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Ma
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373
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uth
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Sch
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p
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Scien
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s
(
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,
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b
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Un
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s
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.
P 2
4
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Ken
itra
1
4
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0
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Mo
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war
2
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1.
I
NT
RO
D
UCT
I
O
N
B
r
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s
h
less
d
ir
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(
B
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)
m
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s
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tr
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o
b
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icien
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,
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life
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y
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o
n
s
u
m
p
tio
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n
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er
lo
ad
[
1
]
,
[
2
]
.
Ho
wev
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,
p
r
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p
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m
o
to
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f
u
n
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d
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cu
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to
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s
itio
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co
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t
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o
l,
wh
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is
u
s
u
ally
ac
h
iev
ed
with
h
all
-
ef
f
ec
t
s
en
s
o
r
s
.
T
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s
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s
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s
g
en
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lo
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s
ig
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at
ar
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u
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ed
to
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[
3
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,
[
4
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.
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p
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m
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s
ca
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lo
w
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am
p
litu
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co
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u
p
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als,
co
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b
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o
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m
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f
f
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am
p
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to
b
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liab
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b
y
d
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co
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t
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cir
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its
[
5
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-
[
7
]
.
T
h
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p
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en
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m
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ca
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x
ac
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s
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as
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b
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a
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te
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s
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p
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.
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witch
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r
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m
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cr
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d
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ltima
tely
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ay
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ex
p
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tal
co
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itio
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s
,
wh
er
e
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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20
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374
q
u
ality
o
f
t
h
e
in
p
u
t
s
ig
n
al
is
a
d
ec
is
iv
e
f
ac
to
r
[
8
]
.
T
h
er
ef
o
r
e
,
th
er
e
is
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g
ap
in
th
e
liter
atu
r
e
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eg
ar
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r
ically
p
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s
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[
9
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[
1
0
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.
Dev
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lik
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p
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o
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s
.
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th
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liter
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r
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th
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s
h
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k
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P
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[
1
1
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p
r
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an
o
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s
tr
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f
o
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m
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On
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1
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p
o
s
itio
n
er
r
o
r
s
u
s
in
g
t
h
e
least
s
q
u
ar
es
an
d
b
ac
k
-
E
MF
r
etr
o
ac
tio
n
,
with
th
e
aim
to
co
r
r
ec
t th
e
ef
f
ec
ts
o
f
a
b
ad
s
ig
n
al
s
en
s
o
r
alig
n
m
en
t
o
r
am
p
litu
d
e.
C
o
m
p
lem
en
ta
r
ily
,
r
esear
ch
p
u
b
lis
h
ed
o
n
MD
PI
E
n
er
g
ies
[
1
3
]
s
tu
d
ied
an
g
u
lar
er
r
o
r
s
in
d
u
ce
d
b
y
l
o
w
-
r
eso
lu
tio
n
h
all
s
en
s
o
r
s
an
d
p
r
o
p
o
s
ed
a
v
ec
to
r
o
b
s
er
v
er
ca
p
ab
le
o
f
p
r
o
d
u
cin
g
m
o
r
e
f
aith
f
u
l
s
in
u
s
o
i
d
al
co
n
tr
o
l
s
ig
n
als.
Fu
r
th
er
m
o
r
e,
E
b
ad
p
o
u
r
et
a
l
.
[
1
4
]
p
u
t
f
o
r
war
d
a
co
m
p
en
s
atio
n
a
n
d
d
iag
n
o
s
tic
s
tr
ateg
y
in
clu
d
in
g
s
tate
an
aly
s
is
o
f
h
all
s
ig
n
als
an
d
a
v
elo
city
o
b
s
er
v
er
,
to
r
ec
o
n
s
tr
u
ct
a
r
eliab
le
s
ig
n
al
in
th
e
ev
en
t
o
f
s
e
n
s
o
r
f
ailu
r
e
o
r
l
o
s
s
.
Ho
wev
er
,
m
o
s
t
o
f
t
h
is
wo
r
k
f
o
cu
s
es
o
n
alg
o
r
ith
m
ic
o
r
s
o
f
t
war
e
s
o
lu
tio
n
s
,
an
d
n
e
g
lects
p
h
y
s
ical
s
ig
n
al
p
r
o
ce
s
s
in
g
,
in
p
ar
ticu
lar
elec
tr
ical
co
n
d
itio
n
in
g
(
f
ilter
in
g
,
am
p
lif
icatio
n
,
is
o
latio
n
)
,
wh
ich
is
ess
en
tial
in
h
ig
h
-
n
o
is
e
o
r
lo
w
-
p
o
wer
en
v
ir
o
n
m
en
ts
[
1
5
]
,
[
1
6
]
.
I
t sh
o
u
l
d
b
e
n
o
ted
t
h
at,
alth
o
u
g
h
th
e
r
e
ar
e
m
an
y
s
tu
d
ies o
n
alg
o
r
ith
m
ic
s
tr
ateg
ies f
o
r
co
m
p
en
s
atin
g
f
o
r
h
all
ef
f
e
ct
s
en
s
o
r
d
ef
ec
ts
,
s
u
ch
as
s
o
f
twar
e
co
r
r
ec
tio
n
o
f
p
o
s
itio
n
er
r
o
r
s
,
in
ter
f
er
en
c
e
d
etec
tio
n
,
o
r
s
tate
o
b
s
er
v
atio
n
,
f
ew
ad
d
r
ess
th
e
m
ajo
r
is
s
u
e
o
f
h
ar
d
war
e
s
ig
n
al
p
r
o
ce
s
s
in
g
p
r
io
r
to
d
i
g
ital
co
n
v
er
s
io
n
.
I
n
n
o
is
y
in
d
u
s
tr
ial
en
v
ir
o
n
m
e
n
ts
,
p
u
r
el
y
s
o
f
twar
e
-
b
ased
s
o
lu
tio
n
s
r
ea
ch
th
eir
lim
its
b
ec
a
u
s
e
th
ey
r
e
q
u
ir
e
a
s
u
f
f
icien
tly
clea
n
an
d
r
eliab
le
in
p
u
t sig
n
al.
I
n
v
iew
o
f
th
is
p
r
o
b
lem
,
th
e
aim
o
f
th
e
p
r
esen
t
wo
r
k
is
to
d
esig
n
an
d
ex
p
er
im
en
tally
te
s
t
a
s
ig
n
al
co
n
d
itio
n
in
g
h
ar
d
war
e
s
o
lu
tio
n
ca
p
ab
le
o
f
co
m
p
en
s
atin
g
f
o
r
th
e
lo
w
am
p
litu
d
es
o
f
th
e
s
ig
n
als
s
u
p
p
lied
b
y
h
all
-
ef
f
ec
t
s
en
s
o
r
s
.
T
h
e
aim
is
to
p
r
o
p
o
s
e
a
s
im
p
le,
r
ep
r
o
d
u
c
ib
le
ar
ch
itectu
r
e
th
at
ca
n
b
e
in
teg
r
ated
in
to
a
r
ea
l
co
n
tr
o
l
l
o
o
p
,
g
u
ar
an
teein
g
th
e
r
eliab
ilit
y
o
f
th
e
lo
g
ic
tr
an
s
itio
n
s
r
eq
u
ir
ed
f
o
r
m
o
t
o
r
p
h
ase
s
witch
in
g
[
1
7
]
.
Fo
r
th
is
en
d
,
a
s
o
lu
tio
n
co
m
p
r
is
in
g
am
p
lific
atio
n
,
f
ilter
in
g
,
a
n
d
g
alv
an
ic
is
o
latio
n
with
th
e
ai
d
o
f
o
p
to
c
o
u
p
ler
s
is
cr
ea
ted
,
th
en
im
p
lem
e
n
ted
an
d
test
ed
o
n
a
d
SP
AC
E
D
S1
1
0
4
b
o
ar
d
.
T
h
is
wo
r
k
also
s
ee
k
s
to
co
m
p
ar
e
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
o
p
tim
ized
s
y
s
tem
with
th
at
o
f
co
n
v
en
tio
n
al
co
n
tr
o
l
d
esig
n
m
eth
o
d
o
lo
g
ies,
in
o
r
d
er
to
p
r
o
v
e
t
h
e
p
r
ac
tical
b
e
n
ef
its
o
f
m
ater
ial
co
n
d
itio
n
i
n
g
in
t
h
e
r
e
al
co
n
tex
t o
f
B
L
DC
m
o
to
r
co
n
tr
o
l [
1
8
]
,
[
1
9
]
.
T
h
is
s
tu
d
y
p
r
esen
ts
a
p
r
ac
tica
l
s
o
lu
tio
n
with
an
ex
p
e
r
im
en
t
al
p
r
o
to
ty
p
e
wh
o
s
e
aim
is
to
r
eso
lv
e
th
e
s
h
o
r
tco
m
in
g
s
o
f
lo
w
-
am
p
litu
d
e
s
ig
n
als
p
r
o
d
u
c
ed
b
y
h
all
-
ef
f
ec
t
s
en
s
o
r
s
,
w
h
ich
a
r
e
o
f
ten
th
e
ca
u
s
e
o
f
m
alf
u
n
ctio
n
s
w
h
en
ad
d
r
ess
in
g
B
L
DC
m
o
to
r
s
.
T
h
e
aim
is
to
d
esig
n
a
s
af
e
s
ig
n
al
p
r
o
c
ess
in
g
ar
ch
itectu
r
e,
in
teg
r
ated
in
to
an
in
te
g
r
ated
c
o
n
tr
o
l
ch
ain
a
n
d
test
ed
in
a
r
e
al
-
life
en
v
ir
o
n
m
en
t.
T
h
e
r
e
m
a
in
d
er
o
f
th
e
ar
ticle
is
s
tr
u
ctu
r
ed
in
th
e
f
o
llo
win
g
m
an
n
er
:
Sectio
n
2
p
r
esen
ts
th
e
m
o
d
el
an
d
th
e
m
ath
e
m
atica
l
r
ep
r
esen
tatio
n
o
f
th
e
B
L
DC
m
o
to
r
.
Sectio
n
3
g
iv
es
th
e
m
eth
o
d
o
l
o
g
y
e
m
p
lo
y
ed
in
th
e
d
esig
n
an
d
im
p
lem
en
tatio
n
o
f
th
e
m
ater
ial
an
d
s
o
f
twar
e
s
o
lu
ti
o
n
,
e
n
co
m
p
ass
in
g
th
e
c
o
n
d
it
io
n
in
g
o
f
th
e
s
ig
n
al
an
d
its
in
teg
r
atio
n
o
n
th
e
d
SP
AC
E
DS1
1
0
4
ca
r
d
.
Secti
o
n
4
d
escr
ib
es
th
e
ex
p
er
im
e
n
t
ca
r
r
ied
o
u
t
a
n
d
th
e
r
esu
lts
,
h
ig
h
lig
h
tin
g
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
s
y
s
tem
d
ev
elo
p
ed
c
o
m
p
ar
e
d
with
co
n
v
en
tio
n
al
m
eth
o
d
s
.
Fin
ally
,
s
ec
tio
n
5
p
r
o
v
id
es
a
cr
itical
an
aly
s
is
o
f
th
e
r
esu
l
ts
an
d
o
p
en
s
u
p
p
r
o
s
p
ec
ts
f
o
r
f
u
tu
r
e
r
esear
c
h
,
p
ar
ticu
lar
ly
in
co
n
s
tr
ain
ed
en
v
ir
o
n
m
en
ts
,
o
n
th
e
r
o
b
u
s
tn
e
s
s
an
d
o
p
tim
izatio
n
o
f
B
L
DC
m
o
to
r
co
n
tr
o
l sy
s
tem
s
.
2.
M
AT
H
E
M
AT
I
CA
L
M
O
D
E
L
I
NG
O
F
T
H
E
B
L
DC
M
O
T
O
RS
T
h
e
eq
u
iv
alen
t
m
o
d
el
o
f
th
e
B
L
DC
m
o
to
r
d
r
iv
e
s
y
s
tem
,
as
s
u
m
in
g
a
s
y
m
m
etr
ical
th
r
ee
-
p
h
ase
s
tato
r
win
d
in
g
,
is
s
h
o
wn
in
Fig
u
r
e
1
[
2
0
].
T
h
e
ter
m
in
al
v
o
ltag
e
e
q
u
atio
n
f
o
r
t
h
e
th
r
ee
s
tato
r
p
h
ase
s
ca
n
b
e
ex
p
r
ess
ed
as
(
1
)
.
{
=
+
+
=
+
+
=
+
+
(
1
)
T
h
e
elec
tr
o
m
ag
n
etic
to
r
q
u
e
d
e
v
elo
p
ed
b
y
th
e
m
o
to
r
is
g
iv
en
b
y
(
2
)
.
=
+
+
Ω
(
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
R
o
b
u
s
t h
a
ll sen
s
o
r
s
ig
n
a
l c
o
n
d
itio
n
in
g
fo
r
B
LDC
mo
to
r
co
n
tr
o
l u
s
in
g
R
C
…
(
Ha
s
n
i A
n
w
a
r
)
375
W
h
er
e
,
,
(
V)
ar
e
th
e
v
o
ltag
es
ac
r
o
s
s
th
e
th
r
ee
-
p
h
ase
s
tato
r
win
d
in
g
s
;
,
,
(
A)
ar
e
th
e
co
r
r
esp
o
n
d
in
g
p
h
ase
c
u
r
r
e
n
ts
;
(
Ω
)
is
th
e
s
tato
r
p
h
ase
r
esis
tan
ce
;
(
H)
is
th
e
s
tato
r
p
h
ase
in
d
u
ctan
ce
;
,
,
(
V)
ar
e
th
e
b
ac
k
elec
tr
o
m
o
tiv
e
f
o
r
ce
s
(
E
MFs)
f
o
r
ea
c
h
p
h
ase
;
em
(
N.
m
)
is
th
e
d
ev
elo
p
ed
elec
tr
o
m
ag
n
etic
to
r
q
u
e
; a
n
d
Ω
(
r
ad
/s
)
is
th
e
r
o
to
r
an
g
u
lar
v
elo
city
.
Fig
u
r
e
1
.
Diag
r
a
m
o
f
th
e
co
m
p
lete
B
L
DC
m
o
to
r
co
n
tr
o
l
b
r
i
d
g
e
3.
M
E
T
H
O
D
T
h
e
o
b
jectiv
e
o
f
th
is
s
ec
tio
n
i
s
to
p
r
esen
t
th
e
v
ar
i
o
u
s
m
eth
o
d
s
,
tech
n
iq
u
es,
an
d
alg
o
r
ith
m
s
u
s
ed
in
th
is
s
tu
d
y
.
I
t
is
s
tr
u
ctu
r
ed
in
two
co
m
p
lem
en
tar
y
p
a
r
ts
.
T
h
e
f
ir
s
t
p
ar
t
is
d
ev
o
ted
to
a
p
r
esen
tatio
n
o
f
th
e
ex
p
er
im
en
tal
ap
p
r
o
ac
h
es,
th
e
eq
u
ip
m
en
t
u
s
ed
,
an
d
th
e
ju
s
tific
atio
n
o
f
th
e
h
ar
d
war
e
ch
o
ices
m
ad
e,
p
ar
ticu
lar
ly
i
n
r
elatio
n
to
th
e
r
ea
lizatio
n
o
f
th
e
b
r
u
s
h
less
m
o
to
r
co
m
m
u
tatio
n
tab
le.
T
h
e
s
ec
o
n
d
p
ar
t
d
escr
ib
es
th
e
co
d
es u
s
ed
.
I
t a
ls
o
in
clu
d
e
s
lo
g
o
g
r
am
s
o
f
th
e
alg
o
r
ith
m
s
u
s
ed
to
p
o
wer
an
d
c
o
n
tr
o
l th
e
B
L
DC
m
o
to
r
.
3
.
1
.
I
dentif
ica
t
io
n o
f
t
he
mo
t
o
r
co
m
m
uta
t
io
n t
a
ble
T
h
is
s
ec
tio
n
p
r
esen
ts
th
e
v
ar
i
o
u
s
ex
p
er
im
e
n
tal
test
s
ca
r
r
ied
o
u
t
to
d
eter
m
in
e
t
h
e
co
m
m
u
t
atio
n
tab
le
an
d
co
n
tr
o
l
alg
o
r
ith
m
f
o
r
th
e
b
r
u
s
h
less
m
o
to
r
.
T
h
e
ex
p
er
im
en
tal
ar
ch
itectu
r
e
s
h
o
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in
Fi
g
u
r
e
2
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u
s
ed
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o
r
th
is
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aly
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is
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T
o
im
p
r
o
v
e
th
e
q
u
ality
o
f
th
e
s
ig
n
als
f
r
o
m
t
h
e
h
all
-
ef
f
ec
t
s
en
s
o
r
s
,
an
ac
ti
v
e
f
ilter
in
g
s
o
lu
tio
n
b
ased
o
n
an
R
C
f
ilter
was
im
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lem
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ted
[
2
1
]
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T
h
is
s
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tio
n
was
m
o
tiv
ated
b
y
th
e
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ee
d
to
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ate
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ig
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-
f
r
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e
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cy
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ter
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er
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ce
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ate
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ig
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iatio
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ely
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is
r
u
p
t
th
e
s
witch
in
g
p
r
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ce
s
s
.
T
h
e
R
C
f
ilter
u
s
ed
is
a
lo
w
-
p
ass
f
ilter
wh
o
s
e
cu
t
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o
f
f
f
r
eq
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en
cy
is
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iv
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y
(
3
)
.
=
1
2
(
3
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W
h
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e
R
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a
n
d
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0
0
n
F
,
g
iv
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n
g
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f
f
f
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cy
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p
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ately
f
c
≈
1
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5
9
k
Hz.
T
h
is
f
r
e
q
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en
c
y
p
r
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es
th
e
u
s
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l
f
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r
m
o
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t
h
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d
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ates
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n
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n
ted
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e.
T
ab
le
1
lis
ts
all
th
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co
m
p
o
n
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ts
u
s
ed
an
d
ex
p
e
r
im
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tal
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alu
es,
in
cl
u
d
in
g
o
p
to
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u
p
ler
in
p
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t
an
d
o
u
tp
u
t
r
esis
tan
ce
s
an
d
f
ilter
p
ar
am
eter
s
[
2
2
]
.
T
h
is
f
ilter
in
g
d
ev
ice
en
ab
les
m
o
r
e
ac
cu
r
ate
s
ig
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al
ac
q
u
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y
th
e
m
i
x
ed
-
s
ig
n
al
d
ig
ital
o
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cillo
s
co
p
e,
g
u
ar
an
teein
g
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eliab
le
id
en
tifi
ca
tio
n
o
f
th
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s
witch
in
g
s
eq
u
en
ce
.
T
h
e
R
C
f
ilter
,
with
a
cu
t
-
o
f
f
f
r
eq
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e
n
cy
o
f
1
.
5
9
k
Hz,
e
f
f
ec
tiv
ely
elim
in
ates
in
ter
f
er
en
ce
wh
ile
p
r
e
s
er
v
in
g
th
e
s
p
ee
d
o
f
h
all
s
ig
n
als.
T
h
e
4
N3
5
o
p
to
co
u
p
ler
,
with
a
m
a
x
im
u
m
tr
an
s
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er
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f
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s
u
r
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t
d
eg
r
ad
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n
g
s
ig
n
al
d
y
n
a
m
ics.
T
h
is
ch
o
ice
g
u
ar
an
tees
clea
n
,
f
ast
s
ig
n
al
p
r
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ce
s
s
in
g
at
th
e
B
L
DC
m
o
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r
'
s
o
p
er
atin
g
f
r
eq
u
en
cy
.
T
ab
le
1
.
E
x
p
er
im
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tal
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alu
es to
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e
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s
ed
S
y
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Op
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5
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sist
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F
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ter res
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
2
5
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2
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1
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376
Fig
u
r
e
2
.
E
x
p
er
im
e
n
tal
test
f
o
r
B
L
DC
m
o
to
r
co
m
m
u
tatio
n
t
ab
le
id
en
tific
atio
n
3
.
2
.
F
ind
t
he
mo
t
o
r
s
wit
chbo
a
rd
us
ing
a
n o
s
cillo
s
co
pe
T
h
e
f
ir
s
t
test
ca
r
r
ied
o
u
t
as
p
ar
t
o
f
th
is
s
tu
d
y
aim
s
to
d
etec
t
th
e
co
m
m
u
tatio
n
tab
le
o
f
th
e
b
r
u
s
h
less
DC
m
o
to
r
(
B
L
DC
)
,
b
ased
o
n
th
e
s
ig
n
als
p
r
o
v
id
ed
b
y
t
h
e
h
all
s
en
s
o
r
s
in
teg
r
ated
i
n
th
e
m
o
to
r
[
2
3
]
.
T
h
ese
g
en
er
ate
th
r
ee
d
ig
ital
s
ig
n
als
r
elatin
g
to
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e
r
elativ
e
p
o
s
itio
n
o
f
th
e
r
o
to
r
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m
a
k
in
g
it
p
o
s
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ib
le
to
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tr
u
ct
a
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ar
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m
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in
atio
n
co
d
e
d
o
n
3
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its
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T
h
e
r
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lts
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f
t
h
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id
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tific
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n
s
tag
e
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e
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n
T
ab
le
2
.
T
ab
le
2
.
Hall
s
en
s
o
r
3
-
b
it p
att
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n
s
m
ap
p
e
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to
co
m
m
u
tatio
n
s
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s
H
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l
l
C
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l
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l
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C
o
mm
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t
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t
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o
n
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t
e
p
0
0
1
1
0
1
1
2
0
1
0
3
1
1
0
4
1
0
0
5
1
0
1
6
3
.
3
.
Det
er
m
ini
ng
s
wit
ching
s
t
a
t
es f
o
r
inv
er
t
er
c
o
ntr
o
l
T
h
is
s
ec
o
n
d
ex
p
e
r
im
en
tal
test
en
ab
led
u
s
to
d
etec
t
an
d
c
o
n
f
ir
m
th
e
s
ix
-
s
tep
s
witch
in
g
T
a
b
le
3
u
s
ed
to
d
r
iv
e
th
e
B
L
DC
m
o
to
r
in
v
er
ter
.
E
ac
h
h
all
s
en
s
o
r
c
o
n
f
i
g
u
r
atio
n
(
C
B
A)
is
ass
o
ciate
d
with
a
d
ef
in
e
d
m
o
to
r
p
h
ase
ac
tiv
atio
n
s
eq
u
e
n
ce
(
p
o
s
itiv
e,
n
eg
ativ
e
o
r
f
lo
atin
g
)
an
d
a
p
ai
r
o
f
s
witch
es
(
Q1
-
Q6
)
to
b
e
ac
tiv
ated
.
T
h
is
tab
le
g
u
ar
a
n
tees
co
r
r
ec
t
co
m
m
u
tatio
n
ac
co
r
d
in
g
to
r
o
to
r
p
o
s
itio
n
,
a
n
d
th
u
s
s
tab
le,
ef
f
icien
t
m
o
to
r
o
p
er
atio
n
[
2
4
]
.
T
ab
le
3
.
Ph
ase
s
witch
in
g
f
o
r
s
ix
-
s
tep
co
m
m
u
tatio
n
S
t
e
p
H
a
l
l
P
a
t
t
e
r
n
(
C
B
A
)
P
h
a
se
C
P
h
a
se
B
P
h
a
se
A
C
o
mm
u
t
a
t
e
u
r
s
1
0
0
1
+
-
Z
Q
5
–
Q4
2
0
1
1
+
Z
-
Q
5
–
Q2
3
0
1
0
Z
+
-
Q
3
–
Q2
4
1
1
0
-
+
Z
Q
3
–
Q6
5
1
0
0
-
Z
+
Q
1
–
Q6
6
1
0
1
Z
-
+
Q
1
–
Q4
3
.
4
.
Co
de
in f
lo
wcha
rt
f
o
r
m
Fig
u
r
e
3
s
h
o
ws
a
f
lo
w
ch
ar
t
o
f
th
e
s
witch
in
g
alg
o
r
ith
m
im
p
lem
en
ted
in
MA
T
L
AB
/Si
m
u
lin
k
t
o
co
n
tr
o
l
a
B
L
DC
m
o
to
r
u
s
in
g
h
all
s
en
s
o
r
s
.
T
h
e
co
d
e
f
ir
s
t
d
e
-
ze
r
o
s
th
e
p
u
ls
e
wid
t
h
m
o
d
u
la
tio
n
(
PW
M
)
s
ig
n
als
f
r
o
m
th
e
I
GB
T
tr
an
s
is
to
r
s
to
en
ab
le
s
af
e
s
tar
tin
g
.
I
t
th
en
r
ea
d
s
th
e
d
u
ty
cy
cle
v
alu
es
an
d
h
all
s
en
s
o
r
s
tates
(
Ha,
Hb
,
Hc)
,
g
i
v
in
g
u
s
th
e
r
o
to
r
p
o
s
itio
n
.
T
h
e
s
ig
n
als
ar
e
co
n
v
e
r
ted
to
a
p
o
s
itio
n
-
d
e
p
e
n
d
en
t
b
in
ar
y
co
d
e
(
POS)
o
f
v
al
u
e
1
to
6
,
co
r
r
es
p
o
n
d
in
g
to
th
e
s
ix
s
witch
in
g
s
tates
o
f
a
th
r
ee
-
p
h
ase
m
o
to
r
.
B
ased
o
n
t
h
e
r
ea
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
R
o
b
u
s
t h
a
ll sen
s
o
r
s
ig
n
a
l c
o
n
d
itio
n
in
g
fo
r
B
LDC
mo
to
r
co
n
tr
o
l u
s
in
g
R
C
…
(
Ha
s
n
i A
n
w
a
r
)
377
v
alu
e
f
r
o
m
th
e
POS,
a
r
esp
ec
tiv
e
co
n
f
ig
u
r
atio
n
o
f
I
GB
T
tr
an
s
is
to
r
s
is
en
ab
led
in
o
r
d
er
t
o
cr
ea
te
th
e
s
u
itab
le
s
eq
u
en
ce
o
f
v
o
ltag
e
f
o
r
th
e
m
o
to
r
p
h
ases
s
o
th
at
th
e
r
o
tatin
g
f
ield
co
u
l
d
b
e
cr
ea
ted
.
W
h
en
th
er
e
is
an
er
r
o
n
e
o
u
s
r
ea
d
in
g
,
th
e
s
y
s
tem
au
to
m
atica
lly
s
h
if
ts
to
s
af
e
m
o
d
e,
d
is
co
n
n
ec
tin
g
all
th
e
o
u
tp
u
ts
.
T
h
i
s
t
y
p
e
o
f
a
l
g
o
r
i
t
h
m
g
u
a
r
a
n
t
e
e
s
c
o
m
m
u
ta
t
i
o
n
w
i
t
h
t
h
e
p
o
s
i
t
i
o
n
i
n
g
o
f
t
h
e
r
o
t
o
r
i
n
a
s
t
a
b
l
e
f
o
r
m
,
a
r
e
q
u
i
r
e
m
e
n
t
t
o
d
r
i
v
e
B
L
DC
m
o
t
o
r
s
[
2
5
]
,
[
2
6
]
.
Fig
u
r
e
3
.
Flo
wch
ar
t
o
f
th
e
co
d
e
u
s
e
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
4
.
1
.
Sy
s
t
e
m
o
v
er
v
iew
Fig
u
r
e
4
s
h
o
ws
th
e
test
b
en
c
h
s
et
u
p
f
o
r
th
e
ex
p
e
r
im
en
tal
v
alid
atio
n
o
f
th
e
m
eth
o
d
f
o
r
p
r
o
ce
s
s
in
g
s
ig
n
als
f
r
o
m
h
all
ef
f
ec
t
s
en
s
o
r
s
in
a
B
L
D
C
m
o
to
r
co
n
tr
o
l
s
y
s
tem
.
T
h
is
d
ev
ice
co
n
s
is
ts
o
f
an
E
A
-
PS
9
3
6
0
-
80
p
r
o
g
r
a
m
m
ab
le
p
o
wer
s
u
p
p
ly
p
r
o
v
id
i
n
g
a
4
8
V
DC
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o
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e
to
a
Sem
ik
r
o
n
in
v
er
ter
,
wh
ich
p
o
wer
s
th
e
B
L
DC
m
o
to
r
e
q
u
ip
p
e
d
with
h
all
s
en
s
o
r
s
.
T
h
e
s
ig
n
als
f
r
o
m
th
ese
s
en
s
o
r
s
g
o
t
h
r
o
u
g
h
an
o
p
to
co
u
p
ler
m
o
d
u
le
a
n
d
a
n
R
C
f
i
lter
b
ef
o
r
e
b
ein
g
f
ed
in
t
o
th
e
d
SP
AC
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DS1
1
0
4
ca
r
d
th
r
o
u
g
h
a
PW
M
ca
r
d
f
o
r
ac
q
u
is
itio
n
an
d
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ea
l
-
tim
e
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r
o
ce
s
s
in
g
u
n
d
e
r
th
e
MA
T
L
AB
/Si
m
u
lin
k
an
d
C
o
n
tr
o
lDesk
en
v
ir
o
n
m
en
t.
T
h
is
co
n
f
ig
u
r
atio
n
allo
ws
f
o
r
th
e
f
aith
f
u
l
r
e
p
r
o
d
u
ctio
n
o
f
r
ea
l
o
p
er
atin
g
c
o
n
d
itio
n
s
,
in
clu
d
in
g
elec
tr
o
m
a
g
n
etic
d
is
tu
r
b
a
n
ce
s
d
u
e
to
p
o
wer
s
witch
in
g
,
in
o
r
d
er
to
ac
cu
r
ately
ev
alu
ate
th
e
ef
f
icien
cy
o
f
th
e
p
r
o
p
o
s
ed
c
o
n
d
itio
n
i
n
g
s
o
lu
tio
n
.
T
h
e
s
et
-
up
in
clu
d
es th
e
f
o
llo
win
g
elem
en
ts
:
-
Po
wer
s
u
p
p
ly
:
a
p
r
o
g
r
a
m
m
ab
le
DC
p
o
wer
s
u
p
p
ly
m
o
d
el
E
A
-
PS
9
3
6
0
-
8
0
d
eliv
er
in
g
a
s
t
ab
ilized
v
o
ltag
e
o
f
4
8
V
with
a
m
ax
im
u
m
ca
p
a
city
o
f
8
0
A,
u
s
ed
to
p
o
wer
th
e
in
v
er
ter
.
-
I
n
v
er
ter
(
s
em
ik
r
o
n
b
o
x
)
:
co
n
v
er
ts
DC
v
o
ltag
e
in
to
th
e
th
r
ee
-
p
h
ase
s
ig
n
als
r
eq
u
ir
ed
f
o
r
m
o
to
r
o
p
e
r
atio
n
.
T
h
e
o
u
tp
u
t te
r
m
in
als (
A,
B
,
C
)
ar
e
co
n
n
ec
ted
d
ir
ec
tly
to
th
e
b
r
u
s
h
less
m
o
to
r
.
-
B
L
DC
m
o
to
r
:
th
e
m
o
to
r
u
s
ed
is
eq
u
ip
p
ed
with
th
r
ee
in
teg
r
at
ed
h
all
-
ef
f
ec
t
s
en
s
o
r
s
to
d
etec
t
r
o
to
r
p
o
s
itio
n
.
T
h
ese
s
en
s
o
r
s
o
p
er
ate
at
a
v
o
ltag
e
o
f
5
V,
with
o
f
te
n
n
o
is
y
o
u
tp
u
t sig
n
als.
-
Sig
n
al
co
n
d
itio
n
in
g
:
Hall
s
en
s
o
r
s
ig
n
als
ar
e
f
ir
s
t
elec
tr
ical
ly
is
o
lated
u
s
in
g
a
4
N3
5
o
p
t
o
co
u
p
ler
,
th
en
f
ilter
ed
an
d
a
m
p
lifie
d
b
y
an
ac
tiv
e
R
C
f
ilter
to
elim
in
ate
n
o
is
e
an
d
im
p
r
o
v
e
p
o
s
itio
n
d
etec
ti
o
n
q
u
ality
.
-
Acq
u
is
itio
n
an
d
c
o
n
tr
o
l:
t
h
e
co
n
d
itio
n
e
d
s
ig
n
als
ar
e
th
e
n
s
en
t
to
th
e
d
SP
AC
E
DS1
1
0
4
b
o
ar
d
,
wh
ich
in
teg
r
ates
a
h
ig
h
-
p
er
f
o
r
m
a
n
ce
DSP
to
r
u
n
th
e
r
ea
l
-
tim
e
co
n
tr
o
l
alg
o
r
ith
m
.
T
h
is
alg
o
r
ith
m
is
d
ev
elo
p
ed
in
MA
T
L
AB
/S
im
u
lin
k
an
d
a
u
to
m
atica
lly
g
en
er
ated
f
o
r
t
h
e
tar
g
et
h
ar
d
war
e
.
-
User
in
ter
f
ac
e:
d
SP
AC
E
's
C
o
n
tr
o
lDesk
s
o
f
twar
e
p
r
o
v
id
es
t
h
e
h
u
m
a
n
-
m
ac
h
in
e
in
ter
f
ac
e,
d
ata
ac
q
u
is
itio
n
,
p
ar
am
eter
s
ettin
g
,
an
d
r
ea
l
-
tim
e
an
aly
s
is
o
f
th
e
s
y
s
tem
'
s
d
y
n
am
ic
b
eh
av
io
r
.
T
ests
wer
e
p
er
f
o
r
m
ed
at
d
if
f
e
r
en
t
s
et
s
p
ee
d
v
alu
es
an
d
lo
ad
co
n
d
itio
n
s
to
ev
alu
ate
th
e
r
o
b
u
s
tn
ess
o
f
t
h
e
h
all
s
ig
n
al
p
r
o
ce
s
s
in
g
.
T
h
e
test
b
en
ch
p
r
esen
ted
h
er
e
p
r
o
v
es
t
h
at
th
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
is
ef
f
ec
tiv
e
;
h
en
ce
,
it
p
er
f
ec
tly
in
teg
r
ates w
ith
th
e
B
L
DC
m
o
to
r
co
n
tr
o
l c
h
ain
.
4
.
2
.
H
a
ll si
g
na
l im
pro
v
e
m
ent
Fig
u
r
e
5
g
iv
es
a
c
o
m
p
ar
ativ
e
v
iew
o
f
t
h
e
s
ig
n
als
f
r
o
m
t
h
e
h
all
-
ef
f
ec
t
s
en
s
o
r
s
b
ef
o
r
e
an
d
af
ter
im
p
lem
en
tatio
n
o
f
t
h
e
p
r
o
p
o
s
ed
s
o
lu
tio
n
.
Fig
u
r
e
5
(
a)
r
e
v
ea
l
s
n
o
is
y
,
ir
r
eg
u
lar
ly
s
h
a
p
ed
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ig
n
als,
with
a
s
ig
n
al
-
to
-
n
o
is
e
r
atio
(
SNR
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m
ea
s
u
r
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ar
o
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n
d
4
9
%,
in
d
icatin
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ig
n
if
ican
t
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ilit
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Fig
u
r
e
5
(
b
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,
o
n
th
e
o
th
er
h
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d
,
s
h
o
ws
a
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p
r
o
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e
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en
t
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ter
in
teg
r
atio
n
o
f
th
e
ac
tiv
e
R
C
f
ilter
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d
th
e
4
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5
o
p
to
c
o
u
p
ler
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wit
h
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er
f
ec
tly
s
q
u
a
r
e,
s
tab
le
s
ig
n
als an
d
an
SNR
o
f
alm
o
s
t 9
0
%.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
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8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
5
,
No
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1
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Ma
r
ch
20
2
6
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2
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Fig
u
r
e
4
.
Op
e
r
atin
g
d
ia
g
r
am
o
f
a
b
r
u
s
h
less
m
o
to
r
with
a
m
o
d
if
ied
s
o
lu
tio
n
(
a)
(
b
)
Fig
u
r
e
5
.
Hall
-
ef
f
ec
t sen
s
o
r
s
ig
n
als b
ef
o
r
e
an
d
a
f
ter
co
n
d
itio
n
in
g
:
(
a)
n
o
is
e
s
ig
n
als f
r
o
m
h
a
ll
s
en
s
o
r
s
b
ef
o
r
e
p
r
o
ce
s
s
in
g
an
d
(
b
)
s
tab
ilized
s
ig
n
als af
ter
o
p
to
elec
tr
o
n
ic
f
ilt
er
in
g
T
h
e
s
u
m
m
ar
y
o
f
k
e
y
in
d
icato
r
s
m
ea
s
u
r
ed
b
ef
o
r
e
an
d
af
ter
t
r
ea
tm
en
t
in
c
o
m
p
a
r
ativ
e
T
ab
l
e
4
b
el
o
w
s
u
p
p
o
r
ts
th
is
o
b
s
er
v
atio
n
.
T
h
is
s
ig
n
if
ican
t
im
p
r
o
v
em
en
t
is
d
u
e
to
th
e
co
m
b
in
ed
a
ctio
n
o
f
th
e
4
N3
5
o
p
to
co
u
p
ler
is
o
latin
g
a
n
d
p
r
o
tectin
g
th
e
co
n
tr
o
l
cir
c
u
its
f
r
o
m
elec
tr
ical
d
is
tu
r
b
an
ce
s
,
w
h
ile
th
e
ac
tiv
e
R
C
f
ilter
elim
in
ates
th
e
h
ig
h
-
f
r
e
q
u
en
cy
in
te
r
f
er
en
ce
th
at
o
r
ig
in
ally
ca
u
s
ed
th
e
d
is
to
r
tio
n
o
f
t
h
e
s
ig
n
als.
T
h
is
k
in
d
o
f
ar
ch
itectu
r
e
g
iv
es
m
o
r
e
r
eliab
ilit
y
to
r
o
to
r
p
o
s
itio
n
d
e
tectio
n
an
d
s
o
im
p
r
o
v
es
th
e
ac
cu
r
ac
y
o
f
s
p
ee
d
co
n
tr
o
l.
Fin
ally
,
th
e
r
esu
lts
o
b
tain
ed
a
r
e
co
n
s
is
ten
t
with
th
o
s
e
r
ep
o
r
ted
i
n
p
r
ev
io
u
s
s
tu
d
i
es
o
n
s
en
s
o
r
s
ig
n
al
f
ilter
in
g
in
B
L
DC
m
o
to
r
co
n
tr
o
l
s
y
s
tem
s
,
wh
ile
p
r
esen
tin
g
a
s
o
lu
tio
n
th
at
is
s
im
p
ler
an
d
m
o
r
e
ec
o
n
o
m
ical
t
o
im
p
lem
en
t.
T
h
ese
r
esu
lts
p
r
o
v
id
e
a
s
o
u
n
d
b
asis
f
o
r
f
u
tu
r
e
ex
ten
s
io
n
s
,
s
u
ch
as
th
e
u
s
e
o
f
ad
ap
tiv
e
d
ig
ital
f
ilter
s
o
r
p
er
f
o
r
m
an
ce
an
aly
s
is
u
n
d
er
d
if
f
e
r
en
t lo
ad
an
d
s
p
ee
d
co
n
d
itio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ap
p
l Po
wer
E
n
g
I
SS
N:
2252
-
8
7
9
2
R
o
b
u
s
t h
a
ll sen
s
o
r
s
ig
n
a
l c
o
n
d
itio
n
in
g
fo
r
B
LDC
mo
to
r
co
n
tr
o
l u
s
in
g
R
C
…
(
Ha
s
n
i A
n
w
a
r
)
379
T
ab
le
4
.
C
o
m
p
a
r
ativ
e
an
aly
s
is
o
f
s
en
s
o
r
s
ig
n
al
s
tab
ilit
y
M
e
a
su
r
e
d
p
a
r
a
me
t
e
r
B
e
f
o
r
e
t
r
e
a
t
me
n
t
(
F
i
g
u
r
e
5
(
a
)
)
A
f
t
e
r
t
r
e
a
t
m
e
n
t
(
F
i
g
u
r
e
5
(
b
)
)
S
i
g
n
a
l
-
to
-
n
o
i
s
e
r
a
t
i
o
(
S
N
R
)
4
9
%
9
0
%
Ji
t
t
e
r
l
e
v
e
l
H
i
g
h
Lo
w
S
i
g
n
a
l
f
o
r
m
D
i
st
o
r
t
e
d
a
n
d
n
o
i
s
y
S
q
u
a
r
e
a
n
d
s
t
a
b
l
e
4
.
3
.
Ro
bu
s
t
B
L
DC
co
m
m
ut
a
t
io
n
t
hro
ug
h
RC
-
f
ilte
re
d
ha
ll
s
ig
na
ls
a
n
d dSP
ACE
co
nt
ro
l
F
ig
u
r
e
6
s
h
o
ws
th
e
s
ig
n
al
s
o
b
tain
ed
with
th
e
d
SP
AC
E
DSP1
1
0
4
b
o
ar
d
,
h
ig
h
li
g
h
tin
g
th
e
s
y
n
ch
r
o
n
izatio
n
o
f
t
h
e
h
all
s
en
s
o
r
s
an
d
th
e
PW
M
co
n
tr
o
l
s
i
g
n
als
ap
p
lied
to
th
e
I
GB
T
s
witch
es
o
f
th
e
th
r
ee
-
p
h
ase
in
v
er
ter
.
T
h
e
f
ir
s
t
th
r
ee
f
ig
u
r
es
s
h
o
w
t
h
e
s
ig
n
als
f
r
o
m
h
al
l
s
en
s
o
r
s
A,
B
,
an
d
C
,
wh
i
ch
d
etec
t
th
e
r
o
to
r
p
o
s
itio
n
with
a
ty
p
ical
p
h
ase
s
h
if
t
o
f
1
2
0
°
elec
tr
ical
b
etwe
e
n
th
em
.
T
h
ese
s
ig
n
als
ar
e
c
r
u
cial
f
o
r
id
en
tify
i
n
g
m
o
to
r
p
h
ase
s
witch
in
g
tim
es.
At
th
e
s
am
e
tim
e,
th
e
o
th
er
s
ix
d
iag
r
am
s
s
h
o
w
th
e
PW
M
s
ig
n
als
th
at
ar
e
g
en
er
ated
to
co
n
tr
o
l
th
e
I
GB
T
tr
an
s
is
to
r
s
(
Q1
to
Q6
)
,
ev
en
ly
d
is
tr
ib
u
ted
o
v
e
r
th
e
in
v
er
t
er
'
s
u
p
p
er
an
d
lo
wer
ar
m
s
.
T
h
ese
c
o
n
tr
o
l
s
ig
n
als
ar
e
ass
o
ciate
d
d
ir
ec
tly
an
d
s
y
n
c
h
r
o
n
o
u
s
ly
with
th
e
lo
g
ic
s
tate
o
f
th
e
h
all
s
en
s
o
r
s
,
f
ac
ilit
atin
g
co
r
r
ec
t
p
h
ase
s
wit
ch
in
g
as
a
f
u
n
ctio
n
o
f
r
o
t
o
r
p
o
s
itio
n
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h
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o
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m
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r
.
Fig
u
r
e
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.
Sig
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q
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d
SP
AC
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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as p
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:
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RE
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1
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.
M
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.
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tri
c
v
e
h
icle
s,
e
n
e
rg
y
m
a
n
a
g
e
m
e
n
t
sy
ste
m
s,
n
o
n
li
n
e
a
r
c
o
n
tr
o
l
o
f
p
o
we
r
c
o
n
v
e
rters
,
a
n
d
e
l
e
c
tri
c
m
o
to
r
d
riv
e
s.
He
h
a
s
co
-
a
u
th
o
re
d
se
v
e
ra
l
j
o
u
r
n
a
l
a
rti
c
l
e
s
a
n
d
c
o
n
fe
re
n
c
e
p
a
p
e
rs
in
th
e
se
field
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
in
ti
d
a
m
.
a
b
d
e
ss
a
m
a
d
@g
m
a
il
.
c
o
m
.
El
Fa
d
i
l
H
a
ss
a
n
re
c
e
iv
e
d
h
is
B
.
S
.
d
e
g
re
e
in
e
lec
tro
n
ics
,
t
h
e
Ag
ré
g
a
ti
o
n
d
e
g
re
e
i
n
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
,
t
h
e
M
.
S
.
d
e
g
re
e
in
a
u
to
m
a
ti
c
c
o
n
tro
l
,
a
n
d
t
h
e
P
h
.
D
.
d
e
g
re
e
i
n
a
u
to
m
a
ti
c
c
o
n
tro
l
fr
o
m
th
e
Eco
le
M
o
h
a
m
m
a
d
ia
d
’In
g
é
n
ieu
rs,
Un
i
v
e
rsité
M
o
h
a
m
m
e
d
V,
Ra
b
a
t
,
M
o
ro
c
c
o
,
in
1
9
9
4
,
1
9
9
9
,
2
0
0
3
,
a
n
d
2
0
0
8
,
re
sp
e
c
ti
v
e
ly
.
S
i
n
c
e
2
0
1
1
,
h
e
h
a
s
b
e
e
n
,
su
c
c
e
ss
iv
e
ly
a
ss
istan
t
p
ro
fe
ss
o
r,
h
a
b
il
it
a
ted
p
ro
fe
ss
o
r
,
a
n
d
fu
l
l
p
ro
fe
ss
o
r
in
th
e
Ec
o
le
Na
ti
o
n
a
le
d
e
s
S
c
ien
c
e
s
Ap
p
li
q
u
é
e
s,
Un
iv
e
rsité
Ib
n
T
o
fa
il
,
Ke
n
it
ra
,
M
o
ro
c
c
o
.
He
is
c
u
rre
n
tl
y
with
t
h
e
IS
A
Lab
o
ra
to
r
y
.
His
re
se
a
rc
h
in
tere
st
in
c
lu
d
e
s
n
o
n
l
in
e
a
r
a
n
d
a
d
a
p
ti
v
e
c
o
n
tr
o
l,
p
o
we
r
c
o
n
v
e
rters
a
n
d
e
lec
tri
c
m
o
to
rs
c
o
n
tr
o
l,
re
n
e
wa
b
le
e
n
e
rg
y
,
d
istri
b
u
ted
e
n
e
r
g
y
re
so
u
rc
e
s,
sm
a
rt
g
rid
,
a
n
d
e
lec
tri
c
v
e
h
icle
s.
He
h
a
s
p
u
b
l
ish
e
d
o
v
e
r
1
6
0
j
o
u
r
n
a
l/
c
o
n
fe
re
n
c
e
p
a
p
e
rs.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
e
lfad
il
h
a
ss
a
n
@y
a
h
o
o
.
fr.
La
ss
io
u
i
Ab
d
e
ll
a
h
re
c
e
i
v
e
d
h
is
d
ip
l
o
m
a
o
f
sta
te
e
n
g
i
n
e
e
r
in
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
fr
o
m
th
e
Un
i
v
e
rsity
o
f
S
c
ien
c
e
s
a
n
d
Tec
h
n
iq
u
e
s,
Tan
g
ier,
M
o
ro
c
c
o
,
i
n
2
0
1
5
.
He
re
c
e
iv
e
d
h
is
P
h
.
D
.
in
a
u
to
m
a
ti
c
c
o
n
tr
o
l
i
n
2
0
2
1
fro
m
Un
iv
e
rsité
Ib
n
T
o
fa
il
,
Ke
n
i
tra,
M
o
ro
c
c
o
.
He
is
c
u
rre
n
tl
y
wit
h
th
e
IS
A
La
b
o
ra
to
r
y
.
S
in
c
e
2
0
2
2
,
h
e
h
a
s
b
e
e
n
a
su
c
c
e
ss
iv
e
ly
a
ss
istan
t
p
ro
fe
ss
o
r
a
t
th
e
Ec
o
le
Na
ti
o
n
a
le
d
e
s
S
c
ien
c
e
s
Ap
p
li
q
u
é
e
s,
U
n
i
v
e
rsité
Ib
n
To
fa
il
,
Ke
n
it
ra
,
M
o
ro
c
c
o
.
His
c
u
rre
n
t
re
se
a
rc
h
in
tere
sts
in
c
lu
d
e
th
e
field
s
o
f
n
o
n
li
n
e
a
r
c
o
n
tr
o
l
o
f
p
o
we
r
e
lec
tro
n
ic sy
ste
m
s,
e
lec
tri
c
v
e
h
icl
e
s,
a
n
d
wire
les
s p
o
we
r
tran
sfe
r
c
h
a
rg
in
g
fo
r
e
lec
tri
c
v
e
h
icle
s.
He
h
a
s
c
o
-
a
u
t
h
o
re
d
o
v
e
r
4
0
j
o
u
rn
a
l
a
n
d
c
o
n
fe
re
n
c
e
p
a
p
e
rs.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
b
d
e
ll
a
h
.
las
sio
u
i@u
it
.
a
c
.
m
a
.
El
A
n
c
a
r
y
M
a
r
o
u
a
n
e
re
c
e
iv
e
d
h
is
Ag
ré
g
a
ti
o
n
d
e
g
re
e
i
n
e
lec
tri
c
a
l
e
n
g
i
n
e
e
rin
g
fro
m
th
e
Eco
le
No
rm
a
le
S
u
p
é
rieu
re
d
e
l’E
n
se
i
g
n
e
m
e
n
t
Tec
h
n
iq
u
e
(ENS
ET
)
a
t
M
o
h
a
m
m
e
d
V
Un
iv
e
rsity
i
n
Ra
b
a
t,
M
o
r
o
c
c
o
,
in
2
0
1
2
.
He
a
lso
e
a
rn
e
d
a
n
M
.
S
.
d
e
g
re
e
in
e
lec
tro
n
ic
e
n
g
in
e
e
rin
g
fr
o
m
Ab
d
e
lma
lek
Essa
a
d
i
Un
iv
e
rsity
in
Teto
u
a
n
,
M
o
ro
c
c
o
,
in
2
0
2
1
.
He
is
c
u
rre
n
tl
y
p
u
rsu
i
n
g
a
P
h
.
D
.
i
n
e
le
c
tri
c
a
l
e
n
g
i
n
e
e
rin
g
a
t
t
h
e
I
S
A
La
b
o
ra
to
r
y
a
t
Na
ti
o
n
a
l
S
c
h
o
o
l
o
f
Ap
p
li
e
d
S
c
ien
c
e
s
(ENS
A),
Ib
n
To
fa
il
U
n
iv
e
rsit
y
,
Ke
n
it
ra
,
M
o
ro
c
c
o
.
His
p
rima
ry
re
se
a
rc
h
a
re
a
s
in
c
lu
d
e
e
lec
tri
c
v
e
h
icle
s,
wi
re
les
s
p
o
we
r
tran
sfe
r
c
h
a
rg
e
rs,
c
o
n
tro
l
a
n
d
o
p
ti
m
iza
ti
o
n
,
a
n
d
th
e
a
p
p
l
ica
ti
o
n
o
f
a
rti
ficia
l
i
n
tel
li
g
e
n
c
e
in
c
o
n
tr
o
l
sy
ste
m
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
m
a
ro
u
a
n
e
.
e
lan
c
a
ry
@g
m
a
il
.
c
o
m
.
El
A
sr
i
Ya
ss
in
e
re
c
e
iv
e
d
t
h
e
m
a
ste
r
o
f
re
se
a
rc
h
d
e
g
re
e
in
e
lec
tri
c
a
l
e
n
g
i
n
e
e
rin
g
fro
m
th
e
ENS
ET
o
f
Ra
b
a
t,
M
o
ro
c
c
o
,
in
2
0
2
0
.
He
is
c
u
rre
n
t
ly
wo
rk
in
g
t
o
wa
rd
th
e
P
h
.
D.
d
e
g
re
e
in
th
e
Ad
v
a
n
c
e
d
S
y
ste
m
s
En
g
i
n
e
e
rin
g
La
b
o
ra
to
ry
a
t
th
e
E
NSA
Ke
n
it
ra
,
M
o
ro
c
c
o
.
His
m
a
in
a
re
a
o
f
re
se
a
rc
h
is
re
n
e
wa
b
l
e
e
n
e
rg
y
e
m
u
lato
rs
a
n
d
st
o
ra
g
e
s
y
ste
m
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
e
las
riy
a
ss
in
e
@y
a
h
o
o
.
c
o
m
.
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