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Vo
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,
J
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201
5
,
p
p
.
13
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~
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I
SS
N:
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4856
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1.
I
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Mo
tio
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b
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r
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[
1
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2
]
,
f
o
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-
le
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g
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[
3
]
,
an
d
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is
an
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tial
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f
j
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t tr
aj
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to
r
ies.
Sev
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al
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ch
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[
4
,
5
,
6
&
7
]
w
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p
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p
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s
ed
to
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tab
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DOF)
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c
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an
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[
8
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d
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ar
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u
s
ed
to
d
r
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an
i
m
ated
ch
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s
[
9
]
.
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iq
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ase
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[
1
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W
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
2
,
J
u
n
e
201
5
:
13
5
–
14
2
136
T
h
e
f
ir
s
t
s
tep
i
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g
en
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ati
n
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h
u
m
a
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ta
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[
1
1
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[
1
2
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Mo
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As
a
r
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lt;
v
elo
cit
y
,
ac
ce
ler
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an
d
p
o
w
er
o
f
m
o
to
r
s
h
a
v
e
b
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n
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al
u
ated
.
A
t
ea
ch
s
tep
,
r
o
b
o
t
w
o
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ld
b
e
m
o
v
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d
in
Ma
tlab
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o
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t
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d
ze
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t p
o
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t tr
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to
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ed
.
2.
H
UM
ANO
I
D
RO
B
O
T
S B
A
L
ANC
E
T
H
E
O
RI
E
S
T
h
er
e
ar
e
s
ev
er
al
th
eo
r
ies
f
o
r
h
o
ld
in
g
h
u
m
an
o
id
r
o
b
o
t
s
in
b
alan
ce
.
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e
o
f
t
h
e
o
ld
th
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r
ies
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b
alan
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g
b
y
ca
lc
u
lati
n
g
ce
n
t
er
o
f
g
r
av
it
y
(
C
O
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p
o
in
t.
I
n
th
is
t
h
eo
r
y
,
p
r
o
j
ec
tio
n
o
f
r
o
b
o
ts
'
ce
n
ter
o
f
m
as
s
s
h
o
u
ld
al
w
a
y
s
b
e
i
n
th
e
s
u
p
p
o
r
t
p
o
ly
g
o
n
.
I
n
a
n
o
t
h
er
m
et
h
o
d
,
Z
MP
[
1
6
]
is
u
s
ed
.
I
t
s
p
ec
i
f
ies
t
h
e
p
o
in
t
w
h
ic
h
d
y
n
a
m
ic
r
ea
ctio
n
f
o
r
ce
at
th
e
co
n
tact
o
f
th
e
f
o
o
t
w
ith
t
h
e
g
r
o
u
n
d
d
o
es
n
o
t
p
r
o
d
u
ce
an
y
m
o
m
en
t.
I
n
r
ea
l
h
u
m
a
n
w
a
lk
i
n
g
m
o
tio
n
,
t
h
e
p
o
in
t
Z
MP
is
p
lace
d
in
s
id
e
t
h
e
allo
w
ab
le
b
ala
n
ce
d
ar
ea
[
1
7
]
.
Fo
r
ca
lcu
lati
n
g
t
h
e
cen
ter
o
f
m
a
s
s
p
o
in
t,
E
q
u
a
tio
n
1
is
u
s
ed
:
(
1
)
W
h
er
e
C
O
G
x
,
C
O
G
y
,
C
O
G
z
ar
e
th
e
p
o
s
itio
n
s
o
f
th
e
m
a
s
s
ce
n
ter
o
f
th
e
r
o
b
o
t;
an
d
i
x
,
i
y
,
i
z
ar
e
th
e
p
o
s
itio
n
s
o
f
th
e
m
a
s
s
ce
n
t
er
o
f
th
e
lin
k
i
;
i
m
is
t
h
e
m
a
s
s
o
f
th
e
li
n
k
i
an
d
n
is
th
e
to
tal
n
u
m
b
er
o
f
th
e
co
m
p
o
n
e
n
t
s
o
f
t
h
e
r
o
b
o
t.
Z
er
o
Mo
m
en
t
P
o
in
t
(
Z
MP
)
is
ac
h
ie
v
ed
b
y
f
i
n
d
in
g
a
p
o
in
t
as
(
x
,
y
)
w
h
ic
h
t
h
e
s
u
m
o
f
all
in
er
tial
to
r
q
u
es
ar
o
u
n
d
it,
is
ze
r
o
.
Si
n
ce
th
e
p
r
o
j
ec
tio
n
o
f
Z
MP
is
in
th
e
ar
ea
o
f
t
h
e
f
ee
t,
th
e
r
o
b
o
t
w
i
ll
k
ee
p
its
b
alan
ce
.
E
q
u
atio
n
2
is
t
h
e
Z
M
P
f
o
r
m
u
latio
n
;
h
o
w
e
v
er
co
m
p
lex
it
y
o
f
Z
MP
ca
lcu
latio
n
,
f
o
r
ce
d
th
e
r
esear
ch
er
s
to
u
s
e
a
s
i
m
p
le
f
o
r
m
u
la
tio
n
wh
ich
u
s
e
s
th
e
FS
R
s
e
n
s
o
r
v
al
u
es
w
h
ic
h
w
er
e
i
m
p
lan
ted
u
n
d
er
th
e
s
o
l
e
o
f
leg
s
,
as
m
e
n
tio
n
ed
b
ef
o
r
e
.
(
2
)
W
h
er
e
i
x
i
y
J
J
,
,
,
d
en
o
te
th
e
m
o
m
en
t
o
f
in
er
t
ia
in
t
h
e
x
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n
d
y
-
d
ir
ec
ti
o
n
o
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li
n
k
i;
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x
i
y
,
,
,
d
en
o
te
th
e
p
itch
an
g
le
o
f
li
n
k
i;
k
Z
k
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F
,
,
,
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e
th
e
y
a
n
d
z
-
d
ir
ec
tio
n
o
f
t
h
e
e
x
te
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al
f
o
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ce
a
n
d
z
y
x
g
g
g
,
,
ar
e
p
ar
ts
o
f
t
h
e
g
r
av
it
y
ac
ce
ler
atio
n
.
A
tte
n
ti
v
e
to
r
esear
ch
es
m
ad
e
in
th
is
f
ield
[
1
8
,
1
9
]
if
th
e
p
o
in
ts
m
e
n
tio
n
ed
(
C
OG,
Z
MP
)
w
o
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ld
b
e
p
lace
d
in
th
e
s
tab
le
ar
ea
th
e
r
o
b
o
t
w
o
u
ld
b
e
k
ep
t
i
n
b
alan
c
e.
T
h
is
ar
ea
is
g
ai
n
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f
r
o
m
th
e
b
alan
ce
eq
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(
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1
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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2089
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4856
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u
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Fig
u
r
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tate
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H
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D
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B
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M
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L
A
ND
T
R
AJ
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C
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RY
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NE
R
AT
I
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.
1
.
Deg
re
es o
f
F
re
edo
m
I
n
th
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s
p
ar
t
w
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h
a
v
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m
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lat
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r
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m
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co
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i
n
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2
3
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r
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r
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w
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eleto
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Fig
u
r
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Sin
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m
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m
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o
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d
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h
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e
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k
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elate
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ated
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m
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u
r
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2
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t
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IJ
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[1
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A
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142
[2
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L
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ma
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Zh
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[7
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W
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IJ
RA
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V
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l
4
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No
1
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M
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2
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1
5
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[8
]
Yo
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Ja
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R
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.,
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ma
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7
4
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p
p
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7
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5
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.
[9
]
F
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tem
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ter
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(
IJ
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v
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l
4
,
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1
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M
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0
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0
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l
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(2
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0
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):
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3
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1
3
2
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1
]
Ja
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2
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s
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ter
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3
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tern
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g
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2
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4
]
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m
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k
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0
6
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2
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1
2
.
[1
5
]
W
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Ik
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,
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Un
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sa
ted
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:
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e
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In
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P
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e
,
v
o
l
2
2
4
,
pp
8
9
1
-
9
0
1
,
2
0
1
0
.
[1
6
]
M
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R
V
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,
BRA
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BORO
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[1
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[1
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[1
9
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