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

�

−

829829829829829829

� � � �

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� � � �

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830830830830830830