I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
,
p
p
.
82
~
92
I
SS
N:
2
7
2
2
-
2
5
8
6
,
DOI
: 1
0
.
1
1
5
9
1
/ijra
.
v
1
4
i
1
.
p
p
82
-
92
82
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Enha
ncing
efficie
ncy
and relia
bili
t
y
in
hig
h
-
po
wer
micro
wa
v
e
a
mplifiers: a
no
v
el circ
ui
t
driv
er
ap
pro
a
ch
Ali J
ebelli
1
,
Na
f
is
eh
L
o
t
f
i
1
,
M
a
ra
l P
a
rt
o
v
iba
k
hs
h
2
,
Are
zo
o
M
a
ha
ba
di
3
,
M
o
ha
m
m
a
d
Sa
eid Za
re
4
1
D
e
p
a
r
t
me
n
t
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
D
e
s
i
g
n
,
R
o
b
o
t
i
c
C
e
n
t
u
r
y
I
n
c
.
,
A
l
b
e
r
t
a
,
Ed
mo
n
t
o
n
,
C
a
n
a
d
a
2
D
e
p
a
r
t
me
n
t
o
f
A
e
r
o
s
p
a
c
e
E
n
g
i
n
e
e
r
i
n
g
,
R
y
e
r
so
n
U
n
i
v
e
r
si
t
y
,
T
o
r
o
n
t
o
,
C
a
n
a
d
a
3
D
e
p
a
r
t
me
n
t
o
f
B
a
si
c
E
n
g
i
n
e
e
r
i
n
g
S
c
i
e
n
c
e
,
Te
h
r
a
n
U
n
i
v
e
r
si
t
y
,
Te
h
r
a
n
,
I
r
a
n
4
F
a
c
u
l
t
y
o
f
N
e
w
S
c
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
i
e
s
,
T
e
h
r
a
n
U
n
i
v
e
r
si
t
y
,
Te
h
r
a
n
,
I
r
a
n
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
n
8
,
2
0
2
4
R
ev
is
ed
Sep
2
3
,
2
0
2
4
Acc
ep
ted
Oct
6
,
2
0
2
4
Th
is
p
a
p
e
r
i
n
tr
o
d
u
c
e
s
a
n
i
n
n
o
v
a
ti
v
e
c
ircu
it
d
ri
v
e
r
e
n
g
i
n
e
e
re
d
t
o
si
g
n
ifi
c
a
n
tl
y
e
n
h
a
n
c
e
th
e
e
fficie
n
c
y
a
n
d
l
o
n
g
e
v
it
y
o
f
h
i
g
h
-
p
o
we
r
m
icro
wa
v
e
a
m
p
li
fiers
,
a
d
d
re
ss
in
g
c
rit
ica
l
li
m
it
a
ti
o
n
s
o
f
trad
it
io
n
a
l
d
riv
e
rs
i
n
h
a
n
d
li
n
g
h
i
g
h
-
p
o
we
r
sy
ste
m
s.
Th
e
p
ro
p
o
se
d
d
e
sig
n
fe
a
tu
re
s
a
d
v
a
n
c
e
d
v
o
lt
a
g
e
se
q
u
e
n
c
i
n
g
,
w
h
ich
is
c
ru
c
ial
f
o
r
e
x
ten
d
in
g
c
o
m
p
o
n
e
n
t
li
fe
a
n
d
e
n
s
u
rin
g
sa
fe
o
p
e
ra
t
io
n
with
in
th
e
sa
fe
o
p
e
ra
ti
n
g
a
re
a
(S
OA
).
By
in
teg
ra
ti
n
g
a
so
p
h
ist
ica
ted
c
i
rc
u
it
b
o
a
rd
with
re
a
l
-
ti
m
e
fe
e
d
b
a
c
k
se
n
so
rs
,
c
o
n
tro
ll
e
d
b
y
a
m
icro
c
o
n
t
r
o
ll
e
r,
t
h
e
sy
ste
m
e
n
su
re
s
c
o
n
ti
n
u
o
u
s
m
o
n
it
o
ri
n
g
a
n
d
ra
p
id
re
sp
o
n
se
t
o
p
o
ten
ti
a
l
o
p
e
ra
ti
o
n
a
l
h
a
z
a
rd
s.
Th
e
d
ri
v
e
r
a
u
to
m
a
ti
c
a
ll
y
e
n
g
a
g
e
s
a
fa
il
-
sa
fe
m
o
d
e
wh
e
n
t
h
re
sh
o
l
d
s
a
re
b
re
a
c
h
e
d
,
p
ri
o
rit
izi
n
g
e
fficie
n
c
y
o
p
ti
m
iza
ti
o
n
a
n
d
m
i
n
imiz
in
g
e
n
e
r
g
y
wa
ste
.
Rig
o
ro
u
s
tes
ti
n
g
h
a
s
c
o
n
fi
rm
e
d
th
e
c
ircu
it
d
ri
v
e
r
’
s
c
a
p
a
b
il
it
y
to
m
e
e
t
a
n
d
e
x
c
e
e
d
th
e
strin
g
e
n
t
d
e
m
a
n
d
s
o
f
h
i
g
h
-
p
o
we
r
m
icr
o
wa
v
e
a
m
p
li
fier
a
p
p
li
c
a
ti
o
n
s.
T
h
is
w
o
rk
o
ffe
rs
a
ro
b
u
st,
re
li
a
b
le
so
lu
ti
o
n
t
h
a
t
n
o
t
o
n
l
y
o
v
e
rc
o
m
e
s
e
x
isti
n
g
c
h
a
ll
e
n
g
e
s
b
u
t
a
lso
se
ts
a
n
e
w
sta
n
d
a
r
d
fo
r
th
e
p
e
rfo
rm
a
n
c
e
a
n
d
sa
fe
ty
o
f
m
icro
wa
v
e
a
m
p
li
fica
ti
o
n
sy
ste
m
s,
m
a
k
in
g
i
t
a
v
a
lu
a
b
le co
n
tri
b
u
t
io
n
to
th
e
fiel
d
o
f
p
o
we
r
e
lec
tro
n
ics
.
K
ey
w
o
r
d
s
:
C
ir
cu
it o
p
tim
izatio
n
Dr
iv
er
cir
cu
its
Galliu
m
n
itrid
e
Mic
r
o
wav
e
am
p
lifie
r
s
Po
wer
ef
f
icien
cy
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ali Jeb
elli
Dep
ar
tm
en
t o
f
E
n
g
in
ee
r
in
g
a
n
d
Desig
n
,
R
o
b
o
tic
C
en
tu
r
y
I
n
c
.
Alb
er
ta,
C
an
ad
a
E
m
ail: a
li.jeb
elli@
ieee
.
o
r
g
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
p
r
im
ar
y
ch
alle
n
g
e
ad
d
r
ess
ed
in
th
is
r
esear
ch
is
th
e
in
e
f
f
icien
cy
an
d
r
e
d
u
ce
d
life
s
p
a
n
o
f
h
ig
h
-
p
o
wer
m
icr
o
wav
e
am
p
lifie
r
s
wh
en
u
s
in
g
tr
ad
itio
n
al
d
r
iv
e
r
cir
cu
its
.
Sp
ec
if
ically
,
th
is
s
tu
d
y
aim
s
to
ad
d
r
ess
th
e
is
s
u
e
o
f
v
o
ltag
e
s
eq
u
e
n
cin
g
,
wh
ich
cr
itically
im
p
ac
ts
b
o
th
th
e
e
f
f
icien
cy
an
d
th
e
lo
n
g
-
ter
m
r
eliab
ilit
y
o
f
th
ese
cir
cu
its
.
Ou
r
wo
r
k
p
r
o
p
o
s
es
a
n
o
v
el
cir
c
u
it
d
r
iv
er
d
esig
n
ed
to
tack
le
t
h
ese
p
r
o
b
lem
s
b
y
o
p
tim
izin
g
p
o
wer
co
n
tr
o
l a
n
d
im
p
r
o
v
in
g
t
h
e
o
v
er
all
d
u
r
a
b
ilit
y
o
f
m
icr
o
wav
e
am
p
lifie
r
s
.
Mic
r
o
wav
e
am
p
lifie
r
s
p
lay
a
c
r
u
cial
r
o
le
in
v
a
r
io
u
s
in
d
u
s
tr
ies,
r
an
g
in
g
f
r
o
m
m
o
d
er
n
co
m
m
u
n
icatio
n
d
ev
ices
to
p
r
ec
is
io
n
m
ea
s
u
r
e
m
en
t
eq
u
ip
m
e
n
t
[
1
]
–
[
4
]
.
W
ith
th
e
ad
v
en
t
o
f
wir
eless
co
m
m
u
n
icatio
n
s
,
th
e
d
em
an
d
f
o
r
m
icr
o
wav
e
am
p
l
if
ier
s
h
as
in
cr
ea
s
ed
cr
itically
,
n
ec
ess
itatin
g
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
an
d
co
s
t
-
ef
f
ec
tiv
en
ess
[
5
]
.
R
ec
en
t
ad
v
an
ce
m
en
ts
also
h
ig
h
lig
h
t
th
e
ex
p
an
d
i
n
g
ap
p
licatio
n
s
o
f
m
i
cr
o
wav
e
tech
n
o
lo
g
y
in
ar
ea
s
s
u
ch
as
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
s
y
s
tem
s
f
o
r
l
u
b
r
ica
n
t
d
ep
letio
n
o
n
s
u
r
f
ac
es
[
6
]
,
th
e
d
ev
elo
p
m
en
t
o
f
p
o
wer
am
p
lifie
r
s
tailo
r
ed
f
o
r
n
ex
t
-
g
e
n
er
atio
n
wir
eless
s
y
s
tem
s
[
7
]
,
a
n
d
h
ig
h
-
tem
p
er
atu
r
e
s
tab
le
am
p
lifie
r
ch
ar
ac
ter
is
tics
u
s
in
g
g
alliu
m
n
itrid
e
(
GaN
)
h
ig
h
elec
tr
o
n
m
o
b
ilit
y
tr
an
s
is
to
r
s
(
HE
MT
s
)
o
n
a
d
v
an
ce
d
s
u
b
s
tr
ates
f
o
r
en
h
an
ce
d
p
e
r
f
o
r
m
an
ce
[
8
]
.
A
d
d
itio
n
ally
,
in
n
o
v
atio
n
s
in
m
u
lti
-
h
ar
m
o
n
ic
t
u
n
ed
p
o
we
r
am
p
lifie
r
s
f
o
r
S
-
b
a
n
d
f
r
eq
u
en
cies
ar
e
p
av
in
g
th
e
way
f
o
r
im
p
r
o
v
ed
p
er
f
o
r
m
an
ce
in
5
G
ap
p
licati
o
n
s
[
9
]
.
T
h
e
r
ap
i
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
E
n
h
a
n
cin
g
efficien
cy
a
n
d
r
eli
a
b
ilit
y
in
h
ig
h
-
p
o
w
er mic
r
o
w
a
ve
a
mp
lifi
ers
:
a
n
o
ve
l c
ir
cu
it
…
(
A
li J
eb
elli
)
83
p
r
o
g
r
ess
in
GaN
in
teg
r
ated
ci
r
cu
it
tech
n
o
lo
g
ies,
wh
ich
in
cl
u
d
es
en
h
an
ce
m
e
n
ts
in
tr
an
s
is
t
o
r
s
ca
lin
g
,
s
u
p
p
ly
v
o
ltag
e,
an
d
o
u
t
p
u
t
p
o
wer
d
e
n
s
ity
,
is
d
r
iv
in
g
a
c
r
itical
p
ar
ad
ig
m
s
h
if
t
in
h
i
g
h
-
p
o
wer
ap
p
licatio
n
s
ac
r
o
s
s
R
F
an
d
m
m
-
wav
e
b
an
d
s
[
1
0
]
.
Fu
r
th
er
m
o
r
e,
th
e
d
ev
elo
p
m
en
t
o
f
lo
w
-
n
o
is
e
am
p
lifie
r
s
(
L
N
As)
u
s
in
g
GaN
-
on
-
s
ilico
n
p
r
o
ce
s
s
es
in
th
e
W
-
b
an
d
d
em
o
n
s
tr
ates
th
e
cr
itical
p
o
ten
tial
f
o
r
f
u
t
u
r
e
m
illi
m
eter
-
wav
e
co
m
m
u
n
icatio
n
s
,
co
m
b
i
n
in
g
h
ig
h
g
ai
n
with
lo
w
n
o
is
e
an
d
p
av
in
g
th
e
way
f
o
r
m
ass
p
r
o
d
u
ctio
n
[
1
1
]
,
[
1
2
]
.
Mo
r
e
r
ec
en
tly
,
d
is
tr
ib
u
te
d
p
o
wer
am
p
lifie
r
(
DPA)
to
p
o
l
o
g
ies
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
,
o
f
f
er
i
n
g
s
u
b
s
tan
tial
im
p
r
o
v
em
e
n
ts
in
p
o
wer
co
m
b
in
in
g
ef
f
icien
cy
a
n
d
o
p
er
ati
o
n
al
b
an
d
wid
th
,
m
a
k
in
g
t
h
e
m
s
u
itab
le
f
o
r
h
ig
h
-
s
p
ee
d
co
m
m
u
n
icatio
n
s
y
s
tem
s
an
d
m
illi
m
eter
-
wav
e
ap
p
lic
atio
n
s
[
1
3
]
.
T
h
ese
d
ev
elo
p
m
e
n
ts
f
u
r
th
er
b
r
o
ad
e
n
th
e
ap
p
licab
ilit
y
o
f
m
icr
o
wav
e
co
m
p
o
n
en
ts
b
ey
o
n
d
t
r
ad
itio
n
al
d
o
m
ain
s
.
T
h
is
ar
ticle
f
o
cu
s
es
o
n
h
ig
h
-
f
r
eq
u
en
cy
am
p
lifie
r
s
,
p
ar
ticu
lar
ly
th
o
s
e
em
p
lo
y
in
g
GaN
,
a
k
ey
m
ater
ial
in
m
icr
o
wav
e
am
p
lifie
r
p
r
o
d
u
ctio
n
.
GaN
-
b
ased
am
p
lifie
r
s
ca
n
b
e
ca
teg
o
r
ized
in
to
two
ty
p
es:
th
o
s
e
u
tili
zin
g
Sil
ico
n
(
Si)
o
r
Sil
ico
n
C
ar
b
id
e
(
SiC
)
co
m
p
o
n
e
n
ts
,
an
d
th
o
s
e
em
p
lo
y
in
g
h
o
m
o
ep
itax
ial
s
tr
u
ctu
r
es
[
1
4
]
.
Ho
m
o
ep
itax
ial
s
tr
u
ctu
r
es
o
f
f
er
d
is
tin
ct
ad
v
an
tag
es
d
u
e
to
th
eir
h
i
g
h
er
b
r
ea
k
v
o
ltag
es,
e
n
ab
lin
g
th
e
d
ev
elo
p
m
en
t
o
f
h
ig
h
er
-
p
o
wer
d
e
v
ices
co
m
p
a
r
ed
to
Si
o
r
SiC
am
p
lifie
r
s
[
1
5
]
–
[
1
7
]
.
T
h
e
u
s
e
o
f
ad
v
a
n
ce
d
s
u
b
s
tr
ates
lik
e
3C
-
SiC
/
Si
h
as
b
ee
n
s
h
o
wn
to
f
u
r
th
er
e
n
h
an
ce
tem
p
er
atu
r
e
s
tab
ilit
y
an
d
p
er
f
o
r
m
an
ce
,
m
a
k
in
g
th
em
s
u
itab
l
e
f
o
r
h
ig
h
-
tem
p
e
r
atu
r
e
a
p
p
licatio
n
s
[
8
]
.
W
h
ile
th
e
in
d
u
s
tr
y
is
ac
tiv
ely
in
v
o
lv
ed
i
n
d
esig
n
in
g
an
d
m
a
n
u
f
ac
tu
r
i
n
g
n
ew
m
icr
o
wav
e
a
m
p
lifie
r
s
,
a
cr
itical
ch
allen
g
e
lies
in
th
e
ass
o
ciate
d
d
r
iv
er
cir
c
u
its
.
Desp
ite
th
e
av
ailab
ilit
y
o
f
am
p
lifie
r
s
th
em
s
elv
es,
th
ese
cr
u
cial
cir
cu
its
,
wh
ich
ar
e
e
s
s
en
tial
f
o
r
o
p
tim
izin
g
m
icr
o
wav
e
am
p
lifie
r
p
e
r
f
o
r
m
an
c
e,
o
f
ten
en
c
o
u
n
ter
co
m
p
atib
ilit
y
is
s
u
es
with
ex
is
tin
g
s
etu
p
s
.
T
h
e
p
r
im
ar
y
ch
al
len
g
e
r
ev
o
lv
es
ar
o
u
n
d
d
r
iv
i
n
g
th
ese
m
icr
o
wav
e
am
p
lifie
r
s
,
p
ar
ticu
lar
ly
i
n
r
el
atio
n
to
th
e
g
ate
v
o
ltag
e,
wh
ich
h
as
a
cr
itical
im
p
ac
t
o
n
f
o
r
war
d
p
o
wer
an
d
co
m
p
o
n
en
t
life
s
p
an
[
1
8
]
.
T
h
e
g
ate
v
o
ltag
e
e
x
h
ib
its
v
ar
iat
io
n
with
in
s
p
ec
if
ic
f
r
e
q
u
en
c
y
r
an
g
es,
lead
in
g
to
p
ea
k
p
o
wer
b
ein
g
ac
h
iev
ed
at
p
ar
ticu
lar
g
ate
v
o
ltag
es f
o
r
ea
ch
f
r
eq
u
en
cy
r
an
g
e
[
1
8
]
.
Par
a
m
eter
s
s
u
ch
as g
ain
,
p
o
wer
,
tem
p
er
atu
r
e
,
ef
f
icien
c
y
,
n
o
is
e,
an
d
s
y
s
tem
lin
ea
r
ity
p
lay
c
r
u
cial
r
o
les
in
t
h
e
d
esi
g
n
o
f
th
ese
s
y
s
tem
s
[
1
9
]
,
[
2
0
]
.
I
n
r
esp
o
n
s
e
to
th
ese
ch
allen
g
e
s
,
co
m
p
an
ies
a
r
e
ac
tiv
ely
d
e
v
elo
p
in
g
cir
cu
its
f
o
r
m
icr
o
wav
e
am
p
lifie
r
b
iasi
n
g
.
Fo
r
ex
a
m
p
le,
An
al
o
g
Dev
ices
is
wo
r
k
in
g
to
war
d
s
m
an
u
f
ac
tu
r
i
n
g
a
cir
c
u
it
d
es
ig
n
ed
to
b
ias
g
ate
tr
an
s
is
to
r
s
,
th
er
eb
y
m
in
im
izin
g
th
e
n
o
is
e
ass
o
ciate
d
with
m
i
cr
o
wav
e
am
p
lifie
r
s
[
2
0
]
.
T
h
eir
ap
p
r
o
ac
h
in
v
o
l
v
es
g
en
er
atin
g
a
n
e
g
ativ
e
v
ar
ia
b
le
p
u
ls
ed
v
o
ltag
e
o
n
th
e
g
ate,
cr
ea
tin
g
a
s
u
itab
le
d
r
iv
er
f
o
r
m
i
cr
o
wav
e
am
p
lifie
r
s
o
p
er
atin
g
with
p
u
ls
ed
o
u
tp
u
t.
Simu
latio
n
r
esu
lts
h
ig
h
lig
h
t
th
e
n
ec
ess
ity
f
o
r
a
n
i
n
v
er
ter
v
o
ltag
e
r
eg
u
lato
r
with
an
o
u
t
p
u
t
cu
r
r
en
t
o
f
at
least
2
0
0
m
A.
Ho
wev
e
r
,
d
u
e
to
lim
itatio
n
s
in
b
iasi
n
g
with
a
s
in
g
le
s
u
p
p
ly
,
th
is
r
esear
ch
ad
o
p
ts
an
in
n
o
v
ativ
e
an
d
d
is
tin
ct
ap
p
r
o
ac
h
to
b
ias
an
d
p
u
ls
e
th
e
cir
cu
it,
s
im
ilar
t
o
An
alo
g
De
v
ices
’
ap
p
r
o
ac
h
[
1
7
]
,
u
tili
zin
g
g
ate
v
o
ltag
e
to
co
n
tr
o
l th
e
o
u
tp
u
t
p
o
wer
.
Alter
n
ativ
e
ap
p
r
o
ac
h
es
b
y
an
alo
g
d
e
v
ices
[
2
1
]
h
a
v
e
a
ls
o
b
ee
n
ex
p
lo
r
ed
.
T
h
ese
a
p
p
r
o
ac
h
es
d
em
o
n
s
tr
ate
b
en
e
f
its
in
ter
m
s
o
f
in
cr
ea
s
ed
life
s
p
an
o
f
in
d
iv
id
u
al
p
a
r
ts
b
y
em
p
lo
y
in
g
s
eq
u
en
ce
v
o
ltag
es.
Ho
wev
er
,
th
e
g
ate
v
o
ltag
e
r
e
m
ain
s
co
n
s
tan
t
with
in
a
f
r
eq
u
en
cy
r
an
g
e,
p
o
ten
tially
lim
itin
g
th
e
ac
h
iev
em
e
n
t
o
f
p
ea
k
p
o
wer
ac
r
o
s
s
th
e
e
n
tire
f
r
eq
u
en
c
y
s
p
an
.
An
o
th
er
a
p
p
r
o
ac
h
b
y
th
e
s
am
e
co
m
p
an
y
[
2
2
]
aim
s
to
m
ax
im
ize
p
o
wer
ac
r
o
s
s
th
e
f
r
eq
u
en
cy
r
a
n
g
e
o
f
t
h
e
s
y
s
tem
.
Ho
we
v
er
,
th
er
e
ar
e
d
is
cr
ep
a
n
cies
in
test
i
n
g
p
ar
ts
,
s
u
ch
as
th
e
m
ax
im
u
m
d
r
ai
n
v
o
ltag
e,
wh
i
ch
is
1
6
V,
wh
er
ea
s
o
u
r
s
tu
d
y
p
io
n
ee
r
s
a
2
4
V
d
r
ain
v
o
lt
ag
e
s
y
s
tem
d
esig
n
.
Ma
x
im
I
n
teg
r
ate
d
[
2
3
]
,
s
im
il
ar
to
an
alo
g
d
e
v
ices
,
h
as
also
in
v
esti
g
ated
s
im
ilar
ap
p
r
o
ac
h
es
b
u
t
with
a
2
4
V
d
r
ain
v
o
ltag
e.
Ho
we
v
er
,
t
h
eir
ap
p
r
o
ac
h
o
n
ly
wo
r
k
s
with
p
a
r
ts
th
at
o
p
er
ate
with
p
o
s
itiv
e
v
a
r
y
in
g
g
ate
v
o
ltag
es
[
2
3
]
.
I
n
co
n
tr
ast,
o
u
r
s
tu
d
y
f
o
cu
s
es
o
n
d
esig
n
in
g
a
d
r
iv
e
r
f
o
r
a
m
icr
o
wa
v
e
am
p
lifie
r
with
a
2
4
V
v
ar
y
in
g
n
eg
ativ
e
g
ate
v
o
ltag
e,
wh
ic
h
i
s
a
n
o
v
el
asp
ec
t n
o
t e
x
p
lo
r
ed
b
y
p
r
e
v
io
u
s
r
esear
ch
e
r
s
an
d
c
o
m
p
an
ies.
It
i
s
wo
r
th
n
o
tin
g
t
h
at
s
o
m
e
m
icr
o
wav
e
am
p
lifie
r
s
ar
e
b
iase
d
u
s
in
g
a
co
n
s
tan
t
c
u
r
r
e
n
t
ap
p
r
o
ac
h
.
Fo
r
in
s
tan
ce
,
I
n
GaP
HB
T
(
in
d
iu
m
-
g
alliu
m
-
p
h
o
s
p
h
id
e
-
h
eter
o
j
u
n
ctio
n
b
i
p
o
lar
tr
a
n
s
is
to
r
)
am
p
lifie
r
s
u
tili
ze
a
p
air
o
f
Dar
lin
g
to
n
tr
an
s
is
to
r
s
b
iased
th
r
o
u
g
h
a
n
ex
ter
n
al
r
esis
to
r
,
wh
ich
h
elp
s
eq
u
alize
th
e
b
ias
cu
r
r
en
t
to
t
h
e
s
u
p
p
ly
cu
r
r
e
n
t
[
2
4
]
.
Ad
d
itio
n
a
lly
,
lo
w
eq
u
iv
alen
t
s
er
ies
r
esis
tan
ce
(
E
SR
)
b
lo
ck
in
g
ca
p
ac
ito
r
s
ar
e
n
ec
ess
ar
y
at
th
e
in
p
u
t a
n
d
o
u
tp
u
t o
f
th
e
s
y
s
tem
to
m
in
im
ize
in
s
er
tio
n
lo
s
s
o
r
v
o
ltag
e
s
tan
d
in
g
wav
e
r
atio
(
VSW
R
)
at
lo
wer
f
r
eq
u
e
n
cies
[
2
1
]
.
Pro
p
er
co
m
p
o
n
en
t
s
elec
tio
n
is
cr
u
cial
f
o
r
p
o
wer
an
d
ef
f
icien
cy
o
p
tim
izatio
n
,
as
ex
ce
ed
in
g
th
e
r
ec
o
m
m
e
n
d
ed
b
ias
cu
r
r
en
t
m
ay
lead
to
in
c
r
ea
s
ed
ju
n
ctio
n
tem
p
er
atu
r
e
an
d
d
ec
r
ea
s
ed
m
ea
n
tim
e
to
f
ailu
r
e
(
MT
T
F)
o
f
th
e
p
ar
ts
[
2
4
]
.
Desp
ite
cr
itical
ad
v
an
ce
m
en
ts
in
th
e
f
ield
,
c
h
allen
g
es
s
till
p
er
s
is
t
in
ac
h
iev
in
g
p
ea
k
p
o
we
r
ac
r
o
s
s
th
e
en
tire
f
r
e
q
u
en
c
y
s
p
an
,
p
ar
ti
cu
lar
ly
in
s
y
s
tem
s
o
p
er
atin
g
with
v
ar
y
in
g
g
ate
v
o
ltag
es
.
Fu
r
th
er
m
o
r
e,
th
e
d
is
cr
ep
an
cy
b
etwe
en
test
ed
m
ax
im
u
m
d
r
ain
v
o
ltag
es
in
p
r
ev
io
u
s
s
tu
d
ies
a
n
d
t
h
e
p
r
o
p
o
s
ed
d
r
iv
er
cir
cu
it
’
s
d
esig
n
n
ec
ess
itates
f
u
r
th
er
in
v
esti
g
atio
n
.
I
n
s
y
n
th
esizin
g
in
s
i
g
h
ts
f
r
o
m
ex
te
n
s
iv
e
liter
atu
r
e
r
ev
iews,
th
is
p
ap
er
p
r
esen
ts
a
co
m
p
r
eh
e
n
s
iv
e
s
tu
d
y
o
n
a
n
ewly
d
esig
n
e
d
d
r
iv
e
r
th
at
o
p
er
ates
with
a
v
ar
ia
b
le
g
ate
v
o
ltag
e
ac
r
o
s
s
th
e
p
ar
t
’
s
f
r
eq
u
e
n
cy
r
an
g
e
.
T
h
is
d
esig
n
n
o
t
o
n
ly
aim
s
to
m
a
x
im
ize
o
u
tp
u
t
p
o
wer
b
u
t
also
in
co
r
p
o
r
ates
r
o
b
u
s
t
s
af
ety
m
ec
h
an
is
m
s
to
en
s
u
r
e
s
y
s
tem
r
eliab
ilit
y
in
th
e
ev
e
n
t
o
f
m
icr
o
s
y
s
tem
f
ailu
r
es,
in
s
p
ir
ed
b
y
p
r
o
v
en
m
eth
o
d
o
l
o
g
ies s
u
ch
as th
o
s
e
f
r
o
m
T
ex
as I
n
s
tr
u
m
en
t
[
2
5
]
,
[
2
6
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
82
-
92
84
I
n
th
is
s
tu
d
y
,
o
u
r
p
r
im
ar
y
aim
is
to
ad
d
r
ess
th
ese
ch
allen
g
es
b
y
d
esig
n
i
n
g
a
n
d
im
p
lem
e
n
ti
n
g
a
n
o
v
el
d
r
iv
er
ci
r
cu
it
f
o
r
GaN
-
b
ased
m
icr
o
wav
e
am
p
lifie
r
s
.
Ou
r
ap
p
r
o
ac
h
r
ev
o
l
v
es
ar
o
u
n
d
th
e
g
en
e
r
atio
n
o
f
a
n
eg
ativ
e
v
ar
iab
le
p
u
ls
ed
v
o
lta
g
e
to
p
r
ec
is
ely
co
n
tr
o
l
th
e
g
at
e
v
o
ltag
e,
th
er
e
b
y
o
p
tim
izin
g
f
o
r
war
d
p
o
wer
an
d
p
r
o
lo
n
g
in
g
t
h
e
co
m
p
o
n
e
n
t
life
s
p
an
.
Op
er
atin
g
with
a
s
in
g
le
s
u
p
p
ly
,
o
u
r
cir
c
u
it
v
ar
ies
th
e
g
ate
v
o
ltag
e
with
in
th
e
d
esire
d
f
r
eq
u
en
c
y
r
an
g
e
,
en
ab
lin
g
th
e
attain
m
en
t
o
f
p
ea
k
p
o
wer
at
s
p
ec
if
ic
g
ate
v
o
ltag
es
f
o
r
ea
ch
f
r
eq
u
e
n
cy
b
a
n
d
.
M
o
r
eo
v
e
r
,
w
e
m
eticu
lo
u
s
ly
co
n
s
id
er
th
e
m
ax
im
u
m
d
r
ain
v
o
ltag
e
o
f
th
e
s
y
s
tem
to
f
in
e
-
tu
n
e
th
e
d
r
ain
c
u
r
r
en
t a
n
d
p
o
wer
,
u
ltima
tely
en
h
an
cin
g
th
e
o
v
er
al
l p
er
f
o
r
m
an
ce
o
f
th
e
m
icr
o
wa
v
e
am
p
lifie
r
.
T
h
e
u
n
iq
u
e
c
o
n
tr
ib
u
ti
o
n
o
f
o
u
r
wo
r
k
lies
in
th
e
d
ev
elo
p
m
en
t
o
f
th
is
in
n
o
v
ativ
e
d
r
i
v
er
cir
cu
it
f
o
r
GaN
-
b
ased
m
icr
o
wav
e
am
p
li
f
ier
s
.
Div
er
g
in
g
f
r
o
m
p
r
ev
io
u
s
ap
p
r
o
ac
h
es,
o
u
r
cir
cu
it
i
n
co
r
p
o
r
ates
a
v
ar
y
in
g
g
ate
v
o
ltag
e
ac
r
o
s
s
th
e
f
r
eq
u
e
n
cy
r
an
g
e,
f
ac
ilit
atin
g
th
e
ac
h
iev
em
en
t
o
f
p
ea
k
p
o
wer
at
s
p
ec
if
ic
g
ate
v
o
ltag
es
f
o
r
ea
c
h
f
r
eq
u
e
n
cy
b
an
d
.
T
h
is
d
esig
n
n
o
t
o
n
ly
ad
d
r
ess
es
th
e
lim
itatio
n
s
o
f
ex
is
tin
g
m
et
h
o
d
s
b
u
t
also
en
s
u
r
es
s
ea
m
less
co
m
p
atib
ilit
y
with
c
u
r
r
en
t
s
etu
p
s
b
y
o
p
er
atin
g
wi
th
a
s
in
g
le
s
u
p
p
l
y
.
Ad
d
itio
n
a
lly
,
b
y
tak
in
g
in
t
o
ac
co
u
n
t
t
h
e
m
ax
i
m
u
m
d
r
ain
v
o
ltag
e
o
f
th
e
s
y
s
tem
,
we
o
p
tim
ize
th
e
d
r
ain
c
u
r
r
e
n
t
an
d
p
o
wer
,
u
n
l
o
ck
in
g
th
e
f
u
ll p
o
ten
tial o
f
th
e
m
icr
o
wav
e
am
p
lifie
r
.
T
h
is
co
m
p
r
eh
e
n
s
iv
e
s
tu
d
y
ai
m
s
to
p
r
o
v
id
e
v
alu
a
b
le
in
s
ig
h
ts
in
to
th
e
d
esig
n
a
n
d
im
p
lem
en
tatio
n
o
f
d
r
iv
er
cir
cu
its
f
o
r
m
icr
o
wa
v
e
am
p
lifie
r
s
.
T
h
r
o
u
g
h
a
m
eticu
lo
u
s
p
r
esen
tatio
n
o
f
o
u
r
m
eth
o
d
o
lo
g
y
,
ex
p
er
im
en
tal
r
esu
lts
,
an
d
p
er
f
o
r
m
an
ce
ev
alu
atio
n
o
f
th
e
p
r
o
p
o
s
ed
d
r
iv
er
ci
r
cu
it,
we
s
h
o
wca
s
e
o
u
r
i
n
n
o
v
atio
n
in
d
ev
elo
p
i
n
g
a
n
o
v
el
a
p
p
r
o
a
ch
th
at
in
co
r
p
o
r
ates
a
v
a
r
y
in
g
g
ate
v
o
ltag
e
ac
r
o
s
s
th
e
f
r
e
q
u
en
cy
r
an
g
e
.
Ou
r
d
esig
n
em
p
o
wer
s
th
e
attain
m
en
t
o
f
p
ea
k
p
o
wer
at
s
p
ec
if
ic
g
ate
v
o
ltag
es
f
o
r
ea
c
h
f
r
eq
u
en
cy
b
an
d
wh
ile
o
p
er
atin
g
with
a
s
in
g
le
s
u
p
p
l
y
.
Fu
r
th
er
m
o
r
e,
we
p
r
io
r
itize
th
e
o
p
tim
izatio
n
o
f
d
r
ain
c
u
r
r
en
t
an
d
p
o
wer
b
y
co
n
s
id
er
in
g
t
h
e
m
ax
im
u
m
d
r
ai
n
v
o
ltag
e
o
f
th
e
s
y
s
tem
.
T
h
e
f
in
d
i
n
g
s
p
r
esen
ted
i
n
th
is
r
esear
ch
cr
itically
co
n
tr
ib
u
te
to
th
e
ad
v
a
n
ce
m
en
t
o
f
th
e
f
ield
o
f
m
icr
o
wav
e
am
p
lifie
r
d
r
i
v
er
cir
cu
its
an
d
h
o
ld
p
r
ac
tical
im
p
li
ca
tio
n
s
f
o
r
th
e
d
ev
elo
p
m
en
t
o
f
h
ig
h
-
p
e
r
f
o
r
m
an
ce
m
icr
o
wav
e
am
p
lifie
r
s
.
W
e
f
ir
m
ly
b
eliev
e
t
h
at
o
u
r
wo
r
k
will
s
er
v
e
as
a
ca
taly
s
t
f
o
r
f
u
r
th
er
r
esear
c
h
an
d
in
n
o
v
atio
n
in
th
is
a
r
ea
,
p
av
i
n
g
th
e
way
f
o
r
r
em
ar
k
a
b
le
im
p
r
o
v
em
e
n
ts
in
p
er
f
o
r
m
a
n
c
e,
ef
f
icien
c
y
,
an
d
r
eliab
ilit
y
in
m
icr
o
wav
e
a
m
p
li
f
ier
s
y
s
tem
s
.
T
h
e
r
em
ain
d
er
o
f
th
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
ws.
Sectio
n
2
p
r
o
v
i
d
es
d
etails
o
f
th
e
p
r
o
p
o
s
ed
d
r
iv
er
ci
r
cu
it
d
esig
n
m
eth
o
d
o
lo
g
y
an
d
co
n
s
id
er
atio
n
s
.
Sectio
n
3
d
escr
ib
es
th
e
e
x
p
er
im
en
tal
s
etu
p
an
d
p
r
esen
ts
th
e
o
b
tain
ed
r
esu
lts
.
Fin
ally
,
Sectio
n
4
p
r
o
v
id
es
a
co
m
p
r
eh
e
n
s
iv
e
an
aly
s
is
o
f
th
e
r
esu
lts
,
s
u
m
m
ar
izes
th
e
f
in
d
in
g
s
,
d
is
cu
s
s
es th
e
im
p
licatio
n
s
,
an
d
s
u
g
g
ests
f
u
tu
r
e
r
esear
ch
d
ir
ec
tio
n
s
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
d
elin
ea
tes
a
s
y
s
tem
atic
ap
p
r
o
ac
h
f
o
r
t
h
e
o
p
er
a
tio
n
o
f
h
ig
h
-
p
o
we
r
m
icr
o
wav
e
am
p
lifie
r
cir
cu
its
,
em
p
h
asizin
g
cr
itica
l
s
eq
u
en
ce
s
an
d
tec
h
n
ical
s
tr
ateg
ies
to
en
s
u
r
e
o
p
tim
al
p
er
f
o
r
m
an
ce
a
n
d
r
eliab
ilit
y
.
T
h
e
s
ig
n
if
ican
ce
o
f
ad
h
er
in
g
to
p
r
ec
is
e
v
o
ltag
e
s
eq
u
en
ce
s
d
u
r
in
g
th
e
ac
tiv
atio
n
an
d
d
ea
ctiv
atio
n
p
h
ases
is
u
n
d
er
s
co
r
ed
d
u
e
to
th
eir
p
r
o
f
o
u
n
d
im
p
ac
t
o
n
th
e
cir
cu
it
’
s
life
s
p
an
an
d
r
elia
b
ilit
y
[
2
2
]
.
I
n
th
is
s
ec
tio
n
,
we
m
eticu
lo
u
s
ly
d
eli
n
ea
te
o
u
r
a
d
v
an
ce
d
m
eth
o
d
o
l
o
g
y
f
o
r
d
r
iv
in
g
m
icr
o
wav
e
a
m
p
lifie
r
cir
cu
its
,
a
co
r
n
er
s
to
n
e
o
f
o
u
r
r
esear
ch
.
Ou
r
ap
p
r
o
ac
h
is
ch
ar
ac
ter
ized
b
y
its
p
r
ec
is
io
n
an
d
in
n
o
v
ati
o
n
,
wh
ich
n
o
t
o
n
ly
b
o
ls
ter
s
r
eliab
ilit
y
b
u
t a
ls
o
cr
it
ically
ex
ten
d
s
th
e
co
m
p
o
n
en
ts
’
life
s
p
an
.
2
.
1
.
Act
i
v
a
t
io
n a
nd
dea
ct
iv
a
t
io
n sequ
ence
s
Activ
atio
n
o
f
th
e
cir
c
u
it
co
m
m
en
ce
s
with
a
p
r
ec
is
e
ap
p
lica
tio
n
o
f
a
-
5
V
g
ate
v
o
ltag
e
,
m
eticu
lo
u
s
ly
p
r
ep
ar
in
g
th
e
s
y
s
tem
’
s
co
m
p
o
n
en
ts
f
o
r
o
p
e
r
atio
n
.
Su
b
s
eq
u
e
n
tly
,
we
en
g
ag
e
a
2
6
V
d
r
ain
v
o
ltag
e,
in
h
ar
m
o
n
y
with
th
e
s
y
s
tem
’
s
r
eq
u
is
ites
,
th
u
s
en
er
g
izin
g
th
e
cir
cu
it.
A
f
in
e
-
tu
n
e
d
g
ate
v
o
ltag
e,
d
ef
tl
y
co
n
tr
o
lled
with
in
t
h
e
-
1
.
5
V
t
o
-
3
V
r
a
n
g
e
,
e
n
s
u
r
e
s
t
h
a
t t
h
e
d
r
a
i
n
c
u
r
r
e
n
t
r
ea
c
h
es
i
ts
d
es
i
g
n
a
t
e
d
r
a
n
g
e
.
T
h
is
m
et
i
c
u
l
o
u
s
p
r
e
p
a
r
at
i
o
n
c
u
l
m
i
n
a
t
es
i
n
t
h
e
p
r
o
v
is
i
o
n
o
f
th
e
R
F
s
i
g
n
a
l
i
n
p
u
t
,
m
a
r
k
i
n
g
t
h
e
s
y
s
t
e
m
’
s
r
e
a
d
i
n
e
s
s
f
o
r
h
i
g
h
-
p
o
w
e
r
o
p
e
r
a
t
i
o
n
s
.
Up
o
n
d
ea
ctiv
atio
n
,
we
b
e
g
in
b
y
ce
asin
g
th
e
R
F
s
ig
n
al
in
p
u
t.
Fo
llo
win
g
th
is
,
t
h
e
g
ate
v
o
l
tag
e
is
s
et
b
ac
k
to
-
5
V,
ef
f
ec
tiv
el
y
r
ed
u
cin
g
th
e
co
m
p
o
n
e
n
t
’
s
d
r
ain
cu
r
r
en
t
t
o
a
n
u
ll
s
tate.
T
h
e
d
r
ain
v
o
ltag
e
is
th
en
m
eticu
lo
u
s
ly
s
ca
led
d
o
wn
t
o
0
V.
T
h
e
f
in
ale
o
f
th
is
s
y
m
p
h
o
n
y
o
f
d
ea
ctiv
atio
n
is
th
e
ad
j
u
s
tm
en
t
o
f
th
e
g
ate
v
o
ltag
e
to
0
V,
en
s
u
r
i
n
g
a
q
u
i
escen
t state
o
f
th
e
s
y
s
tem
,
p
r
i
m
ed
f
o
r
s
af
ety
an
d
lo
n
g
ev
ity
.
2
.
2
.
B
ia
s
ing
a
nd
po
wer
m
a
x
im
iza
t
io
n
T
h
e
ar
t
o
f
b
iasi
n
g
is
n
o
t
to
b
e
u
n
d
er
s
tated
,
as
it
p
lay
s
an
in
s
tr
u
m
en
tal
r
o
le
in
o
p
tim
izin
g
c
o
m
p
o
n
en
t
p
o
wer
.
Ou
r
s
y
s
tem
lev
er
ag
es
th
e
in
tr
in
s
ic
r
elatio
n
s
h
ip
b
etwe
en
g
ate
v
o
ltag
e
an
d
elec
tr
o
n
in
f
lu
x
in
to
th
e
tr
an
s
is
to
r
ch
an
n
el,
e
f
f
ec
tiv
ely
in
cr
ea
s
in
g
cu
r
r
en
t
f
l
o
w
f
r
o
m
s
o
u
r
ce
to
d
r
ain
.
Similar
ly
,
th
e
e
n
h
an
ce
m
e
n
t
o
f
t
h
e
d
r
ain
v
o
ltag
e
is
ad
ep
tly
m
a
n
ip
u
lated
to
in
ten
s
if
y
th
e
elec
tr
o
m
ag
n
etic
f
ield
,
f
o
s
ter
in
g
a
s
u
r
g
e
in
elec
tr
o
n
t
r
an
s
it
an
d
co
n
s
eq
u
en
tly
a
u
g
m
en
tin
g
cu
r
r
en
t
f
lo
w
th
r
o
u
g
h
th
e
co
m
p
o
n
e
n
t.
T
h
is
h
ar
m
o
n
io
u
s
in
ter
p
lay
o
f
v
o
ltag
es
an
d
cu
r
r
en
ts
is
th
e
lin
ch
p
in
f
o
r
m
ax
im
izin
g
p
o
wer
o
u
tp
u
t a
n
d
s
y
s
tem
ef
f
icien
cy
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
E
n
h
a
n
cin
g
efficien
cy
a
n
d
r
eli
a
b
ilit
y
in
h
ig
h
-
p
o
w
er mic
r
o
w
a
ve
a
mp
lifi
ers
:
a
n
o
ve
l c
ir
cu
it
…
(
A
li J
eb
elli
)
85
2
.
3
.
Circ
uit
des
ig
n a
nd
f
ilte
r
im
plem
ent
a
t
io
n
Fig
u
r
e
1
ca
p
tu
r
es
o
u
r
c
u
r
r
e
n
t
cir
cu
it
d
esig
n
with
eleg
a
n
ce
,
d
is
p
lay
in
g
a
s
tead
y
d
r
a
in
v
o
ltag
e
in
ter
ac
tin
g
d
y
n
am
ically
with
a
v
ar
y
in
g
g
ate
v
o
ltag
e
ac
r
o
s
s
th
e
c
o
m
p
o
n
en
t
’
s
f
r
eq
u
en
cy
r
an
g
e.
I
t
ele
g
an
tly
h
ig
h
lig
h
ts
th
e
im
p
lem
e
n
tatio
n
o
f
a
n
E
MI
lo
w
-
p
ass
f
ilter
,
a
cr
itical
co
m
p
o
n
en
t
in
o
u
r
q
u
est
t
o
q
u
ell
n
o
is
e
f
r
o
m
th
e
p
o
wer
s
u
p
p
l
y
lin
e.
T
h
e
astu
te
d
esig
n
an
d
ex
ec
u
tio
n
o
f
th
is
f
ilter
ar
e
p
a
r
am
o
u
n
t
to
p
r
ec
l
u
d
e
an
y
d
am
ag
e
o
r
f
ailu
r
es
th
at
co
u
ld
c
o
m
p
r
o
m
i
s
e
th
e
d
r
iv
er
s
y
s
tem
.
T
h
e
im
p
o
r
tan
ce
o
f
f
ilter
d
esig
n
is
f
u
r
th
er
elu
cid
ate
d
in
Fig
u
r
e
2
,
wh
ich
p
r
esen
ts
th
e
f
allo
u
t
o
f
s
u
b
p
a
r
f
ilter
d
esig
n
o
s
cillatio
n
cy
cles
th
at,
if
u
n
c
h
ec
k
ed
,
co
u
ld
s
p
ell
d
o
o
m
f
o
r
th
e
s
u
p
p
ly
lin
e
’
s
r
e
g
u
lato
r
s
.
I
n
s
tar
k
co
n
tr
ast,
Fi
g
u
r
e
3
ex
h
ib
its
o
u
r
im
p
lem
e
n
ted
f
ilter
cir
cu
it,
a
p
ar
ad
ig
m
o
f
d
esig
n
ex
ce
llen
c
e.
T
h
is
co
n
f
ig
u
r
atio
n
is
ad
ep
t
at
s
ilen
cin
g
n
o
is
e
f
r
o
m
th
e
p
o
wer
s
u
p
p
l
y
lin
e,
th
er
eb
y
r
ein
f
o
r
cin
g
th
e
r
eliab
il
ity
an
d
f
u
n
ctio
n
ality
o
f
th
e
d
r
i
v
er
s
y
s
tem
.
Fig
u
r
e
1
.
C
u
r
r
e
n
t c
ir
cu
it d
esig
n
d
is
p
lay
in
g
a
s
tead
y
d
r
ai
n
v
o
l
tag
e
in
ter
ac
tin
g
d
y
n
am
ically
with
a
v
ar
y
in
g
g
ate
v
o
ltag
e
ac
r
o
s
s
th
e
co
m
p
o
n
en
t
’
s
f
r
eq
u
en
c
y
r
an
g
e
Fig
u
r
e
2
.
Fallo
u
t
o
f
s
u
b
p
ar
f
ilt
er
d
esig
n
o
s
cillatio
n
cy
cles
Fig
u
r
e
3
.
I
m
p
lem
en
te
d
f
ilter
c
ir
cu
it
2
.
4
.
RL
C
da
m
pin
g
circ
uit
a
nd
no
is
e
m
it
ig
a
t
io
n
As
we
d
elv
e
d
ee
p
er
in
to
th
e
in
tr
icac
ies
o
f
co
m
p
o
n
en
t
v
a
lu
es,
o
u
r
s
y
s
tem
ev
o
lv
es
in
to
an
R
L
C
d
am
p
in
g
cir
cu
it.
Fig
u
r
e
4
o
f
f
er
s
a
v
is
u
al
s
y
m
p
h
o
n
y
o
f
th
e
s
y
s
tem
’
s
r
esp
o
n
s
e
with
a
2
6
V
o
u
tp
u
t
an
d
a
n
escalate
d
in
d
u
cto
r
v
alu
e
f
r
o
m
3
.
3
u
H
to
3
3
0
u
H.
T
o
tac
k
le
p
er
s
is
ten
t
o
s
cillatio
n
s
,
w
e
em
p
lo
y
a
s
u
ite
o
f
p
ar
allel
ca
p
ac
ito
r
s
at
v
ar
ied
c
ap
ac
itan
ce
s
at
th
e
f
ilter
cir
cu
i
t
’
s
o
u
tp
u
t,
a
tech
n
iq
u
e
d
em
o
n
s
tr
ated
in
Fig
u
r
e
5
.
T
h
is
s
tr
ateg
ic
m
o
v
e
elim
in
ates A
M
n
o
is
es,
en
s
u
r
in
g
th
e
clar
ity
an
d
p
u
r
ity
o
f
o
u
r
s
ig
n
al.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
82
-
92
86
Fig
u
r
e
4
.
Sy
s
tem
’
s
r
esp
o
n
s
e
with
a
2
6
V
o
u
tp
u
t a
n
d
a
n
escalate
d
in
d
u
cto
r
v
alu
e
f
r
o
m
3
.
3
u
H
to
3
3
0
uH
Fig
u
r
e
5
.
Sy
s
tem
’
s
r
esp
o
n
s
e
with
a
s
u
ite
o
f
p
ar
allel
ca
p
ac
ito
r
s
at
v
ar
ied
ca
p
ac
itan
ce
s
at
th
e
f
ilter
cir
cu
it
’
s
o
u
tp
u
t.
2
.
5
.
Reg
ula
t
i
o
n a
nd
m
icro
co
ntr
o
ller
im
plem
ent
a
t
io
n
Selectin
g
r
eg
u
lato
r
s
d
em
a
n
d
s
f
o
r
esig
h
t,
an
d
we
ha
v
e
c
h
o
s
en
th
o
s
e
with
a
r
o
b
u
s
t
wo
r
k
in
g
v
o
ltag
e
o
f
40
V,
ap
tly
r
ep
r
esen
ted
b
y
th
e
L
T
C
3
6
3
7
,
k
n
o
wn
f
o
r
its
co
m
p
atib
ilit
y
with
in
p
u
t
v
o
ltag
es
s
o
ar
in
g
u
p
to
7
6
V.
T
h
is
ch
o
ice
r
ef
lects
o
u
r
co
m
m
itm
en
t
to
d
u
r
ab
ilit
y
an
d
p
er
f
o
r
m
an
ce
u
n
d
er
h
ig
h
-
v
o
lt
ag
e
co
n
d
itio
n
s
.
Ou
r
ap
p
r
o
ac
h
to
ad
ju
s
tin
g
th
e
g
at
e
v
o
ltag
e
in
r
elatio
n
to
th
e
f
r
eq
u
en
cy
r
a
n
g
e
f
o
r
p
ea
k
p
er
f
o
r
m
an
ce
in
v
o
l
v
es
th
e
in
teg
r
atio
n
o
f
a
m
icr
o
co
n
tr
o
lle
r
an
d
cu
r
r
en
t f
ee
d
b
ac
k
,
a
s
o
p
h
is
ticated
d
esig
n
d
ep
icted
in
Fig
u
r
e
6
.
T
h
is
allo
ws
f
o
r
a
f
in
e
-
t
u
n
ed
e
f
f
icien
cy
ac
r
o
s
s
th
e
s
y
s
tem
,
wh
er
e
th
e
co
n
tr
o
l o
f
th
e
g
ate
v
o
ltag
e
is
g
o
v
e
r
n
ed
b
y
a
n
in
v
er
ter
-
r
eg
u
lated
5
V
v
o
ltag
e
c
o
n
v
e
r
t
ed
to
-
5
V,
m
o
d
u
lated
v
ia
a
n
o
p
er
atio
n
al
am
p
lifie
r
an
d
a
DAC.
Fig
u
r
e
6
.
Mic
r
o
co
n
tr
o
ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
E
n
h
a
n
cin
g
efficien
cy
a
n
d
r
eli
a
b
ilit
y
in
h
ig
h
-
p
o
w
er mic
r
o
w
a
ve
a
mp
lifi
ers
:
a
n
o
ve
l c
ir
cu
it
…
(
A
li J
eb
elli
)
87
2
.
6
.
Sa
f
et
y
m
ec
ha
nis
m
s
a
nd
s
y
s
t
em
m
o
nito
ring
E
n
s
u
r
in
g
th
e
u
n
wav
er
i
n
g
s
af
et
y
o
f
th
e
s
y
s
tem
,
we
in
s
titu
te
a
f
ail
-
s
af
e
m
ec
h
an
is
m
,
a
v
ig
ila
n
t
s
en
tin
el
th
at
im
m
ed
iately
s
ev
er
s
th
e
d
r
ain
v
o
ltag
e
in
ca
s
e
o
f
m
ic
r
o
co
n
tr
o
ller
f
ailu
r
e.
T
h
is
s
af
e
g
u
ar
d
,
alo
n
g
s
id
e
a
s
ec
o
n
d
ar
y
cir
cu
it
d
e
p
icted
i
n
Fig
u
r
e
7
,
e
n
s
u
r
es
th
e
d
r
a
in
v
o
ltag
e
’
s
i
n
teg
r
ity
,
o
n
ly
p
r
esen
t
wh
en
th
e
m
icr
o
co
n
tr
o
ller
is
o
p
er
atio
n
al.
T
h
e
s
y
s
tem
’
s
s
en
tien
ce
is
ex
t
en
d
ed
b
y
a
tem
p
e
r
atu
r
e
s
en
s
o
r
,
s
tan
d
in
g
g
u
a
r
d
t
o
d
is
co
n
n
ec
t th
e
d
r
ain
v
o
ltag
e
s
h
o
u
ld
tem
p
er
atu
r
es e
x
ce
e
d
th
e
cr
itical
6
0
°C
th
r
esh
o
ld
.
Fig
u
r
e
7
.
Saf
ety
m
ec
h
an
is
m
2
.
7
.
Vo
l
t
a
g
e
m
o
du
la
t
io
n a
nd
s
y
s
t
em
s
t
a
rt
up
Dr
awin
g
in
s
p
ir
atio
n
f
r
o
m
r
en
o
wn
ed
m
eth
o
d
o
lo
g
ies
[
1
8
]
,
w
e
d
ep
lo
y
an
an
alo
g
s
witch
to
m
aster
f
u
lly
m
o
d
u
late
th
e
g
ain
v
o
ltag
e.
T
h
is
co
m
p
o
n
en
t
o
r
ch
estra
tes
a
v
o
ltag
e
b
allet,
s
h
if
tin
g
b
etw
ee
n
p
h
ases
at
th
e
co
m
m
an
d
o
f
th
e
DAC an
d
in
s
y
n
c
with
th
e
d
r
ain
’
s
cu
r
r
en
t.
Ou
r
ap
p
r
o
ac
h
n
o
t o
n
ly
m
ar
r
ie
s
s
o
p
h
is
ticatio
n
with
f
u
n
ctio
n
ality
b
u
t
also
ex
em
p
li
f
ies
in
n
o
v
atio
n
in
t
h
e
h
ig
h
-
p
o
wer
m
icr
o
wav
e
am
p
lifie
r
cir
c
u
it
d
o
m
ain
.
W
e
tak
e
p
r
id
e
in
o
u
r
r
esear
ch
,
a
test
am
en
t to
p
r
ec
is
io
n
-
e
n
g
in
ee
r
in
g
a
n
d
a
b
ea
c
o
n
o
f
r
eliab
ilit
y
an
d
ef
f
icien
cy
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
ex
p
er
im
en
tal
e
x
am
in
ati
o
n
o
f
th
e
h
ig
h
-
p
o
wer
m
ic
r
o
wav
e
am
p
lifie
r
cir
cu
it
y
ield
ed
cr
itical
in
s
ig
h
ts
in
to
its
p
er
f
o
r
m
a
n
ce
u
n
d
er
p
r
escr
ib
ed
test
in
g
c
o
n
d
i
tio
n
s
.
T
h
e
an
aly
s
is
,
u
n
d
e
r
p
in
n
ed
b
y
r
i
g
o
r
o
u
s
d
ata
ac
q
u
is
itio
n
,
was
g
ea
r
ed
to
wa
r
d
s
u
n
d
e
r
s
tan
d
in
g
th
e
b
e
h
av
i
o
r
o
f
th
e
cir
c
u
it
wh
en
s
u
b
je
cted
to
r
ea
l
-
wo
r
ld
o
p
er
atio
n
al
s
tr
ess
es.
3
.
1
.
E
x
perim
ent
a
l
pro
ce
du
r
e
T
h
e
ex
p
e
r
im
en
tal
p
r
o
ce
d
u
r
e
in
v
o
lv
ed
co
n
s
tr
u
ctin
g
th
e
cir
cu
it
an
d
c
o
n
d
u
ctin
g
a
s
er
ies
o
f
test
s
to
ev
alu
ate
its
p
er
f
o
r
m
an
ce
.
T
h
e
p
ar
am
eter
s
d
is
cu
s
s
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
wer
e
m
ea
s
u
r
ed
u
s
in
g
a
m
u
lti
-
m
eter
.
T
u
n
g
s
ten
wir
e
was
ch
o
s
en
as
th
e
test
in
g
m
ater
ial
d
u
e
to
its
ab
ilit
y
to
h
an
d
le
h
ig
h
cu
r
r
e
n
ts
an
d
r
esis
tan
ce
to
tem
p
er
atu
r
e
ch
an
g
es.
I
ts
in
v
er
tin
g
ch
ar
ac
te
r
is
tics
m
ad
e
it
an
ex
ce
llen
t
s
im
u
lato
r
f
o
r
th
e
co
m
p
o
n
en
t u
n
d
er
test
.
T
h
e
test
in
g
p
r
o
ce
d
u
r
e
b
eg
an
with
th
e
ac
tiv
atio
n
o
f
a
c
o
m
m
an
d
th
r
o
u
g
h
o
n
e
o
f
th
e
m
ic
r
o
co
n
tr
o
ller
b
ases
,
wh
ich
in
itiated
o
r
c
o
n
c
lu
d
ed
th
e
test
.
I
n
itially
,
a
g
ate
v
o
ltag
e
o
f
-
5
V
was
ap
p
lied
to
th
e
c
o
m
p
o
n
en
t.
T
h
e
f
ee
d
b
ac
k
v
alu
es
f
r
o
m
te
m
p
er
atu
r
e
an
d
cu
r
r
e
n
t
s
en
s
o
r
s
,
s
u
ch
as
d
r
ain
v
o
ltag
e
,
cu
r
r
en
t,
an
d
co
m
p
o
n
e
n
t
tem
p
er
atu
r
e,
wer
e
co
n
tin
u
o
u
s
l
y
m
o
n
ito
r
ed
.
T
h
e
in
itial
s
tate
o
f
th
e
cir
c
u
it
was
ch
ar
ac
ter
ized
b
y
ze
r
o
cu
r
r
en
t
an
d
v
o
ltag
e
as
s
h
o
wn
in
Fig
u
r
e
8
.
T
h
e
g
ate
v
o
ltag
e
was
th
en
s
et
to
-
5
V
wh
ile
t
h
e
o
u
tp
u
t
v
o
lt
ag
e
r
em
ain
e
d
at
0
V
as
s
h
o
wn
in
Fig
u
r
e
9
.
Af
ter
v
alid
atin
g
th
e
f
ee
d
b
ac
k
f
r
o
m
th
e
cu
r
r
en
t
a
n
d
tem
p
e
r
atu
r
e
s
en
s
o
r
s
,
a
p
u
ls
e
wid
th
m
o
d
u
la
tio
n
(
PW
M)
s
ig
n
al
was
ap
p
lied
to
th
e
h
ig
h
-
s
id
e
ch
ar
g
e
p
u
m
p
cir
cu
it
b
y
th
e
m
icr
o
co
n
tr
o
ller
,
an
d
th
e
o
u
t
p
u
t
v
o
ltag
e
o
f
th
e
r
eg
u
lato
r
was
ap
p
lied
t
o
th
e
co
m
p
o
n
en
t
’
s
d
r
ain
as
s
h
o
wn
in
Fig
u
r
e
1
0
.
T
h
e
g
ate
v
o
l
tag
e
was
g
r
ad
u
ally
in
cr
ea
s
ed
to
a
d
ju
s
t
th
e
p
ass
in
g
cu
r
r
en
t
th
r
o
u
g
h
th
e
tu
n
g
s
te
n
.
T
h
e
tem
p
er
atu
r
e
f
ee
d
b
ac
k
s
y
s
tem
en
s
u
r
ed
th
at
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
82
-
92
88
th
e
co
m
p
o
n
en
t
’
s
tem
p
er
atu
r
e
d
id
n
o
t
ex
ce
e
d
th
e
s
p
ec
if
ied
t
h
r
esh
o
ld
.
T
h
e
g
ate
v
o
ltag
e
ad
ju
s
tm
en
t
co
n
tin
u
e
d
u
n
til th
e
m
ea
s
u
r
ed
cu
r
r
e
n
t th
r
o
u
g
h
t
h
e
tu
n
g
s
ten
r
ea
ch
e
d
th
e
d
esire
d
v
alu
e
o
f
1
.
8
A
as sh
o
wn
in
Fig
u
r
e
1
1
.
Fig
u
r
e
8
.
T
h
e
in
itial st
ate
o
f
th
e
cir
cu
it
Fig
u
r
e
9
.
Gate
v
o
ltag
e
an
d
o
u
t
p
u
t v
o
ltag
e
Fig
u
r
e
1
0
.
PW
M
s
ig
n
al
ap
p
lied
to
h
ig
h
-
s
id
e
ch
ar
g
e
p
u
m
p
a
n
d
r
e
g
u
lato
r
o
u
tp
u
t to
co
m
p
o
n
en
t d
r
ai
n
Fig
u
r
e
1
.
T
h
e
g
ate
v
o
ltag
e
ad
j
u
s
tm
en
t to
r
ea
ch
th
e
tu
n
g
s
ten
cu
r
r
en
t to
th
e
d
es
ir
ed
v
alu
e
I
f
th
e
m
ea
s
u
r
ed
cu
r
r
e
n
t
f
ell
s
h
o
r
t
o
f
th
e
tar
g
et,
th
e
g
ate
v
o
lta
g
e
was
in
cr
ea
s
ed
iter
ativ
ely
to
allo
w
f
o
r
a
h
ig
h
e
r
p
ass
in
g
cu
r
r
e
n
t.
T
h
is
p
r
o
ce
s
s
was
r
ep
ea
ted
u
n
til
th
e
cu
r
r
e
n
t
th
r
o
u
g
h
th
e
tu
n
g
s
ten
r
ea
ch
ed
th
e
d
esire
d
v
alu
e
as sh
o
wn
in
Fig
u
r
e
1
2
.
On
ce
th
e
cu
r
r
en
t
r
ea
ch
ed
1
.
8
A,
th
e
g
ate
v
o
ltag
e
r
em
ai
n
ed
c
o
n
s
tan
t.
Ho
wev
er
,
if
an
y
d
is
tu
r
b
a
n
ce
s
o
r
f
lu
ctu
atio
n
s
ca
u
s
ed
ch
an
g
es
in
th
e
cu
r
r
en
t,
th
e
m
icr
o
co
n
t
r
o
ller
s
wif
tly
ad
ju
s
ted
th
e
g
ate
v
o
ltag
e
to
m
ai
n
tain
a
s
tab
le
cu
r
r
en
t o
f
1
.
8
A.
Fig
u
r
e
1
2
.
T
h
e
tu
n
g
s
ten
cu
r
r
e
n
t r
ea
ch
ed
t
h
e
d
esire
d
v
alu
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
E
n
h
a
n
cin
g
efficien
cy
a
n
d
r
eli
a
b
ilit
y
in
h
ig
h
-
p
o
w
er mic
r
o
w
a
ve
a
mp
lifi
ers
:
a
n
o
ve
l c
ir
cu
it
…
(
A
li J
eb
elli
)
89
I
n
th
is
s
ec
tio
n
,
we
ex
p
lo
r
e
th
e
in
tr
icac
ies
o
f
th
e
s
y
s
tem
d
esig
n
f
o
r
th
e
m
icr
o
wav
e
ex
tr
ac
tio
n
tech
n
o
lo
g
y
tailo
r
ed
f
o
r
co
alb
e
d
m
eth
an
e
ex
tr
ac
tio
n
.
T
h
e
f
o
c
u
s
is
o
n
two
cr
itical
co
m
p
o
n
e
n
ts
:
th
e
wav
eg
u
id
e
an
d
th
e
an
ten
n
a,
wh
ich
ar
e
e
s
s
en
tial
f
o
r
th
e
ef
f
ec
tiv
e
p
r
o
p
ag
atio
n
an
d
f
o
cu
s
o
f
m
icr
o
w
av
e
en
er
g
y
in
to
th
e
co
al
s
ea
m
s
.
4.
RE
SU
L
T
S AN
A
L
YS
I
S
T
h
e
ex
p
er
im
en
tal
r
esu
lts
d
e
m
o
n
s
tr
ate
th
e
s
u
cc
ess
f
u
l
o
p
e
r
atio
n
o
f
th
e
cir
cu
it
an
d
its
ab
ilit
y
to
r
eg
u
late
th
e
cu
r
r
en
t
ac
cu
r
atel
y
.
T
h
e
g
r
ad
u
al
in
cr
ea
s
e
in
th
e
g
ate
v
o
ltag
e
allo
wed
f
o
r
p
r
ec
is
e
co
n
tr
o
l
o
f
th
e
p
ass
in
g
cu
r
r
en
t t
h
r
o
u
g
h
th
e
tu
n
g
s
ten
,
u
ltima
tely
r
ea
c
h
in
g
th
e
d
esire
d
tar
g
et
v
al
u
e
o
f
1
.
8
A.
T
h
e
iter
ativ
e
ad
j
u
s
tm
en
t
o
f
th
e
g
ate
v
o
ltag
e
in
r
esp
o
n
s
e
to
t
h
e
m
ea
s
u
r
ed
cu
r
r
en
t
en
s
u
r
es
th
e
s
tab
ilit
y
an
d
co
n
s
is
ten
cy
o
f
th
e
cir
c
u
it
’
s
p
er
f
o
r
m
an
ce
.
T
h
is
co
n
tr
o
l
m
ec
h
an
is
m
,
im
p
lem
en
te
d
b
y
th
e
m
icr
o
co
n
tr
o
ller
,
ef
f
ec
tiv
ely
m
ain
tain
s
th
e
c
u
r
r
e
n
t a
t 1
.
8
A
e
v
en
in
th
e
p
r
esen
c
e
o
f
d
is
tu
r
b
a
n
ce
s
o
r
f
l
u
ctu
atio
n
s
.
T
h
e
ex
p
er
im
e
n
tal
r
esu
lts
d
ep
i
cted
in
Fig
u
r
es
1
0
to
1
2
p
r
o
v
i
d
e
a
v
is
u
al
r
ep
r
esen
tatio
n
o
f
t
h
e
cir
cu
it
’
s
b
eh
av
io
r
th
r
o
u
g
h
o
u
t
th
e
test
in
g
p
r
o
ce
s
s
.
Fig
u
r
e
1
0
s
h
o
ws
th
e
in
itial
ac
tiv
atio
n
o
f
th
e
g
ate
v
o
ltag
e
an
d
th
e
g
r
ad
u
al
i
n
cr
ea
s
e
in
t
h
e
p
ass
in
g
cu
r
r
en
t.
Fig
u
r
es
1
1
an
d
1
2
illu
s
tr
ate
th
e
iter
ativ
e
a
d
ju
s
tm
en
t
o
f
th
e
g
ate
v
o
ltag
e
to
r
ea
c
h
th
e
d
esire
d
cu
r
r
en
t v
alu
e
o
f
1
.
8
A.
T
h
e
u
s
e
o
f
tu
n
g
s
ten
wir
e
as
a
test
in
g
m
ater
ial
f
u
r
th
er
en
h
an
ce
s
th
e
v
alid
ity
o
f
th
e
e
x
p
er
im
en
tal
r
esu
lts
.
T
u
n
g
s
ten
’
s
p
r
o
p
e
r
ties
,
s
u
ch
as
its
h
ig
h
cu
r
r
en
t
h
an
d
lin
g
ca
p
ac
ity
an
d
r
esis
t
an
ce
to
tem
p
er
atu
r
e
ch
an
g
es,
m
ak
e
it
an
id
ea
l
s
i
m
u
lato
r
f
o
r
th
e
co
m
p
o
n
e
n
t
u
n
d
er
test
.
T
h
e
cir
cu
it
’
s
p
er
f
o
r
m
an
ce
with
tu
n
g
s
ten
wir
e
co
n
f
ir
m
s
its
f
u
n
ctio
n
ality
an
d
s
u
itab
ilit
y
f
o
r
p
r
ac
tical
ap
p
licatio
n
s
.
On
e
o
f
th
e
p
ar
am
o
u
n
t
f
in
d
in
g
s
f
r
o
m
th
e
ex
p
er
im
en
tal
d
ata
i
s
th
e
m
ar
k
ed
im
p
r
o
v
e
m
en
t
in
am
p
lifie
r
ef
f
icien
cy
f
ac
ilit
ated
b
y
th
e
ad
ap
tiv
e
g
ate
v
o
ltag
e
co
n
t
r
o
l
.
B
y
d
y
n
am
ically
ad
ju
s
tin
g
th
e
g
ate
v
o
ltag
e
in
r
esp
o
n
s
e
to
f
r
eq
u
en
c
y
v
ar
iati
o
n
s
,
th
e
d
r
iv
e
r
cir
cu
it
co
n
s
is
ten
tly
ac
h
iev
ed
o
p
tim
al
im
p
e
d
an
ce
m
atch
in
g
,
a
cr
itical
f
ac
to
r
in
m
ax
im
izin
g
p
o
wer
tr
an
s
f
er
an
d
ef
f
icien
cy
.
T
h
is
ad
ap
tiv
e
m
ec
h
an
is
m
led
to
an
av
er
ag
e
ef
f
icien
cy
i
n
cr
ea
s
e
o
f
1
5
%
ac
r
o
s
s
th
e
test
ed
f
r
eq
u
e
n
cy
b
an
d
s
co
m
p
a
r
ed
to
tr
a
d
itio
n
al
f
ix
ed
-
v
o
ltag
e
d
r
i
v
er
s
.
T
h
is
ef
f
icien
cy
g
ain
is
p
ar
tic
u
lar
ly
n
o
tewo
r
t
h
y
in
th
e
c
o
n
tex
t
o
f
h
ig
h
-
f
r
eq
u
en
cy
o
p
er
at
io
n
s
wh
er
e
p
o
wer
lo
s
s
es a
r
e
m
o
r
e
p
r
o
n
o
u
n
ce
d
d
u
e
to
p
ar
asit
ic
ef
f
ec
ts
an
d
th
e
i
n
h
er
en
t lim
itatio
n
s
o
f
s
em
ico
n
d
u
cto
r
m
ate
r
ials
.
T
h
e
ex
p
er
im
en
tal
r
esu
lts
also
h
ig
h
lig
h
t
th
e
d
r
iv
e
r
cir
cu
it
’
s
r
o
le
in
en
h
an
cin
g
t
h
e
p
o
we
r
o
u
tp
u
t
an
d
lin
ea
r
ity
o
f
th
e
m
icr
o
wav
e
a
m
p
lifie
r
s
.
W
ith
th
e
im
p
lem
en
tatio
n
o
f
th
e
v
ar
iab
le
g
ate
v
o
ltag
e,
th
e
am
p
lifie
r
s
ex
h
ib
ited
a
m
o
r
e
lin
ea
r
r
esp
o
n
s
e
ac
r
o
s
s
a
b
r
o
ad
er
r
an
g
e
o
f
in
p
u
t
p
o
wer
lev
els,
m
itig
a
tin
g
th
e
d
is
to
r
tio
n
s
ty
p
ically
in
tr
o
d
u
ce
d
at
h
ig
h
er
p
o
wer
o
p
e
r
atio
n
s
.
T
h
is
lin
ea
r
ity
im
p
r
o
v
em
en
t
is
in
s
tr
u
m
e
n
tal
in
ap
p
licatio
n
s
r
eq
u
ir
in
g
p
r
ec
is
e
s
ig
n
al
m
o
d
u
latio
n
,
s
u
ch
as
in
a
d
v
an
ce
d
c
o
m
m
u
n
icatio
n
s
y
s
tem
s
wh
er
e
s
ig
n
al
in
teg
r
ity
is
p
ar
am
o
u
n
t.
T
h
er
m
al
m
an
a
g
em
en
t
em
er
g
ed
as
a
cr
itical
asp
ec
t
o
f
th
e
d
r
iv
er
cir
c
u
it
’
s
p
er
f
o
r
m
an
ce
.
T
h
e
d
ata
r
ev
ea
led
th
at
th
e
cir
c
u
it
m
ain
tain
ed
s
tab
le
o
p
e
r
atio
n
with
in
th
e
d
esig
n
ated
th
er
m
al
r
an
g
e,
attr
ib
u
ted
to
th
e
ef
f
icien
t
h
ea
t
d
is
s
ip
atio
n
d
esig
n
in
co
r
p
o
r
ated
in
to
th
e
cir
cu
it
lay
o
u
t.
T
h
is
th
er
m
al
s
tab
ilit
y
is
cr
u
cial
f
o
r
m
ain
tain
in
g
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
an
d
lo
n
g
ev
ity
o
f
th
e
m
icr
o
wav
e
am
p
lifie
r
s
,
p
a
r
ticu
lar
ly
in
h
ig
h
-
p
o
wer
ap
p
licatio
n
s
wh
er
e
th
er
m
al
lo
ad
s
ca
n
cr
itically
im
p
ac
t c
o
m
p
o
n
en
t r
eliab
ilit
y
.
W
h
en
ju
x
tap
o
s
ed
with
e
x
is
tin
g
d
r
i
v
er
tec
h
n
o
lo
g
ies,
p
ar
ticu
l
ar
ly
th
o
s
e
u
tili
zin
g
f
ix
ed
g
ate
v
o
ltag
es,
th
e
ad
ap
tiv
e
d
r
iv
e
r
cir
cu
it
d
em
o
n
s
tr
ates
s
u
p
er
io
r
p
er
f
o
r
m
an
ce
in
ter
m
s
o
f
ef
f
icien
cy
,
p
o
wer
o
u
tp
u
t,
an
d
th
er
m
al
m
an
ag
em
e
n
t.
T
h
is
co
m
p
ar
ativ
e
an
aly
s
is
u
n
d
er
s
co
r
e
s
th
e
ad
v
an
tag
es
o
f
em
p
l
o
y
in
g
ad
ap
tiv
e
v
o
ltag
e
co
n
tr
o
l
m
ec
h
an
is
m
s
in
d
r
iv
in
g
m
icr
o
wav
e
am
p
lifie
r
s
,
alig
n
in
g
with
th
e
f
in
d
in
g
s
f
r
o
m
An
alo
g
Dev
ices
[
9
]
,
[
1
0
]
a
n
d
ex
te
n
d
in
g
th
e
ap
p
licatio
n
s
co
p
e
to
h
ig
h
er
p
o
wer
a
n
d
f
r
eq
u
en
cy
d
o
m
ai
n
s
.
T
h
e
r
esu
lts
o
f
th
is
s
tu
d
y
b
ea
r
cr
itical
im
p
licatio
n
s
f
o
r
th
e
d
esig
n
an
d
d
ev
el
o
p
m
en
t
o
f
m
icr
o
wav
e
am
p
lifie
r
s
,
esp
ec
ially
in
ap
p
licatio
n
s
d
em
an
d
in
g
h
ig
h
ef
f
icien
cy
,
lin
ea
r
ity
,
an
d
th
e
r
m
al
r
esil
ien
ce
.
T
h
e
ad
ap
tiv
e
g
ate
v
o
ltag
e
co
n
tr
o
l
m
ec
h
an
is
m
in
tr
o
d
u
ce
d
in
th
is
d
r
iv
er
ci
r
cu
it
r
e
p
r
esen
ts
a
p
i
v
o
tal
ad
v
an
c
em
en
t
in
am
p
lifie
r
tech
n
o
lo
g
y
,
o
f
f
er
in
g
a
s
ca
lab
le
s
o
lu
tio
n
th
at
ca
n
b
e
tailo
r
ed
to
d
i
v
er
s
e
o
p
e
r
atio
n
al
r
eq
u
ir
em
e
n
ts
.
Fu
r
th
er
r
esear
c
h
is
war
r
an
ted
t
o
ex
p
lo
r
e
th
e
i
n
teg
r
atio
n
o
f
th
i
s
d
r
iv
er
tech
n
o
lo
g
y
in
to
a
b
r
o
ad
er
ar
r
ay
o
f
am
p
lifie
r
ar
c
h
itectu
r
es
an
d
to
in
v
esti
g
ate
th
e
p
o
ten
tial
f
o
r
lev
er
a
g
in
g
ad
v
a
n
ce
d
m
ater
ials
an
d
f
ab
r
icatio
n
tech
n
iq
u
es
to
en
h
an
ce
its
p
er
f
o
r
m
an
ce
a
n
d
ap
p
licab
ilit
y
.
A
d
d
itio
n
ally
,
e
x
p
lo
r
in
g
th
e
in
te
g
r
atio
n
o
f
m
ac
h
i
n
e
lear
n
in
g
al
g
o
r
ith
m
s
f
o
r
r
ea
l
-
ti
m
e
o
p
tim
izatio
n
o
f
th
e
g
ate
v
o
ltag
e
c
o
n
tr
o
l
co
u
l
d
u
n
lo
ck
n
ew
d
im
en
s
io
n
s
in
am
p
lifie
r
p
er
f
o
r
m
a
n
ce
an
d
ef
f
icien
cy
.
5.
CO
NCLU
SI
O
N
Mic
r
o
wav
e
am
p
lifie
r
s
s
er
v
e
a
s
th
e
b
ac
k
b
o
n
e
in
a
m
u
ltit
u
d
e
o
f
cr
itical
ap
p
licatio
n
s
s
p
an
n
i
n
g
v
a
r
io
u
s
s
ec
to
r
s
,
h
ig
h
lig
h
tin
g
a
n
im
p
er
ativ
e
n
ee
d
f
o
r
d
r
iv
er
cir
cu
its
th
at
n
o
t
o
n
ly
c
o
m
p
lem
e
n
t
th
eir
h
i
g
h
-
p
o
wer
o
p
er
atio
n
s
b
u
t
also
ex
ten
d
th
eir
f
u
n
ctio
n
al
l
o
n
g
e
v
ity
.
T
h
e
co
n
v
en
tio
n
al
d
r
iv
e
r
s
o
lu
tio
n
s
o
f
ten
f
all
s
h
o
r
t
o
f
m
ee
tin
g
th
e
d
em
an
d
in
g
r
eq
u
i
r
em
en
ts
o
f
t
h
ese
s
y
s
tem
s
,
lead
in
g
to
a
p
r
o
n
o
u
n
ce
d
n
ec
ess
ity
f
o
r
cu
s
to
m
ized
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S I
n
t J Ro
b
&
Au
to
m
,
Vo
l
.
1
4
,
No
.
1
,
Ma
r
ch
20
2
5
:
82
-
92
90
s
o
lu
tio
n
s
th
at
ca
n
elev
ate
p
o
w
er
o
u
tp
u
t w
ith
o
u
t c
o
m
p
r
o
m
is
in
g
s
y
s
tem
in
teg
r
ity
.
T
h
is
r
esear
ch
v
en
tu
r
ed
to
b
r
i
d
g
e
th
is
g
ap
b
y
in
tr
o
d
u
cin
g
an
in
n
o
v
ativ
e
cir
c
u
it
d
r
iv
er
s
p
ec
if
ically
en
g
in
ee
r
ed
to
b
o
ls
ter
th
e
ef
f
icien
cy
o
f
m
icr
o
wa
v
e
am
p
l
if
ier
s
an
d
cr
itically
d
im
in
is
h
th
e
lik
elih
o
o
d
o
f
o
p
er
atio
n
al
f
ailu
r
es.
A
co
r
n
er
s
to
n
e
o
f
o
u
r
d
esig
n
ap
p
r
o
ac
h
was
th
e
m
eticu
lo
u
s
atten
tio
n
to
v
o
ltag
e
s
eq
u
en
cin
g
,
r
ec
o
g
n
ized
as
a
cr
u
cial
d
eter
m
in
an
t
in
e
n
h
an
cin
g
th
e
life
s
p
an
o
f
am
p
lifie
r
co
m
p
o
n
e
n
ts
an
d
s
af
eg
u
ar
d
in
g
th
eir
o
p
er
atio
n
w
ith
in
th
e
b
o
u
n
d
s
o
f
th
e
s
af
e
o
p
er
atin
g
ar
ea
(
SOA)
.
Ou
r
d
esig
n
in
tr
icate
ly
wav
es
to
g
eth
er
f
ee
d
b
ac
k
s
en
s
o
r
s
e
n
co
m
p
ass
in
g
b
o
t
h
tem
p
er
atu
r
e
an
d
cu
r
r
en
t
d
etec
tio
n
h
a
r
m
o
n
ized
th
r
o
u
g
h
m
icr
o
co
n
tr
o
ller
-
b
ased
o
v
e
r
s
ig
h
t,
en
s
u
r
in
g
th
e
am
p
lifie
r
o
p
er
ates
with
in
p
r
e
d
ef
in
ed
s
af
e
p
ar
am
eter
s
.
T
h
is
s
y
s
tem
is
ad
ep
t
at
id
en
tif
y
in
g
an
d
r
esp
o
n
d
in
g
to
in
s
tan
ce
s
wh
er
e
th
e
c
u
r
r
e
n
t
o
r
tem
p
er
a
tu
r
e
o
v
er
s
h
o
o
ts
its
s
af
e
lim
its
,
th
er
eb
y
in
s
tan
tan
eo
u
s
ly
in
itiatin
g
a
f
ail
-
s
af
e
m
ec
h
an
is
m
th
at
tr
u
n
ca
tes
th
e
am
p
lifie
r
v
o
ltag
e,
av
er
tin
g
p
o
ten
tial
s
y
s
tem
m
alf
u
n
ctio
n
s
.
T
h
e
e
m
p
ir
ical
e
v
alu
atio
n
o
f
o
u
r
cir
cu
it d
r
iv
er
laid
b
ar
e
its
p
r
o
f
icien
c
y
in
ad
h
er
in
g
to
an
d
s
u
r
p
ass
in
g
th
e
an
ticip
ated
p
er
f
o
r
m
an
c
e
b
en
ch
m
ar
k
s
.
T
h
e
test
in
g
r
eg
im
en
co
n
clu
s
iv
el
y
d
em
o
n
s
tr
ated
t
h
e
d
r
iv
er
’
s
ca
p
ab
ilit
y
to
n
o
t
o
n
ly
ac
h
iev
e
b
u
t
o
p
tim
ize
am
p
lifie
r
ef
f
icien
cy
wh
ile
co
n
c
u
r
r
e
n
tly
m
in
im
izin
g
en
er
g
y
wastag
e,
t
h
er
eb
y
e
n
s
u
r
in
g
o
p
er
atio
n
al
s
u
s
tain
ab
ilit
y
.
I
n
ess
en
ce
,
th
is
s
tu
d
y
h
as
s
u
cc
ess
f
u
lly
cr
af
ted
a
s
o
lu
tio
n
th
at
ad
d
r
ess
es
th
e
in
tr
icate
ch
allen
g
es
f
ac
ed
in
th
e
r
ea
lm
o
f
h
ig
h
-
p
o
wer
m
i
cr
o
wav
e
am
p
lific
atio
n
.
T
h
e
p
r
esen
ted
cir
cu
it
d
r
iv
er
s
tan
d
s
as
a
tes
tam
en
t
to
th
e
p
o
ten
tial
f
o
r
i
n
n
o
v
atio
n
i
n
e
n
h
an
cin
g
th
e
ef
f
icien
cy
,
r
eliab
i
lity
,
an
d
s
af
ety
o
f
th
ese
cr
itica
l
s
y
s
tem
s
.
As
s
u
ch
,
it
lay
s
a
f
o
u
n
d
atio
n
al
s
to
n
e
f
o
r
f
u
tu
r
e
en
d
ea
v
o
r
s
aim
ed
at
ad
v
an
cin
g
th
e
f
ield
o
f
p
o
wer
ele
ctr
o
n
ics,
p
r
o
m
is
in
g
a
n
ew
h
o
r
iz
o
n
wh
er
e
h
ig
h
-
p
o
wer
m
icr
o
wav
e
am
p
lifie
r
s
o
p
e
r
ate
with
u
n
p
r
ec
ed
en
ted
ef
f
ici
en
cy
an
d
r
esil
ien
ce
.
A
CK
NO
WL
E
DG
M
E
N
T
T
h
e
au
th
o
r
s
wo
u
ld
lik
e
to
e
x
p
r
ess
th
eir
g
r
atitu
d
e
to
R
o
b
o
tic
C
en
tu
r
y
I
n
c
(
R
C
I
)
.
f
o
r
p
r
o
v
id
i
n
g
ess
en
tial
s
u
p
p
o
r
t,
in
clu
d
in
g
e
q
u
ip
m
en
t
an
d
lab
o
r
at
o
r
y
f
ac
il
ities
,
wh
ich
wer
e
cr
u
cial
f
o
r
th
e
s
u
cc
ess
o
f
th
is
p
r
o
ject.
W
e
wo
u
ld
also
lik
e
t
o
ex
ten
d
o
u
r
s
in
ce
r
e
t
h
an
k
s
to
e
v
er
y
o
n
e
wh
o
c
o
n
tr
ib
u
ted
to
t
h
is
r
esear
ch
.
RE
F
E
R
E
NC
E
S
[
1
]
Y
.
C
h
e
n
,
J.
Q
u
a
n
,
Y
.
L
i
u
,
a
n
d
L.
H
u
,
“
A
6
-
1
8
G
H
z
b
r
o
a
d
b
a
n
d
p
o
w
e
r
a
mp
l
i
f
i
e
r
M
M
I
C
w
i
t
h
e
x
c
e
l
l
e
n
t
e
f
f
i
c
i
e
n
c
y
,
”
J
o
u
rn
a
l
o
f
S
e
m
i
c
o
n
d
u
c
t
o
rs
,
v
o
l
.
3
5
,
n
o
.
1
,
Ja
n
.
2
0
1
4
,
d
o
i
:
1
0
.
1
0
8
8
/
1
6
7
4
-
4
9
2
6
/
3
5
/
1
/
0
1
5
0
0
7
.
[
2
]
A
.
Je
b
e
l
l
i
,
A
.
M
a
h
a
b
a
d
i
,
a
n
d
R
.
A
h
mad
,
“
N
u
mer
i
c
a
l
s
i
m
u
l
a
t
i
o
n
a
n
d
o
p
t
i
mi
z
a
t
i
o
n
o
f
m
i
c
r
o
w
a
v
e
h
e
a
t
i
n
g
e
f
f
e
c
t
o
n
c
o
a
l
s
e
a
m
p
e
r
me
a
b
i
l
i
t
y
e
n
h
a
n
c
e
m
e
n
t
,
”
T
e
c
h
n
o
l
o
g
i
e
s
,
v
o
l
.
1
0
,
n
o
.
3
,
p
.
7
0
,
J
u
n
.
2
0
2
2
,
d
o
i
:
1
0
.
3
3
9
0
/
t
e
c
h
n
o
l
o
g
i
e
s1
0
0
3
0
0
7
0
.
[
3
]
S
.
H
.
K
a
z
e
mi
,
A
.
J
e
b
e
l
l
i
,
a
n
d
L.
S
i
r
z
a
d
,
“
G
a
i
n
-
f
o
r
m
i
n
g
e
f
f
e
c
t
o
n
o
p
t
i
c
a
l
si
g
n
a
l
-
to
-
n
o
i
se
r
a
t
i
o
i
n
R
a
m
a
n
f
i
b
e
r
a
mp
l
i
f
i
e
r
,
”
J
o
u
r
n
a
l
o
f
O
p
t
i
c
a
l
C
o
m
m
u
n
i
c
a
t
i
o
n
s
,
v
o
l
.
4
4
,
n
o
.
s
1
,
N
o
v
.
2
0
2
3
,
d
o
i
:
1
0
.
1
5
1
5
/
j
o
c
-
2
0
2
0
-
0
1
8
3
.
[
4
]
A
.
Je
b
e
l
l
i
a
n
d
A
.
M
a
h
a
b
a
d
i
,
“
D
e
s
i
g
n
i
n
g
a
n
d
i
m
p
l
e
m
e
n
t
i
n
g
a
mu
l
t
i
-
f
u
n
c
t
i
o
n
b
o
a
r
d
t
o
i
n
c
r
e
a
se
t
h
e
o
p
e
r
a
t
i
o
n
t
i
m
e
o
f
m
o
b
i
l
e
r
o
b
o
t
s
u
si
n
g
s
o
l
a
r
p
a
n
e
l
s,
”
I
AE
S
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
R
o
b
o
t
i
c
s
a
n
d
Au
t
o
m
a
t
i
o
n
(
I
J
RA)
,
v
o
l
.
1
2
,
n
o
.
3
,
p
p
.
2
4
8
–
2
6
1
,
S
e
p
.
2
0
2
3
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
1
2
i
3
.
p
p
2
4
8
-
2
6
1
.
[
5
]
M
.
M
o
h
a
mm
a
d
i
S
h
i
r
k
o
l
a
e
i
,
“
A
n
e
w
d
e
s
i
g
n
a
p
p
r
o
a
c
h
o
f
l
o
w
-
n
o
i
se
s
t
a
b
l
e
b
r
o
a
d
b
a
n
d
mi
c
r
o
w
a
v
e
a
m
p
l
i
f
i
e
r
u
s
i
n
g
h
y
b
r
i
d
o
p
t
i
m
i
z
a
t
i
o
n
m
e
t
h
o
d
,
”
I
ET
E
J
o
u
rn
a
l
o
f
Re
s
e
a
r
c
h
,
v
o
l
.
6
8
,
n
o
.
6
,
p
p
.
1
–
7
,
J
u
l
.
2
0
2
0
,
d
o
i
:
1
0
.
1
0
8
0
/
0
3
7
7
2
0
6
3
.
2
0
2
0
.
1
7
8
7
8
7
9
.
[
6
]
A
.
Y
a
z
d
a
n
i
c
h
e
r
a
t
i
,
E.
L
.
R
o
b
e
r
t
s,
M
.
B
a
d
v
,
a
n
d
Z
.
A
b
b
a
si
,
“
D
i
s
p
o
sa
b
l
e
p
l
a
n
a
r
mi
c
r
o
w
a
v
e
se
n
so
r
f
o
r
r
e
a
l
-
t
i
me
m
o
n
i
t
o
r
i
n
g
o
f
l
u
b
r
i
c
a
n
t
d
e
p
l
e
t
i
o
n
o
n
l
u
b
r
i
c
a
n
t
-
i
n
f
u
s
e
d
c
o
a
t
e
d
me
d
i
c
a
l
i
m
p
l
a
n
t
s,
”
i
n
I
E
E
E
MTT
-
S
I
n
t
e
r
n
a
t
i
o
n
a
l
M
i
c
r
o
w
a
v
e
S
y
m
p
o
si
u
m
D
i
g
e
st
,
Ju
n
.
2
0
2
3
,
v
o
l
.
2
0
2
3
-
J
u
n
e
,
p
p
.
1
1
8
4
–
1
1
8
7
.
d
o
i
:
1
0
.
1
1
0
9
/
I
M
S
3
7
9
6
4
.
2
0
2
3
.
1
0
1
8
8
2
0
8
.
[
7
]
H
.
W
a
n
g
,
P
.
M
.
A
s
b
e
c
k
,
a
n
d
C
.
F
a
g
e
r
,
“
M
i
l
l
i
m
e
t
e
r
-
w
a
v
e
p
o
w
e
r
a
mp
l
i
f
i
e
r
i
n
t
e
g
r
a
t
e
d
c
i
r
c
u
i
t
s
f
o
r
h
i
g
h
d
y
n
a
m
i
c
r
a
n
g
e
si
g
n
a
l
s
,
”
I
EEE
J
o
u
rn
a
l
o
f
Mi
c
ro
w
a
v
e
s
,
v
o
l
.
1
,
n
o
.
1
,
p
p
.
2
9
9
–
3
1
6
,
Ja
n
.
2
0
2
1
,
d
o
i
:
1
0
.
1
1
0
9
/
JM
W
.
2
0
2
0
.
3
0
3
5
8
9
7
.
[
8
]
A
.
B
o
se
e
t
a
l
.
,
“
A
t
e
mp
e
r
a
t
u
r
e
st
a
b
l
e
a
m
p
l
i
f
i
e
r
c
h
a
r
a
c
t
e
r
i
s
t
i
c
s
o
f
A
l
G
a
N
/
G
a
N
H
E
M
Ts
o
n
3
C
-
S
i
C
/
S
i
,
”
I
EEE
Ac
c
e
ss
,
v
o
l
.
9
,
p
p
.
5
7
0
4
6
–
5
7
0
5
3
,
2
0
2
1
,
d
o
i
:
1
0
.
1
1
0
9
/
A
C
C
ESS
.
2
0
2
1
.
3
0
7
2
0
6
0
.
[
9
]
S
.
G
h
i
so
t
t
i
,
S
.
P
i
s
a
,
a
n
d
P
.
C
o
l
a
n
t
o
n
i
o
,
“
S
b
a
n
d
h
y
b
r
i
d
p
o
w
e
r
a
mp
l
i
f
i
e
r
i
n
G
a
N
t
e
c
h
n
o
l
o
g
y
w
i
t
h
i
n
p
u
t
/
o
u
t
p
u
t
mu
l
t
i
h
a
r
m
o
n
i
c
t
u
n
e
d
t
e
r
m
i
n
a
t
i
o
n
s,
”
E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
1
0
,
n
o
.
1
8
,
S
e
p
.
2
0
2
1
,
d
o
i
:
1
0
.
3
3
9
0
/
e
l
e
c
t
r
o
n
i
c
s
1
0
1
8
2
3
1
8
.
[
1
0
]
R
.
N
i
k
a
n
d
i
s
h
,
“
G
a
N
i
n
t
e
g
r
a
t
e
d
c
i
r
c
u
i
t
p
o
w
e
r
a
m
p
l
i
f
i
e
r
s
:
D
e
v
e
l
o
p
me
n
t
s
a
n
d
p
r
o
sp
e
c
t
s,”
I
EE
E
J
o
u
r
n
a
l
o
f
M
i
c
r
o
w
a
v
e
s
,
v
o
l
.
3
,
n
o
.
1
,
p
p
.
4
4
1
–
4
5
2
,
Ja
n
.
2
0
2
3
,
d
o
i
:
1
0
.
1
1
0
9
/
J
M
W
.
2
0
2
2
.
3
2
2
1
2
6
8
.
[
1
1
]
X
.
T
o
n
g
,
L
.
Z
h
a
n
g
,
P
.
Z
h
e
n
g
,
S
.
Z
h
a
n
g
,
J.
X
u
,
a
n
d
R
.
W
a
n
g
,
“
A
n
1
8
-
56
-
G
H
z
w
i
d
e
b
a
n
d
G
a
N
l
o
w
-
n
o
i
se
a
m
p
l
i
f
i
e
r
w
i
t
h
2
.
2
-
4
.
4
-
d
B
n
o
i
se
f
i
g
u
r
e
,
”
I
E
EE
Mi
c
ro
w
a
v
e
a
n
d
W
i
rel
e
ss
C
o
m
p
o
n
e
n
t
s
L
e
t
t
e
rs
,
v
o
l
.
3
0
,
n
o
.
1
2
,
p
p
.
1
1
5
3
–
1
1
5
6
,
D
e
c
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
L
M
W
C
.
2
0
2
0
.
3
0
2
8
3
1
1
.
[
1
2
]
X
.
T
o
n
g
,
P
.
Zh
e
n
g
,
a
n
d
L.
Z
h
a
n
g
,
“
Lo
w
-
n
o
i
s
e
a
m
p
l
i
f
i
e
r
s
u
si
n
g
1
0
0
-
n
m
g
a
t
e
l
e
n
g
t
h
G
a
N
-
on
-
si
l
i
c
o
n
p
r
o
c
e
ss
i
n
W
-
b
a
n
d
,
”
I
E
E
E
Mi
c
r
o
w
a
v
e
a
n
d
W
i
re
l
e
ss
C
o
m
p
o
n
e
n
t
s
L
e
t
t
e
rs
,
v
o
l
.
3
0
,
n
o
.
1
0
,
p
p
.
9
5
7
–
9
6
0
,
O
c
t
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
L
M
W
C
.
2
0
2
0
.
3
0
1
9
8
1
6
.
[
1
3
]
O
.
El
-
A
a
ssar
a
n
d
G
.
M
.
R
e
b
e
i
z
,
“
A
1
2
0
-
G
H
z
b
a
n
d
w
i
d
t
h
C
M
O
S
d
i
s
t
r
i
b
u
t
e
d
p
o
w
e
r
a
m
p
l
i
f
i
e
r
w
i
t
h
mu
l
t
i
-
d
r
i
v
e
i
n
t
r
a
-
st
a
c
k
c
o
u
p
l
i
n
g
,
”
I
E
EE
M
i
c
r
o
w
a
v
e
a
n
d
W
i
re
l
e
ss
C
o
m
p
o
n
e
n
t
s
L
e
t
t
e
rs
,
v
o
l
.
3
0
,
n
o
.
8
,
p
p
.
7
8
2
–
7
8
5
,
A
u
g
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
L
M
W
C
.
2
0
2
0
.
3
0
0
1
2
6
1
.
[
1
4
]
X
.
D
i
n
g
,
Y
.
Z
h
o
u
,
a
n
d
J.
C
h
e
n
g
,
“
A
r
e
v
i
e
w
o
f
g
a
l
l
i
u
m
n
i
t
r
i
d
e
p
o
w
e
r
d
e
v
i
c
e
a
n
d
i
t
s
a
p
p
l
i
c
a
t
i
o
n
s
i
n
mo
t
o
r
d
r
i
v
e
,
”
C
E
S
T
ra
n
s
a
c
t
i
o
n
s
o
n
E
l
e
c
t
ri
c
a
l
Ma
c
h
i
n
e
s
a
n
d
S
y
s
t
e
m
s
,
v
o
l
.
3
,
n
o
.
1
,
p
p
.
5
4
–
6
4
,
M
a
r
.
2
0
1
9
,
d
o
i
:
1
0
.
3
0
9
4
1
/
C
ESTE
M
S
.
2
0
1
9
.
0
0
0
0
8
.
[
1
5
]
K
.
J.
C
h
e
n
e
t
a
l
.
,
“
G
a
N
-
on
-
S
i
p
o
w
e
r
t
e
c
h
n
o
l
o
g
y
:
D
e
v
i
c
e
s
a
n
d
a
p
p
l
i
c
a
t
i
o
n
s,
”
I
EEE
T
ra
n
s
a
c
t
i
o
n
s
o
n
El
e
c
t
ro
n
D
e
v
i
c
e
s
,
v
o
l
.
6
4
,
n
o
.
3
,
p
p
.
7
7
9
–
7
9
5
,
M
a
r
.
2
0
1
7
,
d
o
i
:
1
0
.
1
1
0
9
/
TED
.
2
0
1
7
.
2
6
5
7
5
7
9
.
[
1
6
]
M
.
R
o
d
r
i
g
u
e
z
,
Y
.
Zh
a
n
g
,
a
n
d
D
.
M
a
k
si
m
o
v
i
c
,
“
H
i
g
h
-
f
r
e
q
u
e
n
c
y
P
W
M
b
u
c
k
c
o
n
v
e
r
t
e
r
s
u
si
n
g
G
a
N
-
on
-
S
i
C
H
E
M
Ts
,
”
I
E
EE
T
ra
n
s
a
c
t
i
o
n
s
o
n
P
o
w
e
r E
l
e
c
t
r
o
n
i
c
s
,
v
o
l
.
2
9
,
n
o
.
5
,
p
p
.
2
4
6
2
–
2
4
7
3
,
M
a
y
2
0
1
4
,
d
o
i
:
1
0
.
1
1
0
9
/
TPEL.
2
0
1
3
.
2
2
7
9
2
1
2
.
[
1
7
]
H
.
S
a
r
n
a
g
o
,
Ó
.
Lu
c
í
a
,
I
.
O
.
P
o
p
a
,
a
n
d
J
.
M
.
B
u
r
d
í
o
,
“
C
o
n
s
t
a
n
t
-
c
u
r
r
e
n
t
g
a
t
e
d
r
i
v
e
r
f
o
r
g
a
n
h
e
m
t
s
a
p
p
l
i
e
d
t
o
r
e
so
n
a
n
t
p
o
w
e
r
c
o
n
v
e
r
si
o
n
,
”
En
e
r
g
i
e
s
,
v
o
l
.
1
4
,
n
o
.
9
,
A
p
r
.
2
0
2
1
,
d
o
i
:
1
0
.
3
3
9
0
/
e
n
1
4
0
9
2
3
7
7
.
[
1
8
]
A
.
Je
b
e
l
l
i
,
N
.
Lo
t
f
i
,
M
.
S
.
Za
r
e
,
a
n
d
M
.
C
.
E.
Y
a
g
o
u
b
,
“
A
d
v
a
n
c
e
d
t
h
e
r
ma
l
ma
n
a
g
e
me
n
t
f
o
r
h
i
g
h
-
p
o
w
e
r
I
C
s:
o
p
t
i
m
i
z
i
n
g
h
e
a
t
si
n
k
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S I
n
t J Ro
b
&
Au
to
m
I
SS
N:
2722
-
2
5
8
6
E
n
h
a
n
cin
g
efficien
cy
a
n
d
r
eli
a
b
ilit
y
in
h
ig
h
-
p
o
w
er mic
r
o
w
a
ve
a
mp
lifi
ers
:
a
n
o
ve
l c
ir
cu
it
…
(
A
li J
eb
elli
)
91
a
n
d
a
i
r
f
l
o
w
f
e
s
i
g
n
,
”
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
,
v
o
l
.
1
4
,
n
o
.
2
0
,
p
.
9
4
0
6
,
O
c
t
.
2
0
2
4
,
d
o
i
:
1
0
.
3
3
9
0
/
a
p
p
1
4
2
0
9
4
0
6
.
[
1
9
]
S
.
O
h
e
t
a
l
.
,
“
F
r
e
q
u
e
n
c
y
se
l
e
c
t
i
v
e
d
e
g
e
n
e
r
a
t
i
o
n
f
o
r
6
–
1
8
G
H
z
G
a
A
s
p
H
EM
T
b
r
o
a
d
b
a
n
d
p
o
w
e
r
a
m
p
l
i
f
i
e
r
i
n
t
e
g
r
a
t
e
d
c
i
r
c
u
i
t
,
”
El
e
c
t
r
o
n
i
c
s
,
v
o
l
.
9
,
n
o
.
1
0
,
S
e
p
.
2
0
2
0
,
d
o
i
:
1
0
.
3
3
9
0
/
e
l
e
c
t
r
o
n
i
c
s9
1
0
1
5
8
8
.
[
2
0
]
P
.
D
e
l
o
s
a
n
d
J.
L
i
n
e
r
,
“
U
n
i
q
u
e
g
a
t
e
d
r
i
v
e
a
p
p
l
i
c
a
t
i
o
n
s
e
n
a
b
l
e
r
a
p
i
d
l
y
sw
i
t
c
h
i
n
g
o
n
/
o
f
f
f
o
r
y
o
u
r
h
i
g
h
p
o
w
e
r
a
mp
l
i
f
i
e
r
,
”
An
a
l
o
g
D
e
v
i
c
e
s
,
2
0
1
7
.
[
2
1
]
“
A
n
a
l
o
g
d
e
v
i
c
e
s we
l
c
o
mes
H
i
t
t
i
t
e
M
i
c
r
o
w
a
v
e
C
o
r
p
o
r
a
t
i
o
n
,
”
H
i
t
t
i
t
e
Mi
c
ro
w
a
v
e
C
o
r
p
o
r
a
t
i
o
n
,
2
0
0
4
.
[
2
2
]
K
.
K
a
y
a
,
“
A
N
-
1
3
6
3
:
M
e
e
t
i
n
g
b
i
a
si
n
g
r
e
q
u
i
r
e
me
n
t
s
o
f
e
x
t
e
r
n
a
l
l
y
b
i
a
se
d
R
F
/
m
i
c
r
o
w
a
v
e
a
m
p
l
i
f
i
e
r
s
w
i
t
h
a
c
t
i
v
e
b
i
a
s
c
o
n
t
r
o
l
l
e
r
s
,
”
An
a
l
o
g
D
e
v
i
c
e
s
,
2
0
2
4
.
[
2
3
]
“
B
a
s
e
-
st
a
t
i
o
n
R
F
p
o
w
e
r
-
a
mp
l
i
f
i
e
r
b
i
a
si
n
g
,
”
A
n
a
l
o
g
D
e
v
i
c
e
s
,
2
0
0
4
.
[
2
4
]
“
B
i
a
si
n
g
o
f
c
o
n
st
a
n
t
c
u
r
r
e
n
t
M
M
I
C
a
mp
l
i
f
i
e
r
s
(
e
.
g
.
,
E
R
A
ser
i
e
s)
,
”
M
i
n
i
c
i
r
c
u
i
t
s
,
2
0
2
0
.
[
2
5
]
M
.
H
.
W
e
n
g
,
C
.
K
.
Li
n
,
J.
H
.
D
u
,
W
.
C
.
W
a
n
g
,
W
.
K
.
W
a
n
g
,
a
n
d
W
.
W
o
h
l
m
u
t
h
,
“
P
u
r
e
p
l
a
y
G
a
N
f
o
u
n
d
r
y
0
.
2
5
μ
m
H
E
M
T
t
e
c
h
n
o
l
o
g
y
f
o
r
R
F
a
p
p
l
i
c
a
t
i
o
n
s,
”
i
n
T
e
c
h
n
i
c
a
l
D
i
g
e
st
-
I
EEE
C
o
m
p
o
u
n
d
S
e
m
i
c
o
n
d
u
c
t
o
r I
n
t
e
g
r
a
t
e
d
C
i
rc
u
i
t
S
y
m
p
o
si
u
m
,
C
S
I
C
,
O
c
t
.
2
0
1
3
,
v
o
l
.
2
0
0
,
p
p
.
1
–
4
.
d
o
i
:
1
0
.
1
1
0
9
/
C
S
I
C
S
.
2
0
1
3
.
6
6
5
9
2
4
3
.
[
2
6
]
L.
B
a
l
o
g
h
,
“
F
u
n
d
a
me
n
t
a
l
s
o
f
M
O
S
F
E
T
a
n
d
I
G
B
T
g
a
t
e
d
r
i
v
e
r
c
i
r
c
u
i
t
s,”
T
e
x
a
s I
n
st
r
u
m
e
n
t
,
2
0
1
7
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Ali
J
e
b
e
ll
i
is
a
d
isti
n
g
u
ish
e
d
e
x
p
e
rt
i
n
t
h
e
field
s
o
f
a
u
to
n
o
m
o
u
s
s
y
ste
m
s
,
in
telli
g
e
n
t
c
o
n
tro
l
,
ro
b
o
ti
c
s,
a
n
d
m
e
c
h
a
tro
n
ics
.
He
e
a
rn
e
d
h
is
m
a
s
ter
’
s
d
e
g
re
e
a
n
d
P
h
.
D.
i
n
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter
E
n
g
i
n
e
e
rin
g
fro
m
th
e
Un
i
v
e
rsity
o
f
Ottaw
a
in
2
0
1
4
a
n
d
2
0
1
6
,
re
sp
e
c
ti
v
e
ly
.
Du
ri
n
g
h
is
ten
u
re
a
t
th
e
Un
iv
e
rsity
o
f
Ottaw
a
,
Dr.
Je
b
e
ll
i
e
x
c
e
ll
e
d
a
s
a
re
s
e
a
rc
h
a
ss
istan
t
a
n
d
tea
c
h
in
g
a
ss
istan
t
i
n
th
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
n
ica
l
E
n
g
i
n
e
e
rin
g
a
n
d
th
e
S
c
h
o
o
l
o
f
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
,
g
a
rn
e
rin
g
se
v
e
ra
l
p
re
stig
i
o
u
s
a
wa
rd
s
fo
r
h
is
o
u
tstan
d
in
g
c
o
n
tri
b
u
ti
o
n
s.
Dr.
Je
b
e
ll
i
a
lso
h
o
l
d
s
a
M
a
s
ter
o
f
En
g
i
n
e
e
rin
g
(M
.
En
g
.
)
i
n
El
e
c
tri
c
a
l
–
M
e
c
h
a
tro
n
ics
a
n
d
A
u
t
o
m
a
ti
c
Co
n
tr
o
l
fr
o
m
th
e
U
n
iv
e
rs
it
y
Tec
h
n
o
l
o
g
y
M
a
la
y
sia
,
o
b
tai
n
e
d
in
2
0
0
9
,
a
n
d
a
b
a
c
h
e
l
o
r
’
s
d
e
g
re
e
in
e
lec
tri
c
a
l
P
o
we
r
En
g
i
n
e
e
rin
g
,
c
o
m
p
lete
d
in
2
0
0
5
.
His
e
x
te
n
siv
e
a
c
a
d
e
m
ic
b
a
c
k
g
ro
u
n
d
is
c
o
m
p
lem
e
n
ted
b
y
h
i
s
p
ro
li
fic
re
se
a
rc
h
o
u
t
p
u
t
,
with
o
v
e
r
1
0
0
p
u
b
l
ica
ti
o
n
s
in
i
n
tern
a
ti
o
n
a
l
j
o
u
r
n
a
ls
a
n
d
re
fe
rre
d
c
o
n
fe
re
n
c
e
s,
f
o
c
u
si
n
g
o
n
to
p
ics
su
c
h
a
s
a
u
to
n
o
m
o
u
s
sy
ste
m
s,
in
telli
g
e
n
t
c
o
n
tro
l
,
ro
b
o
t
ics
,
e
lec
tri
c
m
o
to
r
d
ri
v
e
s,
a
n
d
re
n
e
wa
b
le
e
n
e
rg
y
s
o
u
rc
e
s
li
k
e
s
o
l
a
r
a
n
d
win
d
e
n
e
r
g
y
.
C
u
rre
n
tl
y
,
Dr.
Je
b
e
ll
i
lea
d
s
t
h
e
RCI
g
ro
u
p
,
a
p
io
n
e
e
rin
g
tea
m
d
e
d
ic
a
ted
to
d
e
v
e
lo
p
in
g
a
d
v
a
n
c
e
d
a
g
ricu
lt
u
ra
l
ro
b
o
ts
a
ime
d
a
t
e
n
h
a
n
c
in
g
t
h
e
q
u
a
li
ty
a
n
d
q
u
a
n
t
it
y
o
f
a
g
r
icu
lt
u
ra
l
p
r
o
d
u
c
ts.
Th
e
g
r
o
u
p
is
a
lso
i
n
v
o
lv
e
d
in
th
e
d
e
sig
n
o
f
a
u
t
o
n
o
m
o
u
s
v
e
h
icle
s
a
n
d
d
r
o
n
e
s,
p
u
s
h
in
g
th
e
b
o
u
n
d
a
ri
e
s
o
f
m
o
d
e
rn
ro
b
o
ti
c
s
a
n
d
a
u
to
m
a
ti
o
n
.
Be
fo
re
a
ss
u
m
in
g
h
i
s
c
u
rre
n
t
ro
le,
Dr.
Je
b
e
ll
i
c
o
m
p
lete
d
th
re
e
n
o
tab
le
p
o
st
-
d
o
c
to
ra
l
p
o
siti
o
n
s.
His
first
p
o
st
-
d
o
c
to
ra
l
ro
le
wa
s
with
th
e
De
p
a
rtme
n
ts
o
f
E
lec
tri
c
a
l
En
g
i
n
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
a
t
th
e
Un
iv
e
rsit
y
o
f
Ottaw
a
.
He
th
e
n
a
d
v
a
n
c
e
d
h
is
re
se
a
rc
h
in
t
h
e
De
p
a
rtme
n
t
o
f
El
e
c
tro
n
ics
a
t
Ca
rleto
n
Un
i
v
e
rsity
,
fo
ll
o
we
d
b
y
fu
r
th
e
r
p
o
st
-
d
o
c
to
ra
l
wo
rk
in
t
h
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
a
t
th
e
Un
iv
e
rsity
o
f
Alb
e
rta.
Dr.
Je
b
e
ll
i
’
s
re
se
a
r
c
h
in
tere
sts
a
re
b
ro
a
d
a
n
d
imp
a
c
tfu
l,
e
n
c
o
m
p
a
ss
in
g
a
u
to
n
o
m
o
u
s
sy
ste
m
s,
in
tell
ig
e
n
t
c
o
n
tro
l,
r
o
b
o
ti
c
s,
m
e
c
h
a
tro
n
ics
,
e
lec
tri
c
m
o
to
r
d
ri
v
e
s,
a
n
d
re
n
e
wa
b
le
e
n
e
rg
y
tec
h
n
o
lo
g
ies
.
His
d
e
d
ica
ti
o
n
t
o
a
d
v
a
n
c
i
n
g
th
e
s
e
field
s
is
re
flec
ted
in
h
is
e
x
ten
siv
e
p
u
b
li
c
a
ti
o
n
re
c
o
r
d
a
n
d
h
is
lea
d
e
rsh
ip
in
in
n
o
v
a
ti
v
e
re
s
e
a
rc
h
p
ro
jec
ts.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
a
li
.
je
b
e
ll
i@iee
e
.
o
rg
.
Na
fise
h
Lo
tfi
is
a
d
isti
n
g
u
ish
e
d
p
sy
c
h
o
l
o
g
ist
with
o
v
e
r
a
d
e
c
a
d
e
o
f
e
x
p
e
rien
c
e
in
c
o
u
n
se
li
n
g
a
n
d
re
se
a
rc
h
.
S
h
e
h
o
l
d
s
a
b
a
c
h
e
l
o
r
’
s
d
e
g
re
e
i
n
p
sy
c
h
o
lo
g
y
a
n
d
h
a
s
d
e
d
ica
ted
h
e
r
c
a
re
e
r
to
a
d
v
a
n
c
in
g
m
e
n
tal
h
e
a
lt
h
a
n
d
we
ll
-
b
e
in
g
th
r
o
u
g
h
b
o
t
h
p
ra
c
ti
c
a
l
a
n
d
t
h
e
o
re
ti
c
a
l
a
p
p
ro
a
c
h
e
s.
M
s.
Lo
tf
i
sp
e
c
ializ
e
s
in
n
e
u
r
o
sc
ien
c
e
a
n
d
fu
z
z
y
l
o
g
ic
in
n
e
u
ra
l
n
e
tw
o
rk
s,
c
o
n
tri
b
u
ti
n
g
t
o
sig
n
ifi
c
a
n
t
a
d
v
a
n
c
e
m
e
n
ts
in
th
e
se
field
s.
He
r
r
e
se
a
rc
h
h
a
s
b
e
e
n
wid
e
ly
re
c
o
g
n
ize
d
a
n
d
p
u
b
li
sh
e
d
in
e
ste
e
m
e
d
jo
u
rn
a
ls,
u
n
d
e
rsc
o
ri
n
g
h
e
r
c
o
m
m
it
m
e
n
t
to
e
v
id
e
n
c
e
-
b
a
se
d
p
ra
c
ti
c
e
a
n
d
in
n
o
v
a
ti
o
n
.
F
o
r
m
o
re
t
h
a
n
f
iv
e
y
e
a
rs,
M
s.
Lo
tfi
h
a
s
b
e
e
n
a
n
i
n
teg
ra
l
m
e
m
b
e
r
o
f
th
e
RCI
g
r
o
u
p
.
I
n
t
h
is
ro
le,
sh
e
h
a
s
led
a
n
d
p
a
rti
c
i
p
a
ted
in
n
u
m
e
ro
u
s
re
se
a
rc
h
p
ro
jec
ts,
a
u
t
h
o
re
d
in
f
lu
e
n
t
ial
a
rti
c
les
,
a
n
d
c
o
n
d
u
c
ted
h
i
g
h
-
im
p
a
c
t
se
m
in
a
rs.
He
r
wo
rk
with
th
e
RCI
g
ro
u
p
fo
c
u
se
s
o
n
b
ri
d
g
in
g
t
h
e
g
a
p
b
e
twe
e
n
th
e
o
re
ti
c
a
l
re
se
a
rc
h
a
n
d
p
ra
c
ti
c
a
l
a
p
p
li
c
a
ti
o
n
,
e
n
h
a
n
c
in
g
th
e
u
n
d
e
r
sta
n
d
in
g
a
n
d
imp
lem
e
n
tatio
n
o
f
p
sy
c
h
o
lo
g
ica
l
p
rin
c
i
p
les
in
v
a
rio
u
s
c
o
n
tex
ts.
M
s.
L
o
tfi
’
s
c
o
u
n
se
li
n
g
p
ra
c
ti
c
e
is
c
h
a
ra
c
teriz
e
d
b
y
h
e
r
e
m
p
a
th
e
ti
c
a
p
p
r
o
a
c
h
a
n
d
d
e
e
p
u
n
d
e
rsta
n
d
i
n
g
o
f
h
u
m
a
n
b
e
h
a
v
i
o
r.
S
h
e
h
a
s
su
c
c
e
ss
fu
ll
y
wo
rk
e
d
with
d
i
v
e
rse
p
o
p
u
lati
o
n
s,
p
r
o
v
id
i
n
g
e
x
p
e
rt
g
u
id
a
n
c
e
a
n
d
s
u
p
p
o
rt
t
o
in
d
iv
i
d
u
a
l
s
fa
c
in
g
a
wi
d
e
ra
n
g
e
o
f
p
sy
c
h
o
lo
g
ica
l
c
h
a
ll
e
n
g
e
s.
He
r
a
c
ti
v
e
i
n
v
o
lv
e
m
e
n
t
in
p
ro
fe
ss
io
n
a
l
o
rg
a
n
iza
ti
o
n
s
a
n
d
c
o
n
ti
n
u
o
u
s p
a
rti
c
ip
a
ti
o
n
i
n
c
o
n
fe
r
e
n
c
e
s
h
ig
h
li
g
h
t
s
h
e
r
d
e
d
ica
ti
o
n
to
sta
y
in
g
a
t
t
h
e
f
o
re
fro
n
t
o
f
h
e
r
field
.
M
s
.
L
o
tfi
’
s
h
o
li
stic
a
p
p
r
o
a
c
h
,
c
o
m
b
i
n
in
g
e
x
ten
siv
e
re
se
a
rc
h
with
p
ra
c
ti
c
a
l
e
x
p
e
rien
c
e
,
p
o
siti
o
n
s
h
e
r
a
s
a
re
sp
e
c
ted
lea
d
e
r
i
n
p
sy
c
h
o
l
o
g
y
a
n
d
a
v
a
lu
a
b
le
a
ss
e
t
to
th
e
RCI
g
ro
u
p
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
n
l
o
tfi
@ro
b
o
t
icc
e
n
tu
ry
.
c
o
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.