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th
e
s
u
r
r
o
u
n
d
in
g
en
v
ir
o
n
m
e
n
t,
an
d
o
th
er
f
ac
to
r
s
r
e
m
ai
n
co
n
s
ta
n
t
[
8
]
,
[
9
]
.
R
esear
ch
b
y
[
1
0
]
,
[
1
1
]
u
s
ed
an
o
n
/o
f
f
co
n
tr
o
l
s
y
s
te
m
f
r
o
m
t
h
e
h
ea
t
in
g
co
n
tr
o
l
s
y
s
te
m
to
r
ea
ch
4
0
0
s
ec
an
d
th
e
a
m
b
ie
n
t
te
m
p
er
at
u
r
e
m
i
g
h
t
b
e
m
ai
n
tai
n
ed
b
y
th
e
i
n
cu
b
ato
r
.
T
o
g
en
er
ate
a
s
tead
y
te
m
p
er
at
u
r
e
an
d
ac
cu
r
ac
y
.
T
y
p
icall
y
,
t
h
e
b
ab
y
in
c
u
b
at
o
r
is
b
u
ilt
to
h
elp
ca
r
e
f
o
r
an
d
m
o
n
i
to
r
th
e
in
f
an
t
b
y
b
ein
g
tr
an
s
p
a
r
en
t,
clea
n
(
s
ter
ile)
,
f
u
r
n
i
s
h
ed
w
it
h
th
e
n
ec
e
s
s
ar
y
elec
tr
o
n
ic
to
o
ls
,
an
d
s
o
u
n
d
p
r
o
o
f
[
1
2
]
.
I
n
p
r
ac
tice,
all
in
d
u
s
tr
ial
m
an
ip
u
lato
r
la
w
s
f
r
eq
u
en
t
l
y
e
m
p
l
o
y
th
e
d
y
n
a
m
ic
tech
n
iq
u
e
k
n
o
w
n
as
p
r
o
p
o
r
tio
n
al
an
d
d
er
iv
ativ
e
(
PD
)
co
n
tr
o
l.
On
g
o
in
g
r
esear
c
h
is
b
ein
g
d
o
n
e
o
n
P
D
co
n
tr
o
l
[
1
3
]
.
T
h
e
m
o
s
t
w
i
d
ely
u
t
ilized
co
n
tr
o
l
al
g
o
r
ith
m
i
n
t
h
e
a
u
to
m
o
b
ile
s
ec
to
r
is
P
I
co
n
tr
o
l,
w
h
ic
h
i
s
also
w
id
el
y
r
ec
o
g
n
ized
in
in
d
u
s
tr
ial
co
n
tr
o
l
[
1
4
]
.
Fo
r
m
an
y
o
p
en
-
lo
o
p
s
tab
le
s
y
s
te
m
s
w
it
h
d
ea
d
ti
m
e,
th
e
P
I
co
n
tr
o
ller
s
g
e
n
er
all
y
e
x
h
ib
it
a
cc
ep
tab
le
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
an
d
ar
e
s
tr
u
ct
u
r
all
y
ap
p
r
o
p
r
iate
[
1
5
]
.
T
h
e
an
alo
g
s
en
s
o
r
’
s
(
L
M3
5
)
o
u
tp
u
t
v
o
ltag
e
is
p
r
ec
is
ely
p
r
o
p
o
r
tio
n
ate
to
th
e
te
m
p
er
atu
r
e
in
d
eg
r
ee
s
C
el
s
iu
s
.
C
o
m
p
ar
ed
to
lin
ea
r
te
m
p
er
atu
r
e
s
en
s
o
r
s
c
alib
r
ated
in
Kel
v
i
n
,
th
e
an
al
o
g
s
e
n
s
o
r
(
L
M3
5
)
h
a
s
t
h
e
b
en
ef
it
o
f
d
ir
ec
tl
y
p
r
o
v
id
in
g
o
u
tp
u
t
o
n
a
C
el
s
i
u
s
s
ca
le,
r
e
m
o
v
i
n
g
th
e
r
eq
u
ir
em
en
t
f
o
r
t
h
e
u
s
er
to
d
ed
u
ct
a
s
izab
le
co
n
s
ta
n
t
v
o
ltag
e
f
r
o
m
th
e
o
u
tp
u
t
[
1
6
]
.
T
h
e
Dallas
Se
m
ico
n
d
u
cto
r
DSl8
B
2
0
d
ig
i
tal
tem
p
er
at
u
r
e
s
en
s
o
r
is
u
s
ed
i
n
te
m
p
er
atu
r
e
te
s
ter
s
.
T
h
e
D
S1
8
B
2
0
’
s
m
o
n
o
lit
h
ic
d
e
s
ig
n
m
a
k
es
it
p
o
s
s
ib
le
f
o
r
it
to
tak
e
t
h
e
p
lace
o
f
an
alo
g
te
m
p
er
atu
r
e
s
e
n
s
o
r
s
an
d
r
elat
ed
s
ig
n
al
p
r
o
ce
s
s
i
n
g
eq
u
ip
m
en
t
.
C
o
m
p
lete
te
m
p
er
atu
r
e
m
o
n
ito
r
in
g
an
d
d
ata
p
r
o
ce
s
s
in
g
ca
n
b
e
ac
co
m
p
lis
h
ed
r
ap
id
l
y
b
y
co
n
n
ec
t
in
g
t
h
e
DSl8
B
2
0
an
d
m
icr
o
co
n
tr
o
ll
er
.
T
h
e
o
n
l
y
d
ig
ital
te
m
p
er
atu
r
e
s
e
n
s
o
r
t
h
at
u
s
es
a
s
in
g
le
b
u
s
to
tr
an
s
m
it
d
ata
is
th
e
DS
l8
B
2
0
.
T
h
e
DS1
8
B
2
0
s
en
s
o
r
u
s
es
a
s
in
g
l
e
lin
e
f
o
r
b
o
th
d
ata
in
p
u
t
an
d
o
u
tp
u
t.
A
s
in
g
le
co
n
n
ec
tio
n
l
i
n
e
ca
n
b
e
u
s
ed
f
o
r
co
m
m
u
n
i
ca
tio
n
b
et
w
ee
n
th
e
C
P
U
p
r
o
ce
s
s
o
r
an
d
th
e
DS1
8
B
2
0
d
ig
ital te
m
p
er
at
u
r
e
s
e
n
s
o
r
b
ec
au
s
e
th
e
y
ca
n
b
o
th
s
en
d
a
n
d
r
ec
eiv
e
d
ata
o
v
er
th
e
s
a
m
e
in
ter
f
ac
e
.
I
n
to
tal,
n
i
n
e
m
o
r
e
b
i
n
ar
y
te
m
p
er
at
u
r
e
i
n
d
icatio
n
s
ar
e
s
h
o
w
n
.
W
it
h
o
u
t
an
e
x
ter
n
a
l
p
o
w
er
s
o
u
r
ce
,
th
e
DSl8
B
2
0
d
ig
ital
tem
p
er
at
u
r
e
s
en
s
o
r
ca
n
s
u
p
p
ly
th
e
n
ec
e
s
s
ar
y
elec
tr
ical
en
er
g
y
[
1
7
]
.
T
h
e
A
T
ME
GA
2
5
6
0
s
er
v
es
a
s
t
h
e
f
o
u
n
d
atio
n
f
o
r
t
h
e
A
r
d
u
i
n
o
Me
g
a
m
icr
o
co
n
tr
o
ller
.
T
h
is
A
r
d
u
i
n
o
Me
g
a
is
s
i
m
p
l
y
co
n
n
ec
ted
to
a
co
m
p
u
ter
u
s
i
n
g
a
USB
ca
b
le
to
g
et
s
tar
ted
.
A
r
d
u
in
o
b
o
ar
d
s
ar
e
u
s
ed
b
ec
au
s
e
th
e
y
m
ak
e
i
t si
m
p
le
to
co
m
m
u
n
icat
e
w
it
h
t
h
e
m
o
d
u
le
’
s
s
er
ial
p
o
r
t a
n
d
p
r
o
g
r
am
t
h
e
m
icr
o
co
n
tr
o
ller
in
C
[
1
6
]
.
I
n
t
h
e
s
tu
d
y
,
H
al
d
e
r
et
a
l
.
[
1
8
]
d
e
s
ig
n
e
d
a
cl
o
s
e
d
l
o
o
p
t
em
p
er
a
t
u
r
e
c
o
n
t
r
o
l
s
y
s
t
em
u
s
in
g
p
r
o
p
o
r
t
i
o
n
al
a
n
d
in
t
eg
r
al
(
PI
)
c
o
n
t
r
o
l
t
o
s
en
s
e
th
e
r
o
o
m
tem
p
e
r
a
tu
r
e
an
d
m
a
in
t
a
in
i
t
t
o
t
h
e
d
e
s
i
r
e
d
v
a
lu
e
f
ix
e
d
,
th
e
r
es
u
l
ts
o
f
t
h
is
s
tu
d
y
a
r
e
s
m
a
l
l
o
v
e
r
s
h
o
o
t
,
f
as
t
r
es
p
o
n
s
e
,
an
d
h
ig
h
p
r
e
c
is
i
o
n
b
u
t
r
es
p
o
n
d
a
l
i
tt
l
e
s
l
o
w
er
.
I
s
m
a
i
l
e
t
a
l
.
[
1
9
]
d
e
s
ig
n
e
d
a
w
a
te
r
t
em
p
e
r
a
tu
r
e
c
o
n
t
r
o
ll
e
r
h
e
a
t
e
d
b
y
a
n
o
i
l
-
f
u
el
l
e
d
h
e
a
t
e
r
u
s
in
g
a
p
r
o
g
r
am
m
ab
l
e
l
o
g
i
c
c
o
n
t
r
o
l
l
e
r
(
PL
C
)
m
et
h
o
d
i
n
c
o
n
ju
n
ct
i
o
n
w
ith
a
PI
c
o
n
t
r
o
l
l
e
r
.
M
ea
s
u
r
ed
te
m
p
er
atu
r
e
b
u
t
t
h
e
h
i
g
h
co
s
t
o
f
th
e
P
L
C
s
y
s
te
m
.
T
is
a
et
a
l
.
[
2
0
]
d
ev
elo
p
e
d
a
b
ab
y
i
n
cu
b
ato
r
te
m
p
er
atu
r
e
c
o
n
tr
o
l
s
y
s
te
m
t
h
at
u
s
es
b
asic
ON
-
O
F
F
co
n
tr
o
l
tech
n
iq
u
es
an
d
p
u
ls
e
w
id
t
h
m
o
d
u
latio
n
(
P
W
M)
.
A
n
eo
n
atal
in
cu
b
ato
r
w
it
h
On
/O
f
f
c
o
n
tr
o
l
w
as
d
ev
elo
p
ed
b
y
W
id
h
iad
a
et
a
l.
[
5
]
to
aid
in
t
h
e
s
p
r
ea
d
o
f
te
m
p
er
at
u
r
e.
T
h
e
in
c
u
b
ato
r
h
as
a
3
6
°C
te
m
p
er
atu
r
e
s
et
tin
g
.
Sin
g
h
et
a
l
.
[
2
1
]
m
ad
e
an
in
cu
b
ato
r
u
s
in
g
p
r
o
p
o
r
tio
n
al
in
teg
r
al
d
er
iv
ativ
e
(
P
I
D)
.
I
n
s
tu
d
y
[
2
1
]
,
t
h
e
p
r
o
ce
s
s
o
f
ch
o
o
s
in
g
co
n
tr
o
ller
s
etti
n
g
s
t
o
m
ee
t
p
ar
tic
u
lar
p
er
f
o
r
m
a
n
c
e
cr
iter
ia
is
k
n
o
w
n
as
co
n
tr
o
l
ler
tu
n
i
n
g
Nic
h
o
las
an
d
Z
ie
g
ler
.
P
in
to
et
a
l.
[
2
2
]
d
esig
n
ed
a
b
ab
y
i
n
c
u
b
ato
r
w
it
h
a
di
g
ita
l
P
I
D
tem
p
er
at
u
r
e
c
o
n
tr
o
ller
.
T
h
e
o
b
j
ec
tiv
e
is
to
d
ev
elo
p
an
d
i
m
p
le
m
en
t
th
e
E
S
VI
N
n
e
w
b
o
r
n
lif
e
s
u
p
p
o
r
t
eq
u
ip
m
e
n
t
p
r
o
to
ty
p
e
’
s
co
ck
p
it
te
m
p
er
atu
r
e
f
o
llo
w
in
g
th
e
i
n
t
er
n
atio
n
al
s
tan
d
ar
d
I
E
C
6
0
6
0
1
-
2
-
1
9
f
o
r
th
e
o
p
er
atio
n
an
d
s
af
et
y
o
f
n
eo
n
ata
l
in
cu
b
ato
r
s
.
T
h
eo
p
ag
a
et
a
l
.
[
2
3
]
d
esig
n
ed
a
s
y
s
te
m
u
s
i
n
g
an
d
co
n
tr
o
llin
g
th
e
te
m
p
er
a
tu
r
e
to
ef
f
ec
tiv
el
y
co
n
tr
o
l
P
I
D
f
o
r
in
f
an
t
i
n
cu
b
at
o
r
s
.
B
ec
au
s
e
,
ac
co
r
d
in
g
to
th
e
r
esear
ch
er
s
,
th
is
tec
h
n
iq
u
e
m
ain
tai
n
s
li
n
ea
r
it
y
i
n
te
m
p
er
atu
r
e
r
eg
u
latio
n
,
allo
w
i
n
g
p
r
e
m
a
tu
r
e
b
ab
ies to
b
e
m
ai
n
tai
n
ed
at
te
m
p
er
atu
r
es i
n
t
h
e
in
f
an
t i
n
c
u
b
ato
r
.
B
ased
o
n
p
r
i
o
r
r
esear
ch
ev
alu
atin
g
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
w
o
te
m
p
er
atu
r
e
s
e
n
s
o
r
s
n
a
m
el
y
t
h
e
an
alo
g
L
M3
5
an
d
th
e
d
ig
ital
DS1
8
B
2
0
u
tili
zin
g
P
D
co
n
tr
o
l
to
ac
h
iev
e
s
tab
le
an
d
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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497
2.
M
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H
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D
2
.
1
.
P
r
o
po
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io
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l a
nd
deriv
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pro
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na
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a
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e
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y
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p
r
o
p
o
r
tio
n
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s
ix
co
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s
tan
t
s
[
2
4
]
.
I
n
teg
r
al:
t
o
p
r
o
d
u
ce
a
s
y
s
te
m
r
esp
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e
with
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te
g
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co
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f
a
p
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t
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s
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t
(
1
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,
th
e
p
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p
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n
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s
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h
e
s
y
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s
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e
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m
p
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ec
au
s
e
it
h
as
a
ze
r
o
s
tab
le
s
tate
er
r
o
r
[
2
5
]
.
De
r
iv
ati
v
es:
d
er
iv
ati
v
e
co
n
tr
o
ller
s
ar
e
ty
p
ical
l
y
e
m
p
lo
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ed
to
ac
ce
ler
ate
a
s
y
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te
m
’
s
in
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r
esp
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e,
b
u
t
t
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d
o
n
o
t
lo
w
er
er
r
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r
s
in
t
h
e
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y
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te
m
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s
s
tead
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W
o
r
k
p
er
f
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ed
b
y
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d
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l
y
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s
ef
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l
in
a
li
m
ited
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t,
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ar
tic
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lar
l
y
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u
r
in
g
t
h
e
tr
an
s
itio
n
p
h
a
s
e.
T
h
er
ef
o
r
e
th
e
d
er
iv
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v
e
co
n
tr
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is
n
ev
er
u
ti
lized
i
n
co
n
j
u
n
ctio
n
w
i
th
an
o
t
h
e
r
co
n
tr
o
ller
o
f
a
s
y
s
te
m
[
2
6
]
.
P
I
D
co
n
tr
o
l
is
w
id
el
y
r
ec
o
g
n
ized
f
o
r
its
s
i
m
p
licit
y
,
ea
s
e
o
f
i
m
p
le
m
e
n
tatio
n
,
a
n
d
co
s
t
ef
f
icien
c
y
.
Desp
ite
ad
v
a
n
ce
m
e
n
t
s
in
co
n
tr
o
l
tech
n
o
lo
g
ies,
P
I
D
co
n
tr
o
ller
s
r
e
m
ain
th
e
m
o
s
t
w
id
el
y
u
tili
ze
d
in
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n
d
u
s
tr
ial
co
n
tr
o
l
s
y
s
te
m
s
,
w
i
th
d
o
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m
e
n
ted
s
tatis
t
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d
icati
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t
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5
% o
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ical
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T
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ter
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“
P
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th
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K>
0
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m
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m
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ased
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m
p
ir
ical
ap
p
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u
ch
as
th
e
Z
ieg
ler
-
Nic
h
o
ls
m
et
h
o
d
an
d
its
v
ar
iatio
n
s
[
2
7
]
.
T
h
is
s
tu
d
y
u
s
es
P
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co
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tr
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an
d
th
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s
es (
2
)
:
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×
(
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+
×
∫
(
)
0
(
2
)
T
h
is
eq
u
atio
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r
ep
r
esen
ts
a
P
I
co
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tr
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,
w
h
ic
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is
u
s
ed
in
co
n
tr
o
l
s
y
s
te
m
s
to
r
eg
u
late
p
r
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c
ess
es
s
u
c
h
as
te
m
p
er
atu
r
e
co
n
tr
o
l.
T
h
e
g
o
al
o
f
a
P
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co
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tr
o
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is
to
m
i
n
i
m
ize
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e
er
r
o
r
(
e)
,
T
h
is
is
th
e
d
is
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ep
an
c
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et
w
ee
n
th
e
ac
t
u
al
p
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s
s
v
a
r
iab
le
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te
n
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ed
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t.
w
h
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t
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o
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ea
d
in
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et
p
o
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y
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d
in
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m
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ag
a
in
s
t
ti
m
e,
Kp
is
a
p
r
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p
o
r
tio
n
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co
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s
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n
t,
a
n
d
Ki
i
s
a
n
i
n
te
g
r
al
co
n
s
tan
t
.
T
h
en
co
m
p
ar
ed
w
it
h
p
r
ev
io
u
s
s
tu
d
ie
s
u
s
in
g
P
D
co
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tr
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ls
u
s
in
g
(
3
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:
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×
(
)
+
×
(
3
)
T
h
is
eq
u
atio
n
d
escr
ib
es
a
P
D
co
n
tr
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ller
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o
th
er
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co
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tr
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s
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m
u
s
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t
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late
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m
ic
p
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s
s
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u
c
h
as
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m
p
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at
u
r
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co
n
tr
o
l,
w
h
er
e
th
e
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ate
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ch
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g
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f
t
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e
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o
r
is
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m
p
o
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ta
n
t.
w
h
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e
is
th
e
er
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o
r
v
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o
f
r
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d
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et
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t
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te
m
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at
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r
e
o
b
s
er
v
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n
s
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er
s
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s
ti
m
e,
Kp
is
a
p
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p
o
r
tio
n
al
co
n
s
ta
n
t,
an
d
Kd
is
a
d
er
iv
ati
v
e
co
n
s
tan
t
.
T
h
e
Z
ieg
ler
-
Nic
h
o
ls
tu
n
i
n
g
m
et
h
o
d
is
o
n
e
o
f
t
h
e
m
o
s
t
p
o
p
u
lar
an
d
w
id
el
y
u
s
ed
ap
p
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ac
h
es
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o
r
tu
n
in
g
P
I
D
co
n
tr
o
ller
p
ar
a
m
e
t
er
s
.
Z
ie
g
ler
a
n
d
Nic
h
o
ls
p
r
o
p
o
s
ed
t
w
o
p
o
p
u
lar
m
et
h
o
d
s
f
o
r
tu
n
i
n
g
p
ar
a
m
eter
s
in
P
I
D
co
n
tr
o
ller
s
(
i
n
clu
d
i
n
g
P
I
an
d
P
D)
,
w
h
ic
h
ar
e
o
f
te
n
u
s
ed
to
o
p
ti
m
ize
t
h
e
r
esp
o
n
s
e
o
f
co
n
tr
o
l
s
y
s
te
m
s
.
B
o
th
m
et
h
o
d
s
ai
m
to
h
elp
d
et
er
m
in
e
t
h
e
r
ig
h
t
v
alu
e
s
f
o
r
K
p
,
Ki,
an
d
Kd
to
o
b
tain
a
s
tab
le
an
d
f
ast
r
esp
o
n
s
e
[
2
8
]
.
T
h
e
Z
ieg
ler
Nich
o
l
s
ar
r
an
g
e
m
e
n
t is p
r
o
p
o
s
ed
in
T
ab
le
1
.
T
ab
le
1
.
Dete
r
m
i
n
atio
n
o
f
p
ar
a
m
eter
s
C
o
n
t
r
o
l
l
e
r
Kp
Ti
TD
P
r
o
p
o
r
t
i
o
n
a
l
1
⁄
-
-
PI
0
.
9
⁄
3
.
33
-
P
I
D
1
.
2
⁄
2
0
.
5
B
ased
o
n
a
f
ictitio
u
s
co
n
tr
o
lle
r
,
th
e
Z
ie
g
ler
an
d
Nic
h
o
ls
ap
p
r
o
ac
h
w
a
s
th
e
f
ir
s
t
P
I
D
tu
n
in
g
m
at
to
b
e
d
ev
elo
p
ed
.
T
h
er
ef
o
r
e,
ad
d
itio
n
al
ad
j
u
s
t
m
en
ts
ar
e
al
w
a
y
s
r
e
q
u
ir
ed
;
b
ec
au
s
e
t
h
e
co
n
tr
o
l
is
r
ath
er
s
tr
o
n
g
an
d
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s
[
2
6
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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T
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[
2
9
]
,
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Evaluation Warning : The document was created with Spire.PDF for Python.
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ts
,
th
e
p
o
w
er
s
w
itc
h
an
d
th
e
Nex
ti
o
n
T
F
T
L
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D.
T
h
e
b
ab
y
i
n
c
u
b
ato
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o
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h
as
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ee
n
d
esig
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co
m
p
ac
tl
y
to
f
ac
i
lita
te
u
s
er
s
,
as
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
On
t
h
e
r
ig
h
t
s
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e,
th
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e
ar
e
o
n
l
y
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co
m
p
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n
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n
t
s
,
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m
e
l
y
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e
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er
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e
Ne
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tio
n
T
F
T
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C
D.
T
h
e
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o
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er
s
w
i
tch
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u
s
ed
to
tu
r
n
t
h
e
d
e
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ice
o
n
o
r
o
f
f
.
Me
an
w
h
ile,
t
h
e
T
FT
L
C
D
is
u
s
ed
f
o
r
th
e
te
m
p
er
atu
r
e
m
o
n
i
to
r
in
g
d
is
p
la
y
i
n
t
h
e
b
ab
y
i
n
cu
b
ato
r
b
o
x
.
2
.
4
.
Da
t
a
pro
ce
s
s
ing
Usi
n
g
d
ata
f
o
r
in
f
an
t
in
cu
b
at
o
r
s
,
th
e
au
th
o
r
ex
a
m
i
n
es
th
e
o
v
er
s
h
o
o
t,
r
is
in
g
ti
m
e,
an
d
s
e
ttli
n
g
ti
m
e
o
u
tco
m
es
a
t
te
m
p
er
at
u
r
es
o
f
3
2
-
37
°C
w
it
h
t
h
e
s
a
m
e
tr
ea
t
m
en
t.
P
I
co
n
tr
o
l
u
tili
ze
s
a
f
o
r
m
u
la
to
d
eter
m
i
n
e
t
h
e
v
alu
e
s
o
f
Kp
an
d
Ki,
w
h
ile
P
D
co
n
tr
o
l
u
s
es
a
f
o
r
m
u
la
to
d
eter
m
i
n
e
Kp
an
d
Kd
.
I
n
th
is
s
tu
d
y
,
B
o
r
lan
d
Delp
h
i
7
w
as
e
m
p
lo
y
ed
to
p
lo
t
th
e
d
ata
af
ter
o
b
tain
in
g
th
e
r
esp
ec
t
iv
e
Kp
,
Ki,
an
d
Kd
v
alu
es
.
B
o
th
tex
t
an
d
i
m
ag
e
f
o
r
m
at
s
ca
n
b
e
u
s
ed
to
s
to
r
e
d
ata
.
T
em
p
er
atu
r
e
m
ea
s
u
r
e
m
en
ts
ar
e
co
n
v
er
ted
to
v
o
ltag
e
b
y
t
h
e
A
r
d
u
i
n
o
A
t
m
e
g
a
m
icr
o
co
n
tr
o
ller
,
w
h
ic
h
also
tr
an
s
f
o
r
m
s
a
n
alo
g
d
ata
i
n
to
d
ig
ital d
ata.
2
.
5
.
E
x
peri
m
ent
a
l set
t
ing
s
A
b
ab
y
i
n
cu
b
ato
r
b
o
x
th
at
i
s
t
h
e
s
a
m
e
s
ize
a
s
its
o
r
ig
i
n
al
s
iz
e
is
e
m
p
lo
y
ed
i
n
th
is
s
t
u
d
y
.
T
h
e
A
t
m
eg
a
2
5
6
0
m
icr
o
co
n
tr
o
ller
is
u
s
ed
i
n
th
e
co
n
tr
o
ller
to
g
eth
er
w
it
h
th
e
an
alo
g
s
e
n
s
o
r
(
L
M3
5
)
an
d
th
e
d
ig
ital
s
en
s
o
r
(
DS
1
8
B
2
0
)
.
In
th
e
s
y
s
te
m
o
f
th
e
co
n
s
tr
u
cted
b
ab
y
i
n
c
u
b
ato
r
,
b
o
th
s
en
s
o
r
s
ar
e
an
a
l
y
ze
d
.
Fo
r
h
ea
ter
s
u
s
ed
f
o
llo
w
in
g
th
e
r
eq
u
ir
e
m
en
ts
,
n
a
m
el
y
1
5
0
0
w
atts
,
a
f
a
n
is
als
o
u
s
ed
to
d
is
tr
ib
u
te
th
e
te
m
p
er
atu
r
e
ev
en
l
y
in
t
h
e
s
p
ac
e.
On
a
co
m
p
u
ter
s
cr
ee
n
,
te
m
p
er
atu
r
e
i
n
f
o
r
m
atio
n
is
r
ep
r
esen
ted
o
n
a
g
r
ap
h
a
n
d
tr
an
s
m
itted
v
ia
s
er
ial
co
n
n
ec
tio
n
s
.
T
h
e
co
m
p
u
ter
r
ec
o
r
d
s
th
e
in
cu
b
ato
r
’
s
te
m
p
e
r
atu
r
e
m
o
n
ito
r
in
g
d
ata.
Data
w
as
g
at
h
er
ed
in
a
cli
m
ate
-
co
n
tr
o
lled
r
o
o
m
at
2
5
°C
.
T
h
e
d
ata
r
etr
iev
al
p
r
o
ce
s
s
is
s
h
o
w
n
i
n
Fi
g
u
r
e
3
.
Fig
u
r
e
3
. 5
tim
e
s
at
ea
ch
te
m
p
er
atu
r
e
s
etti
n
g
,
t
h
is
d
ata
w
a
s
g
ath
er
ed
at
r
o
o
m
te
m
p
er
at
u
r
e
(
2
5
°C
)
,
an
d
th
e
o
u
tco
m
es
w
er
e
co
m
p
ar
ed
u
s
in
g
an
i
n
cu
a
n
al
y
ze
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
6
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T
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h
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te
m
p
o
f
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7
°
C
f
o
r
d
ata
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llectio
n
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d
w
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h
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e
s
a
m
e
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ea
t
m
e
n
t
f
o
r
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ch
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ata
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lle
ctio
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at
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te
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p
er
at
u
r
e
s
etti
n
g
s
.
T
h
e
te
m
p
er
atu
r
e
s
et
tin
g
s
to
b
e
tak
en
ca
r
e
32
-
37
°C
,
d
ata
r
etr
iev
al
is
r
ec
o
r
d
ed
f
o
r
1
h
o
u
r
u
s
in
g
t
h
e
D
elp
h
i
ap
p
licatio
n
.
T
h
e
co
n
tr
o
l
s
y
s
te
m
u
s
ed
is
f
o
r
P
D
co
n
tr
o
l
u
s
in
g
Kp
=6
0
an
d
Kd
=5
0
,
w
h
i
le
f
o
r
P
I
co
n
tr
o
l
u
s
i
n
g
KP
=6
0
an
d
KI
=7
.
To
s
t
u
d
y
th
e
r
ea
ctio
n
o
f
t
w
o
t
y
p
es
o
f
te
m
p
er
atu
r
e
s
e
n
s
o
r
s
w
h
ile
u
til
izin
g
P
D
c
o
n
tr
o
l
an
d
P
I
co
n
tr
o
l,
d
ata
co
llectio
n
is
d
o
n
e
alter
n
atel
y
b
et
w
ee
n
t
w
o
s
en
s
o
r
t
y
p
es:
th
e
d
ig
ital
s
e
n
s
o
r
(
DS1
8
B
2
0
)
a
n
d
th
e
an
alo
g
s
e
n
s
o
r
(
L
M3
5
)
.
Fo
r
d
ata
r
etr
iev
al
r
ec
o
r
d
e
d
u
s
in
g
B
o
r
lan
d
Delp
h
i7
to
g
et
th
e
d
ata.
T
h
e
av
er
ag
e
d
ata
to
b
e
an
al
y
ze
d
in
cl
u
d
e
r
is
e
ti
m
e,
o
v
er
s
h
o
o
t,
an
d
s
ettli
n
g
ti
m
e,
th
e
n
th
e
a
u
t
h
o
r
w
il
l a
n
al
y
ze
t
h
e
d
if
f
er
en
ce
b
et
w
ee
n
t
h
e
t
h
r
ee
th
i
n
g
s
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Resul
t
m
ea
s
ure
m
ent
Fig
u
r
es
4
an
d
5
p
r
esen
t
th
e
d
ata
co
llected
f
r
o
m
an
alo
g
s
en
s
o
r
s
(
L
M3
5
)
an
d
d
ig
it
al
s
en
s
o
r
s
(
DS1
8
B
2
0
)
u
n
d
er
P
I
an
d
P
D
co
n
tr
o
l.
Data
co
llectio
n
w
as
co
n
d
u
cted
o
v
er
1
h
o
u
r
w
it
h
v
ar
io
u
s
te
m
p
er
atu
r
e
s
etti
n
g
s
,
all
p
er
f
o
r
m
ed
at
a
r
o
o
m
te
m
p
er
atu
r
e
o
f
2
5
°C
.
T
h
e
h
o
r
izo
n
tal
ax
i
s
s
tate
s
th
e
ti
m
e
o
f
d
ata
co
llectio
n
,
w
h
ile
t
h
e
v
er
tical
a
x
i
s
s
tate
s
t
h
e
s
etti
n
g
te
m
p
er
at
u
r
e
.
T
h
e
f
o
llo
w
i
n
g
ar
e
th
e
r
es
u
lts
o
f
th
e
d
ata
co
llectio
n
:
I
n
Fi
g
u
r
e
4
(
a)
,
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
P
D
co
n
tr
o
l
u
s
i
n
g
t
h
e
L
M3
5
s
e
n
s
o
r
s
h
o
w
s
t
h
at
at
3
2
°C
,
th
e
s
y
s
te
m
h
a
s
a
r
is
e
ti
m
e
o
f
5
m
i
n
,
a
s
ett
lin
g
t
i
m
e
o
f
3
0
m
in
,
a
n
d
an
o
v
er
s
h
o
o
t
o
f
1
.
1
°C
.
W
h
en
th
e
te
m
p
er
at
u
r
e
in
cr
ea
s
es
to
3
3
°C
to
3
5
°
C
,
th
e
r
is
e
ti
m
e
is
i
n
th
e
r
an
g
e
o
f
5
m
i
n
40
s
ec
to
6
m
i
n
,
t
h
e
s
ettli
n
g
ti
m
e
r
e
m
ain
s
2
5
m
i
n
,
an
d
th
e
o
v
er
s
h
o
o
t
in
cr
ea
s
es
f
r
o
m
1
.
6
°C
to
2
.
6
°C
.
A
t
3
6
°C
an
d
3
7
°C
,
th
e
r
is
e
tim
e
in
cr
ea
s
es
to
8
m
i
n
w
it
h
a
s
ettli
n
g
ti
m
e
o
f
2
5
m
i
n
,
w
h
ile
th
e
o
v
er
s
h
o
o
t
in
cr
ea
s
es
f
r
o
m
2
.
5
°C
to
3
°C
.
Me
an
w
h
ile,
in
Fig
u
r
e
4
(
b
)
,
th
e
P
D
co
n
tr
o
l
u
s
i
n
g
t
h
e
DS1
8
B
2
0
s
en
s
o
r
s
h
o
w
s
t
h
at
at
3
2
°C
,
th
e
s
y
s
te
m
h
as
a
r
is
e
ti
m
e
o
f
3
m
i
n
20
s
ec
,
a
s
ettli
n
g
ti
m
e
o
f
2
3
m
i
n
,
a
n
d
an
o
v
er
s
h
o
o
t
o
f
2
°C
.
At
3
3
°
C
to
3
6
°C
,
th
e
r
i
s
e
ti
m
e
i
n
cr
ea
s
es
f
r
o
m
4
m
i
n
to
7
m
i
n
,
w
i
th
t
h
e
s
ettli
n
g
ti
m
e
r
e
m
ai
n
in
g
2
3
m
i
n
an
d
th
e
o
v
er
s
h
o
o
t
in
cr
ea
s
i
n
g
f
r
o
m
2
.
3
°C
to
2
.
8
°C
.
A
t
3
7
°C
,
th
e
r
is
e
ti
m
e
r
ea
ch
ed
8
m
i
n
w
i
th
a
s
ettl
in
g
ti
m
e
o
f
2
3
m
i
n
an
d
an
o
v
er
s
h
o
o
t o
f
2
.
9
°C
.
(
a)
(
b
)
Fig
u
r
e
4
.
R
esu
lts
P
D
co
n
tr
o
l
o
f
s
e
n
s
o
r
:
(
a)
P
D
co
n
tr
o
l u
s
ed
L
M3
5
s
en
s
o
r
an
d
(
b
)
P
D
co
n
tr
o
l u
s
ed
DS1
8
B
2
0
s
en
s
o
r
25
27
29
31
33
35
37
39
41
0
600
120
0
180
0
240
0
300
0
360
0
T
e
mp
e
ra
tu
re
(
°
C)
T
i
m
e
(
S
ec
ond)
32⁰
C
33⁰
C
34⁰
C
35⁰
C
36⁰
C
37⁰
C
25
27
29
31
33
35
37
39
41
0
600
120
0
180
0
240
0
300
0
360
0
T
e
m
p
e
ra
tu
re
(
°
C)
T
i
m
e
(
S
ec
ond)
32⁰
C
33⁰
C
34⁰
C
35⁰
C
36⁰
C
37⁰
C
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
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atter
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I
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o
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ased
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t r
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ai
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u
r
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5
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I
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en
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ed
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M
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ed
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r
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1
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te
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o
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at
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
6
9
3
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T
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m
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u
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Con
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C
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T
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m
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C
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300
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LM3
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
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m
p
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if
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etain
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if
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m
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p
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th
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s
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n
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ican
t
d
if
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er
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n
ce
in
p
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f
o
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e
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M3
5
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d
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.
1740
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1380
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10
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11
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12
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13
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17
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18
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LM3
5 Se
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LM3
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Evaluation Warning : The document was created with Spire.PDF for Python.
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h
o
o
t
an
d
a
f
ast
er
s
ettli
n
g
ti
m
e
co
m
p
ar
ed
to
th
e
P
I
co
n
tr
o
l
s
y
s
te
m
.
Ho
w
e
v
er
,
o
n
av
er
a
g
e,
P
D
co
n
tr
o
l
r
esu
lts
in
a
lo
n
g
er
r
is
e
ti
m
e
w
h
en
co
m
p
ar
ed
to
P
I
co
n
tr
o
l.
B
u
ild
in
g
o
n
th
e
s
e
f
in
d
i
n
g
s
a
n
d
p
r
ev
io
u
s
r
esear
ch
,
th
e
m
a
in
o
b
j
e
ctiv
e
i
s
to
d
esi
g
n
a
b
ab
y
i
n
c
u
b
ato
r
u
til
izin
g
P
I
c
o
n
tr
o
l
an
d
p
er
f
o
r
m
a
co
m
p
ar
ativ
e
a
n
al
y
s
i
s
.
S
u
b
s
eq
u
e
n
tl
y
,
th
e
r
es
u
lt
s
o
b
tain
e
d
f
r
o
m
th
e
DS1
8
B
2
0
s
en
s
o
r
an
d
th
e
L
M3
5
s
en
s
o
r
ar
e
co
m
p
ar
ed
w
it
h
p
r
ev
io
u
s
r
esear
ch
f
o
cu
s
i
n
g
o
n
I
n
cu
b
ato
r
d
esig
n
s
i
n
co
r
p
o
r
atin
g
P
D
co
n
tr
o
l
[
3
3
]
.
T
h
is
s
t
u
d
y
p
lace
s
s
ig
n
i
f
ica
n
t
e
m
p
h
a
s
is
o
n
t
h
e
ac
h
ie
v
e
m
e
n
t
a
n
d
m
ai
n
ten
a
n
ce
o
f
t
h
e
i
n
f
a
n
t
i
n
cu
b
ato
r
te
m
p
er
atu
r
e,
w
ith
t
h
e
u
lti
m
ate
g
o
al
o
f
e
n
s
u
r
in
g
te
m
p
er
at
u
r
e
s
tab
ilit
y
w
it
h
i
n
t
h
e
in
c
u
b
ato
r
m
o
n
i
to
r
in
g
s
y
s
te
m
to
p
r
ev
en
t a
d
v
er
s
e
p
atien
t o
u
tco
m
es,
i
n
cl
u
d
in
g
p
o
ten
tial
f
atalitie
s
.
T
h
e
s
tu
d
y
d
o
es
n
o
t
p
r
o
v
id
e
s
p
ec
if
ic
d
etails
ab
o
u
t
t
h
e
s
a
m
p
le
s
ize,
d
ata
co
llectio
n
m
e
th
o
d
s
,
o
r
eth
ical
co
n
s
id
er
atio
n
s
in
v
o
l
v
ed
.
A
d
d
i
tio
n
all
y
,
th
e
lack
o
f
r
e
f
er
en
ce
s
to
p
r
io
r
r
esear
ch
m
a
k
es
it
c
h
alle
n
g
i
n
g
to
as
s
es
s
th
e
co
n
te
x
t
o
f
t
h
e
s
tu
d
y
an
d
th
e
s
i
g
n
i
f
ican
ce
o
f
its
f
i
n
d
in
g
s
.
T
h
e
f
i
n
d
in
g
s
in
d
icate
t
h
at
w
h
ile
P
D
co
n
tr
o
l
p
r
o
v
id
es
b
en
ef
its
i
n
r
ed
u
cin
g
o
v
er
s
h
o
o
t
an
d
ac
h
ie
v
i
n
g
f
aste
r
s
ettlin
g
ti
m
es,
it
co
m
es
at
th
e
ex
p
en
s
e
o
f
lo
n
g
er
r
is
e
ti
m
e
s
.
T
h
ese
in
s
i
g
h
t
s
co
u
ld
g
u
id
e
t
h
e
d
esi
g
n
a
n
d
i
m
p
le
m
en
tatio
n
o
f
in
f
a
n
t
i
n
cu
b
ato
r
s
y
s
te
m
s
,
ai
m
i
n
g
to
en
h
a
n
ce
te
m
p
er
at
u
r
e
s
tab
ilit
y
an
d
i
m
p
r
o
v
e
o
v
er
all
p
atien
t
ca
r
e.
T
h
e
co
m
p
ar
ativ
e
o
b
j
ec
tiv
es
o
f
th
is
s
t
u
d
y
ar
e
to
ass
ess
t
h
e
p
er
f
o
r
m
an
ce
o
f
P
I
co
n
tr
o
l
ag
ain
s
t
P
D
co
n
tr
o
l
an
d
to
co
m
p
ar
e
th
e
r
esu
l
ts
o
b
tain
ed
f
r
o
m
d
if
f
er
e
n
t
s
en
s
o
r
s
(
DS1
8
B
2
0
an
d
L
M3
5
)
w
it
h
p
r
ev
io
u
s
r
esear
ch
i
n
v
o
lv
in
g
P
D
co
n
tr
o
l.
4.
CO
N
CL
U
SI
O
N
I
n
th
i
s
s
t
u
d
y
,
th
e
te
m
p
er
atu
r
e
s
en
s
o
r
o
n
th
e
b
ab
y
i
n
c
u
b
ato
r
w
a
s
ch
ec
k
ed
f
o
r
th
i
s
s
t
u
d
y
u
s
in
g
P
I
co
n
tr
o
l.
T
h
e
te
m
p
er
atu
r
e
s
e
n
s
o
r
is
p
lace
d
in
s
id
e
a
s
ta
n
d
ar
d
h
o
s
p
ital
b
ab
y
in
c
u
b
ato
r
to
en
s
u
r
e
ac
cu
r
ate
a
n
d
co
n
s
is
ten
t
te
m
p
er
at
u
r
e
m
ea
s
u
r
e
m
en
t
s
.
B
ased
o
n
th
e
m
ea
s
u
r
e
m
e
n
t
r
es
u
lt
s
u
s
i
n
g
P
I
co
n
tr
o
l
o
n
th
e
an
alo
g
s
en
s
o
r
(
L
M3
5
)
,
th
e
o
v
er
s
h
o
o
t
is
3
°C
f
r
o
m
t
h
e
s
et
p
o
i
n
t,
th
e
s
en
s
o
r
tak
es
5
m
in
to
r
ea
ch
th
e
r
is
e
ti
m
e,
a
n
d
th
e
s
ettli
n
g
ti
m
e
last
s
3
0
m
i
n
.
Ov
e
r
s
h
o
o
t
w
a
s
2
.
7
⁰C
f
r
o
m
th
e
s
e
t
p
o
in
t
w
h
ile
th
e
d
ig
ita
l
s
e
n
s
o
r
(
DS1
8
B
2
0
)
to
o
k
5
m
i
n
to
r
ea
ch
t
h
e
r
is
e
ti
m
e
an
d
2
9
m
i
n
to
r
ea
ch
th
e
s
et
ti
m
e.
T
h
e
r
esu
lts
o
f
p
r
ev
io
u
s
s
tu
d
ies
s
h
o
w
th
at
P
D
co
n
tr
o
l
h
as
a
lo
w
er
o
v
er
s
h
o
o
t
th
an
P
I
co
n
tr
o
l
an
d
a
f
a
s
ter
s
ettlin
g
ti
m
e.
B
u
t
o
n
a
v
er
ag
e
P
D
h
as
a
lo
n
g
er
r
is
e
ti
m
e
t
h
an
P
I
co
n
tr
o
l.
Fo
r
f
u
r
t
h
er
r
esear
ch
,
th
e
2
s
en
s
o
r
s
w
i
ll
b
e
co
m
p
ar
ed
u
s
i
n
g
P
I
D
co
n
tr
o
l.
ACK
NO
WL
E
D
G
E
M
E
NT
S
W
e
th
an
k
th
e
Dir
ec
to
r
o
f
P
o
ltek
k
e
s
Ke
m
en
k
es
S
u
r
ab
a
y
a
f
o
r
s
u
p
p
o
r
tin
g
a
n
d
f
u
n
d
i
n
g
t
h
i
s
r
esear
ch
,
as
s
tated
in
th
e
Dir
ec
to
r
o
f
SK'
s
e
m
p
lo
y
m
en
t
co
n
tr
ac
t
.
Hk
.
0
1
.
0
2
/1
/
1
9
0
5
/
2
0
2
2
.
So
th
at
w
e
ca
n
co
m
p
lete
th
i
s
r
esear
ch
w
ell
an
d
s
m
o
o
th
l
y
,
an
d
s
tu
d
e
n
ts
w
h
o
ar
e
in
v
o
l
v
e
d
an
d
h
elp
w
it
h
r
esear
ch
h
o
p
ef
u
ll
y
ca
n
in
cr
ea
s
e
th
eir
k
n
o
w
led
g
e
a
n
d
ex
p
er
ien
ce
RE
F
E
R
E
NC
E
S
[
1
]
L
.
N
a
c
h
a
b
e
,
M
.
G
i
r
o
d
-
G
e
n
e
t
,
B
.
El
H
a
ssan
,
a
n
d
J.
Jam
mas,
“
M
-
h
e
a
l
t
h
a
p
p
l
i
c
a
t
i
o
n
f
o
r
n
e
o
n
a
t
a
l
i
n
c
u
b
a
t
o
r
si
g
n
a
l
s
mo
n
i
t
o
r
i
n
g
t
h
r
o
u
g
h
a
C
o
A
P
-
b
a
se
d
mu
l
t
i
-
a
g
e
n
t
sy
st
e
m,
”
i
n
2
0
1
5
I
n
t
e
rn
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
Ad
v
a
n
c
e
s
i
n
B
i
o
m
e
d
i
c
a
l
En
g
i
n
e
e
r
i
n
g
(
I
C
ABM
E)
,
I
EEE,
S
e
p
.
2
0
1
5
,
p
p
.
1
7
0
–
173
,
d
o
i
:
1
0
.
1
1
0
9
/
I
C
A
B
M
E.
2
0
1
5
.
7
3
2
3
2
7
9
.
[
2
]
M
.
S
h
a
i
b
,
M
.
R
a
sh
i
d
,
L
.
H
a
maw
y
,
M
.
A
r
n
o
u
t
,
I
.
E.
M
a
j
z
o
u
b
a
n
d
A
.
J
.
Z
a
y
l
a
a
,
“
A
d
v
a
n
c
e
d
p
o
r
t
a
b
l
e
p
r
e
t
e
r
m
b
a
b
y
i
n
c
u
b
a
t
o
r
,
”
2
0
1
7
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