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2
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I
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10
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No
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Feb
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2
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242
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A
ll
m
o
s
t
o
f
m
e
tr
o
lin
es
ar
e
g
etti
n
g
u
n
d
er
w
a
y
i
n
Vietn
a
m
n
o
t
to
b
e
eq
u
ip
ed
r
eg
en
er
ativ
e
b
r
ak
in
g
en
er
g
y
r
ec
u
p
er
atio
n
d
ev
ice
s
,
a
n
d
t
h
e
b
r
ak
i
n
g
en
er
g
y
w
il
l d
is
s
ip
ate
o
n
b
r
a
k
in
g
r
e
s
is
to
r
s
to
c
au
s
e
e
n
er
g
y
w
aste.
Ho
w
e
v
er
,
u
s
in
g
s
e
v
er
al
s
o
l
u
ti
o
n
s
f
o
r
s
a
v
in
g
e
n
er
g
y
s
u
ch
a
s
:
s
u
b
s
tit
u
ti
n
g
d
io
d
r
ec
r
if
ier
s
b
y
r
eser
s
ab
le/ac
t
iv
e
co
n
v
er
ter
s
i
n
tr
ac
tio
n
s
u
b
s
tati
o
n
s
o
r
in
s
talli
n
g
en
er
g
y
s
to
r
ag
e
d
ev
ices
to
r
ec
u
p
er
ate
th
e
b
r
a
k
in
g
en
r
e
g
y
ar
e
to
o
ex
p
en
s
iv
e
an
d
s
q
u
an
d
er
ed
b
ec
au
s
e
m
e
ter
ial
f
ac
ili
ties
o
f
th
e
m
e
tr
o
lin
es
h
a
v
e
j
u
s
t
b
ee
n
in
v
es
ted
in
,
s
o
th
e
eq
u
ip
m
en
t
r
ep
lace
m
en
t
is
n
o
t
s
u
itab
le
f
o
r
Me
tr
o
lin
es
in
Viet
n
a
m
i
n
t
h
e
co
m
m
in
g
t
i
m
e.
W
ith
r
ea
s
o
n
s
an
al
y
s
ed
ab
o
v
e,
s
o
u
s
i
n
g
th
e
o
p
tim
al
co
n
tr
o
l
th
eo
r
y
[
3
3
]
co
m
p
r
is
in
g
o
f
P
o
n
tr
y
a
g
i
n
'
s
Ma
x
i
m
u
m
P
r
in
cip
le
(
P
MP)
,
Dy
m
a
m
ic
P
r
o
g
r
a
m
m
in
g
(
DP
)
[
3
4
]
,
Mix
ed
I
n
teg
er
L
in
ea
r
P
r
o
g
r
a
m
m
in
g
(
MI
L
P
)
[
3
5
]
f
in
d
in
g
th
e
o
p
ti
m
al
s
p
ee
d
p
r
o
f
ile
ap
p
lied
to
ev
er
y
tr
ai
n
is
t
h
e
b
est
s
o
lu
tio
n
to
m
i
n
i
m
ize
t
h
e
tr
ai
n
o
p
er
atio
n
en
er
g
y
co
n
s
u
m
p
tio
n
w
ith
o
u
t
an
y
c
h
a
n
g
e
s
ab
o
u
t
in
f
r
u
s
tr
u
ct
u
r
e,
eq
u
i
p
m
e
n
t.
T
h
e
p
ap
er
p
r
o
p
o
s
es
o
n
e
o
f
th
ese
m
et
h
o
d
s
,
n
a
m
e
l
y
;
u
s
i
n
g
P
o
n
tr
y
a
g
i
n
'
s
M
ax
i
m
u
m
P
r
in
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le
f
o
r
C
at
L
i
n
h
-
Ha
Do
n
g
m
etr
o
lin
e
in
Vi
etn
a
m
.
S
i
m
u
latio
n
r
esu
lt
s
ar
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p
r
ese
n
ted
an
d
s
h
o
w
ed
t
h
e
e
f
f
ec
ti
v
en
e
s
s
o
f
o
p
ti
m
al
co
n
tr
o
l
m
eth
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d
-
P
MP
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s
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v
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n
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er
g
y
o
f
tr
ain
o
p
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atio
n
u
p
to
1
0
,
8
%.
2.
M
O
DE
L
L
I
N
G
M
O
T
I
O
N
O
F
T
RAIN
T
h
e
tr
ain
is
r
eg
ar
d
ed
as
a
p
ar
ticle
an
d
k
i
n
e
m
atic
eq
u
atio
n
ca
n
b
e
r
ep
r
esen
ted
b
y
th
e
f
o
llo
w
in
g
co
n
tin
u
o
u
s
-
s
p
ac
e
m
o
d
el
[
5
]
0
(
)
(
)
(
)
(
)
t
r
b
r
g
r
a
d
dx
v
dt
dv
m
v
F
v
F
v
W
v
F
x
dx
(
1
)
w
h
er
e
,
,
,
v
t
x
m
r
ep
r
esen
t
r
e
s
p
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tiv
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y
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ain
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p
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d
(
/
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ms
,
o
p
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ti
m
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tr
ain
p
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m
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t
r
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r
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ical
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ad
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ta
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ap
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T
h
ese
f
o
r
ce
s
ar
e
s
h
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wn
in
F
ig
u
r
e
1.
IM
T
r
ai
n
F
e
e
d
e
r
ge
ar
Th
i
r
d
r
ai
l
,
750
V
D
C
A
i
r
r
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s
i
s
tan
c
e
Wh
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e
l
s
Tr
ac
ti
on
for
c
e
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r
ac
k
F
r
i
c
ti
on
M
otor
tor
q
u
e
G
r
avi
tati
on
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for
c
e
Fig
u
r
e
1
.
T
o
r
q
u
es a
n
d
f
o
r
ce
s
ac
t o
n
th
e
r
ail
w
h
ee
l
B
ase
o
n
cu
r
v
es
o
f
tr
ac
tio
n
f
o
r
ce
tr
F
,
b
r
ak
in
g
f
o
r
ce
br
F
g
i
v
en
b
y
m
an
u
f
ac
t
u
r
er
s
[
3
6
]
,
Usi
n
g
t
h
e
id
en
ti
f
icatio
n
m
et
h
o
d
to
f
in
d
tr
ac
tio
n
,
b
r
ak
in
g
ch
ar
ac
ter
i
s
tic
cu
r
v
es
i
n
F
ig
u
r
e
2
,
F
ig
u
r
e
3
,
an
d
th
e
L
ea
s
t
Sq
u
ar
e
m
et
h
o
d
to
f
in
d
eq
u
i
v
al
en
t p
o
l
y
n
o
m
ial
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
0
8
8
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8708
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p
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d
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file o
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a
n
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ca
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g
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etro
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(
A
n
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Ho
a
i Th
u
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n
h
)
235
Fig
u
r
e
2
.
Ma
x
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m
u
m
tr
ac
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c
h
ar
ac
ter
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u
r
e
3
.
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x
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m
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u
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2
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asic r
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0
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ca
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ca
lcu
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b
y
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s
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Da
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f
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m
u
la
[
3
7
]
2
0
0
W
w
a
b
v
c
v
m
(
4
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w
h
er
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,,
a
b
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.
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t f
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r
ce
g
r
ad
F
ca
u
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ed
b
y
s
lo
p
e
o
f
r
o
ad
:
s
i
n
g
r
a
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m
g
(
5
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w
h
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,
g
ar
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th
e
g
r
a
v
it
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ac
ce
ler
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an
d
th
e
r
ail
tr
ac
k
s
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r
esp
ec
tiv
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y
.
3.
SPEE
D
T
RAJ
E
C
T
O
RY
O
P
T
I
M
AL
I
T
Y
AN
A
L
YS
I
S
B
ASE
D
O
N
P
M
P
AND
E
N
E
R
G
Y
ASSUM
P
T
I
O
N
Dep
en
d
in
g
o
n
t
h
e
lo
n
g
o
r
s
h
o
r
t
d
is
tan
ce
b
et
w
ee
n
s
ta
tio
n
s
,
a
tr
ain
o
p
er
ates
i
n
t
h
r
ee
o
r
f
o
u
r
p
h
ases
.
So
m
e
s
t
u
d
ies
s
h
o
w
ed
o
p
ti
m
al
s
eq
u
en
ce
m
o
d
es
o
f
t
h
e
tr
ai
n
to
s
av
e
o
p
er
atio
n
en
er
g
y
;
w
it
h
th
e
s
h
o
r
t
s
tatio
n
,
th
e
tr
ain
r
u
n
s
i
n
th
r
ee
p
h
a
s
es:
ac
ce
ler
atin
g
,
co
ast
in
g
,
b
r
ak
i
n
g
;
w
i
th
t
h
e
lo
n
g
s
ta
tio
n
;
t
h
e
tr
ai
n
r
u
n
s
i
n
4
p
h
ases
:
A
cc
eler
ati
n
g
,
cr
u
is
i
n
g
,
co
asti
n
g
,
b
r
ak
i
n
g
p
h
ase
[
2
4
]
,
an
d
s
h
o
w
n
F
ig
u
r
e
4
,
Fi
g
u
r
e
5
.
Fo
r
ce
s
h
av
e
ac
ted
o
n
a
tr
ain
in
o
p
er
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n
m
o
d
es
ar
e
d
if
f
er
en
t;
ac
ce
ler
atin
g
p
r
o
ce
s
s
ac
ted
b
y
tr
ac
ti
v
e
f
o
r
ce
,
an
d
b
asic
r
esis
tan
ce
f
o
r
ce
;
cr
u
is
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n
g
p
r
o
ce
s
s
ac
ted
b
y
tr
ac
ti
v
e
f
o
r
ce
,
an
d
b
asic
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ta
n
ce
f
o
r
ce
;
co
asti
n
g
p
r
o
ce
s
s
h
a
s
o
n
l
y
b
asi
c
r
esis
ta
n
ce
f
o
r
ce
,
b
r
ak
in
g
p
r
o
ce
s
s
w
it
h
b
r
ak
i
n
g
f
o
r
ce
,
an
d
b
asic r
esis
tan
ce
f
o
r
ce
.
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.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
233
-
242
236
Fig
u
r
e
4
.
Op
ti
m
al
s
eq
u
e
n
ce
m
o
d
es o
f
th
e
tr
ain
m
o
v
e
m
e
n
t
w
it
h
a
s
h
o
r
t statio
n
Fig
u
r
e
5
.
O
p
ti
m
al
s
eq
u
e
n
ce
m
o
d
es o
f
th
e
tr
ain
m
o
v
e
m
e
n
t
w
it
h
a
lo
n
g
s
tatio
n
3
.
1
.
P
r
o
ble
m
f
o
r
m
ula
t
io
n
T
h
e
m
o
tio
n
o
f
a
tr
ain
alo
n
g
a
t
r
ac
k
ca
n
b
e
d
escr
ib
ed
b
y
th
e
s
t
ate
eq
u
atio
n
s
[
5
]
0
1
(
)
(
)
(
)
(
)
t
r
t
r
b
r
b
r
g
r
a
d
dt
dx
v
dv
v
u
f
v
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f
v
w
v
f
x
dx
(
6
)
w
he
re
,
t
r
b
r
uu
ar
e
d
ef
i
n
ed
tr
ac
tio
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n
d
b
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o
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les
o
f
tr
ai
n
,
b
o
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f
w
h
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e
s
tr
ain
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y
:
[
0
,
1
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u
;
[
0
,
1
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br
u
;
[
0
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1
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mb
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;
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t
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b
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g
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a
d
f
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f
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;
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ac
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ap
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,
b
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h
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4.
SI
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3
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.
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239
T
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Sim
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k
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y
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les
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m
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l
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l
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rt
2
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o
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ti
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a
teg
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u
n
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th
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ica
l
,
v
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l.
9
4
,
p
p
.
5
0
9
-
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3
8
,
2
0
1
6
.
[3
2
]
C.
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t
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,
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teg
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1
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p
p
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7
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0
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9
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2
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4
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[3
3
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t
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,
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icie
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4
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o
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trica
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ms
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l.
1
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4
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p
.
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.
[3
5
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I.
A
b
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.
T
k
io
u
a
t,
"
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it
Co
m
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n
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lem
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e
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tri
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ter
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l.
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p
.
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0
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6
]
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.
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.
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u
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n
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sig
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d
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in
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.
[3
7
]
W
.
J.
Da
v
is,
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sista
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tric l
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ra
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8
]
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t
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l
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,
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ff
icie
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l
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0
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[3
9
]
N.
T
.
Ha
i,
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tern
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),
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S
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s
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d
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stria
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m
m
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s
(UT
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ietn
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m
.
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e
r
c
u
rre
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t
in
tere
sts
in
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lu
d
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o
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r
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c
tro
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ic
Co
n
v
e
rters
,
El
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c
tri
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M
o
t
o
r
Driv
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a
p
p
li
e
d
f
o
r
T
ra
n
sp
o
rtatio
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
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Vo
l.
10
,
No
.
1
,
Feb
r
u
ar
y
2
0
2
0
:
233
-
242
242
Ng
u
y
e
n
Va
n
q
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n
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g
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S
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1
)
d
e
g
re
e
s
in
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g
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rin
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M
e
c
h
a
n
ics
f
ro
m
Ha
n
o
i
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iv
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o
f
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c
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c
e
a
n
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Te
c
h
n
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S
T
).
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,
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is
a
lec
tu
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r
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f
De
p
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rt
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e
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c
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c
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c
s,
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l
o
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a
En
g
in
e
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r
in
1
9
9
1
.
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c
o
m
p
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d
h
is
P
h
.
D.
d
e
g
re
e
i
n
1
9
9
6
in
A
u
to
m
a
ti
o
n
P
r
o
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e
ss
(
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ra
n
sp
o
rt
)
in
th
e
In
stit
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te
o
f
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n
tro
l
S
y
ste
m
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c
o
m
m
u
n
ica
ti
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n
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n
d
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tri
f
ica
ti
o
n
,
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o
sc
o
w
S
tate
Un
iv
e
rsit
y
o
f
Ra
il
wa
y
En
g
in
e
e
r
in
g
(M
IIT
),
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ss
ian
.
He
is
a
n
A
s
so
c
.
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ro
f
,
F
a
c
u
lt
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o
f
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tri
c
a
l
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n
d
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c
tro
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g
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rin
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,
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f
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ra
n
sp
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rt
a
n
d
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m
m
u
n
ica
ti
o
n
s
(UT
C),
V
ietn
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m
.
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re
se
a
rc
h
in
tere
sts
a
re
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th
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re
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s
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f
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a
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P
o
w
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r
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c
tro
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In
telli
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T
ra
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sp
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rt
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y
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m
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ig
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in
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a
n
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d
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d
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n
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n
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o
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p
lete
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h
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h
.
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d
e
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re
e
in
1
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in
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r
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c
tro
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,
a
n
d
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tri
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Driv
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ro
m
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lo
v
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k
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o
f
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g
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.
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is
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n
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ss
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t
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n
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f
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e
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T
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h
n
o
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.
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t
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in
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tri
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o
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u
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h
is
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S
.
,
M
.
S
.
,
a
n
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h
.
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d
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s f
ro
m
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f
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h
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,
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m
,
in
2
0
0
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,
2
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n
d
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,
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sp
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ti
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ly
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a
ll
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h
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li
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s
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h
o
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v
o
lt
a
ic,
W
in
d
sy
ste
m
,
El
e
c
t
rica
l
M
a
c
h
in
e
Driv
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.