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u
s
ed
to
d
eter
m
in
e
t
h
e
th
r
e
s
h
o
ld
v
alu
e
a
n
d
s
et
m
an
u
all
y
af
ter
w
ar
d
s
.
I
n
ad
d
itio
n
,
an
a
n
ti
-
p
in
c
h
s
y
s
te
m
is
s
u
g
g
ested
f
o
r
a
s
u
n
r
o
o
f
u
s
i
n
g
f
u
zz
y
lo
g
ic
s
c
h
e
m
e
[
1
2
]
,
[
13]
.
A
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
is
m
ad
e
f
r
o
m
r
elatio
n
b
et
w
ee
n
o
p
er
atio
n
te
m
p
er
at
u
r
e
an
d
v
o
ltag
e
to
d
ec
id
e
th
e
p
in
ch
co
n
d
it
io
n
.
T
h
e
s
q
u
ee
zi
n
g
f
o
r
ce
ca
n
b
e
o
b
tain
ed
af
ter
co
m
p
ar
i
n
g
t
h
e
m
e
m
b
e
r
s
h
ip
f
u
n
ctio
n
.
I
n
th
e
p
r
esen
t
s
t
u
d
y
,
th
e
a
n
ti
-
p
in
ch
s
y
s
te
m
i
s
b
u
ilt
b
y
u
ti
li
z
in
g
t
h
e
elec
tr
ic
c
u
r
r
en
t
o
f
t
h
e
DC
m
o
to
r
as
th
e
m
ai
n
in
f
o
r
m
a
tio
n
to
d
ec
id
e
th
e
p
in
c
h
co
n
d
itio
n
.
T
h
e
cu
r
r
en
t
s
e
n
s
o
r
is
i
n
s
talled
o
n
DC
m
o
to
r
d
r
iv
er
.
T
h
e
k
e
y
b
en
e
f
it o
f
u
s
i
n
g
c
u
r
r
en
t i
n
f
o
r
m
atio
n
i
s
t
h
at
t
h
e
p
in
c
h
co
n
d
itio
n
r
e
f
lect
s
an
d
d
etec
t
s
q
u
ic
k
l
y
w
it
h
g
o
o
d
s
en
s
iti
v
it
y
.
Ho
w
ev
er
,
u
tili
zi
n
g
cu
r
r
en
t i
n
f
o
r
m
atio
n
h
a
s
s
o
m
e
d
is
ad
v
an
ta
g
es,
s
u
c
h
a
s
p
r
o
n
en
ess
to
d
is
t
u
r
b
an
ce
s
th
at
ca
n
lead
n
o
is
es,
w
h
ic
h
w
il
l
m
a
k
e
a
f
alse
p
in
c
h
alar
m
in
to
th
e
s
y
s
te
m
.
Mo
r
eo
v
er
,
th
e
ch
an
g
es
i
n
DC
m
o
to
r
p
ar
am
eter
s
d
u
r
i
n
g
t
h
e
o
p
er
atio
n
ar
e
also
ab
le
to
ca
u
s
e
f
alse p
i
n
c
h
alar
m
.
O
n
t
h
e
o
p
er
atio
n
al
ti
m
e,
w
h
e
n
th
e
D
C
m
o
to
r
s
tar
ts
to
w
o
r
k
,
t
h
e
elec
tr
ic
cu
r
r
e
n
t
g
e
n
er
ates
h
ea
t
o
r
th
er
m
al
e
n
er
g
y
o
n
t
h
e
DC
m
o
to
r
.
T
h
e
h
ea
t
f
r
o
m
t
h
e
DC
m
o
to
r
a
f
f
ec
ts
t
h
e
cu
r
r
en
t
in
f
o
r
m
a
tio
n
o
f
t
h
e
D
C
m
o
to
r
.
I
f
t
h
e
m
a
n
u
al
th
r
e
s
h
o
ld
is
ap
p
lied
to
th
e
s
y
s
te
m
w
h
ic
h
is
k
n
o
w
n
to
h
a
v
e
th
ese
d
ef
ec
t
s
,
th
e
s
y
s
te
m
w
i
th
a
lo
w
r
eliab
ilit
y
w
ill
ca
u
s
e
a
lo
t
o
f
f
alse
p
in
c
h
alar
m
s
.
I
n
th
e
p
r
esen
t
an
ti
-
p
i
n
ch
s
y
s
te
m
,
th
e
a
u
to
m
a
tic
th
r
e
s
h
o
ld
is
m
ad
e
an
d
p
r
o
p
o
s
ed
as
a
n
e
w
s
ch
e
m
e
f
o
r
th
e
c
u
r
r
en
t
li
m
it
to
d
ec
id
e
th
e
p
in
c
h
co
n
d
itio
n
.
T
o
r
ea
lize
th
is
lo
w
-
co
s
t
tec
h
n
iq
u
e,
t
h
e
c
u
r
r
en
t
ch
ar
ac
ter
i
s
tic
s
ar
e
o
b
s
er
v
ed
b
ef
o
r
eh
an
d
,
a
n
d
an
al
y
ze
d
th
e
o
p
ti
m
al
cu
r
r
en
t
th
r
es
h
o
ld
v
al
u
e
to
ap
p
l
y
it
i
n
to
t
h
e
an
ti
-
p
in
c
h
m
ec
h
a
n
i
s
m
.
I
n
t
h
e
ex
p
er
i
m
en
tal
test
s
,
th
e
b
est
c
u
r
r
en
t
th
r
e
s
h
o
ld
is
s
h
o
u
ld
b
e
ac
q
u
ir
ed
an
d
f
it
th
e
an
t
i
-
p
i
n
ch
s
y
s
te
m
.
Fi
n
all
y
,
t
h
e
s
q
u
ee
zi
n
g
f
o
r
ce
test
is
co
n
d
u
cted
o
n
t
h
e
p
r
o
p
o
s
ed
an
ti
-
p
in
c
h
s
y
s
te
m
,
a
n
d
t
h
e
s
q
u
ee
zi
n
g
f
o
r
ce
is
s
u
p
p
o
s
ed
to
m
ee
t t
h
e
FMVSS 1
1
8
s
af
et
y
s
ta
n
d
ar
d
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
Eu
r
o
p
e
an
d
Am
er
ica
h
a
v
e
p
u
b
lis
h
ed
r
ig
o
r
o
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s
r
eg
u
lat
io
n
s
o
n
th
e
p
o
w
er
w
i
n
d
o
w
s
f
o
r
th
e
au
to
m
o
b
ile
'
s
s
a
f
et
y
:
E
u
r
o
p
ea
n
r
eg
u
latio
n
o
f
DI
R
E
C
T
I
VE
2
0
0
0
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1
an
d
Am
er
ican
r
e
g
u
la
tio
n
o
f
F
MV
S
S
118
-
S5
[
1
4
]
,
[
1
5
]
.
T
h
ese
r
eg
u
latio
n
s
s
p
ec
if
y
th
e
s
ta
n
d
ar
d
lim
it
o
n
t
h
e
m
ax
i
m
u
m
a
m
o
u
n
t
o
f
s
q
u
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zi
n
g
f
o
r
ce
an
d
th
e
m
in
i
m
u
m
s
a
f
e
r
ev
er
s
al
d
is
tan
ce
s
o
f
th
e
p
o
w
er
w
in
d
o
w
s
w
h
ich
m
u
s
t
b
e
co
n
f
ir
m
ed
b
y
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a
n
ti
-
p
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c
h
s
y
s
te
m
f
o
r
s
a
f
et
y
r
ea
s
o
n
s
.
I
n
t
h
e
a
n
ti
-
p
i
n
ch
m
ec
h
a
n
is
m
d
ev
elo
p
ed
in
t
h
i
s
r
esear
c
h
,
t
h
e
elec
tr
ic
cu
r
r
en
t
in
f
o
r
m
atio
n
is
d
ir
ec
tl
y
o
b
tain
e
d
b
y
cu
r
r
e
n
t
s
e
n
s
o
r
u
s
in
g
Ha
ll
E
f
f
ec
t,
w
h
ic
h
attac
h
ed
o
n
t
h
e
DC
m
o
to
r
d
r
iv
er
.
T
h
e
r
eg
u
lat
io
n
s
f
o
r
i
m
p
r
o
v
e
m
en
t
ar
e
i
m
p
o
s
ed
to
m
a
k
e
t
h
e
a
u
to
m
o
ti
v
e
p
o
w
er
w
i
n
d
o
w
s
s
a
f
er
a
n
d
m
o
r
e
co
m
f
o
r
tab
le
f
o
r
t
h
e
d
r
iv
er
s
a
n
d
t
h
e
p
as
s
en
g
er
s
.
I
n
t
h
i
s
s
a
f
et
y
w
i
th
co
n
v
en
ie
n
ce
,
Am
er
ica
s
tr
e
n
g
t
h
e
n
s
th
e
v
eh
ic
le
s
a
f
et
y
s
tan
d
ar
d
s
ap
p
li
ca
b
le
in
t
h
e
E
u
r
o
p
ea
n
r
eg
io
n
.
T
ab
le
1
s
tate
th
e
k
e
y
f
ea
tu
r
e
s
f
o
r
DI
R
E
C
T
I
VE
2
0
0
0
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an
d
DOT
FMVS
S
1
1
8
-
S5
r
eg
u
latio
n
s
.
T
h
e
s
q
u
ee
zin
g
f
o
r
ce
,
r
ev
er
s
al
s
ec
t
io
n
,
an
d
r
e
v
er
s
al
d
is
tan
ce
s
(
i
n
ca
s
e
s
o
f
#
1
an
d
#
2
)
ar
e
th
e
s
a
m
e
f
o
r
b
o
th
r
eg
u
latio
n
s
,
b
u
t
th
e
test
r
o
d
f
o
r
ce
d
ef
lectio
n
r
atio
a
n
d
r
ev
er
s
al
d
is
ta
n
ce
in
ca
s
e
o
f
#
3
ar
e
d
if
f
er
en
t.
T
h
e
f
o
r
ce
d
ef
le
ctio
n
r
atio
is
d
ep
en
d
en
t
o
n
t
h
e
s
ize
o
f
th
e
t
e
s
t
r
o
d
its
el
f
.
T
w
o
tes
t
r
o
d
s
ar
e
n
ee
d
ed
in
F
MV
SS
1
1
8
.
No
te
th
at
th
e
FMVS
S
1
1
8
r
eg
u
latio
n
i
s
m
o
r
e
r
i
g
o
r
o
u
s
b
y
u
s
i
n
g
6
5
N/
m
m
test
r
o
d
.
Fu
r
t
h
er
m
o
r
e,
th
e
w
in
d
o
w
ar
e
a
is
d
iv
id
ed
i
n
to
t
w
o
w
o
r
k
zo
n
es
f
o
r
th
e
a
n
ti
-
p
i
n
ch
s
y
s
te
m
;
s
to
p
zo
n
e
an
d
r
ev
er
s
al
zo
n
e.
T
h
e
r
ev
er
s
al
zo
n
e
o
n
th
e
w
in
d
o
w
ar
ea
is
f
r
o
m
4
~2
0
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m
m
an
d
o
th
er
th
an
th
i
s
ar
ea
i
s
d
ef
in
ed
as
th
e
s
to
p
zo
n
e.
T
h
e
an
ti
-
p
in
c
h
w
o
r
k
zo
n
e
is
s
h
o
wn
in
Fi
g
u
r
e
1
.
B
ased
o
n
elec
tr
ic
cu
r
r
en
t,
th
e
an
ti
-
p
in
ch
s
y
s
te
m
w
it
h
co
n
tact
m
e
th
o
d
is
s
u
g
g
e
s
ted
to
s
atis
f
y
F
MV
SS
1
1
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r
e
g
u
lat
io
n
.
T
h
e
b
l
o
ck
d
iag
r
a
m
o
f
t
h
e
d
esig
n
ed
an
ti
-
p
in
c
h
s
y
s
te
m
i
s
s
h
o
w
n
o
n
Fi
g
u
r
e
2
.
T
ab
le
1
.
P
o
w
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w
i
n
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o
w
R
eg
u
l
atio
n
s
1
0
,
1
1
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t
e
m
D
I
R
EC
TI
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2
0
0
0
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4
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F
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1
1
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S
q
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<
1
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R
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t
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mm
T
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t
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1
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/
mm
6
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N
/
mm
(
≤
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st
r
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d
)
2
0
N
/
mm
(
>
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mm
t
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R
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v
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d
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.
3
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A
p
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1
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m
m
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w
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d
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
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atic
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ased
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cc
u
r
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.
2
.
1
.
DC
m
o
t
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r
curr
ent
cha
ra
ct
er
is
t
ics
I
n
th
is
p
ap
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a
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to
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tic
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h
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a
s
b
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p
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ak
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ec
is
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i
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t
h
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an
ti
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m
.
Ob
s
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r
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t
ch
ar
ac
ter
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t
ics
a
n
d
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h
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h
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p
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s
y
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te
m
.
Fi
g
u
r
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3
d
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lo
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d
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r
a
m
f
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p
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ca
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d
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ap
p
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DC
m
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to
r
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1
2
V.
T
h
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DC
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cu
r
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t
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n
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o
b
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f
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o
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th
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al
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ated
b
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en
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s
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T
h
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m
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W
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[
1
6
]
an
al
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th
at
th
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tr
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s
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r
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r
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f
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o
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e
Min
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o
f
T
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ad
e,
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d
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s
tr
y
&
E
n
er
g
y
,
R
ep
u
b
lic
o
f
Ko
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.
(
No
.
2
0
1
6
4
0
1
0
2
0
0
9
4
0
)
.
RE
F
E
R
E
NC
E
S
[1
]
T
.
Ca
u
ss
a
t
a
n
d
J.
Ev
e
rh
a
rt,
“
S
a
f
e
t
y
w
it
h
Co
n
v
e
n
ien
c
e
:
A
p
p
ly
in
g
L
o
w
Co
st
Ob
sta
c
le
De
tec
ti
o
n
Tec
h
n
o
lo
g
y
to
P
o
w
e
re
d
Clo
su
re
S
y
ste
m
s
w
it
h
Ex
p
re
ss
M
o
ti
o
n
,
”
S
AE
T
e
c
h
.
Pa
p
.
, 2
0
0
5
.
[2
]
E.
Kirb
y
,
“
Ch
il
d
S
a
f
e
t
y
v
i
a
a
n
ti
-
trap
p
ro
x
im
it
y
te
c
h
n
o
l
o
g
y
,
”
S
AE
T
e
c
h
.
Pa
p
.
,
2
0
0
6
.
[3
]
M
.
S
o
ll
m
a
n
n
,
e
t
a
l.
,
“
A
n
ti
P
i
n
c
h
P
r
o
tec
ti
o
n
f
o
r
P
o
w
e
r
Op
e
ra
ted
F
e
a
tu
re
s,”
S
AE
T
e
c
h
.
P
a
p
.
,
2
0
0
4
.
[4
]
N.
Brig
it
te
a
n
d
R.
He
rrm
a
n
n
,
“
Dire
c
t
S
e
n
so
r
S
o
l
u
ti
o
n
s
f
o
r
A
n
ti
P
in
c
h
a
n
d
Co
ll
isio
n
A
v
o
id
a
n
c
e
f
o
r
M
o
t
o
rize
d
Clo
su
re
s,”
S
A
E
T
e
c
h
.
Pa
p
.
,
2
0
0
9
.
[5
]
K.
S
.
H
o
a
n
d
J.
S
.
K
w
o
n
,
“
A
n
ti
-
P
in
c
h
S
y
ste
m
f
o
r
P
o
w
e
r
W
in
d
o
w
b
y
Us
in
g
Ha
ll
S
e
n
so
r,
”
Ko
re
a
n
S
o
c
.
Po
we
r
S
y
st.
En
g
.
,
v
o
l
.
14
,
n
o
.
5
,
p
p
.
6
3
-
7
0
,
2
0
1
0
.
[6
]
N.
M
.
Ya
z
d
a
n
i
a
n
d
A
.
Y.
S
e
q
e
rlo
o
,
“
P
e
rf
o
rm
a
n
c
e
Co
m
p
a
riso
n
b
e
tw
e
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telli
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o
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f
DC M
o
t
o
r,
”
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n
t.
J
.
El
e
c
tr.
Co
mp
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t.
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g
.
,
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.
[7
]
J.
S
.
Kw
o
n
,
e
t
a
l.
,
“
S
a
fe
t
y
m
e
c
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ism
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o
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r
w
in
d
o
w
s
u
sin
g
Ha
ll
se
n
so
r,
”
In
t.
J
.
Veh
.
S
a
f.
,
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.
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o
.
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.
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0
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5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
E
lec
&
C
o
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p
E
n
g
I
SS
N:
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-
8708
A
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2179
[8
]
H.
L
e
e
a
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d
J.
P
a
rk
,
“
P
ra
c
ti
c
a
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ter
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[9
]
H.
J.
Lee
,
e
t
a
l.
,
“
Ro
b
u
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in
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h
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m
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in
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s,”
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c
.
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In
t
.
Co
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[1
0
]
J.
H.
P
a
rk
,
e
t
a
l.
,
“
Re
a
l
-
ti
m
e
p
in
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m
:
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lsiv
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ise
,
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t.
J
.
C
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Au
t
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[1
1
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H.
A
lra
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.
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ra
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e
rs,”
IJ
ECE
In
t.
J
.
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c
tr.
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m
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.
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n
g
.
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v
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:
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.
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3
.
[1
2
]
B.
D
.
Ho
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a
l.
,
“
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ter
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.
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3
]
W
.
K
.
Ole
iw
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“
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in
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ters
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n
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t.
J
.
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tr.
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.
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4
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U.S
.
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ra
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rtatio
n
,
“
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ro
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5
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“
DIRECT
IV
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2
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/
4
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ro
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6
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M
.
S
.
W
id
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ra
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l
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t
C
h
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ra
c
teristics
o
f
DC
M
o
to
rs
F
e
d
b
y
P
h
o
t
o
v
o
lt
a
ic
S
y
ste
m
s,”
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o
rd
a
n
J
.
M
e
c
h
.
In
d
.
En
g
.
,
v
o
l
.
4
,
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o
.
1
,
p
p
.
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9
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-
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0
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,
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0
1
0
.
B
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G
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RS
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h
De
p
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rtm
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o
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e
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tri
c
a
l
En
g
in
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rin
g
,
Un
iv
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rsitas
P
e
rtam
in
a
,
Ja
k
a
rta,
In
d
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.
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g
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rtme
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Na
ti
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Un
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re
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Un
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o
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th
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o
re
a
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re
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se
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ro
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n
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re
f
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ra
ti
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o
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e
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e
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rt
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ry
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h
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g
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sa
n
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re
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tere
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in
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m
o
to
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a
p
p
li
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ti
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PMSM
,
e
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ro
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u
lsio
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n
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rles
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ro
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a
ll
sh
ip
s
w
h
ich
is
re
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e
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in
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h
ig
h
a
tt
e
n
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o
n
b
e
c
a
u
se
o
f
e
c
o
-
f
rien
d
ly
e
n
v
iro
n
Evaluation Warning : The document was created with Spire.PDF for Python.