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Ad
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Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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Vo
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15
,
No
.
1
,
Feb
r
u
ar
y
20
25
:
2
3
5
-
242
236
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co
n
tr
o
l,
m
u
ltip
lier
co
n
tr
o
l,
n
eu
r
o
-
f
u
zz
y
co
n
tr
o
l,
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l,
an
d
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
h
av
e
b
e
co
m
e
wid
ely
ad
o
p
ted
,
ad
d
r
ess
in
g
v
ar
io
u
s
s
y
s
tem
r
e
q
u
ir
em
en
ts
[
1
3
]
,
[
1
4
]
.
T
h
e
b
ac
k
s
tep
p
in
g
c
o
n
tr
o
ller
is
n
o
t
ab
le
f
o
r
its
r
o
b
u
s
t
s
tab
ilit
y
,
ev
en
am
id
s
t
s
y
s
tem
n
o
is
e
o
r
p
ar
am
eter
v
ar
iatio
n
s
o
v
er
tim
e
[
1
5
]
–
[
1
9
]
.
T
h
e
d
y
n
am
ics
o
f
a
m
o
v
in
g
t
r
ain
ar
e
in
f
l
u
en
ce
d
b
y
m
o
r
e
co
m
p
lex
a
n
d
v
a
r
iab
le
f
o
r
ce
s
th
an
th
o
s
e
ty
p
ical
o
f
in
d
u
s
tr
ial
lo
ad
s
.
Fo
r
in
s
tan
ce
,
th
e
tr
ain
'
s
s
u
b
s
tan
t
ial
m
ass
s
ig
n
if
ican
tly
im
p
ac
ts
its
o
p
er
atio
n
,
an
d
p
ass
en
g
er
lo
a
d
v
a
r
iatio
n
s
b
et
wee
n
tr
ip
s
f
u
r
th
er
co
m
p
licate
lo
ad
d
y
n
am
ics.
W
ea
th
er
v
ar
iatio
n
s
also
af
f
ec
t
tr
ac
tio
n
an
d
m
o
v
em
en
t
d
u
e
to
ch
an
g
es
in
win
d
f
o
r
ce
,
r
ail
co
n
d
itio
n
s
,
an
d
ad
h
e
r
e
n
ce
d
u
r
in
g
wea
th
e
r
co
n
d
itio
n
s
lik
e
r
ai
n
,
s
n
o
w,
d
r
y
n
ess
,
o
r
s
to
r
m
s
.
Ad
d
r
ess
in
g
th
ese
ch
allen
g
es
n
ec
ess
itates
a
lo
ad
o
b
s
er
v
er
ca
p
ab
le
o
f
esti
m
atin
g
tim
e
-
v
ar
y
in
g
to
r
q
u
e
d
is
tu
r
b
an
ce
s
to
en
h
an
ce
s
y
s
tem
p
er
f
o
r
m
a
n
ce
an
d
co
u
n
ter
ac
t
d
is
tu
r
b
an
ce
s
[
2
0
]
,
[
2
1
]
.
Z
h
a
o
et
a
l.
h
av
e
also
p
r
o
p
o
s
ed
th
e
m
o
d
el
-
f
r
ee
a
d
ap
tiv
e
d
is
cr
ete
-
ti
m
e
in
teg
r
al
ter
m
in
al
s
lid
in
g
m
o
d
e
c
o
n
tr
o
l
(
MFA
-
DI
T
SMC
)
with
o
u
t
a
m
o
d
el
an
d
a
n
o
n
lin
ea
r
d
is
tu
r
b
an
ce
o
b
s
er
v
er
(
NDO)
to
im
p
r
o
v
e
s
p
ee
d
c
o
n
tr
o
l
an
d
r
esis
t
d
is
tu
r
b
an
ce
s
[
2
2
]
,
[
2
3
]
.
I
n
an
o
th
er
s
tu
d
y
,
L
an
a
n
d
L
ei
-
Z
h
o
u
in
tr
o
d
u
ce
d
b
ac
k
s
tep
p
in
g
c
o
n
tr
o
l
f
o
r
s
p
ee
d
lo
o
p
an
d
d
is
tu
r
b
an
ce
lo
ad
o
b
s
er
v
er
d
esig
n
th
at
tr
ac
k
s
s
p
ee
d
an
d
m
an
a
g
es
d
is
tu
r
b
an
ce
s
[
2
4
]
.
Ho
wev
er
,
t
h
ese
s
o
lu
tio
n
s
also
in
tr
o
d
u
ce
in
cr
ea
s
ed
s
y
s
tem
co
m
p
lex
ity
an
d
ex
h
ib
it
ce
r
tain
lim
itatio
n
s
.
Hen
ce
,
th
is
p
ap
e
r
in
tr
o
d
u
ce
s
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
(
B
SC
)
in
teg
r
ated
with
a
tim
e
-
v
ar
y
in
g
d
is
tu
r
b
an
ce
(
T
VD)
l
o
ad
o
b
s
er
v
er
to
b
etter
esti
m
ate
lo
ad
d
is
tu
r
b
an
ce
s
alo
n
g
th
e
N
h
o
n
-
Ha
n
o
i
S
tatio
n
.
2.
M
O
DE
L
I
NG
T
H
E
E
L
E
CT
RIFI
E
D
T
R
AIN
Mo
d
elin
g
elec
tr
ic
tr
ain
s
in
v
o
l
v
es
m
o
d
elin
g
th
e
tr
ac
tio
n
m
o
to
r
an
d
t
h
e
r
esis
tiv
e
f
o
r
ce
s
ac
tin
g
o
n
th
e
tr
ain
.
T
h
e
tr
ac
tio
n
m
o
t
o
r
s
ar
e
PMSMs
with
th
e
f
ield
-
o
r
ien
t
ed
co
n
tr
o
l
(
FOC
)
m
eth
o
d
,
an
d
th
e
m
ath
em
atica
l
eq
u
atio
n
s
ar
e
r
ep
r
esen
ted
in
t
h
e
dq
co
o
r
d
in
ate
s
y
s
tem
.
T
h
e
r
esis
tiv
e
f
o
r
ce
s
in
clu
d
e
g
r
ad
ie
n
t
r
esis
tan
ce
,
cu
r
v
e
r
ad
iu
s
r
esis
tan
ce
,
an
d
b
asic r
e
s
is
tan
ce
.
2
.
1
.
M
o
delin
g
P
M
SM
m
o
t
o
r
T
h
e
m
ath
em
atica
l e
q
u
atio
n
s
o
f
an
d
ar
e
ex
p
r
ess
ed
as
(
1
)
:
{
=
−
1
+
+
1
=
−
−
1
+
1
−
(
1
)
i
n
wh
ich
is
th
e
r
o
to
r
s
p
ee
d
,
an
d
ar
e
th
e
s
tato
r
cu
r
r
en
t
o
n
th
e
d
q
-
a
x
is
,
an
d
ar
e
th
e
s
tato
r
v
o
ltag
es
o
n
th
e
d
q
-
ax
is
,
an
d
ar
e
th
e
s
tato
r
in
d
u
ctan
ce
s
o
n
th
e
d
q
-
a
x
is
,
=
v
=
is
th
e
tim
e
co
n
s
tan
t
o
n
th
e
d
-
q
ax
is
,
is
t
h
e
s
tato
r
r
esis
tan
ce
,
is
th
e
r
o
t
o
r
f
lu
x
lin
k
ag
e
.
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
o
n
th
e
d
-
q
c
o
o
r
d
i
n
ate
s
y
s
tem
is
:
=
3
2
[
+
(
−
)
]
(
2
)
w
h
er
e
is
th
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e,
is
th
e
n
u
m
b
er
o
f
p
o
le
p
air
s
.
T
h
e
m
o
tio
n
eq
u
atio
n
o
f
th
e
m
o
to
r
is
wr
itten
as
(
3
)
:
=
−
(
3
)
w
ith
is
th
e
lo
ad
to
r
q
u
e
,
=
+
is
th
e
to
tal
m
o
m
en
t
o
f
in
er
tia
o
f
th
e
m
o
to
r
a
n
d
tr
ain
,
=
1
4
(
ℎ
)
2
:
is
th
e
m
o
m
en
t
o
f
in
er
tia
o
f
th
e
tr
ain
,
M
is
th
e
m
ass
o
f
th
e
tr
ain
,
N
is
th
e
n
u
m
b
e
r
o
f
m
o
to
r
s
,
ℎ
is
th
e
d
iam
eter
o
f
t
h
e
wh
ee
ls
,
is
th
e
t
r
an
s
m
is
s
io
n
r
atio
.
2
.
2
.
M
o
delin
g
re
s
is
t
a
nce
f
o
rc
es a
g
a
ins
t
m
o
v
ing
t
ra
ins
T
h
e
t
r
a
i
n
'
s
r
es
is
t
a
n
ce
i
n
c
l
u
d
es
f
o
r
c
e
s
s
u
c
h
as
a
i
r
,
f
r
ic
t
i
o
n
,
c
u
r
v
a
t
u
r
e
,
a
n
d
g
r
a
d
i
e
n
t
r
e
s
i
s
t
a
n
c
e
[
2
5
]
–
[
2
7
]
.
=
+
+
(
4
)
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
-
8
7
0
8
B
a
ck
s
tep
p
in
g
co
n
tr
o
ller
fo
r
s
p
ee
d
lo
o
p
o
f
p
erma
n
en
t m
a
g
n
et
s
yn
ch
r
o
n
o
u
s
…
(
A
n
Th
i H
o
a
i Th
u
A
n
h
)
237
I
n
wh
ich
:
=
s
in
,
(
k
g
)
is
th
e
m
ass
o
f
th
e
tr
ain
,
(
/
2
)
is
th
e
ac
ce
le
r
atio
n
d
u
e
to
g
r
a
v
ity
s
in
=
s
in
(
(
)
)
wh
er
e
(
∘
∘
∘
)
is
th
e
s
lo
p
e,
α
r
ep
r
esen
tin
g
th
e
g
r
ad
ie
n
t
o
f
th
e
tr
ac
k
.
=
,
R
–
m
in
im
u
m
cu
r
v
e
r
ad
iu
s
,
in
m
et
er
s
,
A
–
A
co
ef
f
icien
t
d
eter
m
i
n
ed
ex
p
er
im
e
n
tally
.
0
=
+
+
2
,
is
th
e
v
elo
city
(
m
/s
)
,
th
e
r
esis
tan
ce
co
ef
f
icien
ts
a
(
)
,
b
(
/
)
,
c
(
2
/
2
)
ar
e
ex
p
e
r
im
en
tally
p
r
o
v
id
e
d
b
y
t
h
e
m
an
u
f
ac
tu
r
er
.
3.
B
ACK
S
T
E
P
P
I
NG
CO
NT
R
O
L
F
O
R
SPEE
D
L
O
O
P
Fig
u
r
e
1
s
h
o
ws
th
e
co
n
tr
o
l
s
t
r
u
ctu
r
e
d
iag
r
am
o
f
th
e
elec
tr
i
c
tr
ain
d
r
iv
e
s
y
s
tem
b
ased
o
n
th
e
r
o
to
r
f
lu
x
-
o
r
ien
ted
co
n
tr
o
l
(
FOC
)
c
o
m
b
in
ed
with
co
n
tr
o
l
m
eth
o
d
s
in
th
e
wea
k
m
ag
n
etic
f
ield
ar
ea
.
T
h
e
co
n
tr
o
l
s
tr
u
ctu
r
e
in
clu
d
es
a
s
p
ee
d
lo
o
p
,
th
e
i
sd
cu
r
r
en
t
lo
o
p
,
a
n
d
th
e
i
sq
cu
r
r
en
t
lo
o
p
.
T
h
is
s
ec
tio
n
p
r
im
ar
ily
f
o
c
u
s
es
o
n
th
e
m
o
to
r
'
s
s
p
ee
d
lo
o
p
.
α
R
I
R
I
_
_
DC
_
B
S
C
F
ield
We
ak
e
n
in
g
P
M
S
M
t
r
ai
n
wh
e
e
l
TL
F
r
oll
F
gr
ad
F
R
_
1/s
OBS
E
RV
E
R
ˆ
F
ar
c
*
TL
*
sd
i
*
sq
i
sd
u
sq
u
sd
i
sq
i
s
u
s
u
+
−
s
i
s
i
sa
i
sb
i
sc
i
abc
dq
dq
DC
AC
Fig
u
r
e
1
.
FOC
co
n
tr
o
l stru
ct
u
r
e
with
b
ac
k
s
tep
p
in
g
co
n
tr
o
l
an
d
lo
ad
o
b
s
er
v
er
–
T
VD
Usi
n
g
th
e
co
n
ce
p
t
o
f
b
ac
k
s
tep
p
in
g
an
d
L
y
ap
u
n
o
v
s
y
s
tem
s
tab
ilizatio
n
[
2
8
]
.
C
o
n
s
id
er
in
g
s
p
ee
d
d
ev
iatio
n
:
*
e
ww
=-
(
5
)
W
ith
as th
e
in
p
u
t v
alu
e
an
d
as
th
e
ac
tu
al
v
alu
e,
we
o
b
tain
t
h
e
d
er
iv
ativ
e
o
f
e
as
(
6
)
:
̇
=
̇
∗
−
̇
(
6
)
C
h
o
o
s
e
a
L
y
ap
u
n
o
v
f
u
n
cti
o
n
f
o
r
th
e
d
e
v
iatio
n
e:
=
1
2
2
(
7
)
Dif
f
er
en
tiatin
g
eq
u
atio
n
(
7
)
r
e
s
u
lts
in
:
̇
=
̇
(
8
)
Fro
m
th
er
e,
s
elec
t th
e
co
n
tr
o
l
p
ar
am
eter
Ks >
0
s
u
ch
th
at:
̇
=
−
(
9
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
15
,
No
.
1
,
Feb
r
u
ar
y
20
25
:
2
3
5
-
242
238
Fro
m
(
9
)
s
u
b
s
titu
tin
g
in
to
(
8
)
,
we
o
b
tain
th
e
f
o
llo
win
g
:
̇
=
−
2
≤
0
(
1
0
)
W
e
ca
n
s
ee
th
at
th
e
d
er
iv
ativ
e
s
atis
f
ies
s
tab
ilit
y
ac
co
r
d
in
g
to
L
y
ap
u
n
o
v
.
Fr
o
m
(
9
)
,
we
ca
n
r
ewr
ite
(
6
)
as
(
1
1
)
:
−
+
−
̇
=
0
(
1
1
)
B
ased
o
n
(
2
)
,
t
h
e
in
f
e
r
r
ed
v
ir
t
u
al
cu
r
r
e
n
t c
o
n
tr
o
l sig
n
al
∗
is
:
∗
=
̇
+
−
3
2
2
[
+
(
−
)
]
(
1
2
)
4.
DE
S
I
G
N
O
F
T
I
M
E
-
VA
RYI
NG
DIS
T
URB
ANC
E
O
B
S
E
RVER
T
h
e
p
r
esen
ce
o
f
d
is
tu
r
b
an
ce
in
th
e
lo
ad
to
r
q
u
e
ca
n
r
ed
u
ce
co
n
tr
o
l
ef
f
icien
cy
,
s
o
co
m
p
e
n
s
atio
n
is
r
eq
u
ir
ed
in
th
e
c
o
n
tr
o
l
s
y
s
tem
to
en
s
u
r
e
ac
cu
r
ac
y
.
T
h
e
g
e
n
er
al
eq
u
atio
n
d
escr
ib
in
g
th
e
s
y
s
tem
o
f
th
e
T
VD
o
b
s
er
v
er
is
p
r
esen
ted
:
̇
=
−
(
1
3
)
W
ith
b
ein
g
th
e
m
ea
s
u
r
a
b
le
s
ig
n
al,
th
e
co
n
tr
o
l sig
n
al,
d
th
e
in
d
eter
m
in
ab
le
d
is
tu
r
b
an
ce
s
ig
n
al.
T
o
ac
h
ie
v
e
th
is
,
f
r
o
m
th
e
m
o
tio
n
eq
u
atio
n
at
(
3
)
a
n
d
th
e
e
lectr
o
m
ag
n
etic
t
o
r
q
u
e
eq
u
atio
n
,
a
tim
e
-
v
ar
y
in
g
d
is
tu
r
b
an
ce
o
b
s
er
v
er
ca
n
b
e
co
n
s
tr
u
cted
to
esti
m
ate
an
d
th
en
co
m
p
e
n
s
ate
f
o
r
d
is
tu
r
b
an
ce
s
in
th
e
(
1
2
)
.
Fro
m
(
1
3
)
,
we
d
esig
n
th
e
o
b
s
er
v
er
in
t
h
e
f
o
llo
win
g
f
o
r
m
:
{
̂
̇
=
1
(
̂
−
)
̂
̇
=
−
̂
+
.
−
2
(
̂
−
)
(
1
4
)
W
ith
̂
,
̂
as th
e
esti
m
ated
v
alu
es
,
w
,
=
3
2
[
+
(
−
)
]
.
Pro
v
e
s
tab
ilit
y
ac
co
r
d
in
g
to
th
e
L
y
ap
u
n
o
v
e
q
u
atio
n
:
=
1
2
1
̃
2
+
1
2
̃
2
⇒
̇
=
1
1
̃
̃
̇
+
̃
̃
̇
=
1
1
̃
(
̇
−
̂
̇
)
+
̃
(
̇
−
̂
̇
)
(
1
5
)
W
ith
1
1
̇
≈
0
,
̃
=
−
̂
,
̃
=
−
̂
(
1
6
)
T
h
er
ef
o
r
e,
we
h
a
v
e:
̇
=
1
1
̃
̃
̇
+
̃
̃
̇
=
1
1
̃
(
̇
−
̂
̇
)
+
̃
(
̇
−
̂
̇
)
(
1
7
)
L
et's ass
u
m
e
̇
lim
it >
0
,
k
1
r
el
ativ
ely
lar
g
e
v
al
u
e,
k
2
>0
1
1
̇
≈
0
(
1
8
)
Fro
m
th
e
ab
o
v
e
eq
u
atio
n
s
,
th
e
f
o
llo
win
g
is
o
b
tai
n
ed
:
̇
=
1
1
̃
̇
−
1
1
̃
̂
̇
+
̃
(
̇
−
(
̂
+
.
−
2
(
̂
−
)
)
)
(
1
9
)
̇
=
1
1
̃
̇
−
1
1
̃
1
(
̂
−
)
+
̃
(
.
−
−
(
−
̂
+
.
−
2
(
̂
−
)
)
)
(
2
0
)
̇
=
1
1
̃
̇
−
̃
(
̂
−
)
+
̃
(
−
+
̂
−
2
(
̂
−
)
)
(
2
1
)
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
-
8
7
0
8
B
a
ck
s
tep
p
in
g
co
n
tr
o
ller
fo
r
s
p
ee
d
lo
o
p
o
f
p
erma
n
en
t m
a
g
n
et
s
yn
ch
r
o
n
o
u
s
…
(
A
n
Th
i H
o
a
i Th
u
A
n
h
)
239
̇
=
1
1
̃
̇
+
̃
̃
+
̃
(
−
̃
−
2
̃
)
(
2
2
)
̇
=
1
1
̃
̇
−
2
̃
2
≤
0
1
1
̃
̇
≈
0
(
2
3
)
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
Nh
o
n
–
Ha
n
o
i
lin
e
h
as
a
to
tal
len
g
th
o
f
1
2
.
5
k
m
with
1
2
s
tatio
n
s
,
in
clu
d
in
g
4
u
n
d
er
g
r
o
u
n
d
an
d
8
ab
o
v
e
-
g
r
o
u
n
d
s
tatio
n
s
.
T
h
e
to
tal
tr
av
el
tim
e
f
r
o
m
Nh
o
n
to
Ha
No
i
s
ta
tio
n
f
o
r
a
f
o
u
r
-
ca
r
r
iag
e
tr
ain
is
8
9
0
.
4
s
ec
o
n
d
s
(
e
x
clu
d
in
g
s
to
p
p
ag
e
tim
e)
.
Du
r
i
n
g
th
is
j
o
u
r
n
e
y
,
th
e
t
o
tal
esti
m
ated
s
to
p
p
ag
e
tim
e
is
2
8
5
s
ec
o
n
d
s
.
T
h
is
s
tu
d
y
s
ele
cts
th
e
r
o
u
te
f
r
o
m
H
N
o
i
s
tatio
n
to
Va
n
Mie
u
s
tatio
n
f
o
r
s
im
u
latio
n
with
a
6
0
k
m
/h
s
p
ee
d
,
o
p
er
atin
g
3
p
h
ases
:
A
cc
eler
atin
g
,
co
asti
n
g
,
a
n
d
b
r
ak
in
g
.
T
h
e
s
im
u
latio
n
p
a
r
am
eter
s
co
llected
f
r
o
m
th
e
Me
tr
o
Nh
o
n
–
Ha
n
o
i
ar
e
s
h
o
wn
in
T
a
b
le
1
a
n
d
T
a
b
le
2
.
T
ab
le
1
.
Par
am
eter
s
o
f
th
e
PM
SM
m
o
to
r
P
a
r
a
me
t
e
r
s
V
a
l
u
e
R
a
t
e
d
p
o
w
e
r
P
đm
1
8
5
k
W
R
a
t
e
d
v
o
l
t
a
g
e
U
đm
5
2
5
V
R
a
t
e
d
t
o
r
q
u
e
M
đm
8
3
6
N
m
S
t
a
t
o
r
r
e
s
i
st
a
n
c
e
R
s
3
9
.
2
2
4
m
Ω
A
x
i
s I
n
d
u
c
t
a
n
c
e
d
L
d
1
.
9
9
7
m
Ω
A
x
i
s
I
n
d
u
c
t
a
n
c
e
q
L
q
5
.
4
9
9
m
Ω
M
a
g
n
e
t
f
i
e
l
d
0
.
5
9
6
8
W
b
N
u
mb
e
r
o
f
p
o
l
e
s
Zp
3
F
r
e
q
u
e
n
c
y
f
1
2
0
H
z
T
ab
le
2
.
Par
am
eter
s
o
f
th
e
tr
ai
n
P
a
r
a
me
t
e
r
s
U
n
i
t
V
a
l
u
e
Tr
a
i
n
S
e
t
u
p
2
M
2
T
Lo
a
d
e
d
t
r
a
i
n
mass
(
M
)
[
k
g
]
1
9
2
.
0
0
0
N
u
mb
e
r
o
f
mo
t
o
r
s (
N
)
12
M
a
x
i
m
u
m
sp
e
e
d
(
v
m
a
x)
[
k
m/
h
]
60
B
a
se
sp
e
e
d
(
v
b
)
[
k
m/
h
]
40
A
c
c
e
l
e
r
a
t
i
o
n
w
h
e
n
r
u
n
n
i
n
g
(
0
-
40
k
m
/
h
)
[
/
2
]
0
.
8
3
A
c
c
e
l
e
r
a
t
i
o
n
w
h
e
n
r
u
n
n
i
n
g
(
0
-
80
k
m
/
h
)
[
/
2
]
≥
0
.
5
M
a
x
i
m
u
m
d
e
c
e
l
e
r
a
t
i
o
n
d
u
r
i
n
g
n
o
r
ma
l
b
r
a
k
i
n
g
[
/
2
]
≥
1
M
a
x
i
m
u
m
d
e
c
e
l
e
r
a
t
i
o
n
d
u
r
i
n
g
e
mer
g
e
n
c
y
b
r
a
k
i
n
g
[
/
2
]
≥
1
.
25
R
e
si
st
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
a
[
K
N
]
0
.
0
1
1
5
0
7
0
R
e
si
st
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
b
[
k
g
/
s]
0
.
0
0
0
3
4
9
4
R
e
si
st
a
n
c
e
c
o
e
f
f
i
c
i
e
n
t
c
[
k
g
/
m]
0
.
0
0
0
0
5
4
9
7
W
h
e
e
l
d
i
a
me
t
e
r
(
D
w
h
)
[
m]
0
.
8
4
Tr
a
n
sm
i
ssi
o
n
r
a
t
i
o
(
i
)
9
.
5
:
1
G
e
a
r
b
o
x
e
f
f
i
c
i
e
n
c
y
(
ℎ
)
0
.
9
M
o
t
o
r
e
f
f
i
c
i
e
n
c
y
(
)
0
.
9
5
Tr
a
i
n
i
n
e
r
t
i
a
(
J
e
q
)
[
k
g
.
2
m
]
3
1
.
2
7
2
Fig
u
r
e
2
s
h
o
ws
th
at
th
e
s
p
ee
d
lo
o
p
cir
cu
it
u
s
in
g
th
e
b
ac
k
s
te
p
p
in
g
co
n
tr
o
ller
ef
f
ec
tiv
ely
c
o
n
tr
o
ls
th
e
s
p
ee
d
,
m
ain
tain
in
g
s
tab
ilit
y
with
o
u
t
o
s
cillatio
n
.
T
h
is
d
em
o
n
s
tr
ates
th
e
co
n
tr
o
ller
'
s
h
ig
h
p
r
ec
is
io
n
,
ev
en
wh
e
n
s
p
ee
d
ch
an
g
es
an
d
tim
e
-
v
ar
y
in
g
d
is
tu
r
b
an
ce
s
o
cc
u
r
.
I
n
Fig
u
r
e
s
3
(
a
)
a
n
d
3
(
b
)
,
d
u
r
in
g
th
e
p
h
ase
f
r
o
m
0
to
1
8
s
ec
o
n
d
s
,
wh
en
th
e
s
p
e
ed
is
with
in
th
e
r
ated
r
an
g
e,
th
e
to
r
q
u
e
is
co
n
s
tan
t,
an
d
th
e
p
o
wer
is
g
r
ad
u
all
y
in
cr
ea
s
in
g
d
u
e
t
o
th
e
h
ig
h
-
p
o
wer
d
em
an
d
in
th
e
i
n
itial
s
t
ag
e.
Af
ter
th
is
p
h
ase,
th
e
t
o
r
q
u
e
cu
r
v
e
f
o
r
m
s
a
h
y
p
er
b
o
la
wh
e
n
t
h
e
m
o
to
r
o
p
er
ates
in
th
e
f
lu
x
-
wea
k
e
n
in
g
r
eg
i
o
n
,
an
d
th
e
p
o
wer
cu
r
v
e
r
em
ain
s
c
o
n
s
tan
t.
Fro
m
th
e
2
0
th
to
th
e
4
0
th
s
ec
o
n
d
,
d
u
r
in
g
th
e
co
asti
n
g
p
h
ase,
th
e
s
o
u
r
ce
is
d
is
co
n
n
ec
ted
,
a
n
d
b
o
th
th
e
t
o
r
q
u
e
an
d
p
o
wer
cu
r
v
es
r
etu
r
n
to
z
er
o
.
Du
r
in
g
th
e
b
r
ak
in
g
p
h
ase
,
as
th
e
tr
ain
ap
p
r
o
ac
h
es
th
e
s
tatio
n
,
b
o
th
to
r
q
u
e
an
d
p
o
wer
ar
e
n
eg
ativ
e,
i
n
d
i
ca
tin
g
th
at
th
e
tr
ac
tio
n
m
o
t
o
r
wo
r
k
s
as
a
g
en
e
r
ato
r
d
u
r
in
g
b
r
ak
in
g
,
r
etu
r
n
in
g
en
er
g
y
t
o
th
e
g
r
id
.
I
n
Fig
u
r
e
4
,
th
e
in
itial
p
h
ase
f
r
o
m
0
-
th
e
2
nd
s
ec
o
n
d
,
th
er
e
is
a
s
lig
h
t
d
ev
iatio
n
b
etwe
en
th
e
esti
m
ated
an
d
ac
tu
al
to
r
q
u
e.
H
o
wev
er
,
af
ter
th
is
p
er
i
o
d
,
th
e
esti
m
ate
d
to
r
q
u
e
cl
o
s
ely
f
o
llo
ws
th
e
ac
tu
al
to
r
q
u
e.
T
h
is
d
em
o
n
s
tr
ates
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ex
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f
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to
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s
.
RE
F
E
R
E
NC
E
S
[
1
]
B
.
Ji
n
,
S
.
Y
a
n
g
,
Q
.
W
a
n
g
,
a
n
d
X
.
F
e
n
g
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S
t
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s,
”
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o
u
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a
l
o
f
Ad
v
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n
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e
d
T
r
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n
s
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1
0
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1
1
5
5
/
2
0
2
3
/
1
2
1
7
3
5
2
.
[
2
]
A
.
G
o
n
z
á
l
e
z
-
G
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l
,
R
.
P
a
l
a
c
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n
,
P
.
B
a
t
t
y
,
a
n
d
J.
P
.
P
o
w
e
l
l
,
“
A
s
y
st
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ms
a
p
p
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u
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,
”
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n
e
r
g
y
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o
n
ma
n
.
2
0
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4
.
0
1
.
0
6
0
.
[
3
]
J.
W
a
n
g
,
C
.
R
e
n
,
Z.
Li
u
,
a
n
d
M
.
M
a
o
,
“
R
e
s
e
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r
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o
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o
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f
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r
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a
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v
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h
i
c
l
e
s,”
M
a
t
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e
m
a
t
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c
a
l
Pr
o
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n
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5
5
/
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0
2
2
/
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3
1
2
1
2
1
.
[
4
]
M
.
R
e
z
a
l
a
n
d
D
.
I
sh
a
k
,
“
P
e
r
f
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ma
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v
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n
o
f
m
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-
p
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mag
n
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sy
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s
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se
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d
ma
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t
i
z
a
t
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p
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t
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r
n
s,
”
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n
t
e
r
n
a
t
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o
n
a
l
J
o
u
r
n
a
l
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o
w
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t
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v
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s
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3
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7
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.
[
5
]
J.
H
o
l
t
z
,
“
S
e
n
so
r
l
e
ss
c
o
n
t
r
o
l
o
f
i
n
d
u
c
t
i
o
n
m
o
t
o
r
d
r
i
v
e
s,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
I
EEE
,
2
0
0
2
,
v
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l
.
9
0
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o
.
8
,
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p
.
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9
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,
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o
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:
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9
/
JP
R
O
C
.
2
0
0
2
.
8
0
0
7
2
6
.
[
6
]
S
.
K
a
mar
e
t
a
l
.
,
“
P
e
r
f
o
r
ma
n
c
e
a
n
a
l
y
s
i
s
o
f
t
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-
p
h
a
s
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n
d
u
c
t
i
o
n
m
o
t
o
r
f
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r
r
a
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l
w
a
y
p
r
o
p
u
l
s
i
o
n
s
y
st
e
m,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Po
w
e
r
El
e
c
t
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c
s
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d
D
r
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S
y
st
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m
s
,
v
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l
.
1
4
,
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3
,
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p
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,
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s.
v
1
4
.
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3
.
p
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4
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3
-
1
4
4
1
.
[
7
]
N
.
L
i
ms
u
w
a
n
,
Y
.
S
h
i
b
u
k
a
w
a
,
D
.
D
.
R
e
i
g
o
sa
,
a
n
d
R
.
D
.
L
o
r
e
n
z
,
“
N
o
v
e
l
d
e
s
i
g
n
o
f
f
l
u
x
-
i
n
t
e
n
s
i
f
y
i
n
g
i
n
t
e
r
i
o
r
p
e
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man
e
n
t
ma
g
n
e
t
sy
n
c
h
r
o
n
o
u
s
mac
h
i
n
e
s
u
i
t
a
b
l
e
f
o
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s
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l
f
-
sen
si
n
g
c
o
n
t
r
o
l
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t
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y
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o
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sp
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d
a
n
d
p
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w
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r
c
o
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v
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r
si
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,
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EEE
T
ra
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s
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.
[
8
]
J.
M
.
C
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15
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242
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Me
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2
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X
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[
2
3
]
Y
.
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o
,
X
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Li
u
,
H
.
Y
u
,
a
n
d
J
.
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M
o
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[
2
4
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2
5
]
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.
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.
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D
o
D
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[
2
6
]
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.
V
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n
Ti
e
m,
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2
7
]
N
.
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.
K
.
T.
V
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[
2
8
]
C
.
P
u
k
d
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o
o
n
,
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v
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w
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o
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f
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v
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2
,
p
p
.
5
5
–
6
1
,
2
0
1
1
.
B
I
O
G
RAP
H
I
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S O
F
AUTH
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RS
An
Th
i
H
o
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Th
u
Anh
re
c
e
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e
d
h
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r
En
g
in
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r
(
1
9
9
7
)
,
a
n
d
M
.
Sc
.
(2
0
0
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)
d
e
g
re
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s
in
In
d
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strial
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t
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m
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ti
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n
E
n
g
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rin
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fro
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Ha
n
o
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y
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Tec
h
n
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n
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0
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m
th
e
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v
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m
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(UTC)
.
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lec
tu
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th
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lt
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tri
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lec
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m
m
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ti
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(UTC).
He
r
in
tere
sts
i
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c
lu
d
e
p
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we
r
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tro
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ic
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,
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m
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to
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ti
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d
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.
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h
e
c
a
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b
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c
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tac
ted
b
y
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m
a
il
:
h
tan
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.
k
t
d
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t
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d
u
.
v
n
.
La
m
Q
u
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h
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re
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d
h
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g
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n
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r
(2
0
1
8
)
d
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re
e
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n
tro
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g
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g
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d
Au
t
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ti
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sity
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f
Tran
sp
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m
m
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ti
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s
(UTC)
,
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n
d
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o
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p
lete
d
M
a
ste
r
o
f
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c
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c
e
(M
S
c
)
in
2
0
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1
fro
m
th
e
Ho
Ch
i
M
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n
h
Cit
y
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n
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c
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ti
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n
(HCM
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in
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tri
c
a
l
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g
i
n
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rin
g
.
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is
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le
c
tu
re
r
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t
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De
p
a
rtme
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o
f
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tri
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l
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d
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tro
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n
g
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t
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Un
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rsity
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f
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n
sp
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rt
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d
C
o
m
m
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ica
ti
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–
Ca
m
p
u
s
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Ch
i
M
in
h
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(UTC2
),
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tn
a
m
.
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c
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rre
n
t
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n
tere
sts
in
c
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d
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a
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m
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ti
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tro
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stry
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tra
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sp
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rtatio
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,
re
n
e
wa
b
le
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n
e
rg
y
,
a
rti
ficia
l
in
telli
g
e
n
c
e
(AI)
.
He
c
a
n
b
e
c
o
n
ta
c
ted
b
y
e
m
a
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:
th
a
il
q
_
p
h
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tc.ed
u
.
v
n
.
Ph
a
m
D
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c
Mi
n
h
is a fo
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rt
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s
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m
.
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c
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rre
n
t
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in
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l
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wh
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re
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stry
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c
a
n
b
e
c
o
n
tac
ted
b
y
e
m
a
il
:
m
in
h
2
0
1
5
0
3
8
0
9
@lm
s.u
tc.
e
d
u
.
v
n
.
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