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[
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W
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[
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Of
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[
3
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T
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icien
cy
with
a
m
o
d
u
lar
s
ev
en
-
p
h
ase
VSI
(
v
o
ltag
e
s
o
u
r
ce
in
v
er
ter
)
a
r
ch
itec
tu
r
e,
wh
ich
p
r
o
v
id
es
f
o
r
h
ig
h
f
au
lt
to
ler
an
ce
;
an
d
f
in
ally
,
th
is
p
ap
er
p
r
o
v
id
es
a
n
o
v
er
v
iew
o
f
m
o
d
elin
g
m
et
h
o
d
o
lo
g
ies
an
d
p
r
esen
ts
ex
p
e
r
im
en
tal
r
esu
lts
to
v
alid
ate
th
e
ef
f
icien
c
y
a
n
d
th
e
r
esil
ien
cy
o
f
th
e
o
v
er
all
p
r
o
p
o
s
ed
s
y
s
tem
.
On
e
ess
en
tial
p
r
o
b
lem
t
h
at
ex
is
ts
in
p
r
ev
io
u
s
r
esear
c
h
co
n
ce
r
n
in
g
th
e
b
alan
ce
b
etwe
en
co
o
r
d
in
at
ed
in
tellig
en
ce
an
d
d
ata
p
r
iv
a
cy
is
th
at,
alth
o
u
g
h
th
er
e
is
g
r
ea
t
im
p
o
r
tan
ce
o
f
d
ata
s
h
ar
in
g
in
im
p
r
o
v
in
g
ef
f
icien
cy
as
a
wh
o
le,
th
er
e
is
a
h
u
g
e
s
ec
u
r
ity
r
is
k
in
v
o
lv
ed
alo
n
g
with
th
e
n
ee
d
f
o
r
b
r
o
ad
b
a
n
d
co
n
n
ec
tiv
ity
,
wh
ich
m
ay
n
o
t
b
e
av
ailab
l
e
in
m
an
y
r
em
o
t
e
m
ar
itime
lo
ca
tio
n
s
.
T
h
er
e
ex
is
ts
n
o
s
u
ch
s
y
s
tem
f
o
r
r
o
b
o
tic
d
r
iv
es th
at
ca
n
in
tellig
en
tly
to
le
r
ate
f
au
lts
[
5
]
.
I
n
p
ar
ticu
la
r
,
th
e
r
esear
ch
i
n
co
r
p
o
r
ates
th
e
u
s
e
o
f
a
f
r
a
ctio
n
al
-
o
r
d
e
r
n
e
u
r
al
n
etwo
r
k
alg
o
r
ith
m
(
FONNA)
co
m
b
in
ed
with
f
e
d
er
ated
lear
n
in
g
,
allo
win
g
f
o
r
d
ec
en
tr
aliza
tio
n
with
o
u
t
co
m
p
r
o
m
is
in
g
o
n
r
aw
d
ata
s
ec
u
r
ity
.
T
h
e
m
o
d
elin
g
p
r
o
ce
s
s
en
tails
th
e
a
p
p
licatio
n
o
f
a
s
ev
en
-
p
h
ase
VSI
to
o
f
f
e
r
h
ig
h
-
p
er
f
o
r
m
a
n
ce
m
o
to
r
b
eh
a
v
io
r
an
d
ex
ce
p
tio
n
al
f
au
lt
r
esil
ien
ce
.
So
m
e
o
f
th
e
s
ig
n
if
ican
t
d
is
co
v
er
ies
in
clu
d
e
th
e
d
eliv
er
y
o
f
9
6
.
9
6
%
p
ea
k
ef
f
icien
cy
at
5
5
k
Hz
an
d
d
ec
r
ea
s
in
g
d
e
p
en
d
e
n
cy
o
n
h
i
g
h
-
b
a
n
d
wid
th
co
m
m
u
n
icatio
n
b
y
7
5
%
v
ia
g
r
ad
ie
n
t
u
p
d
ates.
T
h
e
in
te
g
r
atio
n
e
n
ab
les
th
e
d
esig
n
to
r
ed
u
ce
th
e
lik
elih
o
o
d
o
f
lo
s
in
g
p
o
wer
(
L
PS
P)
an
d
in
cr
ea
s
e
th
e
to
tal
n
et
p
r
esen
t
v
alu
e
(
T
NPV)
o
f
en
er
g
y
u
s
ed
in
m
is
s
io
n
s
.
I
t
al
s
o
em
p
lo
y
s
g
r
ad
ien
t
-
b
ased
lear
n
in
g
tech
n
iq
u
es
th
at
ca
n
d
ec
r
ea
s
e
th
e
b
an
d
wid
th
n
ee
d
ed
f
o
r
co
m
m
u
n
icatio
n
b
y
u
p
to
7
5
%,
th
u
s
allo
win
g
co
n
tin
u
ed
o
p
er
atio
n
in
th
e
ab
s
en
ce
o
f
co
n
n
ec
tiv
ity
in
is
o
late
d
m
ar
in
e
en
v
ir
o
n
m
en
ts
,
f
o
r
s
u
ch
h
ar
s
h
an
d
r
is
k
y
m
ar
in
e
co
n
d
itio
n
s
,
th
e
m
o
s
t
im
p
o
r
tan
t
g
o
al
in
p
o
wer
s
y
s
tem
en
g
in
ee
r
i
n
g
is
k
n
o
wn
as
"e
n
er
g
y
r
esil
ien
ce
,
"
wh
ich
is
co
n
s
id
er
e
d
to
b
e
th
e
ab
ilit
y
o
f
an
elec
tr
ical
s
y
s
tem
to
f
o
r
e
ca
s
t,
with
s
tan
d
,
ad
a
p
t,
a
n
d
r
ec
o
v
er
q
u
ic
k
ly
f
r
o
m
d
is
r
u
p
tio
n
wh
ile
m
ain
tain
in
g
its
k
ey
o
p
er
atio
n
al
f
ea
tu
r
es
[
6
]
.
T
h
e
r
esil
ien
ce
o
f
p
o
we
r
elec
tr
o
n
ic
-
d
r
i
v
en
s
y
s
tem
s
,
f
o
r
ex
a
m
p
le,
m
ar
in
e
r
o
b
o
tic
d
r
iv
es,
is
n
o
t
ju
s
t
a
t
h
eo
r
etica
l
co
n
ce
p
t
b
u
t
a
p
r
ac
t
ical
r
esu
lt
o
f
s
m
ar
t
co
n
v
er
ter
d
esig
n
an
d
ad
ap
tiv
e
co
n
tr
o
l
alg
o
r
ith
m
s
.
T
h
er
e
h
a
v
e
b
ee
n
m
an
y
r
esear
ch
s
tu
d
ie
s
r
ec
en
tly
f
o
cu
s
in
g
o
n
d
ec
en
tr
alize
d
a
n
d
m
o
d
u
lar
en
er
g
y
s
o
u
r
ce
s
,
lik
e
p
o
r
tab
le
s
o
lar
ar
r
a
y
s
an
d
m
icr
o
g
r
id
s
,
in
o
r
d
er
to
m
i
n
im
ize
th
e
r
elian
ce
o
n
r
is
k
y
ce
n
tr
al
ized
en
er
g
y
s
y
s
tem
s
.
E
m
er
g
in
g
r
esear
ch
h
as
b
ee
n
ce
n
te
r
ed
o
n
d
ev
elo
p
i
n
g
m
eth
o
d
s
to
co
n
tr
o
l m
u
ltip
h
ase
m
o
to
r
s
u
s
in
g
s
o
p
h
is
ticated
co
n
tr
o
l a
lg
o
r
ith
m
s
s
u
ch
as
s
p
ac
e
v
ec
to
r
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
SVPW
M)
an
d
v
ec
to
r
m
ap
p
in
g
th
at
ca
n
b
e
s
ep
a
r
ated
in
to
two
o
r
th
o
g
o
n
al
co
o
r
d
in
ate
s
p
ac
es
(
d
-
q
,
x
-
y
)
.
An
o
th
e
r
ar
ea
t
h
at
d
eser
v
es
to
b
e
m
en
tio
n
e
d
is
th
e
d
e
v
elo
p
m
en
t
o
f
a
d
is
tr
ib
u
ted
an
d
m
o
d
u
lar
s
tr
u
ctu
r
e
aim
ed
at
in
cr
ea
s
in
g
e
n
er
g
y
r
esil
ien
ce
[
7
]
.
T
h
e
is
s
u
e
co
m
es
u
p
wh
e
n
a
g
r
o
u
p
o
f
a
u
to
n
o
m
o
u
s
r
o
b
o
ts
n
ee
d
s
to
co
o
r
d
in
ate
o
p
tim
al
m
o
tio
n
co
n
tr
o
l
an
d
en
e
r
g
y
co
n
s
u
m
p
tio
n
with
o
u
t
r
ef
e
r
en
ce
t
o
s
tab
le
p
o
wer
g
r
id
s
o
n
E
ar
th
.
I
n
th
is
ca
s
e,
c
lass
ical
ce
n
tr
alize
d
co
n
tr
o
l
m
ec
h
an
is
m
s
will
f
ail
b
ec
au
s
e
ev
en
a
d
is
r
u
p
tio
n
i
n
co
m
m
u
n
icatio
n
with
th
e
c
en
tr
alize
d
co
n
tr
o
ller
wo
u
ld
af
f
ec
t
[
8
]
.
T
h
e
d
ata
r
ela
ted
to
t
h
e
o
p
er
atio
n
s
an
d
p
r
o
p
u
ls
io
n
o
f
th
e
r
o
b
o
tic
elem
e
n
ts
co
u
ld
r
aise
p
r
iv
ac
y
co
n
ce
r
n
s
an
d
b
e
co
s
tly
d
u
e
t
o
h
ig
h
-
b
a
n
d
wid
th
co
m
m
u
n
ic
atio
n
s
,
wh
ich
m
ay
n
o
t
b
e
ac
ce
s
s
ib
le
o
f
f
s
h
o
r
e
o
r
u
n
d
er
wate
r
.
Acc
o
r
d
in
g
to
t
h
e
av
ailab
le
s
cien
tific
liter
atu
r
e,
cu
r
r
en
t
d
r
iv
e
m
ec
h
a
n
is
m
s
o
f
r
o
b
o
tic
d
ev
ices
ar
e
m
o
s
tly
n
o
t
eq
u
ip
p
ed
with
i
n
tellig
en
ce
,
allo
win
g
th
e
m
t
o
with
s
tan
d
l
o
ad
ch
an
g
es
a
n
d
e
n
v
ir
o
n
m
en
tal
d
is
tu
r
b
an
ce
s
with
o
u
t sh
u
ttin
g
d
o
wn
th
e
wh
o
le
s
y
s
tem
.
T
h
e
wo
r
k
f
lo
w
o
f
s
tu
d
y
d
is
p
lay
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Gen
e
r
al
s
y
s
tem
ar
ch
itectu
r
e
f
o
r
a
p
r
iv
ac
y
-
co
n
s
cio
u
s
m
u
lti
-
ag
en
t in
tellig
en
ce
s
y
s
tem
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
1702
-
1
7
1
3
1704
2.
P
RO
P
O
SE
D
SYS
T
E
M
M
O
DE
L
I
NG
M
E
T
H
O
D
T
h
e
p
o
wer
d
r
i
v
e
u
n
it
f
o
r
th
e
s
u
g
g
ested
m
ar
in
e
r
o
b
o
tic
in
tellig
en
ce
ar
ch
itectu
r
e
is
b
ased
o
n
a
s
ev
en
-
p
h
ase
VSI
.
Su
ch
an
ap
p
r
o
ac
h
p
r
o
v
id
es
a
n
u
m
b
er
o
f
o
b
v
io
u
s
ad
v
an
tag
es
o
v
e
r
th
e
co
n
v
e
n
tio
n
al
th
r
ee
-
p
h
ase
in
v
er
ter
s
,
in
clu
d
in
g
lo
wer
to
r
q
u
e
p
u
ls
atio
n
s
,
s
m
aller
s
ize
o
f
elem
en
ts
,
an
d
im
p
r
o
v
e
d
f
au
lt
to
ler
an
ce
–
ess
en
tial
r
eq
u
ir
em
en
ts
f
o
r
au
to
n
o
m
o
u
s
u
n
d
er
wate
r
v
eh
icle
s
an
d
elec
tr
ic
s
h
ip
p
r
o
p
u
ls
io
n
s
y
s
tem
s
[
9
]
.
T
h
e
p
r
o
p
o
s
ed
s
ev
en
-
p
h
ase
VSI
c
o
n
tr
o
l
s
ch
em
e
s
tan
d
s
o
u
t
i
n
its
u
n
iq
u
en
ess
b
y
p
r
o
v
id
in
g
a
s
p
ec
ial
b
alan
ce
b
etwe
en
m
o
d
u
lar
h
a
r
d
war
e
a
n
d
in
tellig
en
ce
th
at
is
p
r
iv
ac
y
-
ce
n
tr
ic.
Alth
o
u
g
h
m
o
s
t
o
f
th
e
r
ec
en
t
wo
r
k
in
m
u
ltip
h
ase
d
r
iv
es
h
as
co
n
ce
n
tr
ated
o
n
o
p
tim
izin
g
eith
er
to
r
q
u
e
d
en
s
ity
,
f
au
lt
to
ler
a
n
ce
ca
p
ab
ilit
ies
,
o
r
ad
v
an
ce
d
SVPW
M,
th
is
n
o
v
el
co
n
ce
p
t
in
c
o
r
p
o
r
ates
FONNA
an
d
FL
to
b
r
id
g
e
th
e
r
esear
ch
g
ap
o
f
co
o
r
d
in
atin
g
ac
r
o
s
s
a
f
leet
wh
ile
p
r
eser
v
in
g
d
ata
p
r
i
v
ac
y
.
2
.
1
.
P
o
wer
circ
uit
t
o
po
lo
g
ies
T
h
e
p
o
we
r
cir
cu
it
f
o
r
th
e
s
ev
en
-
p
h
ase
in
v
er
ter
c
o
n
s
is
ts
o
f
f
o
u
r
teen
f
u
lly
co
n
tr
o
lled
p
o
wer
s
em
ico
n
d
u
cto
r
s
witch
es
(
s
u
ch
as
I
GB
T
s
o
r
b
ip
o
lar
tr
an
s
is
to
r
s
)
co
n
n
ec
te
d
in
an
ti
-
p
a
r
allel
with
a
d
io
d
e.
T
h
e
ar
ch
itectu
r
e
co
n
s
is
ts
o
f
s
ev
en
leg
s
,
with
a
leg
p
r
o
v
i
d
in
g
a
v
ar
iab
le
v
o
ltag
e
a
n
d
f
r
eq
u
e
n
c
y
o
u
tp
u
t
to
ea
ch
o
f
th
e
m
o
to
r
(
s
)
th
at
p
o
wer
th
e
r
o
b
o
tic
p
r
o
p
u
ls
io
n
ass
em
b
ly
(
R
PA
o
r
s
im
ilar
ty
p
e
o
f
ass
em
b
l
y
.
T
h
e
in
p
u
t
to
th
e
in
v
er
ter
is
a
f
ix
e
d
DC
v
o
ltag
e,
an
d
th
e
in
v
er
te
r
s
witch
es
p
r
o
v
id
e
o
u
tp
u
t
m
u
lti
-
p
h
ase
AC
v
o
ltag
e
f
r
o
m
th
e
in
p
u
t
DC
s
u
p
p
ly
.
T
h
e
ef
f
ec
tiv
en
ess
o
f
th
e
p
r
o
p
o
s
ed
m
o
d
el
i
n
r
e
d
u
cin
g
L
PS
P
h
as
b
ee
n
i
d
e
n
tifie
d
as
a
cr
u
cial
s
tep
to
war
d
s
in
teg
r
atin
g
s
o
la
r
-
h
y
d
r
o
g
e
n
en
er
g
y
s
y
s
tem
s
in
m
ar
in
e
v
ess
els
[
1
0
]
.
A
d
et
ailed
m
ath
em
atica
l
d
escr
ip
tio
n
o
f
h
o
w
th
e
d
ec
en
tr
alize
d
u
p
d
ate
o
f
weig
h
ts
f
o
r
e
ac
h
o
f
th
e
ag
en
ts
(
R
Ai)
m
in
im
izes th
e
p
r
o
b
ab
ilit
y
o
f
p
o
wer
l
o
s
s
(
L
PS
P)
an
d
m
ax
im
izes
m
is
s
io
n
v
alu
e
b
y
o
p
tim
izin
g
th
eir
m
o
d
el
weig
h
ts
(
wi)
[
1
1
]
.
Fo
r
m
u
la:
wi,
t+1
=w
i,
t−η
∇
L
(
wi,
t)
,
wh
er
e
η
is
th
e
lear
n
in
g
r
ate
,
an
d
L
is
th
e
lo
s
s
f
u
n
ctio
n
.
2
.
2
.
Ro
bo
t
dy
na
m
ics a
nd
re
s
ilience
m
o
delin
g
T
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
r
o
b
o
t
is
f
o
r
m
u
lated
co
n
s
id
er
in
g
h
ig
h
ly
f
lu
ctu
atin
g
lo
a
d
s
an
d
s
tr
ess
es
en
co
u
n
ter
e
d
in
h
o
s
tile
m
ar
in
e
en
v
ir
o
n
m
en
ts
.
I
n
th
is
s
ettin
g
,
r
esil
ien
ce
ca
n
b
e
d
escr
ib
ed
as
th
e
s
y
s
tem
'
s
ab
ilit
y
to
f
o
r
ec
ast,
ab
s
o
r
b
,
ad
ap
t,
an
d
r
ec
o
v
er
f
r
o
m
an
y
d
is
r
u
p
tio
n
s
.
T
h
e
h
ar
d
war
e
d
esig
n
o
f
t
h
e
s
ev
en
-
p
h
ase
VSI
p
lay
s
a
v
ital
r
o
le
in
m
a
k
in
g
t
h
e
s
y
s
tem
r
esil
ien
t
[
1
2
]
.
T
h
e
h
ar
d
war
e'
s
in
h
er
en
t
r
ed
u
n
d
a
n
cy
m
ak
es
it
p
o
s
s
ib
le
f
o
r
th
e
r
o
b
o
t
to
o
p
er
ate
d
esp
it
e
a
p
ar
tial
s
y
s
tem
b
r
ea
k
d
o
wn
.
Sh
o
u
ld
th
e
r
e
b
e
a
n
y
d
am
ag
e
to
th
e
co
m
p
o
n
e
n
ts
o
f
th
e
s
y
s
tem
,
th
e
s
y
s
tem
ca
n
u
s
e
f
au
lt
-
to
ler
an
t
co
n
tr
o
l
m
et
h
o
d
s
to
d
is
co
n
n
ec
t
o
r
b
y
p
ass
f
au
lty
p
ar
ts
as
th
e
r
est
co
n
tin
u
e
d
eliv
er
i
n
g
p
o
wer
to
th
e
m
o
to
r
.
T
h
is
m
o
d
u
lar
it
y
in
h
ar
d
wa
r
e
d
esig
n
f
o
r
m
s
a
n
ex
tr
em
ely
r
eliab
le
elec
tr
ical
in
ter
f
ac
e
th
at
s
er
v
es
as th
e
b
ac
k
b
o
n
e
f
o
r
th
e
in
telli
g
en
t c
o
n
tr
o
l la
y
er
[
1
3
]
.
I
n
Fig
u
r
e
2
,
th
e
s
ev
en
-
p
h
ase
VSI
'
s
p
o
wer
cir
cu
it
to
p
o
lo
g
y
is
an
es
s
en
tial
ar
ch
itectu
r
al
f
ea
tu
r
e
o
f
elec
tr
ical
m
ac
h
in
es
an
d
d
r
iv
e
s
y
s
tem
s
.
T
h
e
to
p
o
lo
g
y
is
m
ad
e
u
p
o
f
f
o
u
r
tee
n
co
n
tr
o
lled
p
o
wer
s
em
ico
n
d
u
cto
r
s
witch
es
s
u
ch
as
I
GB
T
s
an
d
MO
SF
E
T
s
,
ar
r
an
g
ed
i
n
to
s
ev
en
leg
s
to
co
n
t
r
o
l
all
p
h
ases
i
n
d
ep
en
d
en
tly
.
E
ac
h
s
witch
h
as
an
an
ti
-
p
ar
allel
d
i
o
d
e
co
n
n
ec
tio
n
t
h
at
h
an
d
les
cu
r
r
en
t
f
l
o
w
an
d
p
r
o
tects
th
e
d
ev
ices
th
r
o
u
g
h
o
u
t
th
eir
o
p
er
atio
n
.
T
h
e
cir
cu
it
h
a
s
ce
r
tain
co
n
n
ec
tio
n
n
o
d
es
o
n
ea
ch
leg
(
A,
B
,
C
,
D,
E
,
F,
an
d
G)
f
o
r
co
n
n
ec
tin
g
to
th
e
m
u
lti
-
p
h
ase
r
o
b
o
tic
p
r
o
p
u
ls
io
n
m
o
to
r
[
1
4
]
.
An
im
p
o
r
tan
t
f
ea
tu
r
e
o
f
th
is
s
y
s
tem
is
its
ca
p
ab
ilit
y
o
f
tr
an
s
f
o
r
m
in
g
th
e
s
tead
y
-
s
tate
DC
v
o
ltag
e
in
p
u
t
to
a
v
ar
y
in
g
-
f
r
eq
u
en
cy
a
n
d
v
o
ltag
e
AC
o
u
tp
u
t
th
at
m
ak
es
it
p
o
s
s
ib
le
to
ac
h
iev
e
th
e
ef
f
icien
t
d
r
iv
e
d
y
n
am
ics
n
ee
d
e
d
f
o
r
r
o
b
u
s
t
m
ar
in
e
r
o
b
o
ts
.
Acc
o
r
d
in
g
to
jo
u
r
n
al
r
eq
u
ir
em
e
n
ts
,
th
e
d
iag
r
am
s
h
o
win
g
th
e
cir
cu
it
will
h
av
e
to
b
e
a
h
ig
h
-
q
u
ality
im
ag
e
with
a
p
atter
n
(
h
atch
ed
an
d
d
o
tted
)
in
s
tead
o
f
co
lo
r
s
u
s
ed
to
d
if
f
er
en
tiate
b
etwe
en
v
ar
io
u
s
elem
en
ts
o
r
d
atasets
.
Su
ch
a
h
ar
d
war
e
m
o
d
u
le
s
er
v
es a
s
a
s
tab
le
p
latf
o
r
m
f
o
r
im
p
lem
e
n
tin
g
in
tellig
en
t c
o
n
tr
o
l c
a
p
ab
ilit
ies [
1
5
]
.
Fig
u
r
e
2
.
Diag
r
a
m
o
f
s
ev
en
-
p
h
ase
VSI
p
o
wer
cir
cu
it to
p
o
lo
g
y
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Mu
lti
-
a
g
en
t in
tellig
en
ce
w
ith
p
r
iva
cy
a
w
a
r
en
ess
fo
r
r
o
b
u
s
t m
a
r
in
e
r
o
b
o
tic
…
(
V
is
h
n
u
K
u
ma
r
Mis
h
r
a
)
1705
2
.
3
.
Vec
t
o
r
ma
pp
ing
a
nd
s
p
a
ce
deco
m
po
s
it
io
n
T
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
r
o
b
o
t
is
f
o
r
m
u
lated
co
n
s
id
er
in
g
h
ig
h
ly
f
lu
ctu
atin
g
lo
a
d
s
an
d
s
tr
ess
es
en
co
u
n
ter
e
d
in
h
o
s
tile
m
ar
in
e
en
v
ir
o
n
m
en
ts
.
I
n
th
is
s
ettin
g
,
r
esil
ien
ce
ca
n
b
e
d
escr
ib
ed
as
th
e
s
y
s
tem
'
s
ab
ilit
y
to
f
o
r
ec
ast,
ab
s
o
r
b
,
ad
ap
t,
an
d
r
ec
o
v
er
f
r
o
m
an
y
d
is
r
u
p
tio
n
s
.
T
h
e
h
ar
d
war
e
d
esig
n
o
f
t
h
e
s
ev
en
-
p
h
ase
VSI
p
lay
s
a
v
ital
r
o
le
in
m
a
k
in
g
t
h
e
s
y
s
tem
r
esil
ien
t
[
1
6
]
.
T
h
e
h
ar
d
war
e'
s
in
h
er
en
t
r
ed
u
n
d
a
n
cy
m
ak
es
it
p
o
s
s
ib
le
f
o
r
th
e
r
o
b
o
t to
o
p
e
r
ate
d
esp
ite
a
p
ar
tial sy
s
tem
b
r
ea
k
d
o
wn
;
s
h
o
u
ld
th
er
e
b
e
an
y
d
am
a
g
e
to
th
e
co
m
p
o
n
e
n
ts
o
f
th
e
s
y
s
tem
,
th
e
s
y
s
tem
ca
n
u
s
e
f
au
lt
-
to
ler
an
t
co
n
tr
o
l
m
eth
o
d
s
to
d
is
co
n
n
ec
t
o
r
b
y
p
ass
f
a
u
lty
p
ar
ts
as
th
e
r
es
t
co
n
tin
u
e
d
eliv
er
i
n
g
p
o
wer
to
th
e
m
o
to
r
.
T
h
is
m
o
d
u
lar
ity
in
h
ar
d
war
e
d
esig
n
f
o
r
m
s
an
ex
tr
em
ely
r
eliab
le
elec
tr
ical
in
ter
f
ac
e
th
at
s
er
v
es
as th
e
b
ac
k
b
o
n
e
f
o
r
th
e
in
telli
g
en
t c
o
n
tr
o
l la
y
er
[
1
7
]
,
[
1
8
]
.
3.
M
E
T
H
O
D
T
h
e
p
r
o
p
o
s
ed
in
tellig
en
t
m
o
d
el
f
o
r
r
esil
ien
t
m
ar
in
e
r
o
b
o
tic
s
in
v
o
lv
es
ef
f
icien
t
p
o
wer
m
a
n
ag
em
en
t
co
u
p
led
with
a
p
r
iv
a
cy
-
p
r
o
t
ec
ted
d
is
tr
ib
u
ted
c
o
o
r
d
i
n
atio
n
s
ch
em
e.
T
h
e
f
o
llo
win
g
p
ar
t
h
ig
h
lig
h
ts
th
e
r
elatio
n
s
h
ip
b
etwe
en
FONNA
an
d
f
ed
e
r
ated
l
ea
r
n
in
g
(
F
L
)
.
I
n
t
h
is
s
tu
d
y
,
a
p
r
iv
ac
y
-
awa
r
e
m
u
lti
-
ag
en
t
in
tellig
en
ce
f
r
am
ewo
r
k
h
as
b
ee
n
d
e
v
elo
p
ed
b
y
lev
er
ag
i
n
g
th
e
s
y
n
e
r
g
y
b
etwe
en
FONNA
an
d
f
ed
e
r
ated
lear
n
in
g
.
T
h
e
n
o
v
elty
o
f
th
is
s
tu
d
y
is
th
at
th
e
u
s
e
o
f
FO
allo
ws
f
o
r
a
f
aster
o
p
tim
izatio
n
c
o
n
v
er
g
en
ce
p
r
o
ce
s
s
at
th
e
lo
ca
l
d
r
i
v
e,
wh
ich
u
s
es
a
d
ec
en
tr
alize
d
co
o
r
d
in
atio
n
s
tr
ateg
y
b
y
tr
an
s
m
itti
n
g
g
r
ad
ien
ts
o
f
th
e
m
o
d
el
in
s
tead
o
f
th
e
r
aw
o
p
er
atio
n
al
d
ata.
T
h
e
s
ig
n
if
ican
ce
o
f
th
is
s
tu
d
y
is
th
at
th
e
p
r
o
p
o
s
ed
f
r
am
e
wo
r
k
ca
n
im
p
r
o
v
e
en
er
g
y
r
e
s
ilien
ce
in
en
v
ir
o
n
m
en
ts
wh
er
e
co
m
m
u
n
icatio
n
s
ar
e
n
o
t
av
ailab
le
b
ec
au
s
e
o
f
th
e
u
tili
za
tio
n
o
f
th
e
m
o
d
u
lar
s
ev
en
-
p
h
ase
VSI
to
g
eth
er
with
th
e
p
r
iv
ac
y
-
awa
r
e
in
tellig
en
c
e
s
y
s
tem
,
en
s
u
r
in
g
th
at
th
e
m
is
s
io
n
r
e
m
ain
s
u
n
in
ter
r
u
p
te
d
ev
en
if
p
a
r
t
o
f
t
h
e
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f
ails
.
T
h
e
m
a
n
u
s
cr
ip
t
n
o
w
s
p
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cif
ies
th
e
o
r
ig
in
ality
i
n
th
e
u
s
e
o
f
th
e
s
ev
en
-
p
h
ase
VSI
to
g
eth
er
with
FONNA
-
b
a
s
ed
in
tellig
en
ce
.
T
h
e
s
y
n
er
g
y
en
ab
les
th
e
d
r
i
v
e
to
e
m
p
lo
y
its
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ed
u
n
d
a
n
cy
o
f
1
4
s
witch
es
to
ad
ap
tiv
ely
ch
an
g
e
m
is
s
io
n
p
ar
am
eter
s
ettin
g
s
o
n
th
e
f
ly
b
y
p
r
o
ce
s
s
in
g
o
n
l
y
lo
ca
lly
av
ailab
le
p
r
iv
ate
d
ata
[
1
9
]
.
T
h
e
FONNA
alg
o
r
ith
m
is
n
o
w
r
ep
r
o
d
u
cib
le
as
a
m
eta
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h
eu
r
is
tic
o
p
tim
izer
o
f
th
e
in
v
er
ter
'
s
d
u
ty
cy
cle,
tu
n
ed
u
p
with
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0
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n
eu
r
o
n
s
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d
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atio
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er
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ied
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in
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ep
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n
d
e
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t
s
im
u
latio
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r
u
n
s
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o
o
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d
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o
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e
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in
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ch
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o
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m
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im
izes th
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ilit
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s
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p
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ates
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alize
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a
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u
r
e
th
at
r
aw
p
r
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ls
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ata
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tay
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ca
l
to
m
ee
t
th
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p
r
iv
ac
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eq
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ir
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ed
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ce
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icatio
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u
en
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en
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ata
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ea
m
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o
,
th
e
9
6
.
9
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%
p
ea
k
ef
f
icien
cy
at
5
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d
th
e
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n
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ct
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e
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e
tech
n
ical
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r
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f
o
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eliab
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y
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o
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id
in
g
a
5
0
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s
af
ety
m
ar
g
in
f
o
r
th
e
o
p
er
atio
n
o
f
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R
F6
4
0
MO
SF
E
T
s
in
th
e
f
u
ll
-
lo
ad
r
eg
im
e.
R
o
b
u
s
tn
ess
is
p
r
o
v
ed
b
y
t
h
e
p
r
esen
ce
o
f
1
4
s
witch
es
an
d
m
o
d
u
lar
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ed
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n
d
a
n
cy
o
f
th
e
s
ev
en
-
p
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ase
VSI
th
a
t
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iv
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a
"f
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lt
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g
th
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tin
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d
esp
ite
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im
u
lated
f
ailu
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VSC
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o
d
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les.
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h
e
m
an
u
s
cr
ip
t
h
as
b
ee
n
r
ewr
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th
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ato
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MRADC
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u
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av
e
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ee
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cited
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th
e
tex
t to
c
o
m
p
ly
with
I
J
PEDS
g
u
id
elin
e
s
.
3
.
1
.
I
nte
llig
ence
la
y
er
:
f
ra
ct
i
o
na
l o
rder
neura
l net
wo
rk
a
lg
o
rit
hm
(
F
O
NNA)
T
h
is
in
tellig
en
ce
lay
er
m
ak
es
u
s
e
o
f
FONNA
in
F
ig
u
r
e
3
,
a
h
ig
h
ly
ef
f
icien
t
class
o
f
o
p
tim
izatio
n
alg
o
r
ith
m
s
k
n
o
wn
as
m
eta
-
h
eu
r
is
tics
,
b
ased
o
n
th
e
wo
r
k
i
n
g
s
o
f
th
e
h
u
m
an
b
r
ain
to
ta
ck
le
th
e
s
to
ch
asti
c
p
o
wer
d
y
n
am
ics
ass
o
ciate
d
with
m
ar
in
e
d
r
iv
es.
T
h
e
m
ai
n
p
u
r
p
o
s
e
o
f
th
e
alg
o
r
ith
m
is
to
r
ed
u
ce
th
e
L
PS
P
wh
ile
m
ax
im
izin
g
th
e
T
NPV
o
f
p
o
wer
em
p
lo
y
ed
d
u
r
in
g
th
e
m
is
s
io
n
o
f
th
e
r
o
b
o
tic
v
ess
el.
W
h
at
is
im
p
o
r
tan
t
ab
o
u
t
th
is
ap
p
r
o
ac
h
is
th
e
in
co
r
p
o
r
atio
n
o
f
th
e
FO
with
in
th
e
s
tr
u
ctu
r
e
o
f
th
e
n
e
u
r
al
n
etwo
r
k
.
T
h
e
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
p
r
o
v
es
to
b
e
b
etter
in
f
in
d
in
g
o
p
tim
a
at
b
o
th
t
h
e
lo
ca
l
an
d
g
lo
b
al
lev
els.
I
n
p
ar
ticu
lar
,
th
e
ap
p
licatio
n
o
f
FO
h
elp
s
s
p
ee
d
u
p
th
e
p
r
o
ce
s
s
o
f
c
o
n
v
er
g
en
ce
o
f
th
e
o
b
jectiv
e
f
u
n
ctio
n
with
o
u
t
h
av
in
g
to
u
s
e
co
m
p
licated
m
ath
e
m
atica
l
f
u
n
ctio
n
s
th
at
wo
u
l
d
s
tr
ain
th
e
co
m
p
u
tatio
n
al
ab
ilit
ies
o
f
th
e
lo
ca
l
p
r
o
ce
s
s
in
g
u
n
it
o
f
t
h
e
r
o
b
o
tic
a
g
en
t.
T
h
e
r
esear
ch
d
esig
n
f
o
r
t
h
is
p
r
o
ject
r
elies
o
n
d
u
al
-
v
alid
atio
n
m
eth
o
d
s
u
s
in
g
b
o
th
h
ig
h
-
f
id
elity
L
T
s
p
ice
s
im
u
latio
n
s
an
d
HI
L
(
h
ar
d
war
e
-
in
-
t
h
e
-
lo
o
p
)
ex
p
er
im
en
ts
.
T
h
is
d
u
al
-
v
alid
a
tio
n
ap
p
r
o
ac
h
is
id
ea
l
f
o
r
th
e
r
esear
ch
p
r
o
b
lem
b
ec
au
s
e
it
allo
ws
f
o
r
ac
cu
r
ate
o
p
tim
izatio
n
o
f
b
o
th
th
e
p
o
wer
elec
tr
o
n
ic
cir
cu
it
p
ar
a
m
eter
s
an
d
co
n
tr
o
l
lo
g
ic
in
a
v
ir
t
u
al
en
v
ir
o
n
m
en
t
p
r
io
r
to
co
n
f
ir
m
i
n
g
th
e
r
esil
ien
cy
o
f
th
e
p
h
y
s
ical
im
p
lem
en
t
atio
n
g
iv
en
th
e
v
ar
y
i
n
g
lo
a
d
s
an
d
s
to
ch
asti
c
d
is
tu
r
b
an
ce
ch
a
r
ac
ter
is
tics
ex
p
ec
ted
in
m
ar
in
e
en
v
ir
o
n
m
en
ts
.
3
.
2
.
Co
o
rdina
t
io
n la
y
er
:
DC
-
f
irst
co
o
rdina
t
io
n pro
t
o
c
o
l
a
nd
s
y
s
t
em
re
s
ilience
T
h
e
p
r
o
p
o
s
ed
m
eth
o
d
u
s
es
a
"DC
-
f
ir
s
t"
co
o
r
d
in
atio
n
p
r
o
to
co
l
th
at
f
a
v
o
r
s
t
h
e
d
ir
ec
t
p
o
wer
d
is
tr
ib
u
tio
n
o
f
DC
p
o
wer
to
f
ee
d
co
m
p
atib
le
lo
ad
s
u
s
in
g
t
h
e
d
r
iv
e
b
u
s
.
T
h
e
d
esig
n
p
h
ilo
s
o
p
h
y
b
eh
in
d
th
is
ar
ch
itectu
r
e
is
cr
u
cial
in
im
p
r
o
v
in
g
s
y
s
tem
r
esil
ien
ce
s
i
n
ce
it
cu
ts
d
o
wn
th
e
co
n
v
er
s
io
n
p
r
o
ce
s
s
,
h
e
n
ce
lo
wer
in
g
co
n
v
er
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lo
s
s
es.
I
n
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,
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e
m
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n
ten
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ce
o
f
lo
ca
l
g
r
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ie
n
ts
an
d
d
ata
m
ak
es
th
e
p
r
o
p
o
s
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
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I
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7
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3
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latest co
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[
2
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]
.
3
.
2
.
1
.
M
a
t
er
ia
ls
/
da
t
a
s
o
urce
s
T
h
e
ex
p
e
r
im
en
tal
test
b
ed
was
b
u
ilt
with
in
d
u
s
tr
ial
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g
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ad
e
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o
m
p
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n
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ts
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allo
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o
r
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ep
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d
u
cib
ilit
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.
T
h
e
p
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s
tag
e
is
p
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ed
w
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a
co
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tan
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12
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v
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u
p
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m
ai
n
m
ater
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test
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[
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2
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.
Fig
u
r
e
3
.
FONNA
o
p
tim
izatio
n
f
lo
wch
ar
t
3
.
3
.
P
ri
v
a
cy
l
a
y
er
:
T
he
f
ede
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t
ed
l
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et
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s
co
m
m
un
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T
h
e
f
e
d
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ated
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1707
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.
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u
ar
a
n
t
ee
s
th
at
th
e
r
ep
r
esen
tatio
n
o
f
th
e
ex
p
er
im
en
tal
d
esig
n
will
b
e
p
r
esen
ted
clea
r
ly
an
d
ac
cu
r
ately
,
g
iv
in
g
th
e
p
o
s
s
ib
ilit
y
to
r
ep
licate
ex
p
er
im
e
n
ts
in
f
u
r
th
er
r
esear
ch
b
y
o
th
e
r
s
ch
o
lar
s
:
4
.
1
.
P
o
wer
co
nv
er
t
er
s
t
ruct
ure
A
n
o
n
-
is
o
lated
b
o
o
s
t
p
o
wer
c
o
n
v
er
ter
,
s
u
p
p
lied
f
r
o
m
a
v
o
lt
ag
e
s
o
u
r
ce
eq
u
alin
g
1
2
VDC,
s
er
v
ed
as
th
e
p
r
im
ar
y
en
e
r
g
y
s
o
u
r
ce
to
p
r
o
v
id
e
th
e
n
ec
ess
ar
y
v
o
lta
g
e
s
u
p
p
ly
f
o
r
m
u
lti
-
ag
e
n
t p
r
o
p
u
ls
io
n
u
n
its
.
T
h
e
in
p
u
t
v
o
ltag
e
o
f
th
e
co
n
v
er
ter
co
u
l
d
v
ar
y
f
r
o
m
5
to
2
0
v
o
lts
,
wh
ile
its
o
u
tp
u
t
v
o
ltag
e
co
u
ld
v
ar
y
f
r
o
m
4
to
3
0
v
o
lts
.
I
n
o
r
d
e
r
to
ac
h
iev
e
a
C
C
M
r
eg
im
e,
th
e
in
d
u
cta
n
ce
o
f
4
7
0
m
H
an
d
th
e
ca
p
ac
itan
ce
o
f
1
0
0
µF
wer
e
s
et
u
p
f
o
r
th
e
b
o
o
s
t stag
e
[
2
5
]
.
Simu
latio
n
r
esu
lts
co
r
r
o
b
o
r
at
ed
with
th
e
ex
p
er
im
en
tal
r
e
s
u
lts
an
d
p
r
o
v
ed
th
e
ac
cu
r
a
cy
o
f
th
e
p
r
o
p
o
s
ed
m
o
d
els.
As
d
ep
icted
in
Fig
u
r
e
5
(
wh
ic
h
m
ak
es
u
s
e
o
f
d
is
tin
ctiv
e
b
lack
an
d
wh
ite
p
atter
n
s
f
o
r
d
is
tin
ctio
n
p
u
r
p
o
s
es),
th
e
h
ig
h
est
d
r
iv
e
ef
f
icien
cy
attain
ed
was
9
6
.
9
6
%,
at
a
s
witch
in
g
f
r
eq
u
en
cy
o
f
5
5
k
Hz
with
a
lo
ad
r
esis
tan
ce
o
f
1
0
0
Ω
.
At
a
s
witch
in
g
f
r
e
q
u
en
c
y
o
f
1
0
0
k
Hz,
a
n
d
v
ar
y
i
n
g
t
h
e
l
o
ad
r
esis
tan
ce
f
r
o
m
5
0
Ω
to
1
0
0
0
Ω
,
t
h
e
h
ig
h
est
ef
f
icien
cy
was
8
0
%,
at
5
0
Ω
.
Fro
m
th
er
m
al
a
n
aly
s
is
,
th
e
s
tead
y
T
J
is
7
5
°C
,
wh
ich
g
iv
es e
n
o
u
g
h
s
af
ety
m
a
r
g
in
b
elo
w
t
h
e
1
5
0
°C
lim
it.
4
.
2
.
P
WM
co
ntr
o
l a
nd
hig
h
-
f
re
qu
ency
m
a
na
g
e
m
ent
I
n
o
r
d
er
to
ac
h
iev
e
m
o
tio
n
i
n
tellig
en
ce
ac
r
o
s
s
m
u
ltip
le
a
g
en
ts
,
a
T
L
4
9
4
in
teg
r
ated
ci
r
cu
it
-
b
ased
co
n
tr
o
ller
was
d
esig
n
ed
as
an
en
v
ir
o
n
m
e
n
t
f
o
r
th
e
PW
M
co
n
tr
o
l
m
eth
o
d
.
T
h
e
d
esig
n
allo
ws
f
o
r
s
witch
in
g
f
r
eq
u
e
n
cies
with
in
th
e
r
an
g
e
o
f
ap
p
r
o
x
im
ately
4
0
k
Hz
to
1
1
0
k
Hz,
th
er
e
b
y
p
er
m
itti
n
g
th
e
co
n
tr
o
ller
to
also
ad
ap
t
to
a
v
ar
iety
o
f
p
r
o
p
u
ls
io
n
lo
ad
s
.
T
h
e
f
r
eq
u
en
cy
o
f
o
s
cillatio
n
was
s
et
th
r
o
u
g
h
u
s
e
o
f
a
p
o
ten
tio
m
eter
,
co
n
n
ec
ted
to
t
h
e
tim
in
g
r
esis
to
r
(
R
r
t)
an
d
ca
p
ac
ito
r
(
C
ct)
p
i
n
s
o
f
th
e
T
L
4
9
4
to
allo
w
f
o
r
ac
cu
r
ate
d
u
ty
c
y
cle
co
n
tr
o
l
o
f
th
e
r
o
b
o
tic
ag
en
ts
.
Acc
o
r
d
in
g
to
th
e
d
ata
p
r
esen
t
ed
ab
o
v
e,
th
e
e
f
f
icien
cy
in
c
r
e
ases
in
th
e
r
an
g
e
o
f
f
r
eq
u
e
n
cies
b
etwe
en
5
5
k
Hz
an
d
7
0
k
Hz,
wh
er
e
th
er
e
is
a
n
o
p
tim
al
b
alan
ce
b
etwe
en
s
witch
in
g
lo
s
s
es
an
d
co
n
d
u
ctio
n
lo
s
s
es.
T
h
e
ac
h
ie
v
em
en
t
o
f
t
h
e
7
5
%
r
e
d
u
ctio
n
o
f
th
e
c
o
m
m
u
n
icatio
n
b
a
n
d
wid
th
b
y
u
tili
zin
g
f
ed
er
ated
g
r
ad
ien
ts
d
e
m
o
n
s
tr
ates
th
at
ev
en
in
s
itu
atio
n
s
o
f
r
e
d
u
ce
d
co
n
n
ec
tiv
ity
le
v
els,
d
ec
en
tr
alize
d
in
tellig
en
ce
ca
n
k
ee
p
f
leet
co
o
r
d
in
atio
n
.
4
.
3
.
Switc
hin
g
ha
rdwa
re
a
nd
no
is
e
m
it
ig
a
t
io
n
T
h
e
p
h
y
s
ical
p
o
wer
s
tag
e
o
f
th
e
co
n
tr
o
ller
u
s
es
I
R
F6
4
0
p
o
wer
MO
SF
E
T
s
as
i
ts
m
ain
p
o
wer
s
witch
in
g
co
m
p
o
n
e
n
ts
,
wh
ich
ar
e
d
r
iv
en
b
y
T
L
P2
5
0
o
p
to
co
u
p
ler
g
ate
d
r
iv
er
s
.
T
h
e
T
L
P2
5
0
d
r
iv
er
'
s
ca
p
ab
ilit
y
Evaluation Warning : The document was created with Spire.PDF for Python.
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4
I
n
t J Po
w
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lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
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Sep
tem
b
er
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6
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3
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o
r
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s
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g
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µs)
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n
d
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o
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n
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o
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e
o
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5
0
0
Vr
m
s
wer
e
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e
b
asis
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o
r
th
e
d
r
iv
er
'
s
s
elec
tio
n
to
en
s
u
r
e
th
at
th
e
n
o
is
e
in
s
en
s
itiv
e
co
llab
o
r
ativ
e
m
ar
in
e
en
v
ir
o
n
m
en
ts
is
m
i
n
im
al.
A
1
0
0
Ω
p
r
o
tectio
n
r
esis
to
r
was
ad
d
ed
to
p
r
ev
en
t
th
e
MO
SF
E
T
s
f
r
o
m
tu
r
n
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g
o
n
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cid
e
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tally
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e
to
n
o
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e
in
th
e
o
u
ts
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e
en
v
ir
o
n
m
en
t
b
y
co
n
n
ec
tin
g
it
f
r
o
m
th
e
g
ate
to
th
e
s
o
u
r
ce
.
C
o
m
p
ar
e
d
to
p
ast
r
esear
ch
a
s
s
ee
n
in
Fig
u
r
e
5
,
th
e
p
r
esen
t
s
tu
d
y
im
p
r
o
v
es
o
n
th
e
cu
r
r
en
t
b
o
d
y
o
f
r
esear
ch
in
two
way
s
:
First,
p
r
ev
io
u
s
o
n
e
-
s
witch
in
v
er
te
r
s
claim
ed
th
eir
h
ig
h
ef
f
icien
cy
was
o
n
ly
p
o
s
s
ib
le
with
in
ce
r
tain
im
p
ed
a
n
ce
r
an
g
es
(
e.
g
.
,
5
2
.
4
Ω
an
d
1
0
0
Ω
)
,
wh
ile
th
is
cu
r
r
e
n
t
f
o
u
r
teen
-
s
witch
s
ev
en
-
p
h
ase
s
y
s
tem
is
s
tab
le
th
r
o
u
g
h
o
u
t a
ll
im
p
ed
an
ce
r
a
n
g
es.
Seco
n
d
,
th
e
p
ea
k
ef
f
icien
cy
o
f
9
6
.
9
6
% is
h
ig
h
er
th
a
n
th
e
ef
f
icien
cies r
ep
o
r
ted
f
o
r
s
ev
er
al
o
th
er
s
y
s
tem
s
o
f
r
ec
en
t
y
ea
r
s
.
Fig
u
r
e
5
.
Pr
o
p
o
s
ed
p
r
iv
ac
y
-
co
n
s
cio
u
s
m
u
lti
-
ag
en
t in
tellig
en
ce
s
y
s
tem
f
o
r
r
o
b
u
s
t m
ar
in
e
d
r
iv
es
4
.
4
.
Resili
ence
a
s
s
ess
m
ent
a
nd
m
et
rics
Sy
s
tem
p
er
f
o
r
m
a
n
ce
an
d
r
esil
ien
ce
wer
e
ass
ess
ed
th
r
o
u
g
h
t
wo
p
r
im
ar
y
an
aly
tical
len
s
es:
i)
Vo
ltag
e
s
tab
ilit
y
m
ar
g
in
s
:
T
h
e
s
y
s
tem
was
test
ed
ac
r
o
s
s
a
wid
e
lo
a
d
r
an
g
e
f
r
o
m
5
0
Ω
t
o
1
0
0
0
Ω
to
ev
alu
ate
v
o
lta
g
e
r
eg
u
latio
n
u
n
d
e
r
tr
an
s
ien
t
co
n
d
itio
n
s
;
an
d
ii)
T
h
er
m
al
a
n
a
ly
s
is
:
R
el
iab
ilit
y
u
n
d
er
c
o
n
tin
u
o
u
s
o
p
e
r
atio
n
was
v
alid
ated
b
y
ca
lcu
latin
g
th
e
ju
n
ctio
n
tem
p
er
atu
r
e
(
T
J
)
o
f
t
h
e
I
R
F6
4
0
MO
SF
E
T
.
Un
d
er
m
a
x
im
u
m
s
tr
ess
(
7
.
2
2
W
at
1
0
0
k
Hz)
,
th
e
T
J
was
r
ec
o
r
d
ed
at
ap
p
r
o
x
im
ately
7
5
°
C
,
r
em
ain
in
g
well
b
elo
w
th
e
1
5
0
°C
s
af
ety
lim
it
an
d
co
n
f
ir
m
in
g
th
e
s
y
s
tem
'
s
th
er
m
al
r
o
b
u
s
tn
ess
with
o
u
t th
e
n
ee
d
f
o
r
ex
ter
n
al
h
ea
t sin
k
s
,
In
ter
m
s
o
f
im
p
licatio
n
s
,
th
e
r
esear
ch
r
esu
lts
s
u
g
g
est
a
tech
n
ical
m
ea
n
s
b
y
wh
ic
h
f
u
t
u
r
e
r
o
b
u
s
t
r
o
b
o
tic
s
war
m
s
ca
n
o
p
er
ate
in
a
m
ar
in
e
en
v
ir
o
n
m
en
t.
T
h
i
s
is
n
o
t
o
n
ly
a
co
n
tr
ib
u
tio
n
t
o
s
cien
ce
s
in
ce
th
is
s
tu
d
y
h
as
d
em
o
n
s
tr
ated
th
at
p
r
iv
ac
y
-
p
r
eser
v
in
g
in
tellig
en
t
co
n
tr
o
l
ca
n
b
e
ad
d
ed
to
a
h
i
g
h
ly
ef
f
icien
t
d
r
iv
e
with
o
u
t
an
y
lo
s
s
o
f
elec
tr
ical
ef
f
icien
cy
;
r
ath
er
,
th
e
s
y
s
tem
also
p
r
o
v
id
es
f
au
lt
to
ler
an
ce
an
d
lo
n
g
-
ter
m
p
er
f
o
r
m
an
ce
with
n
o
h
ea
t sin
k
s
r
eq
u
ir
ed
.
4
.
5
.
M
ultiple
-
ph
a
s
e
im
plem
ent
a
t
io
n
I
n
o
r
d
er
t
o
cr
ea
te
a
th
r
ee
-
p
h
as
e
o
u
tp
u
t
p
o
wer
f
r
o
m
m
u
ltip
le
VSC
s
,
th
ey
wer
e
p
a
r
alleled
.
E
ac
h
o
f
th
e
th
r
ee
s
tan
d
ar
d
th
r
ee
-
p
h
ase
VSC
s
h
as
b
ee
n
co
n
n
ec
ted
to
th
e
s
am
e
DC
-
B
u
s
.
T
h
e
DSP
T
MS3
2
0
F2
8
1
2
was
u
s
ed
to
cr
ea
te
in
d
e
p
en
d
e
n
t
PW
M
o
u
tp
u
ts
to
co
n
tr
o
l
ea
ch
o
f
t
h
e
1
4
s
witch
es
th
at
ar
e
r
eq
u
ir
ed
f
o
r
th
e
o
p
er
atio
n
o
f
th
e
s
ev
en
-
p
h
ase
r
o
b
o
tic
d
r
iv
et
r
ain
.
Als
o
,
im
p
lem
en
tin
g
th
is
test
in
g
m
eth
o
d
o
lo
g
y
allo
ws
an
y
o
n
e
o
f
th
e
VSC
s
to
b
e
tak
en
o
u
t
o
f
o
p
e
r
atio
n
if
o
n
e
o
f
th
e
h
ar
d
war
e
co
m
p
o
n
en
ts
f
ails
,
an
d
th
e
r
em
ain
in
g
two
VSC
s
co
u
ld
co
n
tin
u
e
to
o
p
er
ate.
5.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
o
u
tco
m
es e
m
p
h
asize
th
e
e
f
f
icac
y
an
d
s
tab
ilit
y
o
f
th
e
r
o
b
o
tics
p
r
o
p
u
ls
io
n
p
ac
k
ag
e
.
i)
E
f
f
icac
y
Ass
ess
m
en
t:
Mo
d
ell
in
g
an
d
e
x
p
er
im
en
tal
d
ata
wer
e
s
im
ilar
,
ex
h
ib
itin
g
a
m
a
x
im
u
m
d
r
i
v
e
ef
f
icac
y
o
f
9
6
.
9
6
%
at
5
5
k
Hz
wh
en
d
r
iv
i
n
g
a
1
0
0
Ω
lo
ad
.
T
h
e
s
y
s
tem
d
em
o
n
s
tr
ated
ad
eq
u
ate
ef
f
icac
ies
wh
ile
u
n
d
er
a
lo
ad
s
wee
p
f
r
o
m
5
0
Ω
to
1
0
0
0
Ω
;
th
u
s
,
th
is
co
n
f
ir
m
s
th
at
it
ca
n
b
e
u
s
ed
in
v
ar
iab
le
-
s
p
ee
d
m
ar
in
e
d
r
i
v
es
,
as
s
h
o
wn
in
Fig
u
r
e
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
I
SS
N:
2088
-
8
6
9
4
Mu
lti
-
a
g
en
t in
tellig
en
ce
w
ith
p
r
iva
cy
a
w
a
r
en
ess
fo
r
r
o
b
u
s
t m
a
r
in
e
r
o
b
o
tic
…
(
V
is
h
n
u
K
u
ma
r
Mis
h
r
a
)
1709
Fig
u
r
e
6
.
E
v
alu
atio
n
o
f
v
ar
iab
le
-
s
p
ee
d
m
ar
in
e
d
r
iv
es'
ef
f
ec
tiv
en
ess
ii)
C
o
m
m
u
n
i
c
a
ti
o
n
s
b
a
n
d
w
i
d
t
h
r
ed
u
c
t
i
o
n
:
B
y
u
s
i
n
g
f
e
d
e
r
a
t
e
d
g
r
a
d
i
e
n
t
s
r
a
t
h
e
r
t
h
a
n
r
a
w
t
r
a
n
s
m
is
s
i
o
n
d
a
t
a
,
t
h
e
s
y
s
te
m
a
c
h
i
e
v
e
d
a
c
o
m
m
u
n
i
c
ati
o
n
s
b
a
n
d
w
i
d
t
h
u
s
a
g
e
r
e
d
u
ct
i
o
n
o
f
7
5
%
.
T
h
e
r
e
f
o
r
e
,
t
h
is
w
i
ll
a
l
l
o
w
a
m
u
l
t
i
-
a
g
e
n
t
f
l
e
e
t
t
o
c
o
o
r
d
i
n
a
t
e
i
n
l
o
w
-
b
a
n
d
w
i
d
t
h
(
u
n
d
e
r
w
a
t
e
r
)
o
r
(
r
e
m
o
t
e
)
o
f
f
s
h
o
r
e
e
n
v
i
r
o
n
m
e
n
t
s
,
a
s
r
e
p
r
e
s
e
n
t
e
d
i
n
F
i
g
u
r
e
7
.
T
h
e
s
t
a
te
d
9
6
.
9
6
%
p
e
a
k
e
f
f
i
c
i
e
n
c
y
h
a
s
b
e
e
n
b
en
c
h
m
a
r
k
e
d
a
g
a
i
n
s
t
p
u
b
l
i
s
h
e
d
W
P
T
a
n
d
d
r
i
v
e
s
y
s
te
m
r
es
u
l
ts
.
T
h
e
t
h
e
r
m
a
l d
u
r
a
b
i
l
i
t
y
h
as b
e
e
n
p
r
o
v
e
n
t
h
r
o
u
g
h
a
j
u
n
c
ti
o
n
t
e
m
p
e
r
at
u
r
e
o
f
7
5
°
C
,
p
r
o
v
i
d
i
n
g
a
5
0
%
m
a
r
g
i
n
o
f
s
a
f
e
t
y
f
o
r
t
h
e
I
R
F
6
4
0
M
O
SF
E
T
.
T
h
e
r
e
s
ea
r
c
h
c
o
n
t
r
i
b
u
t
e
s
t
o
s
c
i
e
n
ti
f
i
c
k
n
o
w
l
e
d
g
e
b
y
s
h
o
w
i
n
g
t
h
a
t
p
r
i
v
a
c
y
-
a
w
a
r
e
in
t
e
l
l
i
g
e
n
c
e
c
a
n
b
e
i
n
t
e
g
r
a
te
d
i
n
t
o
e
f
f
i
c
i
e
n
t
d
r
i
v
e
s
wi
t
h
o
u
t
a
f
f
e
c
t
i
n
g
t
h
e
i
r
e
l
e
c
t
r
ic
a
l
e
f
f
i
ci
e
n
c
y
(
9
6
.
9
6
%
)
a
n
d
t
h
e
r
m
a
l
s
t
a
b
il
i
t
y
(
7
5
°
C
)
.
T
h
i
s
m
a
k
e
s
it
p
o
s
s
i
b
l
e
t
o
i
n
t
eg
r
a
t
e
p
o
r
t
a
b
l
e
s
o
l
a
r
e
n
e
r
g
y
-
p
o
w
e
r
e
d
m
a
r
i
n
e
v
e
s
s
e
l
s
i
n
o
f
f
s
h
o
r
e
a
r
e
as
v
u
l
n
e
r
ab
l
e
t
o
d
i
s
as
t
e
r
s
.
Fig
u
r
e
7
.
E
v
alu
atio
n
o
f
co
m
m
u
n
icatio
n
s
b
an
d
wid
th
r
e
d
u
ctio
n
iii)
T
h
er
m
al
Stab
ilit
y
:
T
esti
n
g
o
f
th
e
I
R
F6
4
0
MO
SF
E
T
at
its
m
ax
im
u
m
s
tr
ess
(
7
.
2
2
W
atts
at
1
0
0
k
Hz)
in
d
icate
s
a
7
5
-
d
e
g
r
ee
j
u
n
ctio
n
tem
p
er
atu
r
e,
well
b
elo
w
t
h
e
1
5
0
-
d
eg
r
ee
s
af
e
lim
it,
w
h
ich
p
r
o
v
id
es
lo
n
g
-
ter
m
h
ea
t
-
s
in
k
-
f
r
ee
u
s
e
,
as
s
h
o
wn
in
Fig
u
r
e
8
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
6
9
4
I
n
t J Po
w
E
lec
&
Dr
i Sy
s
t
,
Vo
l.
1
7
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
1702
-
1
7
1
3
1710
Fig
u
r
e
8
.
I
R
F6
4
0
MO
SF
E
T
th
er
m
al
s
tab
ilit
y
tr
en
d
an
d
s
af
e
o
p
er
atin
g
a
r
ea
(
SOA)
6.
CO
NCLU
SI
O
N
I
n
th
is
wo
r
k
,
we
d
esig
n
e
d
,
d
ev
elo
p
ed
,
an
d
v
alid
ated
a
d
ec
en
tr
alize
d
an
d
p
r
iv
ac
y
-
p
r
eser
v
in
g
f
r
am
ewo
r
k
f
o
r
m
u
lti
-
ag
en
t
in
t
ellig
en
ce
to
im
p
r
o
v
e
en
er
g
y
r
esil
ien
ce
o
f
elec
tr
ic
d
r
iv
es
in
m
ar
in
e
r
o
b
o
ts
.
T
h
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
is
b
u
ilt
o
n
th
e
p
r
i
n
cip
le
o
f
co
o
r
d
in
atio
n
o
f
m
u
ltip
le
r
o
b
o
tic
ag
en
ts
th
r
o
u
g
h
th
e
u
s
e
o
f
th
e
FONNA
f
o
r
lo
ca
l
en
er
g
y
m
an
ag
em
en
t
co
n
n
ec
ted
t
o
th
e
d
ec
en
tr
alize
d
FL.
T
h
e
p
h
y
s
ical
b
asis
o
f
th
e
s
y
s
tem
is
th
e
m
o
d
u
lar
f
o
u
r
teen
-
s
witch
s
ev
en
-
p
h
ase
VSI
with
in
co
r
p
o
r
ated
r
ed
u
n
d
an
cy
in
h
ar
d
war
e
d
esig
n
.
T
h
e
en
tire
h
ar
d
war
e
an
d
s
o
f
twar
e
a
r
ch
ite
ctu
r
e
was
test
ed
an
d
v
alid
ated
with
two
m
eth
o
d
s
,
wh
ich
in
c
lu
d
ed
h
ig
h
-
f
id
elity
L
T
s
p
ice
s
im
u
latio
n
s
an
d
th
e
h
ar
d
war
e
-
in
-
t
h
e
-
lo
o
p
(
HI
L
)
tech
n
iq
u
e.
R
esu
lts
s
h
o
w
th
at
th
e
p
r
o
p
o
s
ed
s
etu
p
is
ab
le
to
b
r
id
g
e
th
e
g
ap
b
etwe
en
co
llectiv
e
f
leet
in
tellig
en
ce
an
d
lo
ca
lized
d
ata
p
r
iv
a
cy
i
n
co
m
m
u
n
icatio
n
-
lim
ited
m
a
r
in
e
en
v
ir
o
n
m
e
n
ts
.
T
h
e
k
e
y
v
alid
ated
f
in
d
in
g
s
in
clu
d
e
th
e
f
o
llo
win
g
:
i)
Dec
en
tr
alize
d
c
o
o
r
d
in
atio
n
w
ith
Priv
ac
y
Pre
s
er
v
atio
n
:
Use
o
f
th
e
f
ed
e
r
ated
g
r
a
d
ien
t
u
p
d
ate
p
r
o
to
c
o
l
en
ab
les
au
to
n
o
m
o
u
s
r
o
b
o
tic
a
g
en
ts
to
o
p
tim
ize
th
eir
m
o
tio
n
m
o
d
els
wh
ile
wo
r
k
in
g
to
g
eth
er
,
wh
ile
s
till
en
s
u
r
in
g
th
at
th
e
r
aw
p
r
o
p
u
ls
io
n
d
ata
s
tay
s
co
m
p
letely
lo
c
al
an
d
n
o
t
v
u
l
n
er
ab
le
to
s
in
g
l
e
-
ac
ce
s
s
-
p
o
in
t
wea
k
n
ess
es.
ii)
Hig
h
co
m
m
u
n
icatio
n
ef
f
icien
cy
:
T
h
e
s
h
if
t
f
r
o
m
th
e
r
aw
t
r
a
n
s
m
is
s
io
n
o
f
h
i
g
h
-
f
r
eq
u
e
n
cy
i
n
f
o
r
m
atio
n
t
o
th
e
tr
an
s
m
is
s
io
n
o
f
co
m
p
r
ess
ed
lo
ca
l
m
o
d
el
g
r
a
d
ien
ts
s
ig
n
if
ican
tly
d
ec
r
ea
s
es
th
e
am
o
u
n
t
o
f
b
an
d
wid
t
h
r
eq
u
ir
ed
an
d
p
r
o
v
es
th
e
f
ea
s
i
b
ilit
y
o
f
th
e
p
r
o
p
o
s
ed
s
etu
p
i
n
lo
w
-
co
n
n
ec
tiv
ity
u
n
d
er
wate
r
an
d
o
f
f
s
h
o
r
e
en
v
ir
o
n
m
en
ts
.
iii)
Hig
h
Fau
lt
R
e
s
is
tan
ce
an
d
T
h
er
m
al
Stab
ilit
y
:
T
h
e
f
o
u
r
teen
-
s
witch
s
ev
en
-
p
h
ase
VSI
p
r
o
v
id
es
ex
ce
llen
t
f
au
lt
r
id
e
-
th
r
o
u
g
h
ca
p
ab
ilit
ies
,
allo
win
g
th
e
s
y
s
tem
to
p
er
f
o
r
m
well
wh
en
m
o
d
u
les
b
r
ea
k
d
o
wn
.
T
h
e
r
esu
lts
o
f
th
e
e
x
p
er
im
e
n
tal
test
s
co
n
f
ir
m
b
o
th
h
ig
h
ef
f
icien
c
y
o
f
en
er
g
y
c
o
n
v
e
r
s
io
n
a
n
d
v
er
y
g
o
o
d
h
ea
t
s
tab
ilit
y
at
m
ax
im
u
m
lo
ad
ev
e
n
with
o
u
t u
s
in
g
ex
ter
n
al
c
o
o
li
n
g
h
ea
ts
in
k
s
.
E
v
en
th
o
u
g
h
th
e
f
in
d
in
g
s
ar
e
en
co
u
r
a
g
in
g
,
o
n
e
lim
itatio
n
th
at
co
m
es
with
th
is
r
esear
ch
i
s
th
e
cu
r
r
en
t
ab
s
en
ce
o
f
a
s
tan
d
ar
d
ized
m
o
d
u
lar
in
ter
f
ac
e,
w
h
ich
co
u
l
d
p
o
s
e
a
ch
allen
g
e
wh
en
tr
y
in
g
t
o
in
teg
r
ate
d
if
f
e
r
en
t
co
m
p
o
n
en
ts
f
r
o
m
m
u
ltip
le
v
e
n
d
o
r
s
.
Mo
r
e
o
v
er
,
th
e
ex
is
tin
g
o
p
tim
izatio
n
alg
o
r
ith
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[
1
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A
.
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[
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B
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[
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J.
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W
u
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U
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