I
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rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
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Co
m
p
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E
ng
in
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ring
(
I
J
E
CE
)
Vo
l.
9
,
No
.
3
,
J
u
n
e
201
9
,
p
p
.
1576
~
1
5
8
4
I
SS
N:
2088
-
8708
,
DOI
: 1
0
.
1
1
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1
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j
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.
v
9
i
3
.
pp
1
5
7
6
-
1584
1576
J
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ur
na
l ho
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g
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:
h
ttp
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//ia
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co
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co
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jo
u
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n
a
ls
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d
ex
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p
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JE
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Ex
peri
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o
del
bas
ed of
DC gea
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m
o
tor
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eder
m
a
c
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e
Azla
n,
W.
M
.
1
,
Sa
lleh,
S.
M
.
2
,
M
a
hza
n,
S.
3
,
Sa
dik
i
n,
A.
4
,
Ah
m
a
d,
S.
5
1,
3,
4,
5
F
a
c
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lt
y
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e
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h
a
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ica
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n
d
M
a
n
u
f
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g
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g
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n
iv
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rsiti
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n
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ss
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in
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M
a
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a
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a
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2
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e
c
h
a
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ica
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a
il
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re
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re
v
e
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ti
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a
n
d
Re
li
a
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it
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P
RO
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De
p
a
r
tm
e
n
t
o
f
En
g
in
e
e
rin
g
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e
c
h
a
n
ics
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M
a
la
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Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
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y:
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ec
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ed
Au
g
1
0
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201
8
R
ev
i
s
ed
No
v
2
0
,
2
0
1
8
A
cc
ep
ted
Dec
1
1
,
2
0
1
8
T
h
is
p
a
p
e
r
p
re
se
n
ts
th
e
a
p
p
li
c
a
ti
o
n
o
f
a
S
y
ste
m
Id
e
n
ti
f
ic
a
ti
o
n
b
a
se
d
o
n
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iz
a
ti
o
n
(
P
S
O)
tec
h
n
iq
u
e
to
d
e
v
e
lo
p
p
a
ra
m
e
tri
c
m
o
d
e
l
o
f
e
x
p
e
ri
m
e
n
tal
d
a
tas
e
t
o
f
DC
Ge
a
re
d
m
o
to
r
in
f
e
e
d
e
r
m
a
c
h
in
e
.
T
h
e
e
x
p
e
ri
m
e
n
tal
w
a
s
c
o
n
d
u
c
ted
to
m
e
a
su
re
th
e
in
p
u
t
(v
o
lt
a
g
e
)
a
n
d
o
u
tp
u
t
(sp
e
e
d
)
d
a
ta.
T
h
e
a
c
tu
a
l
d
a
ta
is
u
se
d
t
o
b
e
o
p
ti
m
ize
d
u
sin
g
P
S
O
a
lg
o
rit
h
m
.
T
h
e
p
a
ra
m
e
ter
e
m
p
h
a
siz
e
d
is
T
i
m
e
,
M
a
n
S
q
u
a
re
Err
o
r
(M
S
E)
a
n
d
Av
e
ra
g
e
T
i
m
e
.
On
e
o
f
th
e
b
e
st
m
o
d
e
l
h
a
s
b
e
e
n
c
h
o
se
n
b
a
se
d
o
n
th
e
o
p
ti
m
u
m
p
a
ra
m
e
ters
.
K
ey
w
o
r
d
s
:
DC
g
ea
r
ed
m
o
to
r
P
ar
am
etr
ic
m
o
d
el
P
ar
ticle
s
w
ar
m
o
p
ti
m
izatio
n
S
y
s
te
m
id
e
n
ti
f
icatio
n
Co
p
y
rig
h
t
©
2
0
1
9
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Salleh
,
S.M
.
,
Dep
ar
t
m
en
t o
f
E
n
g
i
n
ee
r
in
g
M
ec
h
an
ic
s
,
Facu
lt
y
o
f
Me
c
h
an
ical
an
d
Ma
n
u
f
ac
t
u
r
in
g
E
n
g
i
n
ee
r
i
n
g
,
1
0
1
P
t Raj
a,
B
atu
P
ah
at,
J
o
h
o
r
,
Ma
la
y
s
ia.
E
m
ail: sa
lih
a
@
u
t
h
m
.
ed
u
.
m
y
1.
I
NT
RO
D
UCT
I
O
N
On
e
o
f
th
e
f
ac
to
r
s
t
h
at
i
n
f
l
u
e
n
ce
t
h
e
g
r
o
w
t
h
r
ate
o
f
f
i
s
h
i
n
clu
d
e
s
f
o
o
d
d
is
p
er
s
al
s
y
s
te
m
.
A
s
m
al
l
s
ca
le
aq
u
ac
u
l
tu
r
e
o
r
h
i
g
h
l
y
i
n
v
ested
aq
u
ac
u
lt
u
r
e
p
r
o
j
ec
t
n
ee
d
to
d
elib
e
r
ate
th
is
f
ee
d
er
m
a
ch
in
e
r
elate
d
to
th
e
in
co
m
e
p
r
o
f
i
t
[
1
]
.
No
w
ad
a
y
s
th
er
e
ar
e
s
e
v
er
al
f
is
h
f
o
o
d
d
is
tr
ib
u
tio
n
s
s
y
s
te
m
s
w
as
d
ev
elo
p
ed
b
y
r
esear
c
h
er
.
I
n
A
p
r
il
1
9
9
9
,
A
n
t
h
o
n
y
C
r
is
t
o
p
h
er
Half
o
r
d
is
th
e
f
ir
s
t
r
es
ea
r
ch
er
w
a
s
d
ev
elo
p
ed
an
a
u
to
m
atic
f
is
h
f
ee
d
er
s
y
s
te
m
u
n
d
er
in
tellect
u
al
p
att
er
n
.
T
h
e
m
ac
h
i
n
e
h
as
b
ee
n
u
p
g
r
ad
ed
b
y
C
h
an
g
et.
al.
in
2
0
0
5
b
y
in
s
talli
n
g
P
r
o
g
r
am
m
ab
le
L
o
g
ic
C
o
n
tr
o
l
ler
(
P
L
C
)
as
a
m
a
in
co
n
tr
o
ller
[
2
]
.
I
n
2
0
0
7
,
Ho
et.
al.
w
a
s
d
ev
elo
p
ed
an
au
to
m
at
ic
f
i
s
h
f
ee
d
er
m
ac
h
i
n
e
an
d
u
s
ed
a
m
icr
o
co
n
tr
o
ller
to
g
en
er
ate
1
2
V
DC
m
o
to
r
at
f
u
l
l sp
ee
d
[
3
]
.
DC
m
o
to
r
ar
e
m
o
s
tl
y
u
s
ed
i
n
in
d
u
s
tr
ial
f
ie
ld
w
h
ic
h
is
i
n
r
o
b
o
tic
co
n
tr
o
l
s
y
s
te
m
s
,
tr
a
n
s
p
o
r
tatio
n
co
n
tr
o
l
s
y
s
te
m
a
n
d
o
th
er
ap
p
licatio
n
s
d
u
e
to
th
eir
d
y
n
a
m
i
c
an
d
ef
f
icien
c
y
c
h
ar
ac
ter
is
ti
cs
co
m
p
atib
le
w
it
h
m
o
s
t
m
ec
h
a
n
ical
lo
ad
s
[
4
]
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
DC
m
o
to
r
s
y
s
te
m
m
a
y
b
e
in
f
lu
e
n
ce
d
b
y
s
o
m
e
pos
s
ib
ilit
ies
w
h
ich
is
c
h
an
g
e
s
i
n
lo
ad
d
y
n
a
m
ic,
v
ar
iab
le,
d
is
tu
r
b
an
ce
an
d
u
n
p
r
ed
ictab
le
in
p
u
ts
,
u
n
k
n
o
w
n
p
ar
am
eter
s
.
T
h
er
ef
o
r
e,
th
e
m
o
to
r
m
u
s
t b
e
an
a
l
y
s
ed
an
d
co
n
tr
o
lled
[
5
]
.
T
h
er
e
ar
e
s
ev
er
al
r
esear
ch
es
th
at
e
m
p
h
as
ized
o
n
ap
p
lic
atio
n
an
d
an
al
y
s
is
o
f
DC
m
o
to
r
.
T
h
e
m
ea
s
u
r
ed
d
ata
w
h
ich
co
m
p
r
i
s
e
i
n
p
u
t
a
n
d
o
u
tp
u
t
as
e
x
p
er
i
m
e
n
tal
d
ataset
w
er
e
u
s
e
d
to
d
ev
elo
p
a
DC
m
o
to
r
m
o
d
el
b
y
e
id
en
ti
f
icat
io
n
p
r
o
ce
s
s
.
Ye
Nau
n
g
et
.
al.
,
2
0
1
8
,
im
p
le
m
en
ted
d
ata
d
r
iv
e
n
ap
p
r
o
ac
h
to
b
e
u
s
ed
in
s
y
s
te
m
id
e
n
ti
f
icatio
n
p
r
o
ce
s
s
a
n
d
co
n
tr
o
lled
a
s
y
s
te
m
D
C
m
o
to
r
-
b
ased
.
I
n
th
i
s
r
esear
ch
,
DC
m
o
to
r
is
a
h
ar
d
w
ar
e
p
ar
t
w
h
er
e
t
h
e
d
ata
i
n
p
u
t
v
o
lta
g
e
an
d
o
u
tp
u
t sp
ee
d
h
av
e
b
ee
n
r
ec
o
r
d
ed
.
T
h
e
r
ec
o
r
d
ed
d
ata
is
u
s
ed
to
ex
ec
u
te
s
y
s
te
m
id
en
ti
f
icat
io
n
p
r
o
ce
s
s
b
y
u
s
i
n
g
b
asic
m
o
d
ell
in
g
s
i
m
i
lar
w
it
h
r
ea
l D
C
m
o
to
r
b
y
u
s
i
n
g
s
i
m
s
ca
p
e
elec
tr
o
n
ic
s
y
s
te
m
to
o
b
tain
t
h
e
d
ata
o
f
in
p
u
t
v
o
lta
g
e
a
n
d
o
u
tp
u
t
s
p
ee
d
o
f
DC
m
o
to
r
.
T
h
is
r
esear
ch
is
to
id
en
ti
f
y
th
e
s
y
s
te
m
u
s
i
n
g
to
o
lb
o
x
an
d
n
o
n
lin
ea
r
a
u
to
r
eg
r
ess
iv
e
w
it
h
e
x
o
g
e
n
o
u
s
in
p
u
t
(
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n
eu
r
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I
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I
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1577
n
et
w
o
r
k
.
T
h
e
i
n
p
u
t
v
o
ltag
e
an
d
o
u
tp
u
t
s
p
ee
d
w
er
e
m
ea
s
u
r
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f
r
o
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t
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d
c
m
o
to
r
w
h
i
ch
also
k
n
o
w
n
a
s
ac
tu
ato
r
[
6
].
2.
S
YST
E
M
DE
SCRI
P
T
I
O
N
T
h
e
s
tr
u
ctu
r
e
o
f
f
ee
d
er
m
ac
h
i
n
e
co
n
s
i
s
ts
o
f
t
w
o
p
ar
ts
.
T
h
e
f
ir
s
t
p
ar
t
u
s
ed
a
s
to
r
ag
e
w
h
ic
h
ca
n
p
u
t
u
p
to
5
k
g
p
allet.
A
t
t
h
is
p
ar
t,
th
e
d
r
o
p
m
ec
h
an
i
s
m
u
s
es
s
ilico
n
e
b
lad
es
b
ef
o
r
e
th
e
p
allet
s
p
r
ea
d
in
to
ch
a
n
n
els
b
y
f
o
u
r
b
lad
es.
T
h
e
d
is
tr
ib
u
tio
n
b
lad
e
is
d
r
iv
en
b
y
a
1
2
Vo
lts
DC
Gea
r
ed
m
o
to
r
eq
u
i
p
p
ed
en
co
d
er
w
it
h
m
ax
i
m
u
m
s
p
ee
d
2
6
5
R
P
M
an
d
3
k
g
/c
m
to
r
q
u
e.
T
h
e
s
p
ee
d
r
an
g
e
o
f
2
5
5
P
W
M
w
as
u
s
ed
to
d
r
iv
e
t
h
e
d
is
tr
ib
u
tio
n
b
lad
e
a
n
d
p
u
s
h
o
u
t
t
h
e
f
is
h
p
allet
s
i
n
to
tar
g
ete
d
ar
ea
w
h
ich
is
p
o
n
d
o
r
ca
g
e
s
.
T
h
e
m
ac
h
in
e
w
a
s
also
p
o
w
er
ed
b
y
A
r
d
u
i
n
o
m
ic
r
o
co
n
tr
o
ller
to
g
iv
e
co
m
m
a
n
d
s
to
DC
Gea
r
ed
m
o
to
r
th
at
att
ac
h
ed
o
n
d
is
p
en
s
er
an
d
d
is
tr
ib
u
tio
n
p
ar
t
th
r
o
u
g
h
m
o
to
r
d
r
iv
er
.
Ho
w
e
v
er
,
th
e
DC
Gea
r
ed
m
o
to
r
o
n
d
is
tr
ib
u
tio
n
p
r
o
ce
s
s
d
u
r
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o
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r
ictio
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w
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h
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ts
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n
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o
n
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e
D
C
g
ea
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ed
m
o
to
r
at
d
is
tr
ib
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tio
n
p
ar
t.
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
r
ea
l
s
et
u
p
o
f
th
e
m
ac
h
in
e.
Fig
u
r
e
1
.
Au
to
m
at
ic
f
i
s
h
f
ee
d
e
r
m
ac
h
i
n
e
an
d
e
x
p
er
i
m
e
n
tal
s
e
tu
p
3.
E
XP
E
R
I
M
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NT
A
L
DAT
AS
E
T
T
h
e
f
ee
d
er
s
y
s
te
m
ca
n
b
e
r
ep
r
esen
ted
b
y
d
eter
m
in
in
g
th
e
i
n
p
u
t
an
d
o
u
tp
u
t
b
y
ex
p
er
i
m
e
n
tal
s
et
h
is
s
ec
tio
n
,
it
i
s
ex
p
lai
n
ed
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e
r
e
s
u
lt
s
o
f
r
esear
c
h
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d
ata
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d
d
ev
elo
p
th
e
m
o
d
el
a
s
clo
s
e
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y
s
te
m
.
I
n
t
h
i
s
r
esear
ch
,
t
h
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e
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er
i
m
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n
t
p
r
o
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ess
w
a
s
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n
d
u
cted
o
n
D
C
g
e
ar
ed
m
o
to
r
.
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h
e
ex
p
er
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m
e
n
t
p
u
r
p
o
s
e
is
to
o
b
tain
in
p
u
t
a
n
d
(
v
o
ltag
e)
an
d
o
u
tp
u
t
(
s
p
ee
d
)
.
T
h
en
,
th
e
r
ec
o
r
d
ed
d
ata
w
ill
b
e
u
s
ed
f
o
r
s
y
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te
m
id
en
ti
f
icatio
n
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ce
s
s
to
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u
ild
th
e
m
o
d
el
o
f
th
e
s
y
s
t
e
m
.
T
h
is
id
en
tific
atio
n
p
r
o
ce
s
s
is
in
te
n
d
ed
to
g
en
er
ate
a
tr
a
n
s
f
er
f
u
n
ct
io
n
in
t
h
e
f
o
r
m
p
ar
a
m
etr
ic
m
o
d
el
w
h
ic
h
is
A
R
X
(
a
u
to
r
eg
r
ess
iv
e
w
i
th
e
x
ter
n
al
i
n
p
u
t)
m
o
d
el.
Fig
u
r
e
2
d
escr
ib
ed
t
h
e
e
x
p
er
i
m
en
t
s
et
u
p
to
m
ea
s
u
r
in
g
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e
in
p
u
t
v
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lta
g
e
o
f
DC
g
ea
r
ed
m
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r
.
DC
m
o
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r
h
as
b
ee
n
test
ed
b
y
s
e
ttin
g
t
h
e
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al
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e
o
f
P
W
M
1
5
0
as
m
i
n
i
m
u
m
a
n
d
2
5
5
is
m
a
x
i
m
u
m
w
it
h
s
ca
le
in
cr
ea
s
e
1
.
T
h
e
v
o
ltag
e
s
e
n
s
o
r
h
as b
ee
n
u
s
ed
to
d
eter
m
in
e
t
h
e
v
o
ltag
e
p
r
o
d
u
ce
d
b
y
D
C
m
o
to
r
.
Fig
u
r
e
2
.
An
ill
u
s
tr
ated
o
f
eq
u
ip
m
en
t
s
et
u
p
to
r
ec
o
r
d
th
e
in
p
u
t v
o
lta
g
e
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
.
3
,
J
u
n
e
201
9
:
1
5
7
6
-
1
5
8
4
1578
Firstl
y
,
th
e
m
ac
h
i
n
e
w
as
s
w
i
tch
ed
o
n
.
T
h
en
t
h
e
v
o
ltag
e
s
en
s
o
r
w
as
u
s
ed
to
m
ea
s
u
r
e
t
h
e
v
o
lta
g
e
v
alu
e
o
f
DC
g
ea
r
ed
m
o
to
r
.
T
h
e
w
o
r
k
s
p
ac
e
r
ec
o
r
d
e
d
th
e
r
ea
l
-
ti
m
e
v
o
ltag
e
r
ea
d
in
g
.
I
n
r
ec
o
r
d
in
g
th
e
o
u
tp
u
t
s
p
ee
d
o
f
DC
m
o
to
r
,
Ma
tlab
/Si
m
u
li
n
k
w
a
s
u
s
ed
to
co
n
s
tr
u
ct
alg
o
r
ith
m
f
o
r
in
ter
f
ac
in
g
t
h
e
m
ac
h
i
n
e
an
d
A
r
d
u
i
n
o
co
n
tr
o
ller
as
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
I
n
th
i
s
ex
p
er
i
m
en
t,
DC
m
o
to
r
is
tu
r
n
ON
f
o
r
2
0
s
ec
o
n
d
s
f
o
r
ea
ch
P
W
M
w
h
ich
i
n
r
an
g
e
1
5
0
-
255.
Fig
u
r
e
3
.
Ma
tlab
/Si
m
u
li
n
k
co
n
f
ig
u
r
atio
n
4.
P
ARAM
E
T
RIC M
O
DE
L
L
I
NG
S
y
s
te
m
id
e
n
ti
f
icatio
n
en
co
m
p
ass
es
p
ar
a
m
e
tr
ic
m
o
d
els
o
f
d
y
n
a
m
ical
s
y
s
te
m
u
s
i
n
g
i
n
p
u
t
an
d
o
u
tp
u
t
d
ata
o
f
t
h
e
s
y
s
te
m
[
7
]
.
T
h
e
f
lo
w
c
h
ar
t
to
d
e
v
elo
p
d
y
n
a
m
ic
m
o
d
el
u
s
i
n
g
s
y
s
te
m
id
e
n
ti
f
i
ca
tio
n
i
s
s
h
o
w
n
i
n
Fig
u
r
e
4
.
B
ased
o
n
Fi
g
u
r
e
4
a
b
o
v
e,
th
er
e
ar
e
f
o
u
r
b
asic
s
tep
s
to
d
ev
elo
p
th
e
m
o
d
el.
A
f
ter
th
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x
p
er
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m
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r
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o
r
d
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ataset
as i
n
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p
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a
p
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a
m
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ic
m
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el
s
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u
ctu
r
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ee
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to
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ed
.
A
p
ar
a
m
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ic
m
o
d
el
s
tr
u
c
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e
is
also
k
n
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s
a
b
lack
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el,
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h
ich
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eter
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ete
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m
.
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e
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id
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ased
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ar
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ic
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h
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tical
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els
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id
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y
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ctu
al
d
ata.
Fig
u
r
e
4
.
T
h
e
f
lo
w
o
f
s
y
s
te
m
i
d
en
tific
atio
n
p
r
o
ce
s
s
[
8
]
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:
2088
-
8708
E
xp
erimen
ta
l d
a
ta
s
et
to
d
ev
el
o
p
a
p
a
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a
metric m
o
d
el
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a
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f D
C
g
ea
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ed
mo
to
r
in
feed
er
…
(
A
z
la
n
,
W
.
M.
)
1579
AR
X
AR
M
A
X
m
o
d
el
ca
n
b
e
u
s
ed
as
a
r
ep
r
esen
tati
v
e
f
o
r
a
p
ar
ticu
lar
s
y
s
te
m
.
T
h
is
r
ese
ar
ch
u
s
ed
AR
X
m
o
d
el
in
t
h
e
m
et
h
o
d
o
lo
g
y
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T
h
e
AR
X
m
o
d
el
s
tr
u
ct
u
r
e
is
s
i
m
p
le
in
p
ar
a
m
etr
ic
s
tr
u
ctu
r
e
w
h
i
c
h
ca
n
b
e
r
etu
r
n
i
n
(
1
)
:
(
−
1
)
(
−
)
=
−
(
−
1
)
(
−
)
+
(
)
(
1
)
(
−
1
)
an
d
(
−
1
)
a
r
e
p
o
ly
n
o
m
ial
to
b
e
esti
m
ated
.
Fo
r
th
e
A
R
X
th
e
p
o
ly
n
o
m
ia
l
(
−
1
)
=
1
.
T
h
ese
p
o
ly
n
o
m
ial
s
r
ep
r
esen
t t
h
e
o
v
er
all
d
y
n
a
m
ical
s
y
s
te
m
s
w
h
er
e
(
2
)
an
d
(
3
)
a
r
e
d
ef
in
ed
as f
o
llo
w
:
(
−
1
)
=
1
+
1
−
1
+
⋯
+
−
(
2
)
(
−
1
)
=
0
+
⋯
+
−
(
3
)
(
)
an
d
(
)
r
ep
r
esen
t
t
h
e
i
n
p
u
t
an
d
o
u
tp
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t
o
f
t
h
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y
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m
s
a
n
d
(
)
is
a
w
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ite
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s
e
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ig
n
al,
k
i
s
ti
m
e
u
n
it
an
d
(
−
1
)
r
ep
r
esen
t
th
e
d
elay
o
p
er
ato
r
.
Var
iab
les
,
,
ar
e
th
e
m
o
d
el
p
ar
am
eter
s
to
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e
esti
m
ated
,
w
it
h
=
1
,
…
.
,
=
1
,
…
.
.
T
h
e
m
in
i
m
u
m
v
a
lu
e
o
f
is
s
u
p
p
o
s
ed
to
b
e
e
q
u
al
to
0
.
4
.
1
.
P
a
rt
icle
s
wa
r
m
o
pti
m
iz
a
t
io
n
(
P
SO
)
P
ar
ticle
S
w
ar
m
Op
ti
m
izatio
n
(
P
SO)
is
th
e
e
v
o
l
u
tio
n
ar
y
t
ec
h
n
iq
u
e
(
a
s
ea
r
c
h
m
eth
o
d
b
ased
o
n
a
n
atu
r
al
s
y
s
te
m
)
w
as
d
e
v
elo
p
ed
b
y
Ke
n
n
ed
y
a
n
d
E
b
er
h
ar
t
[
9
]
-
[1
4
].
T
h
e
s
y
s
te
m
in
it
iall
y
h
a
d
r
an
d
o
m
s
elec
ti
v
e
p
o
p
u
latio
n
s
.
E
ac
h
s
o
l
u
tio
n
is
p
o
ten
tiall
y
ca
lled
p
ar
ticles
w
h
ile
ea
ch
p
ar
ticle
is
g
i
v
en
a
r
an
d
o
m
v
elo
cit
y
an
d
f
lo
w
n
t
h
r
o
u
g
h
th
e
p
r
o
b
lem
s
p
ac
e.
T
h
e
p
ar
ticles
h
a
v
e
m
e
m
o
r
y
a
n
d
ea
c
h
p
ar
ticle
tr
ac
k
s
t
h
e
p
r
ev
io
u
s
b
e
s
t
p
o
s
itio
n
ca
lled
(
P
_
b
est)
an
d
t
h
e
co
r
r
esp
o
n
d
in
g
f
it
n
es
s
.
T
h
e
r
e
ar
e
a
n
u
m
b
er
o
f
(
P
_
b
est)
f
o
r
th
eir
r
esp
e
cti
v
e
p
ar
ticles
in
s
w
ar
m
a
n
d
th
e
g
r
ea
test
f
it
n
e
s
s
is
ca
lled
th
e
g
lo
b
al
b
est,
(
G_
b
est)
o
f
th
e
s
w
ar
m
.
T
h
e
b
asic
co
n
ce
p
t
o
f
P
SO
tec
h
n
iq
u
e
i
s
lo
ca
ted
i
n
ac
ce
ler
ati
n
g
ea
ch
p
ar
ticle
to
w
ar
d
s
t
h
e
(
P
_
b
est)
an
d
(
G_
b
est)
lo
ca
tio
n
,
w
i
th
a
r
an
d
o
m
w
ei
g
h
t
ac
ce
ler
atio
n
a
t
ea
ch
s
tep
.
T
h
e
eq
u
atio
n
u
s
e
d
in
p
ar
ticle
s
w
ar
m
o
p
ti
m
iza
t
io
n
as
f
o
llo
w
s
(
4
)
an
d
(
5
)
:
=
×
+
1
×
(
−
)
+
2
×
2
×
(
−
)
(
4
)
=
+
(
5
)
w
h
er
e
an
d
r
ep
r
esen
t
th
e
v
e
lo
cit
y
an
d
p
o
s
itio
n
o
f
th
e
ℎ
p
ar
ticle
w
it
h
d
d
im
e
n
s
io
n
s
r
es
p
ec
tiv
el
y
.
R
an
d
1
an
d
r
an
d
2
ar
e
t
w
o
u
n
i
f
o
r
m
r
an
d
o
m
f
u
n
ctio
n
s
,
an
d
is
th
e
in
er
tia
w
e
ig
h
t,
ea
r
l
y
s
elec
te
d
.
P
SO
h
as
m
a
n
y
p
ar
a
m
eter
s
a
n
d
th
i
s
i
s
ill
u
s
tr
ated
as
f
o
ll
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ased
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ased
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I
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N:
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8708
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ased
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ased
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ased
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.
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er
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7
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ea
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ch
Ma
n
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RE
F
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S
[1
]
F
A
O,
"
T
h
e
S
tate
o
f
W
o
rld
F
ish
e
ries
a
n
d
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re
2
0
1
6
:
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rib
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ti
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to
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o
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d
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e
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rit
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n
d
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u
tri
ti
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n
f
o
r
A
ll
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"
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m
e
,
2
0
1
6
.
[2
]
Na
ti
o
n
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l
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la
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o
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c
ti
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o
f
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ish
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g
.
(2
0
1
5
)
[3
]
F.
Hu
n
ti
n
g
f
o
rd
,
M
.
J
o
b
li
n
g
&
S
.
Ka
d
ri,
“
A
q
u
a
c
u
lt
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re
a
n
d
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h
a
v
io
r,
”
W
il
e
y
-
Bl
a
c
k
we
ll
,
2
0
1
2
.
[4
]
Ch
a
n
g
,
C.
M
.
,
F
a
n
g
,
W
.
,
Ja
o
,
R.
C.
,
S
h
y
u
,
C.
Z.
,
&
L
iao
,
I.
C.
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
n
In
telli
g
e
n
t
F
e
e
d
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g
Co
n
tr
o
ll
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r
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o
r
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n
d
o
o
r
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n
ten
siv
e
Cu
lt
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ri
n
g
o
f
Eel
,
”
A
q
u
a
c
u
lt
u
ra
l
E
n
g
in
e
e
rin
g
,
v
o
l.
3
2
,
n
o
.
2
,
p
p
.
3
4
3
-
3
5
3
,
Ja
n
u
a
ry
2
0
0
5
.
[5
]
K.W
.
Ho
r,
S
.
M
S
a
ll
e
h
,
A
b
d
u
ll
a
h
,
M
o
h
d
Ezre
e
,
Zam
a
n
,
I.
,
M
.
H.
Ha
tt
a
,
S
.
A
h
m
a
d
,
A
.
E
Is
m
a
il
,
W.
A
.
W
M
a
h
m
u
d
,
“
I
m
p
ro
v
e
m
e
n
t
o
f
A
u
to
m
a
ti
c
F
ish
F
e
e
d
e
r
M
a
c
h
in
e
De
sig
n
,
”
J
o
u
rn
a
l
o
f
P
h
y
sic
s:
Co
n
fer
e
n
c
e
S
e
rie
s
,
v
o
l.
9
1
4
,
n
o
.
1
,
2
0
1
7
.
[6
]
D.
G
.
S
e
n
d
re
sc
u
,
“
DC
M
o
to
r
Id
e
n
ti
f
ica
ti
o
n
Ba
se
d
o
n
Distrib
u
ti
o
n
s M
e
th
o
d
,
”
An
n
.
Un
iv.
Cra
io
v
a
,
v
o
l.
9
,
n
o
.
3
6
,
p
p
.
41
–
4
9
,
2
0
1
2
.
[7
]
Y.
Na
u
n
g
,
A
.
S
c
h
a
g
in
,
H.
L
.
Oo
,
K.
Z.
Ye
a
n
d
Z.
M
.
K
h
a
in
g
,
“
Im
p
lem
e
n
tatio
n
o
f
d
a
ta
d
riv
e
n
c
o
n
tro
l
sy
st
e
m
o
f
DC
m
o
to
r
b
y
u
sin
g
s
y
st
e
m
id
e
n
ti
f
ica
ti
o
n
p
ro
c
e
ss
,
”
IEE
E
Co
n
fer
e
n
c
e
o
f
Ru
ss
i
a
n
Y
o
u
n
g
Res
e
a
rc
h
e
rs
in
El
e
c
trica
l
a
n
d
El
e
c
tro
n
ic E
n
g
i
n
e
e
rin
g
(
EICo
n
R
u
s),
M
o
sc
o
w
,
p
p
.
1
8
0
1
-
1
8
0
4
,
2
0
1
8
.
[8
]
C.
A
g
a
r
w
a
l
a
n
d
A
.
G
u
p
ta,
“
M
o
d
e
li
n
g
,
sim
u
latio
n
b
a
se
d
DC
m
o
to
r
sp
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e
d
c
o
n
tr
o
l
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y
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m
p
le
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e
n
ti
n
g
P
ID
c
o
n
tr
o
ll
e
r
o
n
F
P
G
A
,
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Co
n
fl
u
e
n
c
e
2
0
1
3
:
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h
e
Ne
x
t
Ge
n
e
ra
ti
o
n
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
S
u
mm
it
(
4
th
In
ter
n
a
ti
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n
a
l
Co
n
fer
e
n
c
e
)
,
No
i
d
a
, p
p
.
4
6
7
-
4
7
1
,
2
0
1
3
.
[9
]
L.
Ju
n
g
,
“
S
y
ste
m
I
d
e
n
ti
f
ica
ti
o
n
,
”
T
e
c
h
n
ica
l
re
p
o
rt,
W
il
e
y
En
c
y
c
lo
p
e
d
ia
o
f
El
e
c
trica
l
a
n
d
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e
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tro
n
ics
En
g
in
e
e
rin
g
,
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o
.
L
iT
H
-
IS
Y
-
R
-
2
8
0
9
,
2
0
0
7
.
[1
0
]
L.
Ju
n
g
,
“
S
y
st
e
m
Id
e
n
ti
f
ica
ti
o
n
:
T
h
e
o
ry
f
o
r
T
h
e
Us
e
r,
”
Pre
n
ti
c
e
Ha
ll
,
1
9
9
9
.
[1
1
]
J.
Ke
n
n
e
d
y
a
n
d
R.
Eb
e
rh
a
rt
,
“
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
i
z
a
ti
o
n
,
”
Pr
o
c
e
e
d
in
g
s,
I
EE
E
I
n
ter
n
a
t
io
n
a
l
C
o
n
f.
o
n
Ne
u
ra
l
Ne
two
rk
s
,
v
o
l.
4
,
p
p
.
1
9
4
2
–
1
9
4
8
,
1
9
9
5
.
[1
2
]
Y.
S
h
i
a
n
d
R.
E
b
e
rh
a
rt,
“
Em
p
iri
c
a
l
S
tu
d
y
o
f
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iz
a
ti
o
n
,
”
Pro
c
e
e
d
in
g
s
o
f
t
h
e
1
9
9
9
Co
n
g
re
ss
o
n
Evo
lu
ti
o
n
a
ry
Co
mp
u
t
a
ti
o
n
,
Vo
l.
3
,
1
9
9
9
.
[1
3
]
R.
Eb
e
rh
a
rt
a
n
d
Y
S
h
i
,
“
Pa
rticle
S
wa
rm
Op
ti
miza
ti
o
n
:
De
v
e
lo
p
m
e
n
ts,
Ap
p
li
c
a
ti
o
n
s
a
n
d
Res
o
u
rc
e
s,”
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
2
0
0
1
Co
n
g
re
ss
o
n
Evo
l
u
ti
o
n
a
ry
Co
m
p
u
t
a
ti
o
n
,
v
o
l.
1
,
p
p
.
8
1
-
8
6
,
2
0
0
1
.
[1
4
]
Y.
S
h
i
a
n
d
R.
E
b
e
rh
a
rt,
“
P
a
ra
m
e
ter
S
e
lec
ti
o
n
in
P
a
rti
c
le
S
w
a
r
m
Op
ti
m
iza
ti
o
n
,
”
Pro
c
.
S
e
v
e
n
th
An
n
u
a
l
Co
n
f.
o
n
Evo
lu
ti
o
n
a
ry
Pro
g
ra
mm
in
g
,
p
p
.
5
9
1
-
6
0
1
,
1
9
9
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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I
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&
C
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Vo
l.
9
,
No
.
3
,
J
u
n
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201
9
:
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5
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1584
B
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RAP
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AUTH
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Wa
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s a
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d
o
th
e
rs.
Evaluation Warning : The document was created with Spire.PDF for Python.