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s
t
b
een
i
n
s
t
al
l
ed
.
T
h
e r
es
ear
ch
er
s
o
f
S
o
u
t
h
A
u
s
t
r
al
i
a U
n
i
v
er
s
i
t
y
in
[
25]
-
[
29]
ou
t
l
i
n
e
d a
n
e
n
e
r
gy
-
s
a
v
i
ng
d
r
iv
in
g
s
tr
a
te
g
y
f
o
r
a
tr
a
in
tr
i
p
o
n
a
tr
a
c
k
w
i
th
u
p
h
i
ll a
n
d
d
o
w
n
h
ill
g
r
a
d
ie
n
t
s
b
y
d
e
s
ig
n
i
n
g
c
o
n
tr
o
l la
w
s
to
c
a
lc
u
la
te
lo
c
a
tio
n
o
f
o
p
ti
m
a
l
s
w
itc
h
i
n
g
p
o
i
n
ts
,
a
n
d
th
e
n
d
e
te
r
m
in
i
n
g
t
h
e
o
p
ti
m
a
l
s
p
e
e
d
p
r
o
f
ile
b
u
t n
o
t to
me
n
t
i
o
n
f
i
xe
d
r
un
ni
n
g t
i
m
e
.
B
a
r
a
no
v
a
t a
l.
[
30]
pr
o
pos
e
d
a
s
ol
u
t
i
on
t
o
m
i
n
i
m
i
z
e
e
n
e
r
gy
c
on
s
um
pt
i
on
a
n
d
c
on
s
i
de
r
f
i
x
e
d t
r
i
p t
i
m
e
b
y
s
uppl
e
m
e
n
t
i
ng
L
a
gr
a
n
ge
m
u
lt
ip
lie
r
in
o
b
j
e
c
tiv
e
f
u
n
c
tio
n
.
C
a
l
c
u
la
ti
n
g
to
f
in
d
th
e
a
c
tu
a
l ti
m
e
e
q
u
a
l to
d
e
m
a
n
d
ti
m
e
i
s
n
o
t e
a
s
y
,
a
n
d
r
ep
eat
ed
.
T
h
er
ef
o
r
e,
i
n
t
h
i
s
p
ap
er
,
p
o
n
t
r
y
a
g
i
n
'
s
m
a
x
i
m
u
m
p
r
i
n
ci
p
l
e (
P
M
P
)
h
as
b
een
p
r
e
s
en
t
ed
t
o
d
et
er
m
i
n
e o
p
t
i
m
a
l
s
p
eed
p
r
o
f
i
l
e f
o
r
C
at
L
i
n
h
-
H
a
D
o
n
g
m
e
tr
o
lin
e
in
V
i
et
n
a
m
,
an
d
cal
c
u
l
at
i
n
g
f
i
x
ed
-
r
u
n
n
i
n
g
ti
m
e
b
y
n
u
m
e
r
ic
a
l a
n
a
l
y
tic
a
l
m
e
th
o
d
th
a
n
k
s
to
m
a
p
le
s
o
f
t
w
ar
e.
S
i
m
u
l
at
i
o
n
r
es
u
l
t
s
ar
e co
n
d
u
ct
ed
i
n
t
w
o
s
ce
n
ar
i
o
s
:
r
u
n
n
i
n
g
t
i
m
e o
f
t
r
ai
n
s
t
r
ack
i
n
g
t
h
e o
p
t
i
m
al
s
p
eed
p
r
o
f
i
l
e i
s
e
q
ua
l
t
o
t
ha
t
o
f
o
r
i
gi
na
l
s
p
e
e
d
p
r
o
f
i
l
e
,
a
nd
t
he
o
t
he
r
w
i
t
h
r
un
ni
ng
t
i
m
e
o
f
t
r
a
i
ns
i
s
l
o
ng
e
r
t
ha
n
t
he
o
r
i
gi
na
l
s
pe
e
d pr
of
i
l
e
.
2.
T
RAI
N M
O
D
ELI
N
G
T
he
c
o
nt
i
nuo
us
-
s
p
ace
m
o
d
el
o
f
u
r
b
an
el
ect
r
i
c t
r
ai
n
o
p
er
at
es
i
n
t
h
r
ee
m
o
t
i
o
n
r
e
g
i
m
es
:
A
c
cel
er
at
i
n
g
,
c
oa
s
t
i
ng
,
br
a
k
i
ng
i
s
s
h
o
w
n [
31]
-
[3
3
].
=
1
=
(
)
−
(
)
−
0
(
)
−
(
)
(1
)
W
h
er
e
,,
,
vt
x
m
r
ep
r
es
en
t
t
r
ai
n
v
el
o
ci
t
y
(
/
)
ms
,
o
p
e
r
a
tio
n
ti
m
e
()
s
,
tr
a
in
p
o
s
itio
n
(
)
m
,
f
u
ll lo
a
d
m
a
s
s
o
f
tr
a
in
()
to
n
e
,
,
t
r
br
uu
ar
e d
ef
i
n
ed
tr
a
c
tio
n
a
n
d
b
r
a
k
in
g
c
o
n
tr
o
l v
a
r
ia
b
le
s
o
f
tr
a
i
n
,
,,
t
r
br
gr
a
d
ff
f
ar
e f
o
r
ces
p
er
u
n
i
t
m
as
s
;
t
r
act
i
o
n
f
o
r
ce ap
p
l
i
ed
at
t
h
e
w
h
eel
s
,
b
r
ak
i
n
g
f
o
r
ce,
m
e
ch
an
i
ca
l
f
o
r
ce,
g
r
ad
i
en
t
f
o
r
ce act
i
n
g
o
n
t
h
e t
r
ai
n
.
w
h
er
e:
;;
gr
a
d
t
r
br
t
r
br
gr
a
d
F
FF
ff
f
mm
m
I
n w
hi
c
h
0
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,
t
r
br
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a
d
F
F
WF
ar
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r
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i
o
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b
r
ak
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g
,
m
ai
n
r
es
i
s
t
an
ce,
g
r
ad
i
en
t
r
es
i
s
t
a
n
ce f
o
r
ces
,
a
n
d
t
h
es
e
f
o
r
ces
al
s
o
h
av
e b
ee
n
d
i
f
f
er
ed
f
r
o
m
t
h
r
ee
m
o
t
i
o
n
p
h
as
es
f
o
r
s
h
o
r
t
i
n
t
er
-
s
ta
tio
n
s
a
s
s
h
o
w
n
in
F
ig
u
r
e
1
.
x
b
C
oas
t
i
n
g
B
r
a
ki
ng
P
m
ec
h
v
t
(
km
/
h
)
(
)
m
wh
T
ω
F
i
gu
r
e
1.
A
t
y
p
ic
a
l s
p
e
e
d
p
r
o
f
ile
w
it
h
t
h
r
e
e
m
o
tio
n
p
h
a
s
e
s
f
o
r
s
h
o
r
t in
te
r
-
s
ta
tio
n
s
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t
J
E
l
e
c
&
C
o
m
p
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n
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I
S
S
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8708
A
nov
e
l
m
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de
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m
i
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x
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d r
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(
A
n
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4883
M
a
nu
f
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c
t
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r
s
ha
ve
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r
a
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i
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n
f
o
r
c
e
tr
F
,
br
a
k
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ng
f
or
c
e
br
F
[
3
4
]
.
T
h
e t
r
act
i
o
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f
o
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ce
tr
F
,
b
r
a
ki
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g
fo
r
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es
cr
i
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as
s
h
o
w
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n (
2)
:
=
13
.
2
(
0
≤
≤
32
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2
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5
⋅
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66
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35
(
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7
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≤
65
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0
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254
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31
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21
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65
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≤
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0
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202
7
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27
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36
(
75
<
≤
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D
av
i
s
f
o
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m
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l
a i
s
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s
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t
o
cal
cu
l
at
e t
h
e b
as
i
c r
es
i
s
t
an
ce
0
w
[
35]
2
0
0
W
w
a
bv
cv
m
(4
)
I
n w
hi
c
h
,,
a
bc
ar
e co
ef
f
i
ci
en
t
s
o
f
t
r
ai
n
’
s
r
es
i
s
t
an
ce.
T
h
e g
r
ad
i
en
t
f
o
r
ce
gr
a
d
F
c
a
u
s
e
d b
y
s
l
ope
of
r
oa
d:
si
n
gr
a
d
F
m
g
(5
)
,
g
ar
e t
h
e g
r
av
i
t
y
accel
er
at
i
o
n
a
n
d
t
h
e r
ai
l
t
r
ack
s
l
o
p
e r
es
p
ect
i
v
e
.
3.
D
ET
ER
M
I
N
A
T
I
O
N
O
F
F
IX
ED
T
R
I
P
T
I
M
E
E
n
s
u
r
in
g
th
e
tr
ip
ti
m
e
c
o
m
p
l
y
in
g
w
it
h
s
c
h
e
d
u
le
d
t
i
m
e
ta
b
le
w
h
e
n
tr
a
i
n
o
p
e
r
a
tio
n
tr
a
c
k
s
t
h
e
o
p
ti
m
a
l
s
p
e
e
d
p
r
o
f
ile
is
th
e
m
a
in
g
o
a
l
o
f
th
i
s
s
e
c
tio
n
.
3
.
1
.
O
pt
i
m
a
l
s
pe
e
d c
ur
v
e
de
t
e
r
m
i
na
t
i
o
n ba
s
e
d o
n P
M
P
T
h
e o
p
t
i
m
al
s
p
eed
cu
r
v
e i
s
d
et
er
m
i
n
ed
t
h
a
n
k
s
t
o
s
ee
k
t
h
e o
p
t
i
m
al
s
w
i
t
c
hi
n
g p
o
i
nt
s
b
e
t
w
e
e
n t
he
o
p
er
at
i
o
n
r
eg
i
m
es
,
an
d
d
et
ect
i
n
g
t
h
es
e s
w
i
t
ch
i
n
g
p
o
i
n
t
s
b
as
ed
o
n
P
M
P
.
F
r
o
m
th
e
s
ta
te
(1
)
,
b
o
und
a
r
y
c
o
nd
i
t
i
o
ns
i
nc
l
ud
e
(6
),
(
7
)
.
(
0
)0
,
(
)0
,
(
0
)0
v
vX
t
(6
)
0
(
)
(
)
,
0
(
)
,
0
v
x
V
x
t
X
T
x
X
(7
)
W
h
er
e
()
V
x
is
th
e
m
a
x
i
m
u
m
a
llo
w
a
b
le
v
e
lo
c
it
y
,
X
is
th
e
te
r
m
in
a
l o
f
th
e
tr
a
in
o
p
e
r
a
tio
n
,
)
,
(
0)
(
v
X
v
ar
e t
h
e
v
el
o
ci
t
y
at
t
h
e b
eg
i
n
ni
ng,
a
t
t
h
e
e
nd
o
f
t
he
r
o
ut
e
,
T
is
d
u
r
a
tio
n
o
f
th
e
tr
ip
is
a
ls
o
g
iv
e
n
b
y
t
h
e
ti
m
e
ta
b
le
.
T
h
e p
r
o
b
l
em
i
s
h
o
w
t
o
l
es
s
e
n
t
h
e t
r
ai
n
'
s
co
n
s
u
m
p
t
i
o
n
e
n
er
g
y
.
T
h
e o
b
j
ect
i
v
e f
u
n
ct
i
o
n
i
s
p
r
es
en
t
ed
:
0
(
)
mi
n
X
tr
tr
J
u
f
v
dx
(8
)
A
c
c
or
di
ng
t
o pon
t
r
y
g
i
n’
s
m
a
x
i
m
um
pr
i
n
c
i
pl
e
,
m
a
x
i
m
i
z
i
ng h
a
m
i
l
t
on
i
a
n
e
qu
a
t
i
on
of
t
h
e
ob
j
e
c
t
i
v
e
f
u
n
c
tio
n
J
is
g
o
in
g
to
f
i
n
d
its
o
p
ti
m
a
l s
o
l
u
tio
n
s
.
F
r
o
m
(
1
)
to
(
8
)
,
a
H
a
m
ilto
n
fu
n
c
t
i
o
n i
s
w
r
i
t
t
e
n a
s
s
ho
w
i
n (
9
)
.
12
0
()
()
()
()
(
)
tr
tr
tr
tr
b
r
b
r
g
r
a
d
pp
H
uf
v
uf
v
u
f
v
w
v
f
x
vv
(9
)
G
i
ve
n,
12
,
pp
ar
e co
-
s
ta
te
v
a
r
ia
b
le
s
.
C
o
-
s
ta
te
v
ar
i
ab
l
es
ar
e d
ef
i
n
ed
b
y
(
10)
:
1
=
−
=
0
(
10)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
88
-
8708
In
t
J
E
l
e
c
&
C
o
m
p
E
n
g
,
V
o
l.
11
, N
o
.
6
,
D
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b
er
2
0
2
1
:
4
881
-
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90
4884
2
=
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1
2
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2
2
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(
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(
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−
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−
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11)
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fi
n
e
2
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p
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2
pv
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h
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,
2
=
(
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)
=
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=
1
2
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(
12)
⇒
=
1
2
−
(
13)
G
i
ve
n
0
()
()
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()
(
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t
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br
br
gr
a
d
uf
v
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v
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f
x
dv
dx
v
(
14)
T
h
er
ef
o
r
e,
H
am
i
l
t
o
n
i
a
n
f
u
n
ct
i
o
n
i
s
r
ef
o
r
m
ed
:
1
0
(
1)
(
)
t
r
t
r
br
br
gr
a
d
p
H
p
u
f
pu
f
p
w
f
v
(
15)
W
i
t
h t
he
va
l
ue
s
o
f
tr
u
a
nd
br
u
r
e
la
te
d
to
p
=
1
>
1
∈
(
0
,
1
)
=
1
=
0
<
1
=
0
0
<
<
1
∈
(
0
,
1
)
=
0
=
1
<
0
(1
6
)
O
p
t
i
m
al
co
n
t
r
o
l
l
a
w
s
ar
e d
es
i
g
n
ed
to
m
a
x
i
m
iz
e
H
a
m
i
lto
n
ia
n
f
u
n
c
tio
n
:
−
F
u
l
l
p
o
w
e
r (F
P
):
1,
0
t
r
br
uu
w
he
n
1
p
−
P
a
r
tia
l p
o
w
e
r
(P
P
):
[
0,
1
]
tr
u
,
0
br
u
wh
e
n
1
p
−
Co
a
s
t
i
n
g
(
C)
:
0,
0
t
r
br
uu
wh
e
n
01
p
−
F
ul
l
b
r
a
ki
n
g (
F
B
)
:
0,
1
t
r
br
uu
w
he
n
0
p
−
P
a
r
tia
l
b
r
a
ki
ng (
P
B
)
:
0
tr
u
,
[
0,
1
]
br
u
w
he
n
0
p
3
.
2
.
F
i
x
e
d
tr
i
p
ti
m
e
T
h
e t
r
i
p
t
i
m
e
i
n
ev
er
y
o
p
er
at
i
o
n
r
eg
i
m
e
n
eed
s
t
o
b
e cal
cu
l
a
t
ed
s
o
t
h
a
t
t
h
e t
o
t
al
r
u
n
n
i
n
g
t
i
m
e o
f
t
h
e
w
h
o
le
lin
e
is
a
b
id
e
d
b
y
th
e
tr
a
in
s
c
h
e
d
u
le
d
ti
m
e
ta
b
le
e
x
a
c
tl
y
.
C
a
lc
u
la
ti
n
g
th
e
to
ta
l r
u
n
n
i
n
g
ti
m
e
is
d
iv
id
e
d
in
t
o
t
h
r
ee p
h
as
es
.
3.
2.
1.
A
c
c
e
l
e
r
at
i
n
g p
h
as
e
E
q
u
a
tio
n
m
o
t
io
n
o
f
t
h
e
tr
a
in
i
n
o
p
ti
m
a
l tr
a
c
tio
n
m
o
d
e
:
0
()
()
tr
dv
f
v
wv
dt
(1
7
)
U
s
in
g
t
h
e
v
a
r
ia
b
le
d
is
s
o
c
ia
t
io
n
m
et
h
o
d
,
t
h
e r
u
n
n
i
n
g
t
i
m
e i
n
accel
er
at
i
n
g
p
h
as
e i
s
ex
p
r
es
s
e
d
as
(
18)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t
J
E
l
e
c
&
C
o
m
p
E
n
g
I
S
S
N
:
2088
-
8708
A
nov
e
l
m
e
t
ho
d f
or
de
t
e
r
m
i
ni
n
g f
i
x
e
d r
unni
n
g t
i
m
e
i
n
…
(
A
n
T
hi
H
oai
T
hu A
n
h
)
4885
(
)
−
0
(
)
=
→
(
)
−
0
(
)
ℎ
0
=
0
→
(
)
−
0
(
)
ℎ
0
=
(1
8
)
W
h
er
e:
f
tr
i
s
cal
cu
l
at
ed
as
(2
)
,
fr
o
m
(
18)
t
h
e accel
er
at
i
o
n
t
i
m
e
m
a
y
b
e e
m
p
l
o
y
ed
(
19)
:
32
00
0
32
32
52
2
0
32
14
3
2
13
9
1
79
12
2
1
4
22
9
2.
5
10
0.
007
0.
66
28.
35
2
10
1
10
a
)
r
c
t
an
250
10
25
10
5.
34
10
25
10
04
5.
34
()
(
()
(
1
)
1
0
0
3.
2
27
0
2
10
10
h
h
v
a
tr
tr
v
dv
dv
t
v
v
v
cv
b
ac
b
c
ac
b
c
f
v
wv
f
v
wv
dv
dv
a
bv
cv
a
bv
cv
32
0
12
9
6
12
12
6
15
15
2
12
12
15
12
2.
0
12.
35
10
25.
82
10
5
10
12.
35
10
1.
52
10
123.
5
10
ar
c
t
an
15.
25
10
3.
81
10
31.
89
10
936.
16
10
33.
72
10
13.
04
10
cv
b
ac
b
a
b
c
32
15
15
2
12
12
15
12
15.
25
10
3.
81
10
31.
89
10
936.
16
10
33.
72
10
13.
04
10
h
v
ac
b
a
b
c
(
19)
U
s
i
n
g
t
h
e M
A
P
L
E
s
o
f
t
w
ar
e t
o
o
l
,
t
h
e accel
er
at
i
o
n
t
i
m
e as
a
f
u
n
ct
i
o
n
o
f
v
el
o
ci
t
y
.
A
cce
l
er
at
i
o
n
d
i
s
t
an
ce i
s
cal
cu
l
at
ed
as
(
20)
:
F
r
o
m:
=
→
=
=
(
)
−
0
(
)
→
∫
0
=
∫
(
)
−
0
(
)
ℎ
0
→
=
(
)
−
0
(
)
ℎ
0
→
0
=
(
)
−
0
(
)
ℎ
0
→
=
(
)
−
0
(
)
ℎ
0
(
20
)
3.
2.
2.
C
oas
t
i
n
g p
h
as
e
M
ot
i
on
e
qu
a
t
i
on
of
t
h
e
t
r
a
i
n
i
n
opt
i
m
a
l
c
oa
s
t
i
ng
m
ode
:
0
()
dv
wv
dt
(
21
)
U
s
i
n
g
t
h
e v
ar
i
ab
l
e
di
s
s
oc
i
a
t
i
on
m
e
t
h
od,
t
h
e
r
unn
i
ng
t
i
m
e
i
n
c
oa
s
t
i
ng
ph
a
s
e
obt
a
i
ns
:
0
2
2
2
0
2
1
2
ar
c
t
an
4
()
(
4
)
b
ac
h
ha
b
v
t
t
v
c
vt
v
dv
dv
dv
dt
dt
t
wv
wv
ab
cv
b
ac
b
ac
b
v
cv
(
22
)
I
n w
hi
c
h
b
r
a
ki
ng ve
l
o
c
i
t
y
b
v
i
s
gi
v
e
n
a
s
f
ol
l
o
w
s
[
35]
,
[
36]
.
=
(
ℎ
)
′
(
ℎ
)
ℎ
(
)
=
⋅
0
(
)
,
(
)
=
2
⋅
0
′
(
)
→
=
ℎ
1
+
0
(
ℎ
)
ℎ
0
′
(
ℎ
)
=
ℎ
1
+
+
ℎ
(
+
ℎ
)
ℎ
(
+
2
ℎ
)
(
23)
C
o
as
t
i
n
g
d
i
s
t
an
ce i
s
co
m
p
u
t
ed
as
(
24)
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
20
88
-
8708
In
t
J
E
l
e
c
&
C
o
m
p
E
n
g
,
V
o
l.
11
, N
o
.
6
,
D
ecem
b
er
2
0
2
1
:
4
881
-
48
90
4886
F
r
o
m:
=
→
=
=
−
0
(
)
→
∫
+
=
−
0
(
)
ℎ
→
=
+
+
2
ℎ
(
24)
3.
2.
3.
B
r
ak
i
n
g p
h
as
e
M
ot
i
on
e
qu
a
t
i
on
of
t
h
e
t
r
a
i
n
i
n
opt
i
m
a
l
br
a
k
i
ng
m
ode
(
25)
:
0
()
()
br
dv
wv
f
v
dt
(
25)
U
s
i
n
g t
he
va
r
i
a
b
l
e
d
i
s
s
o
c
i
a
t
i
o
n
m
e
t
ho
d
,
t
he
r
u
n
ni
n
g t
i
m
e
i
n
b
r
a
ki
n
g p
ha
s
e
i
s
gi
ve
n b
y
(
26)
:
−
(
)
−
0
(
)
=
→
−
(
)
−
0
(
)
0
=
+
+
+
→
(
)
+
0
(
)
0
=
(
26)
F
br
i
s
cal
cu
l
at
ed
as
s
h
o
w
n
i
n
(
3)
Fr
o
m
(
4
)
t
h
e b
r
ak
i
n
g
t
i
m
e can
b
e
w
r
i
t
t
e
n
as
(
27)
.
2
0
ma
m
2
x
2
x
ma
a
x
2
1
2
ar
c
t
an
44
44
b
v
b
br
br
br
dv
t
f
a
bv
cv
ff
cv
b
ac
b
c
ac
b
c
(
27)
T
h
e b
r
ak
i
n
g
d
i
s
t
a
n
ce i
s
cal
c
u
l
at
ed
(
2
8)
.
=
→
=
=
−
(
)
−
0
(
)
→
+
+
+
=
−
(
)
−
0
(
)
0
→
=
(
)
+
0
(
)
0
(
28
)
4.
RE
S
U
L
T
S
AND D
I
S
CU
S
S
I
O
N
T
he
s
i
m
u
l
at
i
o
n
p
ar
a
m
et
er
s
s
h
o
w
n
i
n
T
ab
l
e 1
,
T
ab
l
e 2
co
l
l
ect
ed
f
r
o
m
C
a
t
L
i
n
h
-
H
a
D
ong
m
e
t
r
o l
i
n
e
,
V
i
e
t
n
a
m
w
i
t
h
12 s
t
a
t
i
ons
a
n
d
12.
66
1 km
l
ong
[
34]
.
S
i
m
u
l
a
t
i
on
r
e
s
u
l
t
s
c
a
r
r
i
e
d ou
t
w
i
t
h t
w
o
s
c
e
n
a
r
i
os
:
r
un
n
i
ng
t
i
m
e co
m
p
l
i
es
w
i
t
h
s
ch
ed
u
l
ed
t
i
m
et
ab
l
e,
a
n
d
r
u
n
n
i
n
g
t
i
m
e i
s
o
n
e s
eco
n
d
l
o
n
g
er
t
h
an
s
ch
ed
u
l
ed
t
i
m
et
ab
l
e.
T
h
e
f
ir
s
t
s
c
e
n
a
r
io
: T
h
e
r
u
n
n
i
n
g
t
i
m
e
c
o
m
p
lie
s
w
it
h
s
c
h
e
d
u
le
d
ti
m
e
ta
b
le
.
T
ab
l
e
1
.
E
l
ect
r
i
c t
r
ai
n
p
ar
am
et
er
s
P
a
r
a
m
et
er
s
Un
i
t
V
a
lu
e
T
r
a
i
n
gr
a
n
d
-
u
p
2
M
2
T
M
a
ss
k
g
2
4
6
7
00
N
u
m
b
e
r o
f t
ra
c
t
i
o
n
m
o
t
o
rs
0
8
M
a
x
s
p
eed
k
m
/h
8
0
B
a
s
e s
p
eed
k
m
/h
4
0
Ma
x
a
c
c
e
l
e
r
a
tio
n
/
b
r
a
k
in
g
r
a
t
e
s
m/
s
2
0
.
9
4
/
1
T
ab
l
e
2
.
C
o
ef
f
i
ci
e
n
t
s
o
f
b
as
i
c r
es
i
s
t
a
n
ce f
o
r
ce
P
a
r
a
m
et
er
s
V
a
lu
e
a
2
1.
19
10
b
3
2.
56
10
c
4
1.
54
10
T
h
e s
eco
n
d
s
cen
ar
i
o
:
T
h
e r
u
n
n
i
n
g
t
i
m
e i
s
o
n
e s
eco
n
d
l
o
n
g
e
r
t
h
an
s
c
h
ed
u
l
ed
t
i
m
et
ab
l
e.
T
h
e
tr
ip
tim
e
c
o
m
p
lie
d
w
i
th
s
c
h
e
d
u
le
d
ti
m
e
ta
b
le
in
d
ic
a
te
d
in
F
i
gur
e
2
,
T
ab
l
e 3
.
F
i
gur
e
3
s
ho
w
e
d
o
p
t
i
m
a
l
s
w
i
t
c
hi
ng p
o
i
nt
s
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t
J
E
l
e
c
&
C
o
m
p
E
n
g
I
S
S
N
:
2088
-
8708
A
nov
e
l
m
e
t
ho
d f
or
de
t
e
r
m
i
ni
n
g f
i
x
e
d r
unni
n
g t
i
m
e
i
n
…
(
A
n
T
hi
H
oai
T
hu A
n
h
)
4887
ch
an
g
e,
s
o
d
o
o
p
t
i
m
al
accel
e
r
at
i
n
g
,
co
as
t
i
n
g
,
b
r
ak
i
n
g
d
i
s
t
a
n
ces
co
n
s
i
d
er
ab
i
l
i
t
y
.
T
ab
l
e
3
al
s
o
d
em
o
n
s
t
r
at
ed
t
ha
t
t
he
l
o
w
e
s
t
s
a
vi
ng
e
ne
r
g
y i
s
3
.
3
3
%
w
h
i
l
e
t
he
hi
ghe
s
t
s
a
vi
ng
e
ne
r
g
y i
s
t
o
1
0
.
1
5
%
;
t
he
r
e
f
o
r
e
,
s
a
vi
ng
e
ne
r
g
y
o
f t
h
e
w
ho
l
e
r
o
ut
e
i
s
8
.
7
%
.
I
n
t
he
s
e
c
o
nd
s
c
e
na
r
i
o
,
r
unn
i
n
g t
i
m
e
i
s
o
ne
s
e
c
o
nd
l
o
nge
r
t
ha
n o
r
i
gi
na
l
t
i
m
e
in
d
ic
a
te
d
in
F
i
g
u
r
e
s
4
, 5
,
a
nd
T
a
bl
e
4,
bu
t
s
a
v
i
ng
e
n
e
r
gy
o
f
t
h
e
w
h
ol
e
r
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[
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S
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.
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7]
R
.
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a
r
r
e
r
o,
X
.
T
a
c
k
oe
n,
a
nd J
.
V
.
M
i
e
r
l
o,
"
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nha
nc
e
d e
ne
r
gy
s
t
or
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g
e
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y
s
t
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m
s
f
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m
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t r
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i
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E
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hi
c
ul
ar
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e
c
hn
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o
gy
M
ag
az
i
ne
,
vo
l
.
3,
pp.
26
-
3
6,
2
00
8,
do
i
:
10.
11
15/
J
R
C
2
0
08
-
63
05
4.
[
8]
L
.
B
a
ttis
te
lli,
F
.
C
ic
c
a
r
e
lli,
D
.
L
a
u
r
ia
,
a
n
d
D
.
P
r
o
t
o
,
"
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p
tim
a
l d
e
s
ig
n
o
f
D
C
e
le
c
tr
if
ie
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r
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y
s
t
a
tio
n
a
r
y
s
to
r
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g
e
s
ys
t
e
m
,
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2009 I
nt
e
r
n
at
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o
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l
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onf
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e
nc
e
on C
l
e
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l
e
c
t
r
i
c
al
P
ow
e
r
,
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00
9,
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73
9
-
74
5,
doi
:
1
0.
1
10
9/
I
C
C
E
P
.
2
00
9.
5
21
19
71.
[
9]
D.
I
a
nnu
zzi
,
F
.
C
i
ccar
el
l
i
,
an
d
D
.
L
au
r
i
a,
"
S
t
at
i
o
n
ar
y
u
l
t
r
acap
aci
t
o
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s
s
t
o
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ag
e d
ev
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ce f
o
r
i
m
p
r
o
v
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y
s
a
v
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g
a
nd v
ol
t
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g
e
pr
of
i
l
e
of
l
i
g
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t
r
a
n
s
por
t
a
t
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on
ne
t
w
or
k
s
,
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T
r
ans
por
t
a
t
i
on
R
e
s
e
ar
c
h P
ar
t
C
:
E
m
e
r
gi
n
g
T
e
c
hno
l
og
i
e
s
,
vo
l
.
21
.
1,
pp
.
3
21
-
33
7,
20
12
.
[
1
0]
R.
T
e
y
m
our
f
a
r
e
t a
l.
,
"
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t
a
t
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ona
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y
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upe
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et
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e,
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ne
r
gy
C
onv
e
r
s
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o
n a
nd M
a
na
ge
m
e
nt
,
v
o
l.
56
,
p
p.
20
6
-
214
,
2
01
2,
do
i
:
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10
16/
j
.
t
r
c
.
2
01
1.
1
1.
0
02
.
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1
1]
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.
K
h
o
d
ap
ar
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t
an
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d
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.
M
o
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a
m
ed
,
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s
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p.
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E
S
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M
.
20
17.
82
73
915
.
[
1
2]
D
.
C
or
ni
c
,
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E
f
f
i
c
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e
nt
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e
c
ov
e
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y
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k
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gy
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hr
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ta
tio
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,
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c
tr
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l S
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s
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m
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A
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t
,
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2
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1
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:
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0.
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10
9/
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S
A
R
S
.
201
0.
56
65
26
4.
[
1
3]
H
.
I
ba
i
o
nd
o a
nd
A
.
R
om
o,
"
K
i
ne
t
i
c
e
ne
r
gy
r
e
c
ov
e
r
y
on r
a
i
l
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m
s
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t
h f
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g
r
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d,
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r
oc
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e
di
ngs
o
f
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h I
nt
e
r
n
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al
P
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l
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s
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ot
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o
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0,
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10
,
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p.
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1
4]
T.
A
l
br
e
c
ht
,
"
R
e
duc
i
ng
pow
e
r
p
e
a
k
s
a
nd e
ne
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gy
c
ons
um
pt
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on i
n r
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t
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ous
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tim
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l,
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I
T
T
r
ans
ac
t
i
ons
on St
at
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of
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th
e
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ar
t
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n Sc
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d
E
ngi
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r
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ng,
vo
l
.
39,
20
10,
doi
:
10.
24
95/
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-
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-
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64
-
49
8
-
7/
0
1.
[
1
5]
A
. N
a
s
r
i
, M
. F
. M
o
g
h
a
d
a
m
,
a
nd H
.
M
ok
ht
a
r
i
,
"
T
i
m
e
t
a
bl
e
opt
i
m
i
z
a
t
i
on f
or
m
a
x
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m
u
m
us
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of
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a
t
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v
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ne
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gy
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f
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in
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tr
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a
l r
a
ilw
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y s
ys
t
e
m
s
,
"
S
P
E
E
D
A
M
,
20
10,
pp
.
1
21
8
-
12
21,
do
i
:
10.
11
09/
S
P
E
E
D
A
M
.
2
01
0.
5
54
20
9
9.
[
1
6]
M.
P
eñ
a
-
A
l
car
az
e
t a
l.
,
"
O
pt
i
m
a
l
unde
r
g
r
ou
nd t
i
m
e
t
a
bl
e
de
s
i
g
n
ba
s
e
d on pow
e
r
f
l
ow
f
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x
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m
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z
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ng
t
he
us
e
o
f
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eg
en
er
at
i
v
e
-
br
a
k
i
ng
e
ne
r
gy
,
"
P
r
oc
e
e
di
ngs
of
t
he
I
ns
t
i
t
ut
i
on
of
M
e
c
han
i
c
al
E
ngi
ne
e
r
s
,
P
ar
t
F
:
J
our
nal
of
R
ai
l
a
n
d
R
api
d T
r
ans
i
t
,
vo
l
.
22
6.
4,
pp.
3
97
-
40
8,
20
12,
do
i
:
10.
11
77/
09
54
40
971
14
29
41
1.
[
1
7]
C
.
G
ong
,
S
.
Z
ha
ng
,
F
.
Z
ha
ng
,
J
.
J
i
a
ng
,
a
nd X
.
W
a
ng
,
"
A
n i
nt
e
g
r
a
t
e
d e
ne
r
gy
-
e
f
f
i
c
i
e
nt
ope
r
a
t
i
o
n m
e
t
hod
ol
og
y
f
or
m
et
r
o
s
y
s
t
e
m
s
b
as
ed
o
n
a
r
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al
cas
e
o
f
S
h
an
g
h
ai
m
et
r
o
l
i
n
e
o
n
e,
"
E
n
e
r
gi
e
s
,
vo
l
.
7.
11
,
pp
.
7
305
-
73
29
,
2
01
4,
doi
:
1
0.
3
39
0/
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n
71
17
30
5.
[
1
8]
M
.
J
oy
a
nd S
.
K
r
i
s
hna
k
um
a
r
,
"
O
pt
i
m
a
l
de
s
i
g
n o
f
a
da
pt
i
v
e
pow
e
r
s
c
he
dul
i
ng
us
i
ng
m
odi
f
i
e
d a
nt
c
ol
ony
o
p
tim
iz
a
tio
n
a
lg
o
r
i
th
m
,
"
I
nt
e
r
nat
i
on
al
J
o
ur
n
al
of
E
le
c
tr
ic
a
l
a
nd
C
om
put
e
r
E
n
gi
ne
e
r
i
n
g
(
I
J
E
C
E
)
,
vo
l
.
10
,
no.
1
,
pp.
73
8
-
745
,
2
02
0,
do
i
:
10.
11
59
1
/
i
j
e
c
e
.
v
10i
1.
pp
73
8
-
74
5.
[
1
9]
K
.
S
ek
ar
an
e
t a
l.
,
"
A
n e
ne
r
gy
-
e
f
f
i
c
i
e
nt
c
l
us
t
e
r
he
a
d s
e
l
e
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t
i
on i
n w
i
r
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e
s
s
s
e
ns
or
ne
t
w
or
k us
i
ng
g
r
e
y
w
ol
f
o
p
tim
iz
a
tio
n
a
lg
o
r
it
h
m
,
"
TE
LK
O
M
N
IKA
T
e
l
e
c
om
m
uni
c
at
i
on
,
C
o
m
put
i
ng,
E
l
e
c
t
r
o
ni
c
s
a
nd
C
o
nt
r
o
l
,
vo
l
.
18
,
n
o.
6,
pp.
28
22
-
28
33
,
2
02
0,
do
i
:
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12
9
28/
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.
v
18i
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1
51
99
.
[
2
0]
O
.
O
g
unbi
y
i
,
O
.
Y
.
O
g
unde
po,
I
.
S
.
M
a
da
g
u,
C
.
T
hom
a
s
,
a
nd B
.
J
.
O
l
uf
e
a
g
ba
,
"
A
pr
og
r
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s
s
i
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dom
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r
o
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m
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om
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om
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l
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s
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d
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ol
.
1
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p.
20
62
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,
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28/
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v
18i
4.
15
04
7.
Evaluation Warning : The document was created with Spire.PDF for Python.
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[
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M
.
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bdi
l
l
a
h,
H
.
S
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i
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di
,
a
n
d D
.
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ul
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pr
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nt
of
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of
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h,
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om
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om
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on
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c
s
and C
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ol
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. 1
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. 1
,
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6
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12
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9.
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2
2]
I
.
A
b
d
o
u
a
n
d
M
.
T
k
io
u
a
t,
"
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n
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t P
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in
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c
tr
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nat
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v
ol
.
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no
.
3,
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p.
1
3
57
-
13
72,
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01
8,
doi
:
1
0.
1
15
91/
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j
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.
v
8i
3.
pp
13
57
-
137
2.
[
2
3]
A
.
T
. H
.
T
.
A
n
h
, N
. V
. Q
u
y
e
n
, N
. H
a
i
, N
. V
. L
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n
, a
n
d
P
. V
u
, "
S
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tim
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tr
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s
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