
m
e
3
,
2
0
1
4
,
p
p
.
1
1
1
-
1
1
4
.
[1
7
]
M
ich
a
e
l
Ne
g
n
e
v
it
s
k
y
.
Arti
fi
c
ia
l
In
telli
g
e
n
c
e
A
g
u
i
d
e
to
In
telli
g
e
n
t
S
y
ste
ms
.
S
e
c
o
n
d
E
d
it
i
o
n
.
En
g
lan
d
:
A
d
d
iso
n
-
W
e
sle
y
.
2
0
0
5
:1
1
2
-
14.
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