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2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
2009 Second International Conference on Intelligent Computation Technology and Automation
978-0-7695-3804-4/09 $26.00 © 2009 IEEE
DOI 10.1109/ICICTA.2009.206
826
==
====
( ) ( ) −−−+−−=
( ) ( )
θ
θ
−
⋅−−+⋅−−=
( ) ( )−−+−−=
( ) ( )−−+−−=
( )[ ]+−−−=
( )[ ]+−−−=
( )−=
( )−=
�
θ
[ ]ΔΔΔΔ= θθ
−=Δ � −=Δ
−=Δ � −=Δ
� [ ]=
� [ ]θ=
� � [ ]=
=
++=
827827827827827827
−
−
−−
−−−
−−−−
−−−
−−−
−
=
=
=
=
( ) ( ) ( ) ( )
( ) ( )=
++=+
( ) ( ) ( ) ( )+Δ+=Δ
=
( ) ( ) ( )[ ]=
�
�
( )
( )
( )
( )( )
( ) ( )Δ−
+Δ−
+
Δ−
+Δ
−=
+Δ
+
( )
( )
( )
( )
( )
( )
( )+Δ
+Δ
+Δ
+Δ
=
( ) =+Δ�
++=
( ) =+Δ�
=
( )
( )
( )
( )( )Δ+=
+
+
( ) ( ) ( ) ( ) ( ) ( )[ ]
( ) ( )[ ]+Δ+
ΔΔ⋅+Δ+=Δ
=
( ) ( ) ( ) ( ) ( ) ( ) ( )+++−
=−
( ) ( ) ( ) ( )[ ][ ]+++=
828828828828828828