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co
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1.
I
NT
RO
D
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I
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DC
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DC
co
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p
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v
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tr
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in
m
an
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p
licatio
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s
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s
u
ch
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b
e
d
d
ed
elec
tr
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ics,
elec
tr
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v
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icles,
r
en
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co
m
p
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n
en
ts
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f
p
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elec
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ics
[
1
]
-
[
3
]
.
I
n
o
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d
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to
f
u
lf
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in
cr
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w
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id
[
4
]
,
[
5
]
.
T
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B
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in
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witch
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s
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[
6
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7
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atic
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(
Q
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[
8
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[
9
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c
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b
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[
1
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[
1
1
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,
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[
1
2
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lift
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co
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[
1
3
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ar
e
s
o
m
e
o
f
th
e
h
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h
-
g
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DC
–
DC
co
n
v
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s
th
at
h
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tly
b
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in
tr
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m
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co
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tain
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am
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Owin
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co
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p
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an
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th
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co
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s
ar
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ch
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in
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to
m
a
n
ag
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[
1
4
]
,
[
1
5
]
.
T
h
e
h
ig
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-
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r
d
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r
b
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o
s
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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1
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Ma
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65
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76
166
co
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p
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in
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e
liter
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in
b
o
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tim
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Pad
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p
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a
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r
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[
1
6
]
.
T
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tr
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m
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s
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o
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ac
h
es
if
th
e
y
g
et
tr
ap
p
e
d
in
an
y
o
f
th
e
m
a
n
y
lo
ca
lly
o
p
tim
u
m
s
o
lu
tio
n
s
th
at
em
er
g
e
wh
en
d
ea
lin
g
with
o
p
tim
is
atio
n
is
s
u
es
[
1
7
]
.
R
ec
en
tly
,
o
p
tim
is
atio
n
m
eth
o
d
s
f
o
r
o
r
d
er
r
ed
u
ctio
n
o
f
b
o
th
co
n
tin
u
o
u
s
-
an
d
d
is
cr
ete
-
tim
e
s
y
s
tem
s
h
av
e
b
ee
n
em
p
lo
y
ed
eith
er
alo
n
e
o
r
in
co
n
j
u
n
ctio
n
with
tr
ad
itio
n
al
m
eth
o
d
s
.
T
h
ese
m
eth
o
d
s
in
clu
d
e
g
e
n
etic
al
g
o
r
ith
m
s
(
GA)
,
p
ar
ticle
s
war
m
o
p
tim
i
z
atio
n
(
PS
O)
,
an
d
a
r
tific
ial
b
ee
co
lo
n
ies (
AB
C
)
[
1
8
]
-
[
2
0
]
.
T
h
e
co
o
r
d
in
ated
h
u
n
tin
g
o
f
an
im
als
to
ca
tch
p
r
ey
is
a
p
o
p
u
l
ar
m
eth
o
d
o
f
o
p
tim
izatio
n
u
s
ed
to
s
o
lv
e
m
an
if
o
ld
p
r
o
b
lem
s
in
s
cien
ce
an
d
en
g
in
ee
r
i
n
g
[
2
1
]
.
Ho
wev
er
,
it
is
n
o
t
s
o
co
m
m
o
n
in
r
ep
tiles
.
Few
in
s
tan
ce
s
[
2
2
]
ar
e
o
n
l
y
r
e
p
o
r
t
ed
,
b
u
t
th
ei
r
m
ath
e
m
atica
l
f
o
r
m
u
latio
n
s
to
p
r
o
ject
n
ew
o
p
ti
m
izatio
n
ap
p
r
o
ac
h
es
ar
e
s
till
m
is
s
in
g
in
th
e
liter
atu
r
e.
Hen
ce
,
a
n
attem
p
t
will
b
e
m
ad
e
to
f
o
r
m
u
late
n
ew
o
p
ti
m
izatio
n
alg
o
r
ith
m
s
u
tili
zin
g
th
e
c
o
n
ce
p
t
o
f
c
o
o
r
d
in
ated
h
u
n
tin
g
in
r
ep
tiles
.
C
u
b
an
b
o
a
s
n
a
k
es
ex
h
i
b
it
co
o
r
d
in
ated
h
u
n
tin
g
to
ca
p
tu
r
e
th
e
J
am
aica
n
f
r
u
it
b
a
ts
an
d
h
av
e
b
ee
n
u
tili
ze
d
to
d
ev
elo
p
a
n
ew
o
p
tim
izatio
n
a
lg
o
r
ith
m
co
in
ed
as
C
u
b
an
b
o
a
s
n
a
k
e
o
p
tim
izatio
n
alg
o
r
ith
m
(
C
B
SOA)
.
T
h
e
s
h
if
t
o
p
e
r
ato
r
p
ar
am
ete
r
izatio
n
is
u
s
ed
in
c
o
n
v
e
n
tio
n
al
d
is
cr
ete
-
tim
e
s
y
s
tem
m
o
d
ellin
g
.
Un
f
o
r
tu
n
atel
y
,
at
a
h
i
g
h
s
am
p
lin
g
f
r
e
q
u
en
c
y
,
th
e
s
h
if
t
o
p
e
r
ato
r
p
ar
a
m
eter
izatio
n
lo
s
es
its
ab
ilit
y
to
r
etr
iev
e
v
alu
ab
le
d
ata
f
r
o
m
t
h
e
u
n
d
er
ly
in
g
c
o
n
tin
u
o
u
s
-
tim
e
s
y
s
tem
.
An
alter
n
ativ
e
p
ar
am
eter
iza
tio
n
,
k
n
o
wn
as
th
e
d
elta
o
p
er
ato
r
p
ar
a
m
eter
izatio
n
,
is
b
ein
g
d
ev
elo
p
ed
as
a
s
o
lu
tio
n
to
th
is
p
r
o
b
lem
b
y
Mid
d
leto
n
an
d
Go
o
d
win
[
2
3
]
.
Sev
er
al
r
esear
ch
er
s
h
av
e
s
u
cc
ess
f
u
lly
o
n
it
,
p
ar
ticu
lar
ly
in
th
e
ar
ea
o
f
m
o
d
el
o
r
d
er
r
ed
u
ctio
n
an
d
co
n
tr
o
l u
s
in
g
th
is
u
n
if
ied
f
r
am
ewo
r
k
.
T
h
e
r
e
d
u
ce
d
-
o
r
d
e
r
m
o
d
el
p
ar
am
eter
s
in
o
p
tim
izatio
n
-
b
ased
ap
p
r
o
ac
h
es
ar
e
d
eter
m
in
ed
b
y
m
in
im
i
z
in
g
a
f
itn
ess
f
u
n
ctio
n
,
wh
ich
is
f
r
eq
u
en
tly
th
e
i
n
te
g
r
al
s
q
u
ar
e
e
r
r
o
r
(
I
SE)
d
er
iv
e
d
b
y
s
tep
r
esp
o
n
s
e
m
atch
in
g
[
2
4
]
.
Fu
r
th
er
m
o
r
e,
it
is
well
k
n
o
wn
t
h
at,
wh
e
n
o
p
tim
izatio
n
ap
p
r
o
ac
h
es
a
r
e
u
s
ed
,
co
n
tin
u
o
u
s
-
tim
e
s
y
s
tem
id
en
tific
atio
n
f
r
e
q
u
en
t
ly
s
h
o
ws
s
lo
wer
co
n
v
er
g
e
n
ce
wh
en
ass
ess
in
g
th
e
u
n
o
b
s
er
v
ed
p
ar
a
m
eter
s
o
f
a
r
ed
u
ce
d
s
y
s
tem
in
co
m
p
a
r
is
o
n
to
d
is
cr
ete
-
tim
e
f
o
r
m
u
latio
n
s
.
T
h
e
r
ea
lis
tic
in
teg
r
atio
n
o
f
co
n
tin
u
o
u
s
-
tim
e
m
o
d
els
with
h
ig
h
-
s
p
ee
d
d
ig
i
tal
h
ar
d
war
e
f
o
r
c
o
n
tr
o
l
a
p
p
licatio
n
s
r
eq
u
ir
es
th
e
d
ev
elo
p
m
en
t
o
f
r
eliab
le
d
is
cr
ete
-
tim
e
r
ep
r
esen
tatio
n
s
.
T
h
e
co
n
v
en
tio
n
al
ap
p
r
o
ac
h
,
w
h
ich
r
elies
o
n
th
e
s
h
if
t
o
p
er
at
o
r
an
d
t
h
e
o
b
tain
e
d
tr
an
s
f
er
f
u
n
cti
o
n
,
is
u
s
u
ally
u
n
s
u
itab
le
f
o
r
p
r
o
ce
s
s
in
g
h
ig
h
-
f
r
eq
u
e
n
cy
d
i
g
ital
d
ata
b
ec
au
s
e
it
in
v
o
lv
es
n
u
m
er
ical
ill
-
co
n
d
itio
n
i
n
g
[
2
5
]
,
[
2
6
]
.
T
o
ad
d
r
ess
th
ese
is
s
u
es,
a
d
ev
el
o
p
m
en
t
in
th
e
f
ield
o
f
s
y
s
tem
s
an
d
co
n
tr
o
l
th
eo
r
y
is
th
e
d
elta
-
o
p
er
ato
r
f
r
am
ewo
r
k
[
2
3
]
.
T
h
is
r
ep
r
esen
tatio
n
f
ac
ilit
ates
h
ig
h
-
s
p
ee
d
d
i
g
ital
co
m
p
u
tin
g
with
en
h
an
ce
d
n
u
m
er
ical
s
tab
ilit
y
wh
ile
s
im
u
ltan
eo
u
s
ly
m
itig
atin
g
th
e
d
if
f
ic
u
lties
as
s
o
ciate
d
with
n
u
m
er
ical
ill
-
co
n
d
itio
n
in
g
.
T
h
is
p
ap
er
d
ea
ls
with
th
e
d
e
lta
d
o
m
ain
m
o
d
ellin
g
o
f
a
h
ig
h
er
-
o
r
d
e
r
b
o
o
s
t
co
n
v
er
ter
.
T
h
e
r
esu
lts
in
th
e
d
elta
d
o
m
ain
im
p
r
o
v
e
d
ill
-
co
n
d
itio
n
in
g
at
h
ig
h
s
am
p
lin
g
f
r
e
q
u
en
cies
an
d
s
h
o
w
s
u
p
er
io
r
co
ef
f
icien
t
s
en
s
itiv
ity
u
n
d
er
f
in
ite
wo
r
d
len
g
th
c
o
n
s
tr
ain
ts
.
I
t
also
en
s
u
r
es
s
tab
l
e
an
d
ef
f
e
ctiv
e
r
ea
l
-
tim
e
co
m
p
u
tatio
n
.
T
h
er
e
f
o
r
e,
th
e
d
elta
d
o
m
ai
n
is
v
alid
ated
as
a
r
ig
o
r
o
u
s
f
o
u
n
d
atio
n
f
o
r
s
o
p
h
is
ticated
d
ig
ital
co
n
tr
o
l a
p
p
licatio
n
s
b
y
t
h
ese
d
is
co
v
er
ies.
I
n
th
is
wo
r
k
,
s
ev
e
r
al
m
o
d
el
o
r
d
er
r
ed
u
ctio
n
(
MO
R
)
tech
n
iq
u
es
in
th
e
d
elta
d
o
m
ain
,
lik
e
th
e
R
o
u
th
a
p
p
r
o
x
im
atio
n
,
Pad
e
ap
p
r
o
x
i
m
atio
n
,
Han
k
el
ap
p
r
o
x
im
atio
n
,
an
d
o
p
tim
izatio
n
tec
h
n
iq
u
es
PS
O,
DE
,
an
d
p
r
o
p
o
s
ed
C
B
SO
A
ar
e
em
p
lo
y
ed
b
ec
au
s
e
o
f
th
eir
ea
s
e
o
f
u
s
e,
s
tab
ilit
y
p
r
eser
v
atio
n
,
an
d
a
n
aly
tical
s
im
p
licity
in
lin
ea
r
tim
e
-
in
v
ar
ian
t
(
L
T
I
)
s
y
s
tem
s
.
A
co
m
p
ar
ativ
e
a
n
aly
s
is
u
s
in
g
MA
T
L
AB
s
o
f
twar
e
f
o
r
th
ese
tr
a
d
itio
n
al
MO
R
ap
p
r
o
ac
h
es
an
d
C
B
SO
A
to
th
e
h
i
g
h
-
o
r
d
er
tr
an
s
f
er
f
u
n
ctio
n
o
f
f
u
ll
-
b
r
id
g
e
co
n
v
er
ter
(
FB
C
)
is
p
r
esen
ted
.
T
h
e
s
tu
d
y
f
o
c
u
s
es
o
n
an
aly
s
in
g
tim
e
-
d
o
m
ain
r
esp
o
n
s
e,
f
r
e
q
u
en
cy
-
d
o
m
ai
n
f
ea
tu
r
es,
an
d
p
o
le
-
ze
r
o
b
eh
av
i
o
u
r
o
f
th
e
h
ig
h
er
-
o
r
d
er
an
d
r
e
d
u
ce
d
-
o
r
d
er
s
y
s
tem
s
in
th
e
d
el
ta
d
o
m
ain
.
I
t
also
p
r
o
v
id
es
u
s
ef
u
l
in
s
ig
h
ts
in
to
ch
o
o
s
in
g
ap
p
r
o
p
r
iate
MO
R
m
eth
o
d
s
f
o
r
r
ed
u
ce
d
-
o
r
d
er
r
ep
r
esen
tatio
n
s
o
f
c
o
m
p
licated
co
n
v
er
ter
s
y
s
tem
s
b
y
ap
p
ly
in
g
th
ese
ap
p
r
o
ac
h
es to
FB
C
co
n
v
er
ter
s
y
s
tem
s
.
Fu
r
th
er
m
o
r
e
,
to
v
alid
ate
th
e
e
f
f
icac
y
o
f
t
h
e
r
e
d
u
ce
d
-
o
r
d
er
m
o
d
el
f
o
r
r
ea
l
-
tim
e
a
p
p
licatio
n
s
,
a
d
elta
-
d
o
m
ain
-
b
ased
co
n
tr
o
ller
s
y
n
t
h
esis
h
as
b
ee
n
in
co
r
p
o
r
ated
u
s
in
g
th
e
ap
p
r
o
x
im
ate
m
o
d
el
m
atch
in
g
(
AM
M
)
tech
n
iq
u
e
[
2
7
]
co
m
b
i
n
ed
with
th
e
p
r
o
p
o
s
ed
C
B
SOA
o
p
tim
i
za
tio
n
.
T
h
is
in
teg
r
atio
n
en
ab
l
es
th
e
d
ev
elo
p
m
en
t
o
f
a
s
ec
o
n
d
-
o
r
d
e
r
co
n
tr
o
ller
th
at
ac
h
iev
es
im
p
r
o
v
e
d
tr
a
n
s
ien
t
b
eh
a
v
io
u
r
,
m
in
im
al
s
tead
y
-
s
tate
er
r
o
r
,
a
n
d
en
h
an
ce
d
r
o
b
u
s
tn
ess
wh
ile
m
ain
tain
in
g
s
tab
ilit
y
ac
r
o
s
s
v
ar
y
i
n
g
co
n
v
er
ter
d
y
n
a
m
ics.
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
P
r
eser
vin
g
n
o
n
-
min
imu
m
p
h
a
s
e
d
yn
a
mics in
mo
d
el
o
r
d
er re
d
u
ctio
n
o
f
…
(
N
eh
a
R
a
n
i
)
167
2.
P
RO
B
L
E
M
F
O
R
M
U
L
AT
I
O
N
L
et
u
s
co
n
s
id
er
a
n
o
n
-
m
in
im
u
m
p
h
ase
h
ig
h
er
o
r
d
er
s
y
s
tem
o
f
o
r
d
er
‘
n
+
1
’
in
th
e
d
elta
d
o
m
ain
.
T
h
e
s
y
s
tem
is
r
ep
r
esen
ted
b
y
(
1
)
.
(
)
=
(
−
1
)
(
+
2
)
(
+
3
)
…
…
.
(
+
)
(
+
1
)
(
+
2
)
…
…
.
(
+
+
1
)
(
1
)
I
n
(
1
)
,
t
h
e
ter
m
‘
(
γ
−
z
1
)
’
in
th
e
n
u
m
er
ato
r
in
d
icate
s
th
at
o
n
e
ze
r
o
lies
in
th
e
r
ig
h
t
h
alf
p
lan
e
o
f
γ
.
T
o
elim
in
ate
th
at
ze
r
o
f
r
o
m
th
e
n
u
m
er
ato
r
wh
ile
m
ain
tain
in
g
th
e
s
am
e
p
o
les,
a
n
ew
h
ig
h
er
-
o
r
d
er
s
y
s
tem
is
cr
ea
ted
,
wh
ich
is
ex
p
r
ess
ed
as
(
2
)
.
́
(
)
=
(
+
2
)
(
+
3
)
…
…
.
(
+
)
(
+
1
)
(
+
2
)
…
…
.
(
+
+
1
)
(
2
)
I
t
is
ass
u
m
ed
t
h
at
G
́
δ
HO
(
γ
)
s
h
o
u
ld
b
e
ir
r
e
d
u
cib
le,
wh
ich
m
ea
n
s
th
at
th
er
e
will
n
o
t
b
e
an
y
f
a
cto
r
co
m
m
o
n
b
etwe
en
th
e
n
u
m
er
at
o
r
an
d
d
en
o
m
i
n
ato
r
p
ar
ts
.
Fu
r
th
er
,
it
is
s
ee
n
f
r
o
m
th
e
d
en
o
m
in
ato
r
p
o
ly
n
o
m
ial
o
f
(
2
)
th
at
th
e
s
y
s
tem
is
s
tab
le.
T
h
e
m
ajo
r
g
o
al
will
b
e
to
p
r
o
d
u
ce
a
lo
wer
-
o
r
d
e
r
s
y
s
tem
wh
o
s
e
o
r
d
er
is
lo
wer
th
an
th
e
o
r
ig
in
al
s
y
s
tem
wh
il
e
m
ain
tain
in
g
all
o
f
th
e
k
ey
f
ea
tu
r
es
o
f
a
h
ig
h
er
-
o
r
d
er
s
y
s
tem
.
Fo
r
t
h
is
,
let
u
s
ass
u
m
e
a
r
ed
u
ce
d
m
o
d
el
s
tr
u
c
tu
r
e
f
o
r
wh
ich
f
o
u
r
u
n
k
n
o
wn
p
ar
am
eter
s
h
av
e
to
b
e
f
o
u
n
d
u
s
in
g
an
o
p
tim
ized
ap
p
r
o
ac
h
.
T
h
e
f
ix
ed
s
tr
u
ct
u
r
e
r
ed
u
ce
d
m
o
d
el
is
g
iv
e
n
as
(
3
)
.
(
)=
(
1
)
+
(
2
)
2
+
(
3
)
+
(
4
)
(
3
)
T
h
e
p
r
im
ar
y
ch
allen
g
es in
u
s
in
g
an
o
p
tim
is
ed
tech
n
iq
u
e
f
o
r
m
o
d
el
o
r
d
er
r
e
d
u
ctio
n
ar
e
as f
o
llo
ws:
−
Settin
g
u
p
an
e
q
u
al
d
ir
ec
t
cu
r
r
en
t (
DC
)
g
ain
b
etwe
en
b
o
th
s
y
s
tem
s
.
−
T
o
m
ak
e
s
u
r
e
th
e
s
im
p
lifie
d
s
y
s
tem
is
s
tab
le
.
−
T
h
e
r
ed
u
ce
d
s
y
s
tem
s
h
o
u
ld
h
a
v
e
a
m
in
im
u
m
p
h
ase,
d
ep
en
d
in
g
o
n
th
e
h
i
g
h
er
-
o
r
d
e
r
s
y
s
tem
.
T
h
e
af
o
r
em
e
n
tio
n
ed
p
r
o
b
le
m
s
ca
n
b
e
o
v
er
c
o
m
e
b
y
in
co
r
p
o
r
atin
g
s
o
m
e
c
o
n
s
tr
ain
ts
alo
n
g
with
th
e
m
in
im
izatio
n
f
u
n
ctio
n
g
iv
en
b
y
(
4
)
.
=
∑
[
=
=
1
(
)
−
(
)
]
2
(
4
)
W
h
er
e
y
δ
(
γ
)
in
d
icate
s
PR
B
S
r
e
s
p
o
n
s
e
o
f
h
ig
h
er
-
o
r
d
er
m
o
d
el
an
d
y
R
δ
(
γ
)
in
d
icate
s
th
e
PR
B
S
r
esp
o
n
s
e
o
f
th
e
r
ed
u
ce
d
m
o
d
el.
T
h
e
co
n
s
tr
ain
ts
f
o
r
th
e
ab
o
v
e
e
q
u
atio
n
a
r
e
d
e
lib
er
ated
b
elo
w
.
C
1
:
x
(
2
)
x
(
4
)
−
DC
G
a
in
of
Hihge
r
or
de
r
s
ys
te
m
=
0
C
2
:
F
or
Sta
b
il
ity
x
(
3
)
>
0
C
3
:
Fo
r
min
imum
p
h
ase
x
(
1
)
>
0
x
(
2
)
>
0
I
n
itially
,
th
e
R
HP
ze
r
o
was
r
em
o
v
ed
f
r
o
m
th
e
h
ig
h
er
o
r
d
er
tr
a
n
s
f
er
s
y
s
tem
t
o
co
n
v
e
r
t
it
in
to
a
m
in
im
u
m
-
p
h
ase
co
n
f
ig
u
r
atio
n
.
T
o
r
ec
o
v
er
th
e
wh
o
le
s
y
s
tem
d
y
n
am
ics,
th
e
p
r
ev
io
u
s
ly
e
lim
in
ated
R
HP
ze
r
o
is
r
esto
r
ed
af
ter
th
e
r
ed
u
ce
d
-
o
r
d
er
tr
a
n
s
f
er
f
u
n
ctio
n
h
as
b
e
en
d
er
iv
ed
.
B
y
d
o
in
g
th
is
,
th
e
r
esu
ltan
t
r
ed
u
ce
d
-
o
r
d
er
s
y
s
tem
co
r
r
ec
tly
ac
co
u
n
ts
f
o
r
th
e
n
o
n
-
m
in
im
u
m
p
h
ase
b
eh
av
i
o
u
r
wh
ile
m
ain
tain
i
n
g
th
e
k
ey
f
ea
tu
r
es
o
f
th
e
p
ar
en
t
s
y
s
tem
.
T
o
en
s
u
r
e
co
r
r
ec
tn
ess
an
d
c
o
m
p
atib
ilit
y
with
th
e
o
r
ig
i
n
al
h
ig
h
e
r
-
o
r
d
e
r
s
y
s
tem
,
th
e
f
in
al
r
ep
r
esen
tatio
n
is
th
er
ef
o
r
e
r
e
p
r
esen
ted
as th
e
p
r
o
d
u
ct
o
f
th
e
r
ed
u
ce
d
m
o
d
el
a
n
d
R
HP z
er
o
in
(
5
)
.
G
̇
r
δ
(
γ
)
=
(
γ
−
z
1
)
(
γ
+
z
)
(
γ
+
p
́
1
)
(
γ
+
p
́
2
)
(
5
)
An
AM
M
f
r
am
ewo
r
k
[
2
8
]
is
also
tak
en
u
p
in
th
is
s
tu
d
y
f
o
r
th
e
co
n
tr
o
ller
s
y
n
th
esis
o
f
th
e
r
ed
u
ce
d
s
y
s
tem
o
b
tain
ed
b
y
(
5
)
.
A
d
elt
a
-
o
p
er
ato
r
b
ased
s
ec
o
n
d
-
o
r
d
er
r
ef
er
e
n
ce
m
o
d
el
with
d
esire
d
tr
an
s
ien
t
f
ea
tu
r
e
in
ter
m
s
o
f
r
is
e
an
d
s
ettlin
g
tim
e
s
an
d
ad
eq
u
ate
d
am
p
i
n
g
is
co
n
s
id
er
ed
,
r
ep
r
esen
ted
b
y
(
6
)
.
(
)
=
2
2
+
2
ζ
+
2
(
6
)
No
r
m
ally
,
th
e
d
am
p
in
g
(
ζ
)
i
s
s
elec
ted
b
etwe
en
[
0
.
6
,
0
.
9
]
f
o
r
r
o
b
u
s
tn
ess
,
an
d
ω
n
is
ch
o
s
en
as
5
r
ad
/s
ec
to
m
atch
th
e
d
esire
d
clo
s
ed
-
lo
o
p
b
a
n
d
wid
th
o
f
th
e
r
ed
u
ce
d
p
lan
t.
I
n
a
p
r
e
v
io
u
s
s
tu
d
y
[
2
8
]
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
7
9
2
I
n
t J Ap
p
l Po
wer
E
n
g
,
Vo
l.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
65
-
1
76
168
a
ca
n
o
n
ical
s
tr
u
ctu
r
e
(
)
=
25
+
4
.
242
25
+
4
.
242
+
2
was
u
s
ed
f
o
r
ca
r
r
y
i
n
g
o
u
t
th
e
d
em
o
n
s
tr
atio
n
.
Ho
wev
er
,
in
th
is
wo
r
k
to
o
,
(
,
)
a
r
e
k
e
p
t
a
s
d
esig
n
d
ials
t
o
f
u
lf
il
co
n
v
e
r
ter
d
y
n
am
ics
as
well
as
E
M
I
co
n
s
tr
ain
ts
wh
ile
p
r
eser
v
in
g
ad
eq
u
ate
p
h
ase
m
a
r
g
in
in
th
e
u
n
if
ied
d
o
m
ain
s
ettin
g
.
T
h
u
s
,
with
u
n
it
y
f
ee
d
b
ac
k
,
th
e
cl
o
s
ed
-
lo
o
p
m
o
d
el
r
ea
d
s
.
(
)
=
(
)
(
)
1
+
(
)
(
)
(
7
)
T
h
e
p
r
im
e
o
b
jectiv
e
o
f
AM
M
is
to
m
ak
e
th
e
r
esp
o
n
s
e
o
f
T
(
γ
)
a
p
p
r
o
x
im
ately
m
atch
th
at
o
f
M(
γ
)
o
v
er
a
f
r
eq
u
en
cy
/time
r
e
g
io
n
o
f
in
ter
est
wh
ile
k
ee
p
in
g
th
e
c
o
n
tr
o
ller
im
p
lem
en
tab
le
a
n
d
a
t
th
e
s
am
e
tim
e
lo
w
o
r
d
er
,
i
n
p
ar
ticu
lar
two
.
In
[
2
8
]
,
a
s
in
g
le
-
o
b
jectiv
e
f
u
n
cti
o
n
was
d
ev
elo
p
e
d
u
s
in
g
th
e
d
elta
-
d
o
m
ain
s
tep
-
r
esp
o
n
s
e
er
r
o
r
(
I
SE)
,
with
o
p
ti
m
al
f
r
eq
u
e
n
cy
s
h
ap
i
n
g
as d
ef
i
n
ed
b
y
(
8
)
.
(
,
,
)
=
∑
(
[
]
−
[
]
)
2
=
0
(
8
)
W
h
er
e
(
)
an
d
(
)
ar
e
th
e
ar
e
th
e
d
elta
s
tep
r
esp
o
n
s
es
o
f
(
)
an
d
(
)
o
n
[
0
,
].
I
n
th
is
wo
r
k
,
a
m
ix
ed
o
b
jectiv
e
tak
in
g
in
to
ac
co
u
n
t b
o
th
tim
e
as we
ll a
s
f
r
eq
u
en
cy
co
m
p
o
n
en
ts
is
p
r
o
p
o
s
ed
as
(
9
)
.
=
+
∑
(
|
(
Ω
)
|
−
|
(
Ω
)
|
)
2
=
1
(
9
)
W
ith
+
=
1
.
T
h
e
ad
d
itio
n
o
f
a
s
m
all
v
alu
e
o
f
will
aid
in
p
r
o
tectin
g
th
e
g
ain
-
cr
o
s
s
o
v
er
b
eh
av
io
u
r
f
o
r
co
n
v
er
ter
s
,
s
p
ec
ially
with
R
HP z
er
o
s
.
3.
P
RO
P
O
SE
D
M
E
T
H
O
D
Sev
er
al
an
im
al
h
u
n
tin
g
p
h
e
n
o
m
en
a
h
av
e
alr
ea
d
y
b
ee
n
p
o
p
u
la
r
ch
o
ices
in
d
e
v
elo
p
in
g
s
o
m
e
o
p
tim
izatio
n
tech
n
iq
u
es
to
p
r
o
v
id
e
s
o
lu
tio
n
s
to
r
ea
l
-
tim
e
p
r
o
b
lem
s
.
I
t
h
as
also
b
ee
n
d
is
co
v
er
ed
th
at
co
o
r
d
in
ate
d
h
u
n
tin
g
y
ield
s
th
e
b
est
o
u
tco
m
es.
Ho
we
v
e
r
,
co
o
r
d
in
ate
d
r
e
p
tile
h
u
n
tin
g
h
as
y
et
t
o
b
e
s
cien
tific
ally
d
o
cu
m
en
ted
.
T
h
u
s
,
th
e
m
ain
o
b
jectiv
e
o
f
th
is
wo
r
k
is
to
d
ev
elo
p
n
ew
o
p
tim
izatio
n
alg
o
r
ith
m
s
m
ak
in
g
u
s
e
o
f
th
e
c
o
o
r
d
in
ated
h
u
n
tin
g
p
h
e
n
o
m
e
n
a
o
f
s
o
m
e
r
ep
tile sp
ec
ies.
T
h
e
f
ir
s
t
o
f
th
ese
in
ter
esti
n
g
p
h
en
o
m
en
a
was
id
en
tifie
d
in
th
e
ca
v
es
o
f
Desem
b
ar
g
o
d
e
l
Gr
an
m
a
Natio
n
al
Par
k
,
C
u
b
a
[
2
2
]
.
T
h
e
co
o
r
d
in
ated
p
r
ey
-
ca
tc
h
in
g
b
eh
av
io
r
o
f
th
e
C
u
b
an
b
o
a
s
n
a
k
e
was
em
p
lo
y
e
d
to
h
u
n
t
th
e
J
am
aica
n
f
r
u
it
b
at.
T
h
e
b
o
as
h
u
n
t
two
tim
es
in
a
d
ay
,
f
ir
s
t
b
ef
o
r
e
p
r
e
-
d
awn
d
u
r
in
g
th
e
m
ass
r
etu
r
n
o
f
th
e
b
ats
an
d
s
ec
o
n
d
d
u
r
in
g
th
e
ev
en
in
g
wh
en
th
e
b
ats
ex
it
t
h
e
ca
v
es.
T
h
ey
m
ax
im
ize
th
ei
r
h
u
n
tin
g
e
f
f
icien
cy
wh
ile
ca
tch
in
g
th
eir
p
r
ey
in
c
av
es
b
y
f
o
r
m
in
g
a
‘
f
en
ce
’
in
th
e
ca
v
e
p
ass
ag
es.
I
t
was
p
ar
t
icu
lar
ly
n
o
ted
t
h
at
wh
en
th
e
b
o
as
in
g
r
o
u
p
s
o
f
t
h
r
ee
f
o
r
m
ed
a
f
e
n
ce
,
th
e
p
r
o
b
ab
ilit
y
o
f
ca
tch
in
g
p
r
e
y
was
th
e
h
ig
h
est.
T
h
is
n
atu
r
al
p
h
e
n
o
m
e
n
o
n
will b
e
m
ath
em
atica
lly
m
o
d
eled
t
o
g
iv
e
r
is
e
to
a
n
ew
o
p
tim
izatio
n
tec
h
n
iq
u
e.
T
h
e
co
o
p
e
r
ativ
e
p
r
e
y
-
h
u
n
tin
g
h
ab
its
o
f
C
u
b
an
b
o
a
s
n
a
k
es
s
er
v
e
as
th
e
f
o
u
n
d
atio
n
f
o
r
th
e
C
B
SOA.
I
n
o
r
d
er
t
o
m
a
x
im
is
e
th
e
n
u
m
b
er
o
f
s
n
ak
es
th
at
ca
tc
h
th
e
p
r
ey
wh
ile
lo
wer
in
g
th
e
p
o
s
s
ib
ilit
y
o
f
c
o
llis
io
n
s
an
d
in
ju
r
ies
am
o
n
g
t
h
e
s
n
ak
es,
t
h
e
b
e
h
av
io
u
r
m
a
y
b
e
r
ep
r
es
en
ted
as
a
m
u
lti
-
a
g
en
t
o
p
tim
is
atio
n
p
r
o
b
lem
.
I
n
o
p
tim
is
atio
n
p
r
o
b
le
m
s
,
C
B
S
OA
im
itates
th
i
s
in
clin
atio
n
to
s
tr
ik
e
a
b
alan
ce
b
etwe
en
ex
p
lo
r
atio
n
an
d
ex
p
lo
itatio
n
.
T
h
e
n
o
v
elty
o
f
t
h
is
alg
o
r
ith
m
lies
in
its
u
n
iq
u
e
o
p
tim
izatio
n
ap
p
r
o
ac
h
t
h
at
in
co
r
p
o
r
ates
s
o
cial
co
m
m
u
n
icatio
n
an
d
co
llab
o
r
atio
n
am
o
n
g
ag
e
n
ts
to
s
ea
r
ch
f
o
r
o
p
tim
al
s
o
lu
tio
n
s
.
T
h
e
s
n
ak
es
co
m
m
u
n
icate
wi
th
o
n
e
an
o
th
er
to
co
o
r
d
in
ate
th
eir
m
o
v
e
m
en
ts
an
d
attac
k
s
as
th
ey
r
an
d
o
m
l
y
ar
r
an
g
e
th
em
s
elv
es
ar
o
u
n
d
th
e
p
r
ey
to
e
x
p
lo
r
e
th
e
s
o
lu
tio
n
s
p
ac
e
d
u
r
in
g
th
e
e
x
p
lo
r
atio
n
p
h
ase.
I
n
o
r
d
er
to
en
h
a
n
ce
th
eir
p
er
f
o
r
m
an
ce
,
th
e
s
n
ak
es
co
n
ce
n
tr
at
e
o
n
th
e
m
o
s
t
p
r
o
m
is
in
g
s
ite
s
an
d
tactics
f
o
u
n
d
d
u
r
in
g
t
h
e
ex
p
lo
itatio
n
p
h
ase
.
T
o
in
cr
ea
s
e
th
eir
o
d
d
s
o
f
c
atch
in
g
th
e
p
r
e
y
wh
ile
lo
wer
i
n
g
th
e
p
o
te
n
tial
o
f
ac
cid
en
ts
an
d
in
ju
r
y
,
t
h
ey
m
ay
n
ee
d
t
o
im
p
r
o
v
e
t
h
eir
lo
ca
tio
n
an
d
c
o
m
m
u
n
icatio
n
ta
ctics
o
r
tim
e
th
eir
ass
au
lts
.
T
h
e
b
alan
ce
th
at
ex
is
ts
b
etwe
en
th
ese
s
tag
es
g
u
ar
an
tees
co
n
v
er
g
e
n
ce
to
war
d
s
a
n
o
v
er
all
o
p
tim
u
m
s
o
lu
tio
n
.
B
ased
o
n
th
ese
f
ea
tu
r
es,
an
o
p
tim
izatio
n
alg
o
r
ith
m
is
d
ev
elo
p
ed
with
t
h
e
f
o
llo
wi
n
g
s
tep
s
:
−
Step
1
:
i
n
itializatio
n
T
h
e
p
o
s
itio
n
s
o
f
th
e
s
n
ak
es
ar
o
u
n
d
th
e
p
r
ey
ar
e
r
an
d
o
m
ly
in
itialized
.
A
co
llectio
n
o
f
‘
n
’
s
n
ak
es
i
s
f
ir
s
t d
is
p
er
s
ed
at
r
an
d
o
m
o
v
er
th
e
s
ea
r
ch
s
p
ac
e
v
ia
th
e
al
g
o
r
i
th
m
,
as (
1
0
)
.
=
{
1
,
2
,
…
.
.
}
,
∈
(
1
0
)
W
h
er
e
p
is
th
e
p
r
o
b
lem
d
im
e
n
s
io
n
,
an
d
=
1
,
2
,
…
.
.
d
en
o
tes
th
e
p
o
s
itio
n
o
f
s
n
ak
e
i.
T
h
e
o
b
jectiv
e
f
u
n
ctio
n
o
f
th
e
p
r
ey
is
d
ef
in
ed
as
(
1
1
)
.
=
(
)
(
1
1
)
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
P
r
eser
vin
g
n
o
n
-
min
imu
m
p
h
a
s
e
d
yn
a
mics in
mo
d
el
o
r
d
er re
d
u
ctio
n
o
f
…
(
N
eh
a
R
a
n
i
)
169
−
Step
2
:
c
o
m
m
u
n
icatio
n
p
h
ase
B
ased
o
n
its
lo
ca
tio
n
an
d
k
n
o
wled
g
e
o
f
its
tar
g
et,
ea
ch
s
n
a
k
e
m
ay
co
m
m
u
n
icate
with
o
t
h
er
s
n
ak
es.
T
h
e
co
m
m
u
n
icatio
n
b
etwe
en
s
n
ak
e
i a
n
d
j is as
(
1
2
)
.
=
0
.
1
‖
−
‖
+
+
0
.
1
‖
−
‖
(
1
2
)
W
h
er
e
0
an
d
0
ar
e
th
e
weig
h
tin
g
p
ar
am
eter
s
o
f
th
e
alg
o
r
ith
m
,
a
n
d
ϵ
is
u
s
ed
to
av
o
id
ze
r
o
d
iv
i
s
io
n
.
−
Step
3
:
p
o
s
itio
n
in
g
p
h
ase
E
ac
h
s
n
ak
e
ad
j
u
s
ts
its
p
o
s
itio
n
o
n
t
h
e
b
asis
o
f
s
ig
n
als
r
ec
eiv
ed
an
d
th
e
lo
ca
tio
n
o
f
its
p
r
ey
.
T
h
is
b
eh
av
io
r
is
m
ath
em
atica
lly
m
o
d
eled
b
y
(
1
3
)
.
+
1
=
+
.
.
(
−
)
+
.
(
1
3
)
W
h
er
e
,
ar
e
co
n
tr
o
l p
ar
a
m
eter
s
an
d
R
is
a
r
an
d
o
m
v
ec
to
r
in
tr
o
d
u
cin
g
s
to
ch
asti
city
f
o
r
e
x
p
l
o
r
atio
n
.
−
Step
4
:
t
im
in
g
p
h
ase
Dep
en
d
in
g
o
n
its
clo
s
en
ess
to
p
r
ey
an
d
ab
ilit
y
t
o
co
o
r
d
i
n
ate
with
n
eig
h
b
o
u
r
s
,
ea
ch
s
n
ak
e
d
eter
m
in
es
wh
eth
er
to
attac
k
.
T
h
is
is
as in
(
1
4
)
.
=
{
1
,
‖
−
‖
≤
0
,
ℎ
(
1
4
)
W
h
er
e
is
th
e
ef
f
ec
tiv
e
attac
k
r
an
g
e.
−
Step
5
:
e
v
alu
atio
n
p
h
ase
T
h
e
f
i
t
n
e
s
s
is
a
s
s
es
s
e
d
f
o
r
e
v
e
r
y
p
o
s
i
t
i
o
n
t
h
a
t
i
s
u
p
d
a
t
e
d
.
T
h
e
m
o
s
t
e
f
f
e
c
t
i
v
e
s
o
l
u
ti
o
n
h
a
s
b
e
e
n
r
e
v
i
s
ed
as
(
1
5
)
.
=a
r
g
min
(
)
f
o
r
th
e
m
i
n
im
izatio
n
p
r
o
b
lem
(
1
5
)
−
Step
6
:
t
er
m
in
atio
n
c
o
n
d
itio
n
W
h
en
eith
er
t
h
e
c
o
n
v
e
r
g
en
ce
co
n
d
itio
n
o
r
th
e
m
ax
im
u
m
n
u
m
b
er
o
f
iter
atio
n
s
is
m
et,
th
e
alg
o
r
ith
m
s
to
p
s
.
T
h
is
s
to
p
p
in
g
cr
iter
io
n
i
s
d
ef
in
ed
in
(
1
6
)
.
|
(
+
1
)
−
(
)
|
≤
is
s
atis
f
ied
(
1
6
)
W
h
er
e
is
a
p
r
ed
ef
in
e
d
to
ler
an
ce
.
T
h
e
co
m
p
u
tatio
n
al
co
m
p
le
x
ity
o
f
th
e
p
r
o
p
o
s
ed
C
B
SOA
m
eth
o
d
tak
es
in
to
ac
co
u
n
t
th
e
n
u
m
b
er
o
f
s
n
ak
es
(
N)
,
th
e
n
u
m
b
er
o
f
iter
atio
n
s
(
T
)
,
an
d
th
e
d
im
e
n
s
io
n
ality
o
f
th
e
p
r
o
b
lem
(
D)
.
E
ac
h
iter
atio
n
is
f
u
r
th
er
ass
o
ciate
d
with
in
ter
-
s
n
ak
e
co
m
m
u
n
icatio
n
,
p
o
s
itio
n
u
p
d
at
in
g
,
tim
in
g
,
an
d
e
v
alu
atio
n
p
h
ases
,
in
a
s
im
i
lar
way
as
o
th
er
s
war
m
in
tellig
en
ce
alg
o
r
ith
m
s
,
b
u
t
th
is
alg
o
r
ith
m
co
m
es
u
p
with
an
ad
d
itio
n
al
co
m
m
u
n
icatio
n
co
o
r
d
in
atio
n
ter
m
.
T
h
e
co
m
p
a
r
is
o
n
o
f
th
e
co
m
p
u
tatio
n
al
co
m
p
lex
ity
with
PS
O
an
d
DE
is
s
h
o
wn
in
T
ab
le
1
.
T
h
u
s
,
in
p
r
ac
tice,
C
B
SOA
ex
h
ib
its
a
m
o
d
er
ate
co
m
p
u
tatio
n
a
l
o
v
er
h
ea
d
as
co
m
p
ar
e
d
to
PS
O
an
d
DE
d
u
e
to
th
e
i
n
ter
-
ag
e
n
t
co
o
r
d
i
n
atio
n
p
h
ase
(
O(
N²)
)
,
h
o
wev
er
it
ac
h
iev
es
b
etter
c
o
n
v
e
r
g
e
n
ce
an
d
s
tab
ilit
y
in
m
o
d
el
o
r
d
er
r
ed
u
ctio
n
an
d
co
n
tr
o
ller
d
esig
n
task
s
.
T
h
e
ad
d
itio
n
al
b
u
r
d
en
is
ju
s
t
an
o
f
f
s
et
b
y
f
ewe
r
r
eq
u
ir
e
d
iter
atio
n
s
to
r
ea
ch
th
e
o
p
tim
a
l
v
alu
e,
m
a
k
in
g
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
co
m
p
u
tatio
n
ally
e
f
f
icien
t
in
ter
m
s
o
f
co
n
v
er
g
en
ce
ac
c
u
r
ac
y
an
d
s
p
ee
d
.
T
h
e
s
tep
s
o
f
th
e
p
r
o
p
o
s
e
d
C
B
SOA
m
eth
o
d
s
h
o
win
g
t
h
e
co
n
tr
o
ller
d
esig
n
ar
e
illu
s
tr
ated
with
th
e
h
elp
o
f
a
f
lo
wch
ar
t a
s
ca
n
b
e
s
ee
n
in
Fig
u
r
e
1
.
T
ab
le
1
.
C
o
m
p
u
tatio
n
al
co
m
p
l
ex
ity
o
f
C
B
SOA
v
is
-
à
-
v
is
PS
O,
DE
A
l
g
o
r
i
t
h
m
D
o
mi
n
a
n
t
o
p
e
r
a
t
i
o
n
s
p
e
r
i
t
e
r
a
t
i
o
n
A
p
p
r
o
x
i
ma
t
e
c
o
m
p
l
e
x
i
t
y
R
e
mar
k
s
C
B
S
O
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C
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DATA AV
AI
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AB
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L
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Y
Data
a
v
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b
i
lit
y
is
n
o
t
a
p
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ca
b
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t
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w
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d
o
r
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al
y
z
e
d
i
n
t
h
is
s
t
u
d
y
.
Evaluation Warning : The document was created with Spire.PDF for Python.