I
nte
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io
na
l J
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urna
l o
f
Ro
bo
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Aut
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J
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l.
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3
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tem
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er
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N:
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pp
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195
190
J
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l ho
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e
:
h
ttp
:
//ij
r
a
.
ia
esco
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co
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Air cloud a
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ution
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cc
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In
th
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a
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C)
a
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o
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m
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p
ti
m
a
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a
c
ti
v
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p
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p
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.
Clo
u
d
s
sh
a
p
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n
u
m
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ro
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s
wa
y
s.
Co
n
v
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ti
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c
lo
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s
a
re
c
re
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ted
w
h
e
n
m
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ir
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a
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m
e
d
a
n
d
e
x
p
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to
f
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g
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ir
ra
is
e
s
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ter
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d
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h
in
it
e
x
p
a
n
d
s an
d
g
e
ts
c
o
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led
a
s it
g
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e
s.
As
th
e
tem
p
e
r
a
tu
re
a
n
d
p
re
ss
u
re
o
f
th
e
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d
im
in
ish
,
it
s
sa
tu
ra
ti
o
n
p
o
in
t
–
th
e
e
q
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il
i
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v
a
p
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ra
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a
n
d
c
o
n
d
e
n
sa
ti
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is
re
d
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d
.
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e
r
y
x
i
s
o
n
e
c
lo
u
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d
ro
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let,
a
n
d
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a
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tativ
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teristic
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d
b
y
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e
th
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d
ig
it
a
l
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h
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ra
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ter
(Ex
,
En
,
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),
d
r
o
p
lets
n
u
m
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e
r
n
,
w
h
e
re
Ex
(Ex
p
e
c
ted
v
a
lu
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),
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(
En
tr
o
p
y
)
a
n
d
He
(Hy
p
e
r
e
n
tro
p
y
)
o
f
o
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e
c
lo
u
d
d
e
term
in
e
c
e
n
tre
p
o
siti
o
n
o
f
c
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d
,
c
o
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ra
n
g
e
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f
c
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d
a
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d
th
ick
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ss
o
f
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e
q
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u
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m
s
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d
sim
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s
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s
sh
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th
e
b
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tt
e
r
p
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rf
o
rm
a
n
c
e
o
f
th
e
p
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o
p
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se
d
a
lg
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rit
h
m
in
re
d
u
c
i
n
g
th
e
re
a
l
p
o
w
e
r
lo
ss
.
K
ey
w
o
r
d
s
:
A
ir
clo
u
d
Op
ti
m
al
r
ea
cti
v
e
p
o
w
er
T
r
an
s
m
is
s
io
n
lo
s
s
T
h
is
is
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Kan
a
g
asab
ai
L
e
n
i
n
,
P
r
asad
V.
P
o
tlu
r
i Sid
d
h
ar
th
a
I
n
s
ti
tu
te
o
f
T
ec
h
n
o
lo
g
y
Kan
u
r
u
,
Vij
a
y
a
w
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a,
An
d
h
r
a
P
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,
5
2
0
0
0
7
,
I
n
d
ia
.
E
m
ail:
g
k
len
i
n
@
g
m
ai
l.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
R
ea
cti
v
e
p
o
w
er
o
p
tim
izatio
n
p
r
o
b
lem
p
la
y
s
m
ain
r
o
le
in
s
e
cu
r
e
&
ec
o
n
o
m
ic
o
p
er
atio
n
o
f
th
e
p
o
w
er
s
y
s
te
m
.
Sev
er
al
co
n
v
e
n
tio
n
al
m
et
h
o
d
s
[
1
-
8
]
u
s
ed
alr
ea
d
y
f
o
r
s
o
lv
in
g
th
e
p
r
o
b
le
m
.
Var
io
u
s
d
r
a
w
b
ac
k
s
h
av
e
b
ee
n
f
o
u
n
d
in
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h
e
co
n
v
en
t
io
n
a
l
m
et
h
o
d
s
an
d
m
ai
n
l
y
d
if
f
ic
u
lt
y
in
h
an
d
li
n
g
th
e
i
n
eq
u
al
it
y
co
n
s
tr
ai
n
ts
.
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as
t
t
w
o
d
ec
ad
es
m
a
n
y
ev
o
l
u
tio
n
ar
y
al
g
o
r
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m
s
[
9
-
2
0
]
h
as
b
ee
n
ap
p
l
ied
to
m
s
o
lv
e
th
e
p
r
o
b
lem
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I
n
th
is
w
o
r
k
air
clo
u
d
(
AC
)
al
g
o
r
ith
m
h
as
b
ee
n
a
p
p
lied
to
s
o
lv
e
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e
o
p
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m
al
r
ea
ctiv
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p
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w
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p
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le
m
.
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y
n
a
m
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s
o
f
clo
u
d
d
ev
elo
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m
en
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e
x
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,
m
o
t
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an
d
d
is
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ip
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ar
e
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s
a
tile.
I
n
th
e
p
r
o
g
r
es
s
o
f
a
clo
u
d
s
i
m
u
latio
n
,
it
i
s
s
ig
n
i
f
ica
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t
to
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ea
l
ize
d
y
n
a
m
i
cs
s
o
th
at
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ig
h
-
q
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ali
t
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esti
m
atio
n
ca
n
b
e
s
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ted
w
h
i
ch
allo
w
co
m
p
ete
n
t
i
m
p
le
m
en
ta
tio
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it
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t
s
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i
f
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ea
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m
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alg
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it
h
m
i
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ti
m
u
lated
f
r
o
m
t
h
e
ac
tio
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s
o
f
clo
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s
u
ch
a
s
f
o
r
m
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f
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m
a
n
ce
,
v
ar
y
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n
g
p
er
f
o
r
m
a
n
ce
an
d
s
p
r
ea
d
o
u
t
ac
tio
n
s
o
f
clo
u
d
.
T
h
e
w
h
o
le
ex
p
lo
r
e
s
p
ac
e
is
alien
ated
i
n
to
s
ev
er
al
d
is
lo
d
g
e
r
eg
io
n
s
ac
co
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d
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g
to
t
h
e
p
ar
ticu
lar
r
u
le,
an
d
ea
ch
r
eg
io
n
p
o
s
s
e
s
s
w
it
h
air
p
r
ess
u
r
e
v
al
u
e
an
d
h
u
m
id
it
y
v
alu
e.
P
r
o
j
ec
ted
A
C
alg
o
r
it
h
m
h
as
b
ee
n
te
s
ted
in
s
ta
n
d
ar
d
I
E
E
E
1
4
,
5
7
,
3
0
0
b
u
s
s
y
s
te
m
s
an
d
s
i
m
u
lat
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n
s
r
es
u
l
ts
s
h
o
w
t
h
e
b
etter
p
er
f
o
r
m
a
n
c
e
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
n
r
ed
u
cin
g
t
h
e
r
ea
l
p
o
w
er
lo
s
s
.
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
Ob
j
ec
tiv
e
o
f
th
e
p
r
o
b
lem
is
t
o
r
e
d
u
ce
th
e
t
r
u
e
p
o
w
er
l
o
s
s
:
∑
(
)
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
JR
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
A
ir
clo
u
d
a
lg
o
r
ith
m
fo
r
d
imin
u
tio
n
o
f
a
ctive
p
o
w
er lo
s
s
(
K
a
n
a
g
a
s
a
b
a
i Len
in
)
191
Vo
ltag
e
d
ev
ia
ti
o
n
g
iv
en
as f
o
ll
o
w
s
:
(
2
)
Vo
l
tag
e
d
ev
ia
ti
o
n
g
iv
en
b
y
:
∑
|
|
(
3
)
C
o
n
s
tr
ain
t
(
E
q
u
ality
)
(
4
)
C
o
n
s
tr
ain
ts
(
I
n
e
q
u
ali
ty
)
(
5
)
(
6
)
(
7
)
(
8
)
(
9
)
3.
AIR CLO
U
D
AL
G
O
RI
T
H
M
AC
alg
o
r
it
h
m
is
s
t
i
m
u
lated
f
r
o
m
t
h
e
ac
tio
n
s
o
f
clo
u
d
s
u
ch
a
s
f
o
r
m
a
tio
n
p
er
f
o
r
m
a
n
c
e,
v
ar
y
i
n
g
p
er
f
o
r
m
a
n
ce
a
n
d
s
p
r
ea
d
o
u
t
ac
tio
n
s
o
f
clo
u
d
.
T
h
e
w
h
o
le
ex
p
lo
r
e
s
p
ac
e
is
alie
n
ated
i
n
t
o
s
ev
er
al
d
is
lo
d
g
e
r
eg
io
n
s
ac
co
r
d
in
g
to
th
e
p
ar
ti
cu
lar
r
u
le,
an
d
ea
c
h
r
eg
io
n
p
o
s
s
es
s
w
it
h
air
p
r
ess
u
r
e
v
al
u
e
a
n
d
h
u
m
id
it
y
v
al
u
e.
C
lo
u
d
s
ar
e
ab
le
to
b
e
en
g
en
d
er
ed
in
r
eg
io
n
s
w
it
h
d
a
m
p
n
ess
v
a
lu
e
ar
e
s
u
p
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io
r
to
p
r
ec
is
e
th
r
esh
o
ld
.
Un
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er
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t
h
th
e
v
e
n
t
u
r
e
o
f
w
i
n
d
,
clo
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d
s
s
h
i
f
t
f
r
o
m
r
eg
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n
s
w
it
h
s
u
p
er
io
r
air
p
r
ess
u
r
e
v
al
u
e
to
w
ar
d
s
lo
w
er
ai
r
p
r
ess
u
r
e
v
alu
e
r
eg
io
n
s
.
I
n
th
e
m
o
v
e
m
e
n
t
p
r
o
ce
d
u
r
e,
th
e
d
r
o
p
lets
o
f
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n
e
clo
u
d
w
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ld
ex
p
an
d
o
r
g
et
h
o
ld
o
f
j
o
in
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co
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d
in
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to
th
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ai
r
p
r
ess
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r
e
d
if
f
er
e
n
ce
.
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r
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m
e
t
h
at
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i
s
t
h
e
s
p
ac
e;
t
h
e
r
eg
io
n
is
d
e
f
in
ed
as
s
u
b
s
p
ac
e
af
ter
th
e
s
ep
ar
atio
n
o
f
U
ac
co
r
d
in
g
to
v
ar
io
u
s
s
y
s
te
m
s
a
n
d
d
i
m
en
s
io
n
o
f
U
is
al
ien
ated
i
n
to
M
m
i
n
u
te
h
ia
tu
s
(
)
(
10
)
E
n
tire
s
ea
r
ch
s
p
ac
e
s
p
lit in
to
MD
r
eg
io
n
s
,
w
h
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h
m
ee
t u
p
th
e
s
u
b
s
eq
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n
t p
r
o
p
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ty
:
{
⋃
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+
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11
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I
n
U
C
lo
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s
d
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n
ed
as
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alitati
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asti
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E
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er
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o
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e
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o
u
d
d
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o
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alitativ
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ter
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is
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p
lain
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e
th
r
ee
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ig
ital
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ar
ac
ter
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x
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n
,
He)
,
d
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lets
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m
b
er
n
,
w
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e
E
x
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ted
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u
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n
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tr
o
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n
d
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y
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ick
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f
clo
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d
eq
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all
y
.
Ass
u
m
e
m
clo
u
d
s
in
iter
atio
n
t
,
th
en
:
{
}
(
12
)
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er
2
0
2
0
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190
–
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5
192
C
lo
u
d
s
d
r
o
p
lets
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u
m
b
er
s
,
{
}
(
13
)
A
ll c
lo
u
d
s
d
r
o
p
lets
n
u
m
b
er
s
,
{
∑
(
14
)
(
)
(
)
(
15
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Da
m
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s
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v
al
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n
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(
16
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A
ir
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ess
u
r
e
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al
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e
is
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(
)
(
17
)
(
)
(
1
8
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C
r
ea
tio
n
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d
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io
n
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s
*
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elim
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o
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lu
e
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⁄
(
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(
20
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o
tal
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m
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ec
e
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ated
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e
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n
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f
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d
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(
21
)
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t
s
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t
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p
lets
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m
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er
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f
clo
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d
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e
w
l
y
g
en
er
ated
h
a
s
a
r
elativ
e
r
elatio
n
w
it
h
t
h
e
h
u
m
id
it
y
o
f
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eg
io
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s
[
2
1
,
2
2
]
in
R
,
is
g
i
v
en
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(
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∑
(
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(
22
)
R
ec
en
t
l
y
g
en
er
ated
o
f
clo
u
d
s
f
ea
tu
r
es a
r
e
d
escr
ib
ed
as,
(
)
(
23
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r
esu
m
e
t
h
e
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eg
io
n
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h
er
e
th
e
clo
u
d
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o
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itio
n
ed
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ated
as
US,
an
d
th
en
ar
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itra
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i
l
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ick
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eg
io
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r
ess
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r
e
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e
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n
f
er
io
r
th
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as
th
e
o
b
j
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tiv
e
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eg
io
n
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,
th
en
d
if
f
er
e
n
tiatio
n
o
f
p
r
ess
u
r
e
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et
w
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d
UT
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o
u
n
d
b
y
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d
er
n
ized
eq
u
atio
n
o
f
clo
u
d
'
s
lo
ca
ti
o
n
is
f
o
u
n
d
b
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
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JR
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b
&
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u
to
m
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N:
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4856
A
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o
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ith
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s
(
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n
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g
a
s
a
b
a
i Len
in
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193
⃗
⃗
(
24
)
A
lter
i
n
g
v
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cit
y
o
f
clo
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d
is
f
o
u
n
d
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y
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⃗
⃗
⃗
(
25
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⃗
(
)
⃗
⃗
(
)
‖
(
)
⃗
⃗
(
)
‖
(
26
)
(
27
)
i
n
d
icate
s
t
h
e
p
er
s
u
ad
in
g
d
eg
r
ee
o
f
air
p
r
ess
u
r
e
w
it
h
t
h
e
f
itn
es
s
v
al
u
e
o
f
s
p
ec
if
y
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h
e
h
u
m
id
it
y
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al
u
e
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n
th
e
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n
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n
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d
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i
f
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m
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n
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h
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o
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k
en
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ate
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ed
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0
%
af
ter
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ch
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atio
n
.
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d
er
n
ized
d
r
o
p
lets
n
u
m
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er
is
f
o
u
n
d
b
y
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)
(
29
)
W
h
en
d
r
o
p
lets
ar
e
a
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m
o
u
n
t
to
d
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s
u
b
s
eq
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e
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t
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te
p
,
it
is
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n
s
id
er
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eter
io
r
ated
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is
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r
im
ar
il
y
u
s
ed
to
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er
i
f
y
th
e
s
p
ee
d
o
f
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u
d
s
,
w
h
ic
h
m
o
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ed
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d
th
e
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al
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e
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n
s
id
er
ed
as
.
A
s
s
u
m
e
th
e
r
eg
io
n
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h
er
e
t
h
e
clo
u
d
(
)
s
itu
ated
is
U
S,
an
d
w
h
e
n
UT
US,
th
e
ex
p
a
n
d
ed
f
leet
n
e
s
s
o
f
clo
u
d
is
ar
ticu
lated
as:
(
)
(
29
)
is
ex
p
an
d
f
ac
to
r
an
d
co
m
p
u
ted
b
y
,
(
30
)
P
m
a
x
is
t
h
e
g
r
ea
te
s
t
air
p
r
ess
u
r
e
d
if
f
er
en
ce
i
n
t
h
e
s
ea
r
ch
s
p
ac
e;
is
th
e
p
r
ess
u
r
e
d
if
f
e
r
en
ce
b
et
w
ee
n
US
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d
UT
.
W
h
en
UT
=
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th
e
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u
d
w
il
l
ex
p
an
d
ac
co
r
d
in
g
to
th
e
m
a
x
i
m
u
m
p
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ess
u
r
e
w
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h
d
if
f
er
en
ce
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et
w
ee
n
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a
n
d
p
er
ip
h
er
al
r
eg
io
n
s
,
th
e
d
a
m
p
n
e
s
s
v
al
u
es
,
air
p
r
ess
u
r
e
v
alu
es
o
f
all
r
e
g
io
n
s
is
u
p
d
ated
ev
er
y
ti
m
e
s
u
b
s
e
q
u
en
t
to
th
e
m
ak
in
g
p
r
o
ce
s
s
o
f
clo
u
d
,
th
e
clo
u
d
's
alter
p
r
o
ce
d
u
r
e
an
d
ex
p
an
d
p
r
o
g
r
ess
io
n
.
a.
I
n
itializatio
n
o
f
t
h
e
p
r
o
ce
d
u
r
e
b.
cr
ea
tio
n
o
f
C
lo
u
d
s
c.
m
o
d
er
n
ize
Hu
m
id
it
y
Val
u
e
,
Air
P
r
ess
u
r
e
v
alu
e
o
f
ar
ea
d.
alter
b
eh
av
io
u
r
o
f
C
lo
u
d
is
co
m
p
u
ted
e.
ex
p
an
d
B
eh
av
io
u
r
o
f
C
lo
u
d
is
co
m
p
u
ted
f.
m
o
d
er
n
ize
Hu
m
id
it
y
Val
u
e,
Air
P
r
ess
u
r
e
Valu
e
o
f
ar
ea
g.
if
E
n
d
o
f
L
o
o
p
,
th
en
s
to
p
o
r
else
m
o
v
e
to
Step
c
4.
SI
M
UL
AT
I
O
N
R
E
S
UL
T
S
A
t
f
ir
s
t
i
n
s
tan
d
ar
d
I
E
E
E
1
4
b
u
s
s
y
s
te
m
t
h
e
v
a
lid
it
y
o
f
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
h
as
b
ee
n
test
ed
an
d
co
m
p
ar
is
o
n
r
es
u
lt
s
ar
e
p
r
ese
n
t
ed
in
T
ab
le
1
(
u
s
i
n
g
[
2
3
]
)
.
R
ea
l
p
o
w
er
lo
s
s
h
as
b
ee
n
co
n
s
id
er
ab
ly
r
ed
u
ce
d
an
d
v
ital
p
a
r
a
m
eter
s
ar
e
w
it
h
i
n
th
e
li
m
it
s
.
T
h
en
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
j
ec
ted
alg
o
r
ith
m
h
a
s
b
ee
n
v
alid
ated
b
y
test
ed
i
n
s
tan
d
ar
d
I
E
E
E
5
7
b
u
s
s
y
s
te
m
[
2
4
]
.
T
o
tal
ac
tiv
e
an
d
r
ea
cti
v
e
p
o
w
er
d
e
m
a
n
d
s
in
t
h
e
s
y
s
te
m
ar
e
1
2
4
8
.
2
3
MW
an
d
3
3
4
.
1
6
MV
AR
.
Ge
n
er
ato
r
d
ata
t
h
e
s
y
s
te
m
is
g
iv
e
n
in
T
ab
le
2
.
T
h
e
o
p
ti
m
u
m
lo
s
s
co
m
p
ar
is
o
n
(
o
f
[
2
5
–
2
8
]
)
is
p
r
esen
ted
i
n
T
ab
le
3
.
T
h
en
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
h
as
b
ee
n
test
ed
i
n
s
tan
d
ar
d
I
E
E
E
3
0
0
b
u
s
s
y
s
te
m
[
2
4
]
.
T
ab
le
4
s
h
o
w
s
t
h
e
co
m
p
ar
is
o
n
[
2
8
,
2
9
]
o
f
r
ea
l
p
o
w
er
lo
s
s
o
b
tain
ed
af
ter
o
p
ti
m
izatio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
JR
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b
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
190
–
1
9
5
194
T
ab
le
1
.
C
o
m
p
ar
is
o
n
o
f
r
ea
l p
o
w
er
lo
s
s
C
o
n
t
r
o
l
v
a
r
i
a
b
l
e
s
A
B
C
O
[
2
3
]
I
A
B
C
O
[
2
3
]
AC
V1
1
.
0
6
1
.
0
5
1
.
0
4
V2
1
.
0
3
1
.
0
5
1
.
0
3
V3
0
.
9
8
1
.
0
3
1
.
0
4
V6
1
.
0
5
1
.
0
5
1
.
0
1
V8
1
.
0
0
1
.
0
4
0
.
9
0
Q9
0
.
1
3
9
0
.
1
3
2
0
.
1
0
0
T
5
6
0
.
9
7
9
0
.
9
6
0
0
.
9
0
0
T
4
7
0
.
9
5
0
0
.
9
5
0
0
.
9
0
0
T
4
9
1
.
0
1
4
1
.
0
0
7
1
.
0
0
0
P
l
o
ss (M
W
)
5
.
9
2
8
9
2
5
.
5
0
0
3
1
4
.
1
0
0
2
8
T
ab
le
2
.
Gen
er
ato
r
d
ata
G
e
n
e
r
a
t
o
r
No
P
g
i
mi
n
i
m
u
m
P
g
i
max
i
mu
m
Q
g
i
mi
n
i
m
u
m
Q
g
i
max
i
mu
m
1
2
5
.
0
0
5
0
.
0
0
0
.
0
0
0
.
0
0
2
1
5
.
0
0
9
0
.
0
0
-
1
7
.
0
0
5
0
.
0
0
3
1
0
.
0
0
5
0
0
.
0
0
-
1
0
.
0
0
6
0
.
0
0
4
1
0
.
0
0
5
0
.
0
0
-
8
.
0
0
2
5
.
0
0
5
1
2
.
0
0
5
0
.
0
0
-
1
4
0
.
0
0
2
0
0
.
0
0
6
1
0
.
0
0
3
6
0
.
0
0
-
3
.
0
0
9
.
0
0
7
5
0
.
0
0
5
5
0
.
0
0
-
5
0
.
0
0
1
5
5
.
0
0
T
ab
le
3
.
C
o
m
p
ar
is
o
n
o
f
lo
s
s
e
s
P
a
r
a
me
t
e
r
C
L
P
S
O
[
2
6
]
D
E[
2
5
]
G
S
A
[
2
5
]
O
G
S
A
[
2
7
]
S
O
A
[
2
6
]
Q
O
D
E[
2
5
]
C
S
A
[
2
8
]
AC
P
L
O
S
S
(
M
W
)
2
4
.
5
1
5
2
1
6
.
7
8
5
7
2
3
.
4
6
1
1
2
3
.
4
3
2
4
.
2
6
5
4
1
5
.
8
4
7
3
1
5
.
5
1
4
9
1
2
.
1
0
5
2
T
ab
le
4
.
C
o
m
p
ar
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[1
]
O.
A
ls
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S
to
tt
,
“
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ti
m
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L
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.
[2
]
K.
Y.
Lee
,
Y.
M
.
P
a
rk
,
a
n
d
J.
L
.
Ortiz,
“
A
Un
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A
p
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[3
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F
.
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ra
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1
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p
p
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1
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1
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8
7
.
[4
]
N.
De
e
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d
S
.
M
.
S
h
a
h
id
e
h
p
o
u
r,
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larg
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m
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a
p
p
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T
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sa
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ti
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r
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ste
ms
,
v
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l.
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2
,
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4
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–
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3
8
,
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9
9
0
.
[5
]
E.
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b
so
n
,
“
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tw
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rk
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stra
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d
Re
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Us
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L
in
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a
r
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ra
m
m
in
g
,
”
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T
ra
n
sa
c
ti
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0
.
[6
]
K.
Y.
L
e
e
,
Y.
M
.
P
a
rk
,
a
n
d
J.
L
.
Ortiz,
“
F
u
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l
-
c
o
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m
in
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m
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re
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l
-
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re
a
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ti
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sp
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tch
e
s,
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Pro
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d
in
g
s C
(
Ge
n
e
ra
ti
o
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,
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ra
n
sm
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d
Distrib
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)
,
v
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l
.
1
3
1
,
n
o
.
3
,
1
9
8
4
.
[7
]
M
.
K.
M
a
n
g
o
l
i,
K.
Y.
L
e
e
,
a
n
d
Y.
M
.
P
a
rk
,
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m
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tric P
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Res
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1
,
p
p
.
1
–
1
0
,
1
9
9
3
.
[8
]
C.
A
.
Ca
n
iza
r
e
s,
A
.
C.
Z.
De
S
o
u
z
a
a
n
d
V
.
H.
Qu
i
n
tan
a
,
“
Co
m
p
a
riso
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p
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m
a
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d
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tec
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p
ro
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im
it
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v
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lt
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g
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ll
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p
se
,
”
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E
T
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n
sa
c
ti
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s
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n
Po
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r S
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ms
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p
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1
4
4
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4
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[9
]
A
.
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e
rizz
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,
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l
.
,
“
A
GA
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latio
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tric P
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Re
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p
p
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1
8
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–
1
9
4
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0
1
2
.
[1
0
]
P.
Ro
y
,
S
.
G
h
o
sh
a
l,
a
n
d
S
.
T
h
a
k
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ro
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d
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in
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iza
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n
u
sin
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b
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o
g
ra
p
h
y
b
a
s
e
d
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p
ti
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iza
ti
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n
,
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In
ter
n
a
ti
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a
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J
o
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n
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l
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fE
lec
trica
l
Po
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r
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n
d
En
e
rg
y
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ms
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l.
4
3
,
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1
,
p
p
.
8
3
0
–
8
3
8
,
2
0
1
2
.
[1
1
]
Z.
Hu
,
X
.
W
a
n
g
,
a
n
d
G
.
T
a
y
lo
r,
“
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to
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a
stic
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ti
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tch
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ter
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6
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–
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.
[1
2
]
A
.
M
u
k
h
e
rjee
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n
d
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.
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u
k
h
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rjee
,
“
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o
lu
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tch
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h
m
,
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IET
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n
e
ra
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T
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3
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Z.
Hu
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W
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g
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latio
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tr.
Po
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.
3
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ij
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8
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5
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6
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”
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o
u
r
n
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l
o
f
E
lec
trica
l
S
y
ste
ms
,
v
o
l.
12
,
n
o
.
1
,
p
p
.
1
2
1
–
1
3
2
,
2
0
1
6
.
[1
7
]
R
.
N.
S
.
M
e
i,
M
.
H
.
S
u
laim
a
n
,
a
n
d
Z
.
M
u
sta
ff
a
,
“
A
n
t
L
io
n
Op
ti
m
ize
r
f
o
r
Op
ti
m
a
l
Re
a
c
ti
v
e
P
o
w
e
r
Disp
a
tch
S
o
lu
ti
o
n
,
”
Jo
u
rn
a
l
o
f
El
e
c
trica
l
S
y
ste
ms
,
n
o
.
S
p
e
c
ial
Iss
u
e
A
M
P
E
2
0
1
5
,
p
p
.
6
8
–
7
4
,
2
0
1
6
.
[1
8
]
A
.
Ga
g
li
a
n
o
a
n
d
F
.
No
c
e
ra
,
“
A
n
a
l
y
sis
o
f
th
e
p
e
rf
o
r
m
a
n
c
e
s
o
f
e
lec
tri
c
e
n
e
rg
y
sto
ra
g
e
in
re
sid
e
n
ti
a
l
a
p
p
li
c
a
ti
o
n
s,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
He
a
t
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
3
5
,
n
o
.
S
p
e
c
ial
Iss
u
e
1
,
p
p
.
S
4
1
–
S
4
8
,
2
0
1
7
,
d
o
i:
1
0
.
1
8
2
8
0
/i
j
h
t.
3
5
S
p
0
1
0
6
.
[1
9
]
M
.
Ca
ld
e
ra
,
P
.
Un
g
a
ro
,
G
.
Ca
m
m
a
ra
ta,
a
n
d
G
.
P
u
g
li
si,
“
S
u
rv
e
y
-
b
a
se
d
a
n
a
ly
sis
o
f
th
e
e
le
c
tri
c
a
l
e
n
e
rg
y
d
e
m
a
n
d
in
Italian
h
o
u
se
h
o
ld
s,
”
M
a
t
h
e
ma
ti
c
a
l
M
o
d
e
ll
i
n
g
o
f
En
g
i
n
e
e
rin
g
Pr
o
b
lem
s
,
v
o
l.
5
,
n
o
.
3
,
p
p
.
2
1
7
–
2
2
4
,
2
0
1
8
,
d
o
i
:
1
0
.
1
8
2
8
0
/mm
e
p
.
0
5
0
3
1
3
[2
0
]
L
.
Zajm
i,
F
.
Y.
A
h
m
e
d
,
a
n
d
A
.
A
.
Ja
h
a
ra
d
a
k
,
“
Co
n
c
e
p
ts,
M
e
th
o
d
s,
a
n
d
P
e
rf
o
rm
a
n
c
e
s
o
f
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iza
ti
o
n
,
Ba
c
k
p
ro
p
a
g
a
ti
o
n
,
a
n
d
Ne
u
ra
l
Ne
t
w
o
rk
s
,
”
Ap
p
li
e
d
Co
mp
u
t
a
ti
o
n
a
l
In
telli
g
e
n
c
e
a
n
d
S
o
ft
Co
m
p
u
t
in
g
,
v
o
l.
2
0
1
8
,
2
0
1
8
,
d
o
i
:
1
0
.
1
1
5
5
/
2
0
1
8
/9
5
4
7
2
1
2
.
[2
1
]
M
.
J.
Ha
rris
,
e
t
a
l
.
,
“
S
im
u
latio
n
o
f
Clo
u
d
Dy
n
a
m
ics
o
n
G
ra
p
h
ics
Ha
rd
w
a
re
,
”
i
n
P
r
o
c
.
A
CM
S
IGG
R
A
P
H/EUROG
R
A
P
H
ICS
Co
n
f
.
G
ra
p
h
ics
Ha
rd
w
a
r
e
,
S
a
n
Di
e
g
o
,
2
0
0
3
)
p
p
.
9
2
–
1
0
1
.
[2
2
]
D.
-
Y
L
i
a
n
d
C.
-
Y.
L
iu
,
“
S
t
u
d
y
o
n
th
e
u
n
iv
e
rsa
li
t
y
o
f
th
e
n
o
rm
a
l
c
lo
u
d
m
o
d
e
l,
”
En
g
i
n
e
e
rin
g
S
c
ien
c
e
,
v
o
l.
6
,
n
o
.
8
,
p
p
.
2
8
–
3
4
,
2
0
0
4
.
[2
3
]
C.
M
.
K.
S
iv
a
li
n
g
a
m
,
S
.
Ra
m
a
c
h
a
n
d
ra
n
,
a
n
d
P
.
S
.
S
.
Ra
jam
a
n
i,
“
Re
a
c
ti
v
e
p
o
we
r
o
p
ti
m
iza
ti
o
n
in
a
p
o
w
e
r
s
y
ste
m
n
e
tw
o
rk
th
ro
u
g
h
m
e
tah
e
u
risti
c
a
lg
o
rit
h
m
s
,
”
T
u
rk
ish
J
o
u
rn
a
l
o
f
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
&
Co
mp
u
ter
S
c
ie
n
c
e
s
,
v
o
l.
25
,
n
o
.
6
,
p
p
.
4
6
1
5
–
4
6
2
3
,
2
0
1
7
,
d
o
i:
1
0
.
3
9
0
6
/elk
-
1
7
0
3
–
1
5
9
.
[2
4
]
h
tt
p
:
//
ww
w
2
.
e
e
.
wa
sh
in
g
to
n
.
e
d
u
/r
e
se
a
rc
h
/p
stc
a
/
.
[2
5
]
M
.
Ba
su
,
“
Qu
a
si
-
o
p
p
o
siti
o
n
a
l
d
if
f
e
r
e
n
ti
a
l
e
v
o
lu
ti
o
n
f
o
r
o
p
ti
m
a
l
re
a
c
ti
v
e
p
o
we
r
d
isp
a
tch
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
Po
we
r &
En
e
rg
y
S
y
ste
ms
,
v
o
l.
7
8
,
p
p
.
2
9
–
4
0
,
2
0
1
6
.
[2
6
]
C.
Da
i,
e
t
a
l
.,
“
S
e
e
k
e
r
Op
ti
m
iza
ti
o
n
A
lg
o
rit
h
m
f
o
r
Op
ti
m
a
l
Re
a
c
ti
v
e
P
o
w
e
r
Disp
a
tch
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Po
we
r S
y
ste
ms
,
v
o
l.
2
4
,
n
o
.
3
,
p
p
.
1
2
1
8
–
1
2
3
1
,
2
0
0
9
.
[2
7
]
X.
-
S
.
Ya
n
g
,
“
F
iref
l
y
A
l
g
o
rit
h
m
,
L
é
v
y
F
li
g
h
ts
a
n
d
G
lo
b
a
l
Op
ti
m
iz
a
ti
o
n
,
”
Res
e
a
rc
h
a
n
d
De
v
e
lo
p
me
n
t
in
In
telli
g
e
n
t
S
y
ste
ms
XX
VI
,
p
p
.
2
0
9
–
2
1
8
,
2
0
0
9
.
[2
8
]
S
.
R.
S
a
lk
u
ti
,
“
Op
ti
m
a
l
Re
a
c
ti
v
e
P
o
w
e
r
S
c
h
e
d
u
li
n
g
Us
in
g
Cu
c
k
o
o
S
e
a
rc
h
A
l
g
o
rit
h
m
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
7
,
n
o
.
5
,
p
p
.
2
3
4
9
–
2
3
5
6
,
2
0
1
7
.
[2
9
]
S.
S
.
Re
d
d
y
,
e
t
a
l.
,
“
F
a
ste
r
e
v
o
lu
ti
o
n
a
ry
a
lg
o
rit
h
m
b
a
se
d
o
p
ti
m
a
l
p
o
w
e
r
f
l
o
w
u
sin
g
in
c
re
m
e
n
tal
v
a
riab
les
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
Po
we
r
&
En
e
rg
y
S
y
ste
ms
,
v
o
l.
5
4
,
p
p
.
1
9
8
–
2
1
0
,
2
0
1
4
.
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