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2
2
]
an
d
m
o
to
r
s
p
ee
d
co
n
tr
o
ller
d
esig
n
s
[
2
3
]
.
T
h
e
o
r
ig
in
al
AC
O
al
g
o
r
ith
m
is
k
n
o
wn
as
A
S
[
2
4
]
-
[
2
5
]
an
d
w
as
ex
t
en
d
ed
,
en
h
an
ce
d
a
n
d
i
m
p
r
o
v
ed
to
v
er
s
io
n
s
o
f
AS
in
cl
u
d
i
n
g
[
2
6
]
,
E
liti
s
t
AS,
An
t
-
Q,
A
n
t
C
o
lo
n
y
S
y
s
te
m
(
AC
S),
MM
A
S,
A
S_
r
an
k
,
A
NT
S,
B
W
A
S,
an
d
H
y
p
er
-
C
u
b
e
AS
,
am
o
n
g
o
t
h
er
s
.
T
h
is
p
ap
er
aim
s
to
p
r
esen
t
t
h
e
n
e
w
i
m
p
r
o
v
ed
A
S
alg
o
r
it
h
m
b
ased
o
n
th
e
o
r
ig
i
n
al
A
S,
t
o
s
o
lv
e
th
e
r
eliab
ilit
y
o
p
ti
m
izatio
n
p
r
o
b
le
m
f
o
r
a
s
er
ies
s
y
s
te
m
w
it
h
m
u
ltip
le
-
ch
o
i
ce
a
n
d
b
u
d
g
et
co
n
s
tr
ai
n
ts
.
T
h
e
im
p
r
o
v
e
m
e
n
t
f
o
c
u
s
ed
o
n
ch
o
o
s
i
n
g
t
h
e
m
o
s
t
f
ea
s
ib
le
s
o
lu
tio
n
s
an
d
n
ei
g
h
b
o
r
h
o
o
d
s
ea
r
ch
w
it
h
S
w
ap
tech
n
iq
u
e
f
o
r
ea
ch
lo
o
p
o
f
f
in
d
in
g
t
h
e
s
o
l
u
tio
n
.
T
h
e
r
e
m
ain
d
er
o
f
t
h
e
p
ap
er
i
s
o
r
g
a
n
ized
as
f
o
llo
w
s
.
I
n
s
e
ctio
n
2
,
t
h
e
p
r
o
b
le
m
i
s
i
n
tr
o
d
u
ce
d
an
d
ex
p
r
ess
ed
as
a
b
i
n
ar
y
in
te
g
e
r
-
p
r
o
g
r
a
m
m
in
g
p
r
o
b
lem
w
it
h
a
n
o
n
li
n
ea
r
o
b
j
ec
tiv
e
f
u
n
cti
o
n
.
I
n
Sectio
n
3,
w
e
d
escr
ib
e
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
in
m
o
r
e
d
etai
l.
T
h
e
co
m
p
u
tat
io
n
al
e
x
p
er
i
m
en
t
s
a
n
d
r
esu
lt
s
ar
e
g
i
v
en
i
n
Sectio
n
4
.
Fin
al
l
y
,
co
n
cl
u
s
io
n
s
ar
e
d
r
aw
n
i
n
Sectio
n
5
.
2.
P
RO
B
L
E
M
F
O
R
M
UL
AT
I
O
N
C
o
n
s
id
er
a
s
er
ies
s
y
s
te
m
o
f
n
s
u
b
s
y
s
te
m
.
Fo
r
ea
ch
s
u
b
s
y
s
te
m
,
th
er
e
ar
e
d
if
f
er
e
n
t
co
m
p
a
tib
le
m
o
d
u
le
a
v
ailab
le
w
i
th
v
ar
y
in
g
co
s
ts
an
d
r
eliab
ilit
ies.
T
h
e
o
b
j
ec
tiv
e
is
to
s
elec
tio
n
a
co
m
p
a
tib
le
m
o
d
u
le
i
n
o
r
d
er
to
m
ax
i
m
ize
t
h
e
o
v
er
a
ll
o
f
s
y
s
te
m
r
eliab
ili
t
y
a
n
d
s
u
b
j
ec
t
to
b
u
d
g
et
co
n
s
tr
ain
t
s
.
T
h
e
n
o
tatio
n
s
o
f
p
r
o
b
lem
f
o
r
m
u
la
tio
n
ar
e
in
tr
o
d
u
ce
d
f
ir
s
t:
n
th
e
n
u
m
b
er
o
f
s
u
b
s
y
s
te
m
s
i
N
th
e
n
u
m
b
er
o
f
co
m
p
a
tib
le
m
o
d
u
le
av
ailab
le
f
o
r
th
e
s
u
b
s
y
s
te
m
s
i
ij
C
th
e
co
s
t o
f
a
s
u
b
s
y
s
te
m
i
u
s
i
n
g
th
e
co
m
p
atib
le
m
o
d
u
le
j
ij
R
th
e
r
eliab
ilit
y
o
f
t
h
e
s
u
b
s
y
s
te
m
i
w
h
e
n
t
h
e
co
m
p
atib
le
m
o
d
u
le
j
is
u
s
ed
s
y
s
R
th
e
o
v
er
all
o
f
s
y
s
te
m
r
el
iab
ilit
y
B
th
e
to
tal
av
ai
lab
le
a
m
o
u
n
t o
f
b
u
d
g
et
Def
i
n
e
th
e
d
ec
is
io
n
s
v
ar
iab
les
ij
X
(
w
it
h
n
,
.
.
.
2,
1
,
i
an
d
i
N
,
...
2,
1
,
j
)
as f
o
llo
w
s
:
1
0
ij
X
j
i
m
o
d
u
l
e
c
o
m
p
a
t
i
b
l
e
t
h
e
u
s
e
s
s
u
b
s
y
s
t
e
m
s
t
h
e
if
o
t
h
e
r
w
i
s
e
Def
i
n
e
t
h
e
o
b
j
ec
tiv
e
f
u
n
ctio
n
in
o
r
d
er
to
s
o
lv
e
t
h
e
r
eliab
i
lit
y
o
p
ti
m
izatio
n
p
r
o
b
lem
f
o
r
a
s
er
ies
s
y
s
te
m
f
o
r
m
u
lated
as a
b
in
ar
y
in
te
g
er
-
p
r
o
g
r
a
m
m
i
n
g
p
r
o
b
lem
w
it
h
n
o
n
li
n
ea
r
o
b
j
ec
tiv
e
f
u
n
ct
io
n
.
Ma
x
i
m
ize
n
i
N
j
ij
ij
s
y
s
i
R
X
R
1
1
Su
b
j
ec
t to
B
C
X
n
i
N
j
ij
ij
i
1
1
(
1
)
1,
1
i
N
j
ij
X
n
i
...,
2,
1,
(
2
)
,
0,
1
ij
X
n
i
...,
2,
1,
an
d
i
N
j
.
.
.
,
2,
1,
(
3
)
T
h
e
ter
m
s
o
f
t
h
e
(
1
)
:
r
e
p
r
esen
t
s
t
h
e
b
u
d
g
et
co
n
s
tr
ai
n
t,
B
is
an
in
te
g
er
;
th
e
ter
m
s
o
f
t
h
e
(
2
)
:
r
ep
r
esen
ts
th
e
m
u
ltip
le
-
c
h
o
ice
co
n
s
tr
ain
t
a
n
d
th
e
ter
m
s
o
f
t
h
e
eq
u
atio
n
;
th
e
ter
m
s
o
f
(
3
)
:
d
ef
i
n
es
th
e
v
ar
iab
les
th
at
ar
e
u
s
ed
to
m
a
k
e
d
ec
is
io
n
s
.
W
h
e
n
t
h
e
r
es
u
lt
o
f
a
s
o
l
u
t
io
n
s
ati
s
f
ies
all
co
n
s
tr
ai
n
t
s
,
it
is
ca
lled
a
f
ea
s
ib
le
s
o
lu
tio
n
; o
th
er
w
i
s
e,
it is
ca
lled
an
in
f
ea
s
ib
le
s
o
lu
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
3
2
3
2
-
3240
3234
3.
DE
SCR
I
P
T
I
O
N
O
F
T
H
E
P
RO
P
O
SE
D
AP
P
RO
ACH
3
.
1
.
B
a
s
ic
princip
le
s
o
f
a
nt
s
y
s
t
em
(
A
S)
a
lg
o
rit
h
m
AS
is
t
h
e
f
ir
s
t
o
f
t
h
e
AC
O
al
g
o
r
ith
m
s
[
2
7
-
2
8
]
an
d
it
w
a
s
i
n
s
p
ir
ed
b
y
th
e
f
o
r
ag
i
n
g
b
eh
a
v
io
r
o
f
r
ea
l
an
t
co
lo
n
ie
s
.
A
n
ts
ar
e
ca
p
ab
le
o
f
f
i
n
d
i
n
g
th
e
s
h
o
r
tes
t
p
ath
f
r
o
m
f
o
o
d
s
o
u
r
ce
s
to
th
e
n
est
with
o
u
t
u
s
in
g
v
is
u
al
cu
es.
W
h
e
n
a
n
ts
ar
e
s
ea
r
ch
i
n
g
f
o
r
f
o
o
d
,
th
e
y
i
n
it
iall
y
ex
p
l
o
r
e
th
e
ar
ea
s
u
r
r
o
u
n
d
in
g
t
h
ei
r
n
est
i
n
a
r
a
n
d
o
m
m
an
n
er
.
As
s
o
o
n
a
s
a
n
an
t
f
in
d
s
a
f
o
o
d
s
o
u
r
ce
,
it
e
v
al
u
ates
it
an
d
ca
r
r
ies
s
o
m
e
f
o
o
d
b
ac
k
to
th
e
n
est.
D
u
r
i
n
g
th
e
r
etu
r
n
tr
ip
,
th
e
an
t
d
ep
o
s
its
a
ch
e
m
ical
s
u
b
s
ta
n
ce
cr
ea
tin
g
s
o
m
et
h
i
n
g
ca
lled
a
p
h
er
o
m
o
n
e
tr
ail
o
n
th
e
g
r
o
u
n
d
.
An
ts
u
s
e
th
e
i
n
te
n
s
it
y
o
f
th
e
p
h
er
o
m
o
n
e
tr
ail
s
to
co
m
m
u
n
icate
t
h
e
f
o
o
d
s
o
u
r
ce
in
f
o
r
m
at
io
n
w
it
h
o
t
h
er
an
ts
.
T
h
e
p
h
er
o
m
o
n
e
d
ep
o
s
it
ed
,
th
e
a
m
o
u
n
t
o
f
w
h
ic
h
m
a
y
d
ep
en
d
o
n
t
h
e
q
u
a
n
ti
t
y
a
n
d
q
u
alit
y
o
f
th
e
f
o
o
d
,
g
u
id
e
s
o
th
er
a
n
ts
to
t
h
e
f
o
o
d
s
o
u
r
ce
.
A
s
o
t
h
er
an
t
s
m
a
k
e
t
h
eir
w
a
y
alo
n
g
t
h
e
p
ath
,
t
h
e
y
also
leav
e
t
h
e
p
ath
w
it
h
p
h
er
o
m
o
n
e
tr
ails
.
As
m
o
r
e
an
ts
p
a
s
s
b
y
,
m
o
r
e
p
h
er
o
m
o
n
e
is
d
ep
o
s
ited
o
n
th
e
p
ath
;
t
h
e
tr
ail
w
ith
r
ich
er
an
d
m
o
r
e
i
n
te
n
s
i
v
e
p
h
er
o
m
o
n
e
h
as
a
h
ig
h
er
p
r
o
b
ab
ilit
y
to
b
e
ch
o
s
en
b
y
t
h
e
a
n
t
s
t
h
at
f
o
l
lo
w
.
T
h
is
p
o
s
iti
v
e
f
ee
d
b
ac
k
l
o
o
p
h
elp
s
th
e
a
n
ts
e
s
tab
lis
h
th
e
s
h
o
r
test
p
at
h
s
b
et
w
ee
n
th
e
ir
n
est a
n
d
f
o
o
d
s
o
u
r
c
es.
I
n
itiall
y
,
t
h
r
ee
d
i
f
f
er
en
t
v
er
s
io
n
s
o
f
AS
w
er
e
p
r
o
p
o
s
ed
.
T
h
ese
w
er
e
ca
lled
An
t
-
d
en
s
it
y
,
An
t
-
q
u
a
n
tit
y
an
d
An
t
-
c
y
cle.
No
w
ad
a
y
s
,
wh
en
r
e
f
er
r
in
g
to
AS,
o
n
e
ac
tu
all
y
r
ef
er
s
to
a
n
t
-
c
y
cle
a
n
d
th
e
t
w
o
o
th
er
v
ar
ia
n
t
s
w
er
e
ab
an
d
o
n
ed
b
ec
au
s
e
o
f
th
eir
lo
w
er
p
er
f
o
r
m
an
ce
.
T
h
e
g
e
n
er
al
alg
o
r
it
h
m
f
o
r
AS is il
lu
s
t
r
ated
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
T
h
e
g
en
er
al
AS a
lg
o
r
ith
m
[
2
9
]
T
h
er
e
ar
e
s
tep
s
to
w
o
r
k
,
w
h
i
ch
ar
e
as
f
o
llo
w
s
:
t
h
e
f
ir
s
t
s
tep
co
n
s
is
t
s
o
f
th
e
i
n
it
ializati
o
n
o
f
t
h
e
p
h
er
o
m
o
n
e
tr
ail
s
an
d
s
et
tin
g
o
f
th
e
d
e
f
au
l
t
p
ar
a
m
eter
s
.
I
n
t
h
e
s
ec
o
n
d
s
tep
,
f
ir
s
t
o
f
iter
ati
o
n
ea
ch
a
n
t
ap
p
lies
th
e
in
i
tializatio
n
o
f
th
e
p
h
er
o
m
o
n
e
tr
ails
to
b
u
ild
s
o
lu
tio
n
s
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ly
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izatio
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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&
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g
I
SS
N:
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A
n
imp
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ith
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u
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ith
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ated
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g
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r
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Fig
u
r
e
3
.
Flo
w
c
h
ar
t o
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th
e
AS
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w
ap
alg
o
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it
h
m
T
h
e
d
etails o
f
th
e
p
r
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ed
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g
o
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ith
m
ca
n
b
e
d
escr
ib
ed
in
th
e
f
o
llo
w
in
g
s
tep
s
.
Step
1
:
I
n
itialize
s
et
s
,
p
h
er
o
m
o
n
e
tr
ail
s
0
)
0
(
0
ij
τ
τ
,
p
h
er
o
m
o
n
e
e
v
ap
o
r
atio
n
0
)
(
ij
τ
an
d
o
th
er
p
ar
am
eter
s
s
h
o
w
t
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at
i
n
T
ab
le
2
.
Step
2
:
C
o
n
s
tr
u
ct
a
s
et
o
f
s
o
l
u
tio
n
s
u
s
i
n
g
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ails
to
d
eter
m
i
n
e
t
h
e
p
r
o
b
a
b
ilit
y
w
it
h
t
h
e
s
tate
tr
an
s
itio
n
r
u
le.
T
h
e
s
tate
tr
an
s
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n
r
u
le
u
s
ed
b
y
th
e
A
S
al
g
o
r
ith
m
i
s
g
i
v
en
i
n
(
4
)
.
T
h
is
(
4
)
r
ep
r
esen
t
s
th
e
p
r
o
b
ab
ilit
y
w
i
th
w
h
ic
h
an
t
m
s
elec
ts
a
co
m
p
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m
o
d
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j
f
o
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s
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s
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te
m
i
:
i
N
1
m
β
im
α
im
β
ij
α
ij
k
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]
[
η
(
t
)
]
[
τ
]
[
η
(
t
)
]
[
τ
(
t
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P
(
4
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W
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τ
is
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e
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ten
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e;
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.
ij
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W
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R
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C
r
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e
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h
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r
i
s
tics
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f
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n
d
co
s
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
3
2
3
2
-
3240
3236
Step
3
:
A
p
p
l
y
t
h
e
f
ea
s
ib
le
s
o
lu
tio
n
w
it
h
co
n
s
tr
ai
n
t
-
b
ased
(
FC
B
)
alg
o
r
it
h
m
,
ch
o
o
s
e
o
n
l
y
f
ea
s
ib
le
s
o
l
u
tio
n
s
u
n
d
er
co
n
s
tr
ain
t
s
f
r
o
m
all
a
n
ts
in
t
h
e
co
lo
n
y
b
u
ild
co
m
p
l
ete
s
o
lu
tio
n
s
.
T
h
er
e
ar
e
3
s
u
b
s
tep
s
to
ap
p
ly
,
as
f
o
llo
w
s
:
Step
3
.
1
: E
v
alu
ate
th
e
r
eliab
ili
t
y
an
d
co
s
t o
f
all
s
o
lu
t
io
n
s
.
Step
3
.
2
: Ran
k
i
n
g
an
d
s
elec
t o
n
l
y
t
h
e
s
e
ts
o
f
r
es
u
lt
s
th
at
ar
e
f
ea
s
ib
le
s
o
lu
tio
n
s
.
Step
3
.
3
: Sele
ct
a
f
ea
s
ib
le
s
o
lu
tio
n
w
it
h
th
e
h
i
g
h
e
s
t r
eliab
ilit
y
v
al
u
e
s
to
r
ed
in
t
h
e
m
e
m
o
r
y
.
Step
4
:
A
p
p
ly
t
h
e
f
ir
s
t
n
ei
g
h
b
o
r
h
o
o
d
s
ea
r
ch
.
A
f
ea
s
ib
le
s
o
lu
tio
n
w
i
th
t
h
e
h
i
g
h
e
s
t
r
eliab
ilit
y
v
al
u
e
f
r
o
m
s
tep
3
w
ill
b
e
i
m
p
r
o
v
ed
w
it
h
o
n
e
o
f
lo
ca
l
s
ea
r
ch
tech
n
i
q
u
es.
T
h
is
is
p
er
f
o
r
m
ed
b
as
ed
o
n
t
h
e
n
eig
h
b
o
r
h
o
o
d
s
ea
r
ch
w
i
th
S
wap
tech
n
iq
u
e
i
n
o
r
d
er
to
f
i
n
d
th
e
b
etter
s
o
l
u
tio
n
.
T
o
ap
p
ly
t
h
is
w
o
r
k
,
it
p
r
o
ce
ed
s
to
ch
an
g
e
a
n
i
n
-
t
u
r
n
p
air
o
f
c
h
o
s
en
co
m
p
atib
l
e
m
o
d
u
le
b
y
a
n
o
th
er
p
ai
r
i
n
o
n
e
t
u
r
n
.
Fo
r
ea
ch
s
u
b
s
y
s
te
m
,
th
e
co
m
p
atib
le
m
o
d
u
le
is
i
n
d
ex
ed
w
it
h
th
eir
r
eliab
ilit
y
.
Fo
r
ex
a
m
p
le,
th
e
s
et
o
f
s
o
lu
tio
n
S
=
{
a
,
b
,
c
,
…}
i
n
d
icate
s
t
h
at
s
u
b
s
y
s
te
m
1
u
s
es
co
m
p
atib
le
m
o
d
u
le
w
it
h
in
d
ex
a
,
s
u
b
s
y
s
te
m
2
u
s
e
s
co
m
p
atib
le
m
o
d
u
le
w
it
h
in
d
e
x
b
,
s
u
b
s
y
s
te
m
3
u
s
es
co
m
p
at
ib
le
m
o
d
u
le
w
it
h
i
n
d
ex
c
,
etc.
C
o
n
s
id
er
f
o
r
ex
a
m
p
le,
a
s
er
ies
s
y
s
te
m
w
it
h
3
s
u
b
s
y
s
t
e
m
s
a
n
d
8
av
ailab
le
co
m
p
a
tib
l
e
m
o
d
u
le
s
f
o
r
ea
ch
s
u
b
s
y
s
te
m
.
B
y
as
s
u
m
i
n
g
t
h
at
t
h
e
s
et
o
f
s
o
lu
t
io
n
i
n
t
h
i
s
lo
o
p
ar
e
S
=
{4
,
1
,
6
}
t
h
e
S
w
a
p
tech
n
iq
u
e
w
ill e
v
al
u
ate
t
h
e
f
o
l
lo
w
i
n
g
s
o
lu
t
io
n
s
:
S
= {3
,
1
,
6
};
S
= {5
,
1
,
6
};
S
= {4
,
1
*
,
6
};
S
= {4
,
2
,
6
};
S
= {4
,
1
,
7
};
S
= {4
,
1
,
5
};
*
Give
th
e
s
a
me
r
esu
lt b
ec
a
u
s
e
it is
min
imu
m
in
d
ex
o
r
ma
ximu
m.
A
ll
th
e
s
o
lu
tio
n
s
f
r
o
m
t
h
e
S
wap
tech
n
iq
u
e
ar
e
ev
al
u
ated
f
o
r
th
e
r
eliab
ilit
y
an
d
co
s
t.
Ne
x
t
s
tep
:
s
elec
t
a
f
ea
s
ib
le
s
o
l
u
tio
n
w
it
h
t
h
e
h
i
g
h
e
s
t
r
eliab
ilit
y
v
al
u
e.
I
f
t
h
e
r
eliab
ilit
y
v
al
u
e
i
s
b
etter
t
h
a
n
t
h
at
f
r
o
m
s
tep
3
,
it
i
s
s
to
r
ed
as
t
h
e
b
es
t
s
o
l
u
tio
n
in
t
h
e
m
e
m
o
r
y
.
Ot
h
er
w
is
e,
it
is
r
etu
r
n
ed
u
s
i
n
g
t
h
e
r
eli
ab
ilit
y
v
al
u
e
f
r
o
m
p
r
ev
io
u
s
s
tep
.
Step
5
:
A
p
p
l
y
th
e
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ail
u
p
d
ate
r
u
le.
I
n
ea
ch
lo
o
p
,
all
an
ts
in
th
e
co
lo
n
y
h
a
v
e
co
n
s
tr
u
c
ted
th
eir
s
o
lu
tio
n
s
w
it
h
t
h
e
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ail
u
p
d
ate
r
u
le
t
h
e
b
est
s
o
l
u
tio
n
f
r
o
m
t
h
e
la
tes
t
s
tep
t
h
at
is
n
o
t
ab
le
to
g
u
a
r
an
tee
th
at
th
e
b
est
r
esu
lt
o
r
th
e
g
lo
b
al
o
p
tim
a
l
is
co
n
s
tr
u
cted
.
T
h
e
a
m
o
u
n
t
o
f
p
h
er
o
m
o
n
e
o
n
ea
ch
ed
g
e
)
,
(
j
i
w
i
ll
b
e
s
e
t
to
h
i
g
h
v
al
u
e
f
o
r
t
h
e
f
ea
s
ib
le
s
o
lu
tio
n
s
an
d
s
et
t
o
lo
w
v
alu
e
f
o
r
th
e
i
n
f
ea
s
ib
le
s
o
lu
t
io
n
s
.
T
h
is
p
r
o
ce
s
s
i
s
ca
lled
t
h
e
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ai
l
u
p
d
ate
r
u
le
.
T
h
e
p
h
er
o
m
o
n
e
tr
ail
i
n
te
n
s
i
t
y
is
u
p
d
ated
as f
o
llo
w
s
.
ij
ij
ij
τ
t
τ
ρ
t
τ
)
1
(
)
1
(
)
(
(
6
)
W
h
er
e
ρ
a
p
ar
am
eter
b
et
w
ee
n
0
an
d
1
,
it
r
ep
r
esen
ts
t
h
e
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ail
ev
ap
o
r
atio
n
.
ij
τ
is
g
i
v
e
n
in
(
7
)
:
m
k
k
ij
ij
τ
τ
1
(
7
)
W
h
er
e
m
is
th
e
n
u
m
b
er
o
f
an
t
s
a
n
d
k
ij
τ
is
g
i
v
e
n
in
8
:
0
1
k
ij
τ
O
t
h
e
r
w
i
s
e
s
u
b
s
y
s
t
e
m
f
o
r
m
o
d
u
l
e
c
o
m
p
a
t
i
b
l
e
c
h
o
o
s
e
s
a
n
t
if
i
j
k
th
(
8
)
Step
6
:
A
p
p
l
y
t
h
e
s
ec
o
n
d
n
e
ig
h
b
o
r
h
o
o
d
s
ea
r
ch
.
A
f
ea
s
ib
le
s
o
lu
tio
n
f
r
o
m
s
tep
4
w
ill
b
e
i
m
p
r
o
v
ed
w
it
h
t
h
e
n
eig
h
b
o
r
h
o
o
d
s
ea
r
ch
w
it
h
S
w
ap
tec
h
n
iq
u
e
a
g
ai
n
.
I
f
t
h
e
r
eliab
ilit
y
v
al
u
e
i
s
b
etter
t
h
a
n
t
h
at
f
r
o
m
s
tep
4
,
it
is
s
to
r
ed
as
th
e
n
e
w
b
est
s
o
lu
tio
n
i
n
th
e
m
e
m
o
r
y
.
Oth
er
w
i
s
e,
r
etu
r
n
to
th
e
s
tep
4
an
d
d
o
th
e
p
r
o
ce
s
s
ag
ain
.
Step
7
:
A
p
p
l
y
th
e
g
lo
b
al
p
h
e
r
o
m
o
n
e
tr
ail
u
p
d
ate
r
u
le
ag
a
in
f
o
r
u
p
d
atin
g
g
lo
b
al
p
h
er
o
m
o
n
e
tr
ails
.
Step
8:
Sto
p
cr
iter
ia.
T
h
e
lo
o
p
s
w
ill
b
e
r
ep
ea
ted
u
n
til
t
h
e
s
to
p
p
in
g
cr
iter
ia
ar
e
tr
u
e.
T
h
is
is
n
u
m
b
er
o
f
m
ax
i
m
u
m
s
t
h
e
iter
atio
n
v
al
u
e.
Step
9
:
Sh
o
w
r
es
u
l
t
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
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8
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imp
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t sys
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ith
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4.
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m
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u
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ith
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1
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:
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ith
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p
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1
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h
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ith
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8
10
147
.
4
.
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h
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A
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alg
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2
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in
Fig
u
r
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4
(
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.
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elec
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atib
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m
o
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ar
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as sh
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Fig
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Re
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R
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l
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
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&
C
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p
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g
,
Vo
l.
9
,
No
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4
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s
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3238
(
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(
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Fig
u
r
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4
.
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h
e
r
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t
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f
th
r
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o
r
ith
m
s
f
o
r
ex
a
m
p
le
s
1
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f
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ata
s
a
m
p
les:
(
c
)
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h
e
r
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o
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t
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o
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it
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m
s
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3
,
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)
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h
e
r
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u
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o
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t
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o
r
ith
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o
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m
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4
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h
e
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h
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o
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ith
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5
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r
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m
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le
3
,
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e
s
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ch
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lar
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er
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an
12
10
572
.
1
.
T
h
e
b
est
r
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lt
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o
u
n
d
th
e
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al
o
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tim
a
l
w
a
s
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al
to
0
.
9
6
5
1
3
4
w
it
h
t
h
e
n
u
m
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er
o
f
iter
atio
n
s
b
elo
w
2
5
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
(
c)
.
S
elec
ted
co
m
p
atib
le
m
o
d
u
le
ar
e:
3
-
3
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4
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4
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3
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3
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2
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2
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3
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2
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2
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4
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4
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4
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2.
Fo
r
ex
a
m
p
le,
4
,
th
e
s
ea
r
ch
s
p
ac
e
is
lar
g
er
th
an
20
10
9
3
2
.
1
.
T
h
e
b
est
r
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lt
f
o
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n
d
t
h
e
g
lo
b
al
o
p
ti
m
al
w
as
eq
u
al
to
0
.
8
6
5
4
3
9
w
it
h
t
h
e
n
u
m
b
er
o
f
iter
atio
n
s
b
elo
w
3
0
as
s
h
o
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n
in
F
ig
u
r
e
4
(
d
)
. S
elec
ted
co
m
p
atib
le
m
o
d
u
le
ar
e:
2
-
3
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3
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4
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2
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3
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2
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2
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3
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2
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h
e
last
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a
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ex
a
m
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5
h
as
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c
h
s
p
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lar
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er
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a
n
32
10
0
3
9
9
.
3
.
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h
e
b
est
r
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lt
f
o
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n
d
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al
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p
ti
m
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w
as
eq
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al
to
0
.
9
1
4
8
9
5
w
it
h
t
h
e
n
u
m
b
er
o
f
iter
atio
n
s
b
elo
w
5
0
as
s
h
o
w
n
i
n
Fig
u
r
e
4
(
e)
.
S
elec
ted
c
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m
p
atib
le
m
o
d
u
le
ar
e:
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3
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4
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4
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3
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3
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2
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.
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p
p
.
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0
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.
[6
]
M
.
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d
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.
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h
a
rm
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,
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o
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p
p
.
9
9
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0
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3
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2
0
1
0
.
[7
]
N.
Be
ji
,
B.
Ja
rb
o
u
i,
M
.
E
d
d
a
l
y
a
n
d
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C
h
a
b
c
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u
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,
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m
iza
ti
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o
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lem
,
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o
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rn
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l
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l.
1
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p
p
.
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0
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0
.
[8
]
V
.
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rm
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,
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.
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g
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,
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p
.
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.
[9
]
W
.
C.
Ye
h
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.
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ieh
,
"
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m
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&
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s R
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p
p
.
1
4
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.
[1
0
]
H.
T
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-
M
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D.W
.
Co
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t
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y
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R
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Op
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m
iz
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Co
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c
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rtain
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:
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ra
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p
p
.
6
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[1
1
]
A
.
Ch
a
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,
"
bi
-
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3
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p
p
.
1
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.
[1
2
]
S
.
M
.
M
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Av
a
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.
A
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p
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3
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N.
Na
h
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s
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M
.
No
u
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,
"
An
t
sy
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f
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li
ty E
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m S
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v
o
l
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8
7
,
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p
1
-
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2
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2
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5
.
[1
4
]
F
.
A
h
m
a
d
iza
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a
n
d
H.
S
o
lt
a
n
p
a
n
a
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a
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sy
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icie
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y
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p
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a
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h
,
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8
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p
.
3
6
4
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[1
5
]
C.
S
.
S
u
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g
a
n
d
Y.K.
C
h
o
,
"
Re
li
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b
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ro
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Res
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p
.
1
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[1
6
]
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.
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N.
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a
n
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ize
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p
p
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1
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[1
7
]
W
.
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e
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l
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m
f
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r
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ld
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iza
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b
lem
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rd
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Driv
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ic
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o
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telli
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p
.
2
0
3
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1
6
,
2
0
1
1
.
[1
8
]
M
.
Do
rig
o
a
n
d
G
.
Di
Ca
ro
,
"
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e
A
n
t
Co
lo
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Op
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i
z
a
ti
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m
e
ta
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risti
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Ne
w
Id
e
a
s
in
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p
ti
miza
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o
n
,
D.
Co
rn
e
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M
.
Do
ri
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o
,
F.
Gl
o
v
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Ed
.
L
o
n
d
o
n
:
M
c
G
ra
w
-
Hill
,
1
9
9
9
,
p
p
.
1
1
-
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2
.
[1
9
]
Z.
K.
A
b
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u
ra
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m
a
n
Ba
iza
l,
e
t
a
l.
,
"
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e
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ra
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Iti
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y
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n
t
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ll
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ti
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ti
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"
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KOM
NIKA
(
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mm
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tro
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l.
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p
.
1
2
0
8
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2
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6
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1
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.
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0
]
A
.
S
.
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irsa
n
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,
T
.
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.
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n
g
g
o
ro
a
n
d
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.
Hu
a
n
g
.
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F
a
st
A
n
t
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o
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n
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Op
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m
iza
ti
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f
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r
Clu
ste
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,
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In
d
o
n
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sia
n
J
o
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l
o
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El
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c
trica
l
En
g
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e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
(
IJ
EE
CS
)
,
v
o
l.
1
2
,
n
o
.
1
,
p
p
.
7
8
-
8
6
,
2
0
1
8
.
[2
1
]
A
.
Hu
sin
a
n
d
K.
R.
Ku
-
M
a
h
a
m
u
d
,
"
A
n
t
S
y
ste
m
a
n
d
Weig
h
ted
Vo
ti
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g
M
e
t
h
o
d
f
o
r
M
u
lt
i
p
le
Clas
sif
ier
S
y
ste
m
s,
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ter
n
a
t
io
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a
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o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
C
o
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ter
En
g
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g
(
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ECE
)
,
v
o
l.
8
,
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o
.
6
,
p
p
.
4
7
0
5
-
4
7
1
2
,
2
0
1
8
.
[2
2
]
Y.
He
n
d
ra
w
a
n
,
e
t
a
l.
,
"
I
m
a
g
e
A
n
a
ly
sis u
sin
g
Co
lo
r
Co
-
o
c
c
u
rre
n
c
e
M
a
tri
x
Tex
tu
ra
l
F
e
a
tu
re
s
f
o
r
P
re
d
ictin
g
Nitro
g
e
n
Co
n
ten
t
i
n
S
p
i
n
a
c
h
,
"
T
EL
KOM
NIKA
(
T
e
le
c
o
mm
u
n
ica
ti
o
n
,
Co
m
p
u
ti
n
g
,
El
e
c
tro
n
ics
a
n
d
Co
n
tro
l),
v
o
l.
1
6
,
n
o
.
6
,
pp.
2
7
1
2
-
2
7
2
4
,
2
0
1
8
.
[2
3
]
D.
Ya
d
a
v
,
A
.
V
e
rm
a
,
"
Co
m
p
e
r
a
ti
v
e
P
e
rf
o
r
m
a
n
c
e
A
n
a
l
y
sis
o
f
P
M
S
M
Driv
e
Us
in
g
M
P
S
O
a
n
d
A
CO
Tec
h
n
iq
u
e
s,
"
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
o
we
r E
lec
tro
n
ics
a
n
d
Dr
ive
S
y
ste
m
(
IJ
PE
DS
)
,
v
o
l.
9
,
n
o
.
4
,
p
p
.
1
5
1
0
-
1
5
2
2
,
2
0
1
8
.
[2
4
]
M
.
Do
rig
o
,
Op
ti
m
iza
ti
o
n
,
"
lea
rn
in
g
a
n
d
n
a
tu
ra
l
a
lg
o
rit
h
m
s,
"
Ph
.
D.
d
isse
rta
ti
o
n
,
Dip
a
rti
m
e
n
to
d
i
El
e
t
tr
o
n
ica
,
P
o
li
tec
n
ic
o
d
i
M
il
a
n
o
,
Italy
,
1
9
9
2
.
[2
5
]
M
.
Do
rig
o
,
V.
M
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n
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ro
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d
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se
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r
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h
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ti
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m
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teria
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h
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ra
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teriz
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ti
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.
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