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s
ed
as
s
p
ee
d
c
o
n
tr
o
ller
f
o
r
DC
m
o
to
r
s
’
ap
p
licatio
n
s
[
1
3
]
,
[
1
4
]
lik
e
in
E
Vs.
I
n
p
r
esen
t
s
ce
n
ar
io
to
r
ed
u
ce
th
e
ca
r
b
o
n
em
is
s
io
n
s
an
d
to
a
d
d
r
ess
th
e
clim
ate
ch
a
n
g
e
is
s
u
es,
s
o
lar
en
er
g
y
o
p
tim
izatio
n
in
d
is
tr
i
b
u
ted
s
y
s
tem
[
1
5
]
a
n
d
t
h
e
u
s
e
o
f
E
Vs
ar
e
g
ettin
g
p
r
io
r
it
ies
to
r
ep
lace
th
e
co
n
v
en
tio
n
al
p
o
wer
a
n
d
tr
an
s
p
o
r
tatio
n
s
y
s
tem
r
esp
ec
ti
v
ely
.
T
h
er
e
ar
e
s
ev
er
al
ch
allen
g
es
wh
ich
n
ee
d
s
to
b
e
ad
d
r
ess
f
o
r
E
Vs
lik
e
r
a
n
g
e
an
x
iety
,
ch
a
r
g
in
g
in
f
r
astru
ctu
r
e,
ch
ar
g
in
g
s
p
ee
d
an
d
co
m
p
atib
ilit
y
[
1
6
]
,
[
1
7
]
.
On
e
o
f
th
e
m
ajo
r
ch
allen
g
es
in
E
V
s
is
to
in
cr
ea
s
e
th
e
d
r
iv
in
g
r
an
g
e
in
o
n
e
ch
ar
g
e
o
f
th
e
b
atter
y
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
b
atter
y
d
e
p
en
d
s
o
n
m
a
n
y
f
a
cto
r
s
an
d
s
cien
tis
ts
ar
e
d
ev
el
o
p
in
g
b
etter
b
atter
y
tech
n
o
lo
g
y
to
in
cr
ea
s
e
d
r
iv
in
g
r
an
g
e
wh
ile
r
ed
u
cin
g
weig
h
t,
co
s
t a
n
d
ch
ar
g
in
g
tim
e.
T
h
e
o
t
h
er
way
to
p
r
o
lo
n
g
th
e
E
V
r
an
g
e
is
to
r
ec
o
v
er
th
e
en
er
g
y
alr
ea
d
y
s
p
en
t.
T
h
at
is
th
e
k
n
o
wn
as
th
e
r
e
g
en
er
atio
n
.
Fo
r
in
s
tan
ce
,
in
co
r
p
o
r
atin
g
a
r
eg
en
er
ativ
e
b
r
ak
in
g
s
y
s
tem
o
v
er
co
n
v
e
n
tio
n
al
f
r
ict
io
n
b
r
ak
i
n
g
d
u
r
in
g
th
e
r
etar
d
at
io
n
p
er
io
d
o
f
th
e
wh
ee
ls
al
s
o
h
as
b
ee
n
test
if
ied
in
s
ev
er
al
s
tu
d
ies
to
in
cr
ea
s
e
th
e
d
r
iv
in
g
r
an
g
e
[
1
8
]
-
[
2
3
]
.
Ma
n
y
s
ch
o
lar
s
ar
e
ex
p
lain
in
g
t
h
e
en
e
r
g
y
s
av
in
g
s
b
y
DC
ch
o
p
p
e
r
cir
cu
its
f
o
r
E
Vs,
b
u
t
litt
le
co
n
tr
ib
u
tio
n
h
as
co
m
e
ac
r
o
s
s
to
f
in
d
o
u
t
t
h
e
o
p
tim
u
m
d
u
t
y
cy
cle
f
o
r
r
eg
en
er
ativ
e
b
r
a
k
in
g
.
T
h
e
o
b
jectiv
e
o
f
t
h
e
wo
r
k
is
to
s
im
u
late
th
e
4
-
q
u
ad
r
an
t
ch
o
p
p
er
to
d
eter
m
in
e
th
e
o
p
tim
ized
r
an
g
e
o
f
d
u
t
y
cy
cle
to
g
et
en
er
g
y
b
ac
k
d
u
r
in
g
b
r
ak
in
g
to
ch
a
r
g
e
th
e
b
atter
y
.
I
n
th
is
p
ap
er
t
h
e
d
esig
n
a
n
d
im
p
lem
en
tatio
n
o
f
4
-
q
u
ad
r
en
t
ch
o
p
p
e
r
to
co
n
tr
o
l
th
e
DC
m
o
to
r
s
f
o
r
elec
tr
ic
v
eh
icles
h
as
b
ee
n
d
is
cu
s
s
ed
.
Fu
r
th
er
to
im
p
r
o
v
e
th
e
en
er
g
y
ef
f
icien
c
y
,
th
e
co
n
c
ep
t
o
f
r
eg
en
e
r
ativ
e
b
r
ak
in
g
h
as
b
ee
n
an
aly
ze
d
u
s
i
n
g
s
im
u
latio
n
s
.
T
h
e
p
ap
e
r
is
co
n
s
is
tin
g
o
f
f
o
u
r
m
ajo
r
s
ec
tio
n
s
.
T
h
e
b
ac
k
g
r
o
u
n
d
o
f
ch
o
p
p
er
cir
c
u
it,
DC
m
o
to
r
s
,
an
d
th
e
n
ee
d
o
f
r
e
g
en
er
ati
v
e
b
r
ak
in
g
h
as
b
ee
n
d
is
cu
s
s
ed
in
s
ec
tio
n
1
.
T
h
e
m
eth
o
d
o
l
o
g
y
to
im
p
lem
e
n
t
th
e
4
-
q
u
ad
r
e
n
t
ch
o
p
p
er
an
d
th
e
r
eg
en
e
r
ativ
e
b
r
a
k
in
g
h
as
d
es
cr
ib
ed
in
s
e
ctio
n
2
.
T
h
e
s
ec
tio
n
3
p
r
esen
ts
th
e
h
ar
d
war
e
im
p
lem
en
tatio
n
,
th
e
o
b
ta
in
ed
ex
p
er
im
e
n
tal
an
d
s
im
u
lati
o
n
r
esu
lts
.
Fin
ally
,
th
e
co
n
clu
s
io
n
s
ar
e
lis
ted
in
t
h
e
s
ec
tio
n
4
.
2.
M
E
T
H
O
D
O
L
O
G
Y
I
n
r
e
g
en
er
ativ
e
m
o
d
e
o
f
o
p
er
at
io
n
,
th
e
m
o
t
o
r
o
p
er
ate
as
g
en
e
r
ato
r
an
d
th
e
k
in
etic
en
er
g
y
o
f
m
o
to
r
a
n
d
in
er
tia
o
f
th
e
v
eh
icle
is
co
n
v
er
ted
in
to
ce
n
tr
icity
to
d
ec
r
ea
s
e
th
e
s
p
ee
d
o
f
th
e
m
o
to
r
an
d
r
etu
r
n
e
d
p
o
wer
t
o
ch
ar
g
e
th
e
b
atter
y
to
s
av
e
its
en
er
g
y
a
n
d
to
en
h
a
n
ce
th
e
p
e
r
f
o
r
m
an
ce
o
f
d
r
iv
i
n
g
r
a
n
g
e
[
2
4
]
,
[
2
5
]
.
T
h
e
4
-
q
u
d
r
an
t
ch
o
p
p
e
r
s
p
lay
s
v
ital r
o
le
to
co
n
tr
o
l th
e
m
o
d
e
o
f
o
p
er
atio
n
o
f
th
e
m
o
to
r
.
2
.
1
.
4
-
Q
ua
dra
nt
cho
pp
er
o
p
er
a
t
io
n
T
o
d
esig
n
th
e
d
if
f
er
e
n
t
q
u
ad
r
an
ts
ch
o
p
p
er
,
s
ev
er
al
s
tu
d
ies
h
as
b
ee
n
ca
r
r
ie
d
o
u
t
b
y
th
e
s
ch
o
lar
s
[
2
6
]
-
[
2
9
]
a
n
d
o
n
e
s
u
ch
ch
o
p
p
er
cir
cu
it
is
s
h
o
wn
in
Fig
u
r
e
1
.
I
t
ca
n
o
p
e
r
ate
in
all
4
-
q
u
ad
r
a
n
ts
o
f
th
e
o
u
tp
u
t
v
o
ltag
e
an
d
c
u
r
r
en
t
p
la
n
e
an
d
is
also
k
n
o
wn
as
a
class
-
E
ch
o
p
p
er
.
T
h
e
cir
cu
it
o
f
a
4
-
q
u
a
d
r
an
t
ch
o
p
p
e
r
co
n
s
is
ts
o
f
f
o
u
r
p
o
wer
s
em
ico
n
d
u
ct
o
r
s
witch
es.
T
h
ese
d
ev
ices
u
s
ed
f
o
r
a
ch
o
p
p
er
ci
r
cu
it
ca
n
b
e
f
o
r
ce
d
co
m
m
u
tated
th
y
r
is
to
r
s
,
p
o
wer
B
J
T
s
,
p
o
wer
MO
SF
E
T
s
,
GT
Os,
o
r
I
GB
T
s
,
as
s
h
o
wn
i
n
Fi
g
u
r
e
1
.
E
ac
h
d
ev
ice
h
as
an
a
n
tip
ar
allel
d
io
d
e
b
u
ilt
i
n
s
id
e
o
r
co
n
n
ec
ted
o
u
ts
id
e.
T
h
e
s
witch
es
ar
e
tu
r
n
ed
o
n
an
d
o
f
f
u
s
in
g
p
u
ls
e
wid
th
m
o
d
u
latio
n
s
ig
n
als.
Fig
u
r
e
1
.
Fo
u
r
-
q
u
ad
r
a
n
t c
h
o
p
p
er
s
ch
em
atic
d
iag
r
am
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
4
-
q
u
a
d
r
a
n
t c
h
o
p
p
er fo
r
s
p
ee
d
co
n
tr
o
l o
f E
V
s
…
(
Ma
g
d
y
S
a
o
u
d
i A
b
d
elfa
t
a
h
)
409
T
h
e
o
p
er
atio
n
o
f
a
class
-
E
ch
o
p
p
er
in
all
f
o
u
r
q
u
a
d
r
an
ts
is
ac
h
iev
ed
b
y
tu
r
n
in
g
o
n
d
if
f
er
e
n
t
s
witch
es
an
d
d
io
d
es
in
p
air
s
o
f
v
ar
io
u
s
co
m
b
in
atio
n
s
.
T
o
o
b
tain
f
ir
s
t
q
u
ad
r
a
n
t
o
p
e
r
atio
n
as
s
h
o
wn
in
Fig
u
r
e
2
,
PW
M
s
ig
n
al
is
ap
p
lied
in
S
1
,
S
3
is
f
u
lly
OFF,
S
4
is
f
u
lly
ON,
a
n
d
S
2
is
OFF
o
r
with
PW
M
co
m
p
l
em
en
t
to
th
e
PW
M
ap
p
lied
in
u
p
p
er
tr
an
s
is
to
r
S
1
,
b
o
th
th
e
o
u
tp
u
t
v
o
ltag
e
an
d
cu
r
r
en
t
s
h
o
u
ld
b
e
p
o
s
itiv
e.
I
n
th
i
s
m
o
d
e,
th
e
m
o
to
r
wo
r
k
s
in
th
e
m
o
to
r
i
n
g
m
o
d
e.
T
h
e
d
ev
el
o
p
ed
to
r
q
u
e
an
d
s
p
e
ed
ar
e
p
o
s
itiv
e,
an
d
th
e
m
o
to
r
r
o
tates
in
a
ce
r
tai
n
d
ir
ec
tio
n
,
f
o
r
ex
am
p
le,
clo
c
k
w
is
e
d
ir
ec
tio
n
,
in
Fig
u
r
e
2
(
a)
th
e
PW
M
is
h
ig
h
f
o
r
th
e
tr
an
s
is
to
r
S
1
,
s
o
th
e
cu
r
r
e
n
t
f
lo
ws
th
r
o
u
g
h
th
e
u
p
p
er
tr
a
n
s
is
to
r
to
th
e
m
o
to
r
a
n
d
tr
a
n
s
is
to
r
S
4
.
No
w,
th
e
s
p
ee
d
o
f
th
e
m
o
t
o
r
ca
n
b
e
v
ar
ied
b
y
v
ar
y
in
g
th
e
d
u
t
y
cy
cle
o
f
th
e
tr
an
s
is
to
r
S
1
.
As
th
e
d
u
ty
c
y
cle
v
ar
ies,
th
e
v
o
ltag
e
ac
r
o
s
s
th
e
a
r
m
atu
r
e
o
f
th
e
m
o
to
r
v
ar
ies
p
r
o
p
o
r
tio
n
ally
,
th
e
r
eb
y
v
ar
y
in
g
th
e
m
o
to
r
s
p
ee
d
s
in
ce
N
is
p
r
o
p
o
r
tio
n
al
to
th
e
ar
m
atu
r
e
v
o
ltag
e
.
I
n
Fig
u
r
e
2
(
b
)
th
e
PW
M
is
lo
w
f
o
r
th
e
tr
an
s
is
to
r
S
1
,
s
o
th
e
cu
r
r
en
t
cir
cu
lates
th
r
o
u
g
h
th
e
d
io
d
e
an
tip
ar
allel
t
o
th
e
lo
wer
tr
an
s
is
to
r
S
2
.
T
h
e
m
o
to
r
wo
r
k
s
in
th
e
f
o
r
war
d
m
o
t
o
r
in
g
m
o
d
e.
T
o
o
b
tain
s
ec
o
n
d
q
u
ad
r
a
n
t
o
p
er
atio
n
,
as
s
h
o
wn
in
Fig
u
r
e
3
,
PW
M
s
ig
n
al
is
ap
p
lied
to
S
2
,
S
4
is
f
u
lly
ON,
an
d
S
1
an
d
S
3
ar
e
f
u
lly
O
FF
.
T
h
e
o
u
tp
u
t
v
o
ltag
e
is
p
o
s
i
tiv
e,
b
u
t
th
e
c
u
r
r
en
t
is
n
eg
ati
v
e.
I
n
th
is
m
o
d
e
,
th
e
m
o
to
r
wo
r
k
s
in
th
e
f
o
r
war
d
r
eg
en
er
ativ
e
b
r
ak
in
g
m
o
d
e
,
an
d
th
e
d
ev
el
o
p
ed
to
r
q
u
e
is
n
e
g
ativ
e,
ca
u
s
in
g
th
e
m
ac
h
in
e
to
s
lo
w
d
o
wn
.
H
o
wev
er
,
th
e
m
o
t
o
r
s
till
r
o
tates
in
th
e
s
am
e
d
ir
ec
tio
n
d
u
e
to
in
er
ti
a.
I
n
Fig
u
r
e
3
(
a)
,
th
e
PW
M
i
s
h
ig
h
f
o
r
th
e
tr
a
n
s
is
to
r
S
2
,
s
o
th
e
c
u
r
r
en
t
f
lo
ws th
r
o
u
g
h
th
e
lo
wer
tr
an
s
is
to
r
S
2
,
a
n
d
th
e
m
o
to
r
ar
m
atu
r
e
co
il
s
to
r
es
k
in
etic
en
er
g
y
.
On
ce
th
e
PW
M
s
ig
n
al
is
l
o
w
f
o
r
th
e
tr
a
n
s
is
to
r
S
2
,
th
e
s
to
r
ed
e
n
er
g
y
r
etu
r
n
s
to
th
e
s
u
p
p
ly
th
r
o
u
g
h
th
e
d
i
o
d
e
a
n
tip
ar
allel
to
tr
an
s
is
to
r
S
1
as sh
o
w
n
in
Fig
u
r
e
3
(
b
)
.
T
o
o
b
tain
th
ir
d
q
u
ad
r
an
t
o
p
er
a
tio
n
as
s
h
o
wn
in
Fig
u
r
es
4
(
a
)
a
n
d
4
(
b
)
,
PW
M
s
ig
n
al
is
ap
p
lied
to
S
3
,
S
1
is
f
u
lly
OFF,
S
2
is
f
u
lly
ON,
a
n
d
S
4
is
OFF
o
r
with
PW
M
co
m
p
lem
en
t
to
th
e
PW
M
ap
p
lie
d
in
u
p
p
er
t
r
an
s
is
to
r
S
3
.
T
h
e
m
o
to
r
r
o
tates
in
co
u
n
te
r
clo
ck
wis
e
d
ir
ec
tio
n
.
T
h
e
m
o
t
o
r
wo
r
k
s
in
th
e
r
ev
er
s
e
m
o
to
r
i
n
g
m
o
d
e.
T
o
o
b
tain
f
o
u
r
th
q
u
ad
r
an
t o
p
er
atio
n
,
as s
h
o
wn
in
Fig
u
r
es
5
(
a)
an
d
5
(
b
)
,
PW
M
s
ig
n
al
is
ap
p
lied
to
S
4
,
S
2
is
f
u
lly
ON,
an
d
S
2
an
d
S
3
ar
e
f
u
lly
OFF.
T
h
e
m
o
to
r
wo
r
k
s
in
th
e
r
e
v
er
s
e
r
eg
en
er
ativ
e
b
r
a
k
in
g
m
o
d
e
.
(
a)
(
b
)
Fig
u
r
e
2
.
First q
u
a
d
r
an
t o
p
er
at
io
n
(
f
o
r
war
d
m
o
to
r
in
g
m
o
d
e)
:
(
a)
S
1
PW
M
is
h
ig
h
an
d
(
b
)
S
1
PW
M
is
lo
w
(
a)
(
b
)
Fig
u
r
e
3
.
Seco
n
d
q
u
ad
r
a
n
t o
p
e
r
atio
n
(
f
o
r
war
d
r
eg
en
e
r
ativ
e
b
r
ak
in
g
)
:
(
a)
S
2
PW
M
is
h
ig
h
a
n
d
(
b
)
S
2
PW
M
is
lo
w
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
8
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4
I
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Dr
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16
,
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1
,
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c
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20
25
:
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417
410
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a)
(
b
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Fig
u
r
e
4
.
T
h
ir
d
q
u
ad
r
an
t o
p
er
atio
n
(
r
ev
e
r
s
e
m
o
to
r
in
g
m
o
d
e)
: (
a)
S
3
PW
M
is
h
ig
h
an
d
(
b
)
S
3
PW
M
is
lo
w
(
a)
(
b
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Fig
u
r
e
5
.
Fo
u
r
th
q
u
ad
r
a
n
t o
p
e
r
atio
n
(
r
e
v
er
s
e
r
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e
n
er
ativ
e
b
r
ak
in
g
)
: (
a
)
S
4
PW
M
is
h
ig
h
an
d
(
b
)
S
4
PW
M
is
lo
w
2
.
2
.
Reg
ener
a
t
iv
e
bra
k
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ly
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is
R
eg
en
er
ativ
e
b
r
a
k
in
g
is
a
s
y
s
t
em
th
at
allo
ws
an
elec
tr
ic
o
r
h
y
b
r
id
v
eh
icle
t
o
r
ec
o
v
er
k
in
eti
c
en
er
g
y
as
it
s
lo
ws
d
o
wn
an
d
u
s
e
it
to
r
ec
h
ar
g
e
th
e
b
atter
y
[
3
0
]
,
[
3
1
]
.
T
h
e
r
eg
en
er
ativ
e
b
r
ak
in
g
m
ec
h
an
is
m
will
ac
tiv
ate
wh
en
ev
er
th
e
d
r
iv
er
lifts th
eir
f
o
o
t f
r
o
m
th
e
ac
ce
le
r
ato
r
,
ca
u
s
in
g
th
e
ca
r
t
o
d
ec
ele
r
ate
an
d
th
e
k
in
etic
e
n
er
g
y
to
r
etu
r
n
t
o
th
e
b
atter
y
.
T
h
e
g
en
e
r
at
ed
E
MF
s
h
o
wn
i
n
Fig
u
r
e
6
d
ep
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d
s
o
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th
e
s
p
ee
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o
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e
el
ec
tr
ic
v
eh
icle
d
u
r
in
g
th
e
b
r
ak
in
g
m
o
d
e.
As
s
h
o
wn
i
n
Fig
u
r
e
6
,
d
u
r
i
n
g
th
e
tim
e
p
e
r
io
d
f
r
o
m
0
to
t
on
,
th
e
e
n
er
g
y
s
to
r
ed
in
th
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v
eh
icle’
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in
er
tia
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tr
an
s
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er
r
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h
e
ar
m
atu
r
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t
h
e
m
o
to
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L
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m
th
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er
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atter
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Fig
u
r
e
6
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R
eg
en
e
r
ativ
e
b
r
a
k
in
g
o
p
er
atio
n
in
th
e
s
ec
o
n
d
q
u
ad
r
an
t
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h
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at
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r
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r
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Fig
u
r
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7
,
t
h
is
p
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r
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d
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e
r
eg
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atio
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t
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t
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e
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n
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s
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g
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6
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r
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7
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r
ated
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r
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e
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3.
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r
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Fig
u
r
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atter
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u
r
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r
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1
,
Ma
r
c
h
20
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:
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-
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I
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1
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m
o
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a)
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(
b
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.
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eg
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ak
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r
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1
3
.
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eg
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if
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er
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t d
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t
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cles a
n
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q
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I
SS
N
:
2
0
8
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Dr
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ates
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eq
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ir
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r
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am
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4
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e
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s
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o
r
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e
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ly
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ize
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ates
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ig
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en
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atin
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a
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ig
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r
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to
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ir
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d
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.
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r
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d
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d
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o
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m
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d
a
r
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g
en
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ativ
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b
r
ak
in
g
p
u
s
h
b
u
tto
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d
e
d
.
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h
e
c
o
m
p
lete
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ar
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war
e
co
m
p
o
n
e
n
t
s
ar
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s
h
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wn
in
Fig
u
r
e
1
4
(
b
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,
th
e
p
r
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p
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ed
c
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tr
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l
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y
s
tem
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u
s
ed
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d
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th
e
s
m
all
ca
r
s
am
p
le
s
h
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wn
in
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r
e
1
5
,
r
eg
en
e
r
ativ
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b
r
a
k
in
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en
a
b
led
wh
en
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e
d
r
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eir
f
o
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t f
r
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m
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ac
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ler
ato
r
.
(
a)
(
b
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Fig
u
r
e
1
4
.
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x
p
e
r
im
en
tal
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u
t
p
u
t v
o
ltag
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wav
ef
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r
m
s
at
d
if
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e
r
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t d
u
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ch
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r
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b
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m
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ts
3.
3
.
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x
perim
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l
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bs
er
v
a
t
i
o
ns
T
h
e
ap
p
lied
m
o
to
r
in
g
m
o
d
e
PW
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wi
th
a
f
r
eq
u
en
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o
f
4
k
Hz
h
as
b
ee
n
s
tu
d
ied
at
d
if
f
er
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t
d
u
ty
cy
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ex
p
er
im
en
tal
wav
ef
o
r
m
s
f
o
r
t
h
e
o
u
tp
u
t
v
o
ltag
e
ar
e
s
h
o
wn
in
Fig
u
r
e
1
6
.
Fig
u
r
e
1
6
(
a)
,
s
h
o
w
s
th
e
o
u
tp
u
t
v
o
ltag
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
4
-
q
u
a
d
r
a
n
t c
h
o
p
p
er fo
r
s
p
ee
d
co
n
tr
o
l o
f E
V
s
…
(
Ma
g
d
y
S
a
o
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d
i A
b
d
elfa
t
a
h
)
415
at
d
u
ty
cy
cle
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wh
ile
Fig
u
r
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1
6
(
b
)
s
h
o
ws
th
e
o
u
tp
u
t
v
o
ltag
e
at
d
u
ty
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cle
7
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R
eg
en
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ativ
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b
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tu
d
ied
at
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if
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er
en
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f
r
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en
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s
s
u
ch
as
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Hz,
3
k
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d
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h
e
b
r
ak
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g
PW
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s
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p
lied
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th
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.
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e
n
er
ativ
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r
ak
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g
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er
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n
r
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c
h
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p
to
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o
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ch
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r
ak
i
n
g
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f
o
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e
u
s
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eh
icle
s
y
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tem
.
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r
in
g
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p
er
im
en
t,
it is
o
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s
er
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at
m
ax
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u
m
r
eg
en
e
r
ativ
e
en
er
g
y
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n
th
e
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an
g
e
o
f
5
5
to
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%
o
f
th
e
d
u
ty
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y
cle.
T
h
e
ch
an
g
e
in
f
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Vs.
Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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16
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1
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Ma
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20
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407
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417
416
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[
1
]
G
.
B
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,
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[
2
]
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.
H
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.
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:
1
0
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2
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1
4
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.
[
3
]
J.
F
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.
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,
J.
Ti
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C
.
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[
4
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N
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.
[
5
]
O.
-
O
.
A
d
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b
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d
T.
G
u
mb
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,
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REAL
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3
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2
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.
[
6
]
D
.
S
u
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,
F
.
K
y
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,
A
.
K
.
S
a
m
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,
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.
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san
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,
a
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Y
.
G
.
K
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,
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m
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:
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[
7
]
M
.
M
r
u
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k
,
I
.
G
a
j
d
á
č
,
Ľ.
K
u
č
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a
,
a
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T.
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í
k
,
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v
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,
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Pr
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,
v
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1
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[
8
]
I
.
G
a
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d
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,
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K
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a
,
T
.
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V
.
K
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Re
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)
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,
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2
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.
[
9
]
I
.
M
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,
A
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1
0
]
D
.
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