I
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l J
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l o
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Art
if
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t
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ence
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I
J
-
AI
)
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
2
0
1
5
,
p
p
.
1
3
9
~
1
5
2
I
SS
N:
2252
-
8938
139
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o
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AI
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pe
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u
zz
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Fed
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’sila
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1
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terv
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-
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F
u
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(IT
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L
C)
m
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ly
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M
),
w
e
m
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d
e
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n
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irst
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y
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F
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e
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u
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h
e
p
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ter
v
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.
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o
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sim
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lati
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su
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s
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o
w
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iv
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ss
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f
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d
m
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d
.
K
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d
:
Dir
ec
t stato
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f
l
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x
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r
ien
tatio
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co
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Do
u
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ct
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ter
v
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-
2
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ller
T
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1
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y
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g
ic
co
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Co
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rig
h
t
©
2
0
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In
stit
u
te o
f
A
d
v
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E
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.
Al
l
rig
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C
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p
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A
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L
o
u
k
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Kelto
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Dep
ar
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f
E
lectr
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E
n
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in
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Un
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iaf
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ila,
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P
1
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ch
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ilia 2
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A
lg
er
ia
.
E
m
ail:
m
u
o
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tle
k
@
y
a
h
o
o
.
f
r
1.
I
NT
RO
D
UCT
I
O
N
Sin
ce
t
h
e
ea
r
l
y
y
ea
r
s
o
f
in
d
u
s
tr
ializa
tio
n
,
t
h
e
r
esear
ch
er
s
w
er
e
f
ac
ed
w
it
h
"
h
o
w
to
co
n
tr
o
l
th
e
elec
tr
ic
m
ac
h
in
e
s
at
v
ar
iab
le
s
p
ee
d
s
.
"
Fo
r
elec
tr
ic
d
r
iv
es
r
eq
u
ir
e
in
cr
ea
s
i
n
g
l
y
h
i
g
h
p
er
f
o
r
m
a
n
ce
,
i
n
cr
ea
s
ed
r
eliab
ilit
y
,
a
n
d
r
ed
u
ce
d
co
s
t.
Am
o
n
g
t
h
ese
m
ac
h
i
n
es
i
s
d
o
u
b
l
y
f
ed
in
d
u
ctio
n
m
ac
h
i
n
e
(
DFI
M)
[
1
-
3
]
th
e
DFI
M
is
an
as
y
n
ch
r
o
n
o
u
s
m
a
ch
in
e
w
i
th
w
o
u
n
d
r
o
to
r
w
h
ich
ca
n
b
e
s
u
p
p
lied
ev
e
n
ti
m
e
b
y
th
e
s
tato
r
an
d
th
e
r
o
to
r
ex
ter
n
al
s
o
u
r
ce
v
o
lta
g
es
[
4
]
.
I
t
w
as
f
ir
s
t
s
t
u
d
ied
to
b
e
u
s
ed
as
a
h
ig
h
-
s
p
ee
d
m
o
to
r
.
T
h
e
m
a
n
y
b
en
e
f
it
s
o
f
th
is
m
ac
h
i
n
e
ar
e:
r
ed
u
ce
d
m
a
n
u
f
ac
t
u
r
in
g
co
s
t,
r
elati
v
el
y
s
i
m
p
le
co
n
s
tr
u
ctio
n
,
h
ig
h
er
s
p
e
ed
an
d
d
o
n
o
t
r
eq
u
ir
e
o
n
g
o
i
n
g
m
ai
n
ten
a
n
ce
.
I
n
r
ec
en
t
d
ec
ad
es,
an
d
g
r
atit
u
d
e
to
ad
v
an
ce
s
i
n
tech
n
o
lo
g
y
p
o
w
er
elec
tr
o
n
ic
s
an
d
m
icr
o
co
m
p
u
ter
,
d
if
f
er
en
t
ap
p
licatio
n
s
o
f
D
FIM
th
e
n
b
ec
a
m
e
p
o
s
s
ib
le
w
h
o
s
e
in
ter
est
lie
s
m
ai
n
l
y
i
n
th
e
s
p
ee
d
co
n
tr
o
l
o
p
tio
n
s
w
it
h
an
d
with
o
u
t
m
ec
h
a
n
ical
s
e
n
s
o
r
s
a
n
d
f
l
u
x
co
n
tr
o
l
p
o
w
er
s
f
o
r
h
y
p
o
an
d
h
y
p
er
-
s
y
n
ch
r
o
n
o
u
s
f
ea
tu
r
es
r
eg
i
m
es
in
e
ith
er
o
p
er
atio
n
s
m
o
to
r
o
r
g
e
n
er
ato
r
.
[
5
]
Fo
r
o
p
er
atio
n
at
d
if
f
er
en
t
s
p
ee
d
s
m
u
s
t
b
e
in
s
er
ted
in
th
e
m
ac
h
i
n
e
a
co
n
v
er
ter
P
W
M
(
P
u
ls
e
W
id
th
Mo
d
u
latio
n
)
b
et
w
ee
n
th
e
m
ac
h
in
e
a
n
d
th
e
n
et
w
o
r
k
.
Fo
r
,
w
h
ate
v
er
t
h
e
s
p
ee
d
o
f
th
e
m
ac
h
i
n
e,
th
e
v
o
lt
ag
e
i
s
r
ec
ti
f
ied
a
n
d
a
n
i
n
v
er
t
er
co
n
n
ec
ted
to
th
e
n
et
w
o
r
k
s
id
e
i
s
r
esp
o
n
s
ib
le
f
o
r
en
s
u
r
in
g
co
n
s
i
s
te
n
c
y
b
et
w
ee
n
t
h
e
n
et
w
o
r
k
f
r
eq
u
e
n
c
y
a
n
d
t
h
at
d
e
li
v
er
ed
b
y
t
h
e
d
ev
ice.
T
h
e
DFI
M
is
e
s
s
e
n
ti
all
y
n
o
n
li
n
ea
r
,
d
u
e
to
t
h
e
co
u
p
lin
g
b
et
w
ee
n
t
h
e
f
lu
x
a
n
d
th
e
elec
tr
o
m
a
g
n
etic
to
r
q
u
e.
T
h
e
v
ec
to
r
co
n
tr
o
l
o
r
f
ield
o
r
ien
tatio
n
co
n
tr
o
l
th
at
allo
w
s
a
d
ec
o
u
p
li
n
g
b
et
w
ee
n
th
e
to
r
q
u
e
an
d
t
h
e
f
l
u
x
.
[
6
]
[
7
]
W
ith
t
h
e
f
ield
o
r
ien
tatio
n
co
n
tr
o
l
(
FOC
)
m
eth
o
d
,
i
n
d
u
ctio
n
m
ac
h
i
n
e
d
r
iv
es
ar
e
b
ec
o
m
in
g
a
m
aj
o
r
ca
n
d
id
ate
in
h
i
g
h
-
p
er
f
o
r
m
an
c
e
m
o
tio
n
co
n
tr
o
l
ap
p
licatio
n
s
,
w
h
er
e
s
er
v
o
q
u
alit
y
o
p
er
atio
n
is
r
eq
u
ir
ed
.
Fas
t
tr
an
s
ie
n
t
r
e
s
p
o
n
s
e
is
m
ad
e
p
o
s
s
ib
le
b
y
d
ec
o
u
p
led
to
r
q
u
e
an
d
f
lu
x
co
n
t
r
o
l.
T
h
e
m
o
s
t
w
id
el
y
u
s
ed
co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8938
IJ
-
AI
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
2
0
1
5
:
1
3
9
–
1
5
2
140
m
et
h
o
d
is
p
er
h
ap
s
th
e
p
r
o
p
o
r
tio
n
al
in
te
g
r
al
co
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tr
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(
P
I
)
.
I
t
is
ea
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y
to
d
esi
g
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a
n
d
i
m
p
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m
e
n
t,
b
u
t
it
h
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s
d
if
f
ic
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lt
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in
d
ea
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w
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ar
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eter
v
ar
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s
,
a
n
d
lo
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d
is
tu
r
b
an
ce
s
[
8
]
.
R
ec
e
n
t
liter
at
u
r
e
h
as
p
aid
m
u
c
h
atten
tio
n
to
th
e
p
o
ten
tial o
f
f
u
zz
y
co
n
tr
o
l in
m
ac
h
in
e
d
r
iv
e
a
p
p
licatio
n
s
.
I
n
th
e
ar
ea
o
f
co
n
tr
o
l
o
f
elec
tr
ical
m
ac
h
in
er
y
,
r
esear
ch
is
in
cr
ea
s
i
n
g
l
y
o
r
ien
ted
to
w
ar
d
s
t
h
e
ap
p
licatio
n
o
f
m
o
d
er
n
co
n
tr
o
l
tech
n
iq
u
es.
T
h
ese
tec
h
n
iq
u
e
s
in
v
o
l
v
ed
d
izzil
y
w
it
h
th
e
e
v
o
l
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tio
n
o
f
co
m
p
u
ter
s
an
d
p
o
w
er
elec
tr
o
n
ic
s
.
T
h
is
e
n
ab
les
lead
i
n
g
m
a
n
u
f
ac
tu
r
er
s
to
h
ig
h
p
er
f
o
r
m
an
ce
p
r
o
ce
s
s
es.
T
h
ese
tech
n
iq
u
e
s
ar
e
lin
ea
r
co
n
tr
o
l
[
1
]
,
s
lid
in
g
m
o
d
e
co
n
tr
o
l
[
1
]
[
4
]
,
f
ee
d
b
ac
k
li
n
ea
r
izatio
n
,
ad
ap
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o
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[
9
]
,
th
is
last
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(
FLC)
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1
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.
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d
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f
r
a
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f
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r
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1
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u
r
e
1
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g
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ield
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(
3
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ep
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s
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3
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in
(
1
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an
d
(
2
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w
e
o
b
tain
ed
:
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
Typ
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Ma
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DF
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Lo
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ka
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m
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141
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[
1
0
]
w
it
h
co
n
s
id
er
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n
g
:
a.
An
i
n
p
u
t
-
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tp
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u
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t d
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(
d
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s
tato
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x
;
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e
to
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ap
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[
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Fro
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I
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IJ
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0
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T
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g
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er
ated
to
r
q
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D
FIM
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n
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ter
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1
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d
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
-
AI
I
SS
N:
2252
-
8938
Typ
e
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2
F
u
z
z
y
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g
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n
Ma
c
h
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(
DF
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M)
(
Lo
u
ka
l Kelto
u
m
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143
3.
VE
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er
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r
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e
s
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er
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ce
(
d
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elate
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x
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tatio
n
[
1
2
]
[
1
3
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s
d
s
an
d
0
sq
(
1
5
)
R
ep
lace
s
(
1
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till
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[
1
4
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[
1
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an
d
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1
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eh
[
1
6
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[
1
7
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[
1
8
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as
an
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[
1
6
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C
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
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AI
I
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N:
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8938
Typ
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4
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1
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