Development of 1U CubeSat attitude

determination and control system simulator

Cite as: AIP Conference Proceedings 2366, 030003 (2021); https://doi.org/10.1063/5.0059972
Published Online: 13 September 2021

Suhandinata, and M. N. Setiawan

AIP Conference Proceedings 2366, 030003 (2021); https://doi.org/10.1063/5.0059972 2366, 030003

© 2021 Author(s).
 'HYHORSPHQWRI8&XEH6DW$WWLWXGH'HWHUPLQDWLRQDQG
&RQWURO6\VWHP6LPXODWRU
6XKDQGLQDWDDDQG016HWLDZDQE

'HSDUWPHQWRI3K\VLFV(QHUJ\(QJLQHHULQJ6XU\D8QLYHUVLW\,QGRQHVLD

'HSDUWPHQWRI5HQHZDEOH(QHUJ\(QJLQHHULQJ8QLYHUVLWDV3UDVHWL\D0XO\D,QGRQHVLD

D
&RUUHVSRQGLQJDXWKRUVXKDQGLQDWD#VWXGHQWVXU\DDFLG
E
QDQGDVHWLDZDQ#SUDVHWL\DPXO\DDFLG

$EVWUDFW $ ORZFRVW &XEH6DW $'&6 VLPXODWRU KDV EHHQ GHYHORSHG WR VXSSRUW OHDUQLQJ IDFLOLWLHV RI QDQRVDWHOOLWH
WHFKQRORJ\DWWKH'HSDUWPHQWRI3K\VLFV(QHUJ\(QJLQHHULQJ6XU\D8QLYHUVLW\7KHVLPXODWRULQFOXGHVWKUHHGHJUHHVRI
IUHHGRPLQHUWLDOSODWIRUPDQGD&XEH6DWPRGHOFRQWDLQVDIIRUGDEOHFRPPHUFLDOHOHFWURQLFFRPSRQHQWV7KHVLPXODWRULV
FRPSOHWHGZLWKD*UDSKLFDO8VHU,QWHUIDFH*8,WRKHOSWKHXVHUFRQWUROOLQJWKH&XEH6DWFRQYHQLHQWO\7KHUHDUHWZR
FRQWURO V\VWHPV XVHG LQ WKH VLPXODWRU²RSHQ ORRS DQG FORVHG ORRS XVLQJ 3,' FRQWURO 7KH RSHQORRS FRQWURO V\VWHP
VXFFHHGVWRFKDQJH&XEH6DW
VDWWLWXGHEDVHGRQWKHXVHU¶VFRPPDQGEXWLWVWLOOKDV“ƒDQJOHGHYLDWLRQ:KHUHDVWKH
XVHRIDFORVHGORRSFRQWUROV\VWHPPLQLPL]HGWKHDQJOHGHYLDWLRQWR“ƒ7KHSODWIRUPFRXOGGHPRQVWUDWHWKHDWWLWXGH
G\QDPLFRI8&XEH6DWWKRXJKWKHVHSUHOLPLQDU\UHVXOWVFRXOGEHLPSURYHGZLWKKDUGZDUHRSWLPL]DWLRQHJWKHDFWXDWRU
DQGVHQVRU

,1752'8&7,21

,QUHFHQW\HDUVWKHVPDOOVDWHOOLWHLVDQHPHUJLQJVSDFHWHFKQRORJ\ZLWKDEXQGDQWSRWHQWLDOIRUDSSOLFDWLRQ7KLV
WUHQG LV DFFHOHUDWHG E\ ORZFRVW FRPSRQHQWV DQG VKRUW PDQXIDFWXULQJ WLPH FRPSDUHG WR FRQYHQWLRQDO VDWHOOLWH
&XEH6DWLVWKHPRVWSRSXODUVPDOOVDWHOOLWHZKLFKLVW\SLFDOO\IDYRUHGE\XQLYHUVLWLHVDQGUHVHDUFKLQVWLWXWHVGXHWRLWV
FKHDSQHVVVLPSOLFLW\DQGFXVWRPL]DELOLW\6LQJOHXQLW8&XEH6DWVWDQGDUGLVGHILQHGDVDFXELFVDWHOOLWHZLWK
FPVLGHOHQJWKDQGXSWRNJZHLJKWZKLFKFRXOGEHVWDFNHGLQWRPXOWLSOHXQLWV&XEH6DW
7KDWYDVWGHYHORSPHQWRI&XEH6DWUHVHDUFKLVVORZO\DGRSWHGLQ,QGRQHVLD,WFRXOGEHKDSSHQHGEHFDXVHRIWKH
OLPLWHG H[SRVXUH RI VSDFH LQ WKH VFKRRO DQG H[SHQVLYH OHDUQLQJ LQVWUXPHQWV LQ WKH VSDFH HQJLQHHULQJ ILHOG $V DQ
H[DPSOHDFFRUGLQJWRWKH&XEH6DW6KRSZHEVLWHD&XEH6DWVLPXODWRU0$'6''\QDPLF6LPXODWRUKDV86
LQSULFLQJ2QWKHRWKHUKDQGWKH&XEH6DWVLPXODWRUKDVDQLPSRUWDQWUROHWRWUDLQWKH&XEH6DWRSHUDWRUVRWKH\ZHUH
DEOHWRFRQWUROLWIOXHQWO\,QDGGLWLRQWKHVLPXODWRULVHVVHQWLDOWRHQKDQFH&XEH6DWWHFKQRORJ\UHVHDUFKLQXQLYHUVLWLHV
2QHRIWKHPRVWLPSRUWDQWSDUWVRI&XEH6DWLVWKH$WWLWXGH'HWHUPLQDWLRQDQG&RQWURO6\VWHP$'&6ZKLFKLV
FUXFLDOWRVWDELOL]HDQGGHWHUPLQHWKHSRLQWLQJRID&XEH6DW'HVLJQLQJDQGPDQXIDFWXULQJPLQLDWXUL]HG$'&6IRU
&XEH6DWDUHFKDOOHQJLQJFDVHV,WLVQHHGHGWRGHDOZLWKOLPLWHGVSDFHLQ&XEH6DWVWUXFWXUHDQGFRQWUROSHUIRUPDQFH
WRDFKLHYHWKHRSWLPDOUHVXOW6HYHUDOSUHYLRXVZRUNVKDGEHHQSHUIRUPHGWRGHYHORS$'&6IRU&XEH6DW,WVKRZV
WKDWUHDFWLRQZKHHOEDVHG&XEH6DW$'&6LVPRUHDFFXUDWHDQGHIILFLHQWWKDQWKHRWKHUDFWXDWRUHJ&RQWURO0RPHQW
*\UR&0*DQGPDJQHWRUTXHU,QWKHFDVHRIWKHFRQWUROV\VWHP3URSRUWLRQDO,QWHJUDO 'HULYDWLYH3,'FRQWUROLV
DSRSXODURQHIRU&XEH6DW$'&6DVVKRZQLQSUHYLRXVUHVHDUFK
%DVHGRQDSUHOLPLQDU\VWXG\WKHUHZDVRQO\DOLWWOHUHVHDUFKRI8&XEH6DW$'&6LQ,QGRQHVLD7KHPDMRULW\RI
HDUO\$'&6UHVHDUFKKDGEHHQIRFXVHGRQDPLFURDQGFRPPHUFLDOVDWHOOLWH2QHRIWKHHDUO\UHVHDUFKLQ&XEH6DW
$'&6ZDVWKHGHYHORSPHQWRIDG\QDPLFVLPXODWLRQSODWIRUPIRU&XEH6DWZLWKDUHDFWLRQZKHHOFRQWUROV\VWHPE\
5\DQ)DGKLODK+DGL*RRGFRQWUROSHUIRUPDQFHLVVKRZQE\WKHVLPXODWLRQSODWIRUP+RZHYHUVRPHVHFWLRQVRIWKH
VLPXODWRUVWLOOKDYHVRPHSRWHQWLDOWREHLPSURYHG

The 8th International Seminar on Aerospace Science and Technology – ISAST 2020
AIP Conf. Proc. 2366, 030003-1–030003-11; https://doi.org/10.1063/5.0059972
Published by AIP Publishing. 978-0-7354-4123-1/$30.00

030003-1
 7KHUHIRUHWKLVUHVHDUFKKDVDQREMHFWLYHWRFUHDWHDVLPXODWLRQSODWIRUPIRU8&XEH6DW$'&67KLVSODWIRUP
VKRXOGKDYH'HJUHHRI)UHHGRP'2)URWDWLRQWRUHSUHVHQWVWKHDWWLWXGHG\QDPLFRI&XEH6DWLQRUELW0RUHRYHULW
VKRXOGKDYHDPD[LPXP“ƒDQJOHGHYLDWLRQWRUHSUHVHQWDVLPSOHSRLQWLQJWDVN,QWKHDLPWRPDNHDXVHUIULHQGO\
IHDWXUH 1, /DE9LHZ LV XVHG WR KDQGOH WKH *UDSKLFDO 8VHU ,QWHUIDFH *8, DQG FRQWURO V\VWHP )XUWKHUPRUH
FRPPHUFLDOHOHFWURQLFVFRPSRQHQWOLNH$UGXLQR1DQRLVDSSOLHGDVWKHPLFURFRQWUROOHUXQLW0&8RIWKH&XEH6DW
$'&67KHXVHRI&RPPHUFLDORIIWKH6KHOI&276FRPSRQHQWVPDNHVVLJQDOILOWHULQJQHHGVWREHLPSOHPHQWHGWR
UHGXFHVHQVRUQRLVH6LQFHWKLVSODWIRUPLVOLPLWHGE\8&XEH6DWGLPHQVLRQVSDFHLVDOVRDFKDOOHQJHLQWKHGHVLJQ
SURFHVV

'<1$0,&(48$7,212)5,*,'%2'<
8QGHUVWDQGLQJWKHG\QDPLFPRGHORIDERG\LQIUHHVSDFHLVQHHGHGWRGHVLJQD&XEH6DWFRQWUROV\VWHP,WLV
FRPPRQWRUHSUHVHQWWKH&XEH6DWG\QDPLFZLWK(XOHU¶VHTXDWLRQE\DVVXPLQJWKH&XEH6DWPRGHODVDULJLGERG\
7KHUHDUHVHYHUDODSSURDFKHVWRWKHVROXWLRQRI(XOHU¶VHTXDWLRQRIPRWLRQ,QWKLVZRUNZHDVVXPHWKH&XEH6DW
ERG\DQGUHDFWLRQZKHHOURWDWLRQDOD[LVLVFRQFHQWULF+HQFHLWFRXOGEHDVVXPHGWKDWWKHLQHUWLD,RIWKH&XEH6DW
PRGHOLVXQFRXSOHG7KHQWKHUHDFWLRQZKHHOGLPHQVLRQFRXOGEHGHVLJQHGE\WKHGHULYDWLRQRI(XOHU¶VHTXDWLRQRI
PRWLRQVXFKDVWKHIROORZLQJWHUPV
ܶ௘௫௧ ൌ  ࡴሶ ൅ ࣓ ൈ ࡴ ൌ ࡵ࣓ሶ ൅ ࣓ ൈ ሺࡵ࣓ሻ 

ZKHUHܶ௘௫௧ LVWKHWRUTXHJHQHUDWHGE\WKHUHDFWLRQZKHHOZKLOHࡴ࣓DQGࡵDUHDQJXODUPRPHQWXPDQJXODUVSHHG
DQGLQHUWLDOPDWUL[RIWKH&XEH6DWPRGHO,IZHORRNLQWKHPDWUL[IRUPLWEHFRPHV

‫ܫ‬௫௫ ‫ܫ‬௫௬ ‫ܫ‬௫௭ ߱ሶ ௫ Ͳ െ߱௭ ߱௬ ‫ܫ‬௫௫ ‫ܫ‬௫௬ ‫ܫ‬௫௭ ߱௫
‫ܫ‬ ‫ܫ‬ ‫ܫ‬ ߱ሶ
ܶ௘௫௧ ൌ  ቎ ௬௫ ௬௬ ௬௭ ቏ ቎ ௬ ቏ ൅ ቎ ௭ ߱ Ͳ െ߱ ‫ܫ‬
௫ ቏ ൈ ቌ቎ ௬௫ ‫ܫ‬௬௬ ‫ܫ‬௬௭ ቏ ൥߱௬ ൩ቍ 
‫ܫ‬௭௫ ‫ܫ‬௭௬ ‫ܫ‬௭௭ ߱ሶ ௭ െ߱ ௬ ߱ ௫ Ͳ ‫ܫ‬௭௫ ‫ܫ‬௭௬ ‫ܫ‬௭௭ ߱௭

KHUH‫ܫ‬௫௫ ǡ ǥ ǡ ‫ܫ‬௭௭ DQG߱௫ ǡ ǥ ǡ ߱௭ DUHWKHFRPSRQHQWVRILQHUWLDDQGDQJXODUYHORFLW\LQHDFKD[LV7KHQLIZHVSHFLI\LW
IRUDVLQJOHD[LVLQHUWLDGHFRXSOHGDWWLWXGHFRQWUROWKLVHTXDWLRQFRXOGEHVLPSOLILHGDV

‫ܫ‬௪௛௘௘௟ ߱ሶ ௪௛௘௘௟ ൌ ‫ܫ‬௦௔௧ ߱ሶ ௦௔௧  

ZKHUH ‫ܫ‬௪௛௘௘௟  ߱ሶ ௪௛௘௘௟  UHSUHVHQW UHDFWLRQ ZKHHO DFWLRQ DQG‫ܫ‬௦௔௧  ߱ሶ ௦௔௧  GHQRWH &XEH6DW ERG\UHVSRQVH 7KH HTXDWLRQ
DERYHZLOOEHDSSOLHGIRUWKHUHDFWLRQZKHHOGHVLJQRIWKH&XEH6DWPRGHO,QWKLVDSSOLFDWLRQLQHUWLDGHFRXSOLQJLV
FRQGXFWHGZLWKWKH&XEH6DWPRGHOEDODQFLQJIRUHDFKD[LVWKRXJKWKHUHVXOWLVLPSHUIHFWLQWKHUHDOLW\

6<67(029(59,(:

7KHVLPXODWRUFRQVLVWVRIDQLQHUWLDOSODWIRUP8&XEH6DWPRGHODQGWKH*8,VRIWZDUH7KH&XEH6DWPRGHOZLOO
URWDWHXVLQJWKHUHDFWLRQZKHHODFWXDWRUGXHWRWKHXVHULQSXW)LJXUHEHORZH[SODLQVKRZWKHVLPXODWRUZRUNV


030003-2
 

),*85(6\VWHPRYHUYLHZGLDJUDP

7$%/(([SODQDWLRQRIWKHV\VWHPRYHUYLHZGLDJUDP
1R $QQRWDWLRQV
 0&8UHDGVGDWDIURPWKH,QHUWLDO0HDVXUHPHQW8QLW,08
 'DWDIORZVIURP0&8WRWKH%OXHWRRWKPRGXOHDQGYLFHYHUVD
 %OXHWRRWK EHFRPHV D FRPPXQLFDWLRQ EULGJH EHWZHHQ *8, DQG 0&8 7KH FRQWURO
SURFHVVLVGRQHE\*8,WKHQWKHUHVXOWLVVHQWWRWKH0&8
 7KH*8,GLVSOD\VGDWDWKDWLVVHQWE\WKH0&8DQGUHFHLYHVWKHXVHU¶VLQSXW
 0&8FRQWUROV(OHFWURQLF6SHHG&RQWUROOHU(6&E\VHQGVDSSURSULDWH3XOVH:LGWK
0RGXODWLRQ3:0
 (6&FRQWUROVWKHPRWRUDFFRUGLQJWR3:0LQSXWIURP0&8
 7KHPRWRUURWDWLRQJHQHUDWHVWRUTXHDQGDIIHFWVWKH&XEH6DWPRGHODWWLWXGH
 &XEH6DWDWWLWXGHFKDQJHVDUHPHDVXUHGE\,08WREHXVHGLQFORVHGORRSFRQWURO

7KHVWDJHVRIWKHVLPXODWLRQSODWIRUPGHYHORSPHQWDUHVWDUWHGZLWKGHVLJQLQJWKHLQHUWLDOSODWIRUPDQG&XEH6DW
PRGHO7KHQWKHSURFHVVFRQWLQXHVWRWKHPDQXIDFWXUHRIERWKWKHLQHUWLDOSODWIRUPDQGWKH&XEH6DWPRGHO$IWHUDOO
WKHKDUGZDUHLVDVVHPEOHGWKH*8,VRIWZDUHLVFUHDWHGIRUHDVHRIXVH$WODVWWKHVLPXODWLRQSODWIRUPLVWHVWHGWR
HYDOXDWHLWVSHUIRUPDQFHGXHWRH[WHUQDOLQSXW

+$5':$5('(6,*1$1'0$18)$&785(
7KHVLPXODWRUKDUGZDUHFRQVLVWVRIVHYHUDOSDUWVVXFKDVDQLQHUWLDOSODWIRUP&XEH6DWPRGHOUHDFWLRQZKHHOVDQG
HOHFWURQLFVVXEV\VWHP$QLQHUWLDOSODWIRUPLVUHTXLUHGWRVLPXODWH&XEH6DWG\QDPLFVLQRUELWDVDFFXUDWHO\DVSRVVLEOH
7KHUHIRUHWKLVSODWIRUPPXVWKDYHWKUHHGHJUHHVRIIUHHGRPIRUUROOSLWFKDQG\DZDWWLWXGHG\QDPLF7KHFRQVWUXFWHG
LQHUWLDOSODWIRUPLVDPHFKDQLFDOJLPEDOZKLFKERWKHFRQRPLFDODQGSRVVLEOHWREHPDQXIDFWXUHGLQGHSHQGHQWO\
$VLOOXVWUDWHGLQ)LJWKHG\QDPLFSODWIRUPLVFRQVWUXFWHGWRSHUIRUPWKUHHD[HVRIURWDWLRQ7KH\DZSLYRWLVWKH
RXWHUSDUWWKHSLWFKSLYRWDWWKHPLGGOHSDUWDQGWKHLQQHUSDUWLVUHVSRQVLEOHIRUWKHUROOLQJSLYRW


030003-3
 
),*85('HVLJQRIWKHLQHUWLDOSODWIRUP

7KHQH[WSKDVHRIWKHGHYHORSPHQWLVGHVLJQLQJWKH&XEH6DWPRGHO7KHPRGHOKDVD[[FPGLPHQVLRQ
FRUUHVSRQGLQJWRWKH8&XEH6DWVWDQGDUG7KHUHDUHVHYHUDOWULPPHGSDUWVWRRSWLPL]HWKHVWUHQJWKWRZHLJKWUDWLR
6:RIWKHPRGHO$GGLWLRQDOO\HYHU\HGJHRIWKHERG\SODWHLVILOOHWHGWRDYRLGVWUHVVFRQFHQWUDWLRQRQWKHVKDUS
HGJH)LJXUHDGHSLFWVWKHLQGLYLGXDOSODWHDQGDVVHPEO\FRQILJXUDWLRQRIWKH&XEH6DWPRGHO
$IWHUWKHGHVLJQLQJSURFHVVERWKRILQHUWLDOSODWIRUPDQG&XEH6DWPRGHOKDYHHQWHUHGWKHPDQXIDFWXULQJSURFHVV
7KHLQHUWLDOSODWIRUPLVPDGHXVLQJWKHKROORZ$OXPLQXPVWLFNEHDULQJKRXVLQJVDUHPDGHE\WKH'SULQWHUDQGWKH
&XEH6DWPRGHOLVXVHGDFU\OLFDVWKHPDWHULDO$OXPLQXPLVDOVRXVHGDVWKHFRUQHUMRLQWLQWKH&XEH6DWPRGHO7KHVH
PDWHULDOVDUHFKRVHQDFFRUGLQJWRWKH6:RIWKHPDWHULDOVDQGHDVHRIWKHPDQXIDFWXULQJSURFHVV
7KHUHDIWHUWKHHOHFWURQLFFRPSRQHQWVDUHDVVHPEOHGDQGSXWLQWRWKH&XEH6DWPRGHO&KHDS&RPPHUFLDORIWKH
6KHOI&276FRPSRQHQWVDUHXVHGIRUWKHHOHFWURQLFVXEV\VWHPVXFKDV$UGXLQR1DQRDVWKH0&8038DV
WKH,08VHQVRU+&IRU%OXHWRRWKFRPPXQLFDWLRQEUXVKOHVVPRWRUVDQG$(6&WRGULYHWKHEUXVKOHVV
PRWRUV ,Q DGGLWLRQ D 9  P$K /L3R EDWWHU\ LV XVHG DV WKH SRZHU VRXUFH 7KRVH FRPSRQHQWV DUH WKHQ SXW
WRJHWKHURQDPDWUL[ERDUGDQGEROWHGLQVLGHWKH&XEH6DWPRGHO)LJXUHELOOXVWUDWHVWKHDVVHPEO\RIWKH&XEH6DW
PRGHODQGWKHZKROHVLPXODWLRQSODWIRUP

D E
),*85(7KH&XEH6DWPRGHOVWUXFWXUHDDQGDVVHPEO\FRQILJXUDWLRQRIWKH&XEH6DWPRGHOE

7KHUHDUHORWVRIQRLVHRQWKH,08RXWSXWVLJQDOVLQFHLWLVDFKHDS&276FRPSRQHQW,IWKHQRLVHLVLJQRUHGWKHUH
ZLOOEHJ\URGULIWDWWKHDQJOHPHDVXUHPHQWZKLFKLVYHU\LPSDFWIXOLQWKHFRQWUROV\VWHP7KHUHIRUHLWQHHGVVHYHUDO
ILOWHULQJ VWHSV WR JHW DQ DFFXUDWH PHDVXUHPHQW IURP WKH 038 ,08 VHQVRU 7KH ILUVW SURFHVV LV ]HURLQJ WKH

030003-4
038GDWDWRPLQLPL]HWKHJ\URGULIW$VVHHQLQ)LJDWKHUDZDQJXODUYHORFLW\GDWDRI038KDVD
FHUWDLQRIIVHWIURPHYHQZKHQWKHSODWIRUPGRHVQRWPRYH
$IWHUWKH]HURLQJSURFHVV038GDWDLVDSSUR[LPDWHO\]HURDOWKRXJKLWVWLOOKDVVRPHOHYHORIQRLVH7KH
VHFRQGVLJQDOFRQGLWLRQLQJSURFHVVLVWKHXVHRIWKHFRPSOHPHQWDU\ILOWHU7KHSXUSRVHLVWRFRPSHQVDWHIRUWKHJ\UR
GULIW GXH WR QRLVH )LJXUH E GHVFULEHV WKH HIIHFW RI ]HURLQJ DQG FRPSOHPHQWDU\ ILOWHU WR WKH DQJXODU SRVLWLRQ
PHDVXUHPHQWGDWD



D E
),*85(5ROODQJXODUYHORFLW\ʘGDWDEHIRUHDQGDIWHU]HURLQJSURFHVVD
DQGWKHHIIHFWRIWKHILOWHULQ,08DQJXODUSRVLWLRQGDWDE

7KHFRPSOHPHQWDU\ILOWHUPDNHVWKH038GDWDDSSURDFKLQJDVWDEOHVWDWH,WPDNHVWKHDQJXODUPHDVXUHPHQW
IURP038PRUHUHOLDEOH7KHODVWFRQGLWLRQLQJSURFHVVLVFKDQJLQJWKHSURFHVVIURPIORDWGDWDW\SHWRLQWHJHU
7KHLQWHJHUQXPEHULVXVHGWRPLQLPL]HRVFLOODWHGLQSXWWRWKHDFWXDWRUV\VWHPVRWKHPRYHPHQWRIWKH&XEH6DWPRGHO
ZLOOEHVPRRWKHU7KLVURXQGHGDQJXODUSRVLWLRQGDWDLVXVHGDVWKHIHHGEDFNIRUWKHFORVHGORRSFRQWUROV\VWHP7KH
GLIIHUHQFHRIDQJXODUSRVLWLRQGDWDEHIRUHDQGDIWHUWKHURXQGLQJSURFHVVLVLOOXVWUDWHGLQ)LJ



),*85(5RXQGHGDQJXODUSRVLWLRQGDWD

$QRWKHULPSRUWDQWSDUWWREHGHVLJQHGSURSHUO\LVWKHUHDFWLRQZKHHOVRIWKH&XEH6DWZKLFKDIIHFWVWKHDPRXQWRI
WRUTXH WUDQVIHUUHG WR WKH ERG\ RI &XEH6DW 7KHUHDFWLRQ ZKHHOV GHVLJQSURFHVV LV VWDUWHG ZLWK WKH &XEH6DW LQHUWLD
FDOFXODWLRQ&RUUHVSRQGLQJWRWKH&XEH6DWPRGHOGHVLJQHGEHIRUHWKHLQHUWLDRIWKHPRGHOLV

ͺǡ͵šͳͲିସ ‰Ǥ ଶ Ͳ Ͳ
ିସ ଶ
‫ ܫ‬ൌ቎ Ͳ ͺǡͲšͳͲ ‰Ǥ  Ͳ ቏ 
Ͳ Ͳ ͺǡ͸šͳͲିସ ‰Ǥ ଶ


030003-5
$VVXPLQJZHZDQWWRURWDWHWKH&XEH6DWPRGHOE\ƒVWKHQWKHDQJXODUIUHTXHQF\QHHGHGLQVHFRQGLVƒV
5HIHUULQJWR(TWKHEUXVKOHVVPRWRUPXVWJHQHUDWHDQJXODUDFFHOHUDWLRQDVPXFKDV

‫ܫ‬௪௛௘௘௟ ߱ሶ ௪௛௘௘௟ ൌ ͺǡ͸ ൈ ͳͲିସ ݇݃Ǥ ݉ ൈ ͷ ιൗ‫ ݏ‬ଶ ൌ ͹Ǥͷ ൈ ͳͲିହ ܰǤ ݉ 

$FFRUGLQJWRWKHDPRXQWRIWRUTXHQHHGHGWKHUHDFWLRQZKHHOVDUHGHVLJQHGZLWKPPGLDPHWHUDQGPPWKLFNQHVV
7KDWGHVLJQUHVXOWVLQUHDFWLRQZKHHOVLQHUWLDLQWKHDPRXQWRI[NJP7KLVLQHUWLDLVJHQHUDWHGE\WKHXVHRI
VWDLQOHVVVWHHOPDWHULDOIRUWKHUHDFWLRQZKHHOV6WDLQOHVVVWHHOLVXWLOL]HGEHFDXVHRILWVKLJKGHQVLW\GXHWRWKHOLPLWDWLRQ
RIVSDFHLQWKH&XEH6DWERG\7KHUHDFWLRQZKHHOVDUHVKRZQLQ)LJ



),*85(5HDFWLRQZKHHOGHVLJQDQGDVVHPEO\

$VORZFRVW(6&LQWKHPDUNHWSODFHLVXVHGDGMXVWPHQWLVQHFHVVDU\WREHGRQHEHIRUHLWFDQEHRSHUDWHGWRFRQWURO
WKHEUXVKOHVVPRWRU7KH(6&KDVRQHGLUHFWLRQRIURWDWLRQDVWKHGHIDXOWZRUNLQJPRGHZKLOHWKH&XEH6DW$'&6
QHHGV WZR GLUHFWLRQV RI UHDFWLRQ ZKHHO URWDWLRQ VR WKDW LW FDQ URWDWH WKH &XEH6DW ERG\ FORFNZLVH &: DQG
FRXQWHUFORFNZLVH &&: 7KLV DGMXVWPHQW LV GRQH E\ FKDQJLQJ VRPH SDUDPHWHUV LQ WKH (6& ILUPZDUH +RZHYHU
WKRXJKWKH(6&ILUPZDUHLVPRGLILHGWKHUHDUHVHYHUDOGLIILFXOWLHVWREULQJDJRRGDFWXDWRUSHUIRUPDQFH
 7KH(6&KDVDEUDNLQJPRGHWKDWKDVHQRXJKWRUVLRQWRURWDWHWKH&XEH6DW0RGHOLQWKHRSSRVLWHGLUHFWLRQ
7KHHIIHFWRIWKHEUDNLQJFRXOGEHPLQLPL]HGE\DGMXVWPHQWDWWKHEUDNLQJSDUDPHWHULQWKH(6&ILUPZDUH
 7KHXVHGEUXVKOHVVPRWRUKDVDWKUHVKROGSRZHUWRVWDUWURWDWLQJ:KHQWKHPRWRUVWDUWVWRURWDWHLWVWRUVLRQLV
H[DJJHUDWHG DQG LW FDXVHV WKH DQJXODU DFFHOHUDWLRQ RI WKH &XEH6DW PRGHO LV WRR ELJ 7KLV RFFDVLRQ PDNHV
DJJUHVVLYH&XEH6DWURWDWLRQDWWKHEHJLQQLQJ(YHQWKHVWDUWSRZHUSDUDPHWHULVFKDQJHGWRWKHPLQLPXPOHYHO
LQWKHILUPZDUHWKHURWDWLRQRIWKH&XEH6DWPRGHOLVVWLOOURXJK
)LJXUHVKRZVWKHFRPSDULVRQEHWZHHQWKHGHIDXOWVWDUWSRZHUVHWWLQJDQGPLQLPXPVWDUWSRZHUFRQVHFXWLYHO\
DWDQGRIWKHPRWRU¶VWRWDOSRZHU



),*85($QJXODUYHORFLW\OHDSUHJDUGLQJWKHPLQLPXPVWDUWSRZHUDGMXVWPHQW


030003-6
 7KHODVWWKLQJWRGRDIWHUDOODVVHPEO\SURFHVVHVDUHILQLVKHGLVWKHEDODQFHRIWKH&XEH6DWPRGHO3RO\PHUFOD\LV
XVHGDVEDOODVWWRFRPSHQVDWHIRUXQEDODQFHPDVVGLVWULEXWLRQ,WLVFKRVHQZLWKFRQVLGHUDWLRQRIHDVLQHVVWREHDGGHG
RUVXEWUDFWHGZKHQEDODQFLQJWKHPDVV)LJXUHDUHSUHVHQWVWKHXVHDQGORFDWLRQRIWKHEDOODVW


 
D E
),*85(7KHEDOODVWRQWKH&XEH6DWPRGHOVWUXFWXUHDDQGILQDOLQWHJUDWLRQRIWKHVLPXODWRUE

*8,62)7:$5(

7KH*8,RIWKHVLPXODWLRQSODWIRUPZDVPDGHE\XVLQJ/DE9LHZVRIWZDUH/DE9LHZZDVDOUHDG\IHDWXUHGZLWK
&RQWURO6\VWHP%ORFNDQG$UGXLQR,QWHUIDFH%ORFNIURP'LJLOHQW/,1;7KHUHLV&RQWUROV\VWHPRSWLRQZKLFKSXW
LQWKHVLPXODWRURSHQORRSDQGFORVHGORRSFRQWUROV\VWHP
2QWKHRSHQORRSFRQWUROV\VWHP*8,SDQHOWKHXVHUFRXOGFRQWUROHDFKRIWKHUHDFWLRQZKHHOVYLDWKHVSHHGRPHWHU
LQWHUIDFH7KHQWKHURWDWLRQGDWDZDVUHFRUGHGDQGYLVXDOL]HGRQWKHULJKWVLGHDVGHVFULEHGLQ)LJ)RXUJUDSKV
GLVSOD\VUHSUHVHQWHDFKVWHSRIVLJQDOFRQGLWLRQLQJIURPWKH,08VHQVRU7KHVLJQDOFRQGLWLRQLQJVWHSVDUHH[SODLQHG
LQ+DUGZDUH'HVLJQDQG0DQXIDFWXUH



),*85(*8,SDQHOIRUDQRSHQORRSFRQWUROV\VWHP

7KH*8,RIWKHFORVHGORRSFRQWUROV\VWHPKDVVRPHGLIIHUHQFHVFRPSDUHGWRWKHRSHQORRSFRQWUROV\VWHP,QWKLV
FRQWUROV\VWHP3,'FRQWUROLVXVHGWRSURFHVVWKHLQSXWIURPWKHXVHU7KH3,'FRQVWDQWVFRXOGEHLQSXWWHGIUHHO\E\
WKHXVHUDWWKH3,'JDLQVER[7KHXVHUDOVRFRXOGLQSXWWKHVHWSRLQWDQJOHRIWKH&XEH6DWPRGHODVKHRUVKHGHVLUHG

030003-7
$IWHUWKDWWKHLQSXWWHGVHWSRLQWLVSURFHVVHGLQWKHFORVHGORRSFRQWUROV\VWHPWRSURGXFHWKHGHVLUHGRXWSXWDQJOH
7KHLQSXWVHWSRLQWDQGWKHRXWSXWRIWKHV\VWHPDUHGLVSOD\HGRQWKHILUVWJUDSK7KHVHFRQGJUDSKFRQWDLQVWKHDQJXODU
IUHTXHQF\ZKHQWKH&XEH6DWPRGHOURWDWHV)LJXUHVKRZVWKH*8,RIWKHFORVHGORRSFRQWUROV\VWHP



),*85(*8,SDQHOIRUWKHFORVHGORRSFRQWUROV\VWHP

7(675(68/76

 2SHQ/RRS&RQWURO

7KHRSHQORRSFRQWUROLVGRQHE\VKLIWLQJWKH*8,QHHGOHWRWKHGHVLUHGPRWRUWKURWWOH,QWKLVFDVHWKHRUROOLV
DLPHGDQJXODUSRVLWLRQRIWKH&XEH6DWPRGHO$VVKRZQLQ)LJDWKHUHVSRQVHRIWKHDFWXDWRULVYHU\DJJUHVVLYH
VRWKHXVHUFRXOGQRWFRQWUROWKH&XEH6DWPRGHODFFXUDWHO\,IZHORRNDWWKHJUDSKWKHXVHULQWXLWLRQOHDGVWRWKH
RVFLOODWLRQGHFD\RIWKH&XEH6DWPRGHOEXWLWVWLOOKDVD“ƒGHYLDWLRQIURPWKHRVHWSRLQWGXHWRDQDJJUHVVLYH
DFWXDWRU
$IWHU ORRNLQJ DW WKH V\VWHP UHVSRQVH ZH WU\ WRUHGXFH WKH URWDWLRQ DJJUHVVLYLW\ RI WKH&XEH6DW PRGHO,Q WKLV
SODWIRUPZHPDNHWKHPRWRUFRQVWDQWO\URWDWLQJIURPWKHEHJLQQLQJRULWLVFDOOHG³LGOHPRGH´+RZHYHUZKHQWKH
LGOHPRGHZDVWHVWHGDOHVVSUHFLVHUHDFWLRQZKHHOPDQXIDFWXULQJSURFHVVPDNHVWKH&XEH6DWPRGHOYLEUDWLQJ7KLV
YLEUDWLRQJHQHUDWHVYHU\LQDFFXUDWH,08VHQVRURXWSXW)LJXUHELOOXVWUDWHVWKHHIIHFWRIYLEUDWLRQRQWKHDQJXODU
YHORFLW\ GDWD RI WKH J\URVFRSH %HVLGHV WKDW WKH DFFHOHURPHWHU DQJXODU SRVLWLRQ GDWD LV DOVR RVFLOODWHG GXH WR WKH
YLEUDWLRQRIWKH&XEH6DWPRGHO7KLVLVVXHLVVKRZQLQ)LJF7KHFRQGLWLRQRIWKHVHUDZGDWDPDNHVXQUHOLDEOH
SURFHVVLQJRIDQJXODUSRVLWLRQGDWD6RPHXQGHVLUHGLQDFFXUDFLHVKDYHKDSSHQHGDVLOOXVWUDWHGLQ)LJG
 

$QJXODU3RVLWLRQGHJUHH


D E

030003-8
 
F G
),*85(2SHQORRSFRQWUROWHVWUHVXOWD7KHQWKHLGOHPRGHPRWRUOHDGVWRYLEUDWLRQDQGFDXVHVLQDFFXUDWH,08DQJXODU
UDWHGDWDEDQGDFFHOHURPHWHUDQJXODUSRVLWLRQGDWDF7KHVHLVVXHVOHDGWRXQGHVLUHGLQDFFXUDFLHVLQH[WUDFWLQJDQJXODU
SRVLWLRQGDWDG

7KRVHXQGHVLUHGUHVXOWVRFFXUUHGEHFDXVHWKHUDZGDWDIURPWKHJ\URVFRSHDQGDFFHOHURPHWHUKDYHYHU\IOXFWXDWHG
7KLVLQDFFXUDF\LVYHU\LQDSSURSULDWHWREHVHHQE\WKHXVHUDQGLWLVXQUHOLDEOHWREHXVHGDVFORVHGORRSIHHGEDFN

 &ORVHG/RRS&RQWURO

$FORVHGORRSFRQWUROV\VWHPLVDOVREXLOWLQWRWKLVSODWIRUPWRDFKLHYHPRUHDFFXUDWHDWWLWXGHFRQWURO7KHXVHU
MXVWQHHGVWRLQSXWWKHGLVSODFHPHQWDQJOHDQGWKH&XEH6DWPRGHOZLOOWU\WRURWDWHWRZDUGVWKHDQJOH,QWKHWHVWLQJ
SURFHVVWKHUHLVVRPHDQJXODUSRVLWLRQLQSXWYDULDWLRQ7KLVYDULDWLRQLVLQWHQGHGWRREVHUYHWKHRYHUDOOUHVSRQVHRI
WKH&XEH6DWPRGHOGXHWRXVHULQSXW$WWKHVWDUWRLVLQSXWWHGWKHQH[WLQSXWLVIROORZHGE\RRRRR
RRRRDQGEDFNWRR7KH&XEH6DWPRGHOUHVSRQVHLVVKRZQLQ)LJD$FFRUGLQJWRWKHILJXUHWKH
KDUGZDUHUHVSRQVHLVTXLWHDFFXUDWHLILWLVFRPSDUHGWRWKHVWHSLQSXWJLYHQ7KH3,'FRQVWDQWVXVHGLQWKLVWHVWFDVH
DUH.S 7L DQG7G 7KHPD[LPXPUHFRUGHGRYHUVKRRWUHDFKHV7KLVFRXOGEHRFFXUUHG
GXH WR WKH DJJUHVVLYH VWDUW RI WKH PRWRU ZKLFK LV DOUHDG\ H[SODLQHG EHIRUH 7KLV DJJUHVVLYH PRWLRQ DOVR FUHDWHV
GLIILFXOW\WRJHWOHVVWKDQDVWHDG\VWDWHHUURU
%HVLGHVZHDOVRFRPSDUHGWKLVUHVXOWZLWKDQLGOHPRGHDFWXDWRU7KHWHVWLQSXWIRUWKHPRWRUVWDUWIURPWKHLGOH
PRGHLVRRRRRRRRRDQGEDFNWRR7KHUHVXOWRIWKHWHVWLVGHSLFWHGLQ)LJE


D E
),*85(&ORVHGORRSFRQWUROWHVWUHVXOWDDQGGDWDLQDFFXUDF\LQWKHFORVHGORRSWHVWUHVXOWZLWKLGOHPRGHPRWRUGXHWR
YLEUDWLRQE


030003-9
 $VZHFRXOGVHHLQWKHILJXUHDERYHWKHGHFD\RIDQJXODUSRVLWLRQGDWDIURP038LVQRWKDSSHQHGGXHWRWKH
PRWLRQRIWKH&XEH6DWPRGHO,QWKHUHDOHYHQWWKLVFDVHLVFDXVHGE\WKHVKLIWLQJRI038GDWDEHFDXVHRIWKH
YLEUDWLRQZKHQWKHPRWRULVURWDWLQJ
 $IWHUZHVHHWKHUHVSRQVHRIHDFKFRQWUROV\VWHPLWFRXOGEHVDLGWKDWWKHFORVHORRSFRQWUROV\VWHPLVPXFK
EHWWHUWKDQWKHRSHQORRSFRQWUROV\VWHP,WFRXOGEHVHHQLQHDFKRIWKHUHVXOWJUDSKV7KHFORVHGORRSFRQWUROV\VWHP
LV PRUH DFFXUDWH DV WKLV PHWKRG KDV 038 IHHGEDFN KHQFH WKH HUURU FRUUHFWLRQ LV IDVWHU DQG PRUH DFFXUDWH
+RZHYHUERWKRIWKHVHFRQWUROV\VWHPVVWLOOKDYHDKXJHDPRXQWRIVWHDG\VWDWHHUURUGXHWRWKHDJJUHVVLYLW\RIWKH
DFWXDWRU7KHUHIRUHWKHVL]HRIWKHUHDFWLRQZKHHOPXVWEHUHGXFHGWRJLYHPRUHDFFXUDWHUHVXOWV0RUHRYHUWKHLGOH
PRGHIRUWKHPRWRUZDVQRWKHOSIXOIRUWKLVFDVH,WPDNHVFRQWURORIWKH&XEH6DWPRGHODWWLWXGHYHU\GLIILFXOW7KLV
PRGHRQO\FRXOGJLYHJRRGSHUIRUPDQFHLIWKHPDQXIDFWXULQJSURFHVVRIWKHUHDFWLRQZKHHOLVSUHFLVHHQRXJKVRWKH
XQEDODQFHLVVXHFRXOGEHPLQLPL]HG)XWXUHZRUNVDUHQHHGHGWRSHUIHFWWKHGHYHORSPHQWRIWKHSODWIRUP

&21&/86,21

&RUUHVSRQGLQJWRWKHUHVXOWWKHGHYHORSHGVLPXODWLRQSODWIRUPFRXOGFRQWUROWKH&XEH6DWPRGHODOWKRXJKWKHDQJOH
GHYLDWLRQUHTXLUHPHQWVWLOOFRXOGQRWEHDFFRPSOLVKHGGXHWRXQLQWHQGHGYLEUDWLRQ7KHXVHUFRXOGHDVLO\LQSXWWKH
GHVLUHGDQJXODUSRVLWLRQDQGWKH3,'FRQVWDQWLQFORVHGORRSFRQWUROVHOHFWLRQYLDWKH*8,SDQHO,WHQKDQFHGWKHXVHU
H[SHULHQFHDQGOHDUQLQJSURFHVVWRJDLQWKHRSWLPDO&XEH6DW$'&6SHUIRUPDQFH,WZDVVKRZQWKDWWKHFORVHGORRS
FRQWUROV\VWHPZKLFKDFKLHYHG“ƒDQJOHGHYLDWLRQZDVPXFKPRUHDFFXUDWHWKDQRSHQORRSFRQWUROSHUIRUPDQFH
,Q DGGLWLRQ WKH DOWHUQDWLYH LGOH PRGH DFWXDWRU ZKLFK FDXVHG ! RYHUVKRRW ZDV YHU\ XQUHOLDEOH WR FRQWURO WKH
&XEH6DW PRGHO ,W ZDV FDXVHG E\ WKH YLEUDWLRQ RI WKH XQEDODQFH UHDFWLRQ ZKHHO ZKLFK PDGH WKH 038
PHDVXUHPHQWIOXFWXDWHVZLOGO\)XWXUHLPSURYHPHQWLQWKHSODWIRUPFRXOGEHGRQHE\UHGXFLQJWKHVL]HRIWKHUHDFWLRQ
ZKHHOEHWWHUDFWXDWRUVHOHFWLRQZKLFKLVPRUHFRPSDWLEOHIRU&XEH6DWDQGXVHRIDKLJKHUJUDGH,08VHQVRU

$&.12:/('*(0(176

7KHDXWKRUVZDQWWRWKDQNHYHU\SDUW\ZKRVXSSRUWVWKHPLQFOXGLQJWKHPDQXIDFWXUHURIWKH&XEH6DWERG\DQG
LQHUWLDOSODWIRUP*UHDWDSSUHFLDWLRQZRXOGDOVREHJLYHQWRDOOVXSSRUWLQJSDUW\ZKLFKFRXOGQRWEHPHQWLRQHGKHUH

5()(5(1&(6

 0 $ -RKQVRQ ³6SDFH ,W

V QRW ZKDW LW XVHG WR EH $ *RGGDUG DSSURDFK WR WKLV FKDOOHQJH TXHVWLRQV DERXW
6PDOO6DWV D IHZ DQVZHUV DQG WKH QHHG IRU WUDQVIRUPDWLYH WKRXJKW LQ D WUDQVIRUPDWLYH WLPH´ LQ %LHQQLDO
$HURVSDFH6\V&RQI1DWLRQDO6RFLHW\RI%ODFN(QJLQHHUV16%($OH[DQGULD9$
 &DOLIRUQLD3RO\WHFKQLF6WDWH8QLYHUVLW\&XEH6DW'HVLJQ6SHFLILFDWLRQ&DOLIRUQLD3RO\WHFKQLF6WDWH8QLYHUVLW\
6DQ/XLV2ELVSR
 *3&DQGLQL$FWD$VWURQDXWLFD±
 -/L03RVW7:ULJKWDQG5/HH-RXUQDORI&RQWURO6FLHQFHDQG(QJLQHHULQJ±
 59RWHODQG'6LQFODLU³&RPSDULVRQRIFRQWUROPRPHQWJ\URVDQGUHDFWLRQZKHHOVIRUVPDOO(DUWKREVHUYLQJ
VDWHOOLWHV´LQWK$QQXDO$,$$868&RQIHUHQFHRQ6PDOO6DWHOOLWHV8WDK6WDWH8QLYHUVLW\/RJDQ87
SS
 ;;LDHWDO³1DQRVDWV&XEH6DWV$'&6VXUYH\´LQ7KHWK&KLQHVH&RQWURODQG'HFLVLRQ&RQIHUHQFH3URF
7KH WK &KLQHVH &RQWURO DQG 'HFLVLRQ &RQIHUHQFH ,QVWLWXWH RI (OHFWULFDO DQG (OHFWURQLFV (QJLQHHUV
3LVFDWDZD\1-SS±
 + :RR HW DO ³&XEH6DW WKUHHD[LV VLPXODWRU &XEH7$6´ LQ $,$$ 0RGHOLQJ DQG6LPXODWLRQ 7HFKQRORJLHV
&RQIHUHQFH$PHULFDQ,QVWLWXWHRI$HURQDXWLFVDQG$VWURQDXWLFV5HVWRQ9$SS
 ' 0 0HLVVQHU ³$ WKUHH GHJUHHV RI IUHHGRP WHVWEHG IRU QDQRVDWHOOLWH DQG &XEHVDW DWWLWXGH G\QDPLFV
GHWHUPLQDWLRQDQGFRQWURO´0DVWHU¶VWKHVLV1DYDO3RVWJUDGXDWH6FKRRO
 ,*DYULORYLFKHWDO³7HVWEHQFKIRUQDQRVDWHOOLWHDWWLWXGHGHWHUPLQDWLRQDQGFRQWUROV\VWHPJURXQGWHVWV´LQ
7KH66PDOO6DWHOOLWHV6\VWHPVDQG6HUYLFHV6\PSRVLXP3URF66\PS(XURSHDQ6SDFH$JHQF\3DULV
SS±
 0.DEJDQLDQ-RXUQDORI$HURVSDFH(QJLQHHULQJ±

030003-10
 1 6 .ULVKQD HW DO ³'HVLJQ DQG LPSOHPHQWDWLRQ RI D UHDFWLRQ ZKHHO V\VWHP IRU &XEH6DWV´ LQ  ,(((
$HURVSDFH &RQI 3URF  ,((( $HURVSDFH &RQI ,QVWLWXWH RI (OHFWULFDO DQG (OHFWURQLFV (QJLQHHUV
3LVFDWDZD\1-
 6&KHVL23HUH]DQG05RPDQR-RXUQDORI6PDOO6DWHOOLWHV±
 $ )DUKDW - ,YDVH < /X DQG $ 6QDSS ³$WWLWXGH GHWHUPLQDWLRQ DQG FRQWURO V\VWHP IRU &XEH6DW´
8QGHUJUDGXDWHSURMHFW:RUFHVWHU3RO\WHFKQLF,QVWLWXWH
 ' < /HH + 3DUN 0 5RPDQR DQG - &XWOHU ³'HVLJQ DQG YDOLGDWLRQ RI K\EULG DWWLWXGH GHWHUPLQDWLRQ DQG
FRQWUROV\VWHPIRU&XEH6DWWKURXJKKDUGZDUHLQWKHORRSVLPXODWLRQ´LQWK$$6$,$$6SDFHIOLJKW0HFKDQLFV
0HHWLQJ3URFWK$$6$,$$6SDFH)OLJKW0HFKDQLFV0HHWLQJHGLWHGE\-:0F0DKRQHWDO$PHULFDQ
$VWURQDXWLFDO6RFLHW\6DQ'LHJR&$
 ' 7KRPDV $ :RORVLN DQG - %ODFN ³&XEH6DW DWWLWXGH FRQWURO VLPXODWRU GHVLJQ´ LQ $,$$ 0RGHOLQJ DQG
6LPXODWLRQ7HFKQRORJLHV&RQIHUHQFH$PHULFDQ,QVWLWXWHRI$HURQDXWLFVDQG$VWURQDXWLFV5HVWRQ9$

 , .|N ³&RPSDULVRQ DQG DQDO\VLV RI DWWLWXGH FRQWURO V\VWHPV RI D VDWHOOLWH XVLQJ UHDFWLRQ ZKHHO DFWXDWRUV´
0DVWHU¶VWKHVLV/XOHn8QLYHUVLW\RI7HFKQRORJ\
 +0+XWDVXKXW%$5LZDQWR5$6DVRQJNRDQG5(3RHWUR³+,/VLPXODWLRQRIVSLQVWDELOL]HGVSDFHFUDIW
G\QDPLFVE\WZRGHJUHHRIIUHHGRPJ\URVFRSHVLPXODWRU´LQ7KHUG,QWHUQDWLRQDO$VWURQDXWLFDO&RQJUHVV
,QWHUQDWLRQDO$VWURQDXWLFDO)HGHUDWLRQ3DULVSS±
 +0D\GLWLD³3HUDQFDQJDQGDQLPSOHPHQWDVLSHQJHQGDOLDQVLVWHPDWWLWXGHLQHUVLDOVDWXVXPEXPHQJJXQDNDQ
UHDFWLRQZKHHOGDQJLURVNRS0(06´0DVWHU¶VWKHVLV8QLYHUVLW\RI,QGRQHVLD
 5)+DGL5$6DVRQJNRDQG5(3RHWUR³'HYHORSPHQWRIG\QDPLFVLPXODWLRQSODWIRUPRIUHDFWLRQZKHHOV
FRQWUROOHG&XEH6DWPRGHO´8QGHUJUDGXDWHWKHVLV%DQGXQJ,QVWLWXWHRI7HFKQRORJ\
 .5DKQDPDL76HDUOHVDQG53DUNHU³'HVLJQDQGGHYHORSPHQWRIDORZFRVW&XEH6DWDWWLWXGHFRQWUROV\VWHP
WHVWLQJSODWIRUP´LQ,((($HURVSDFH&RQI3URF,((($HURVSDFH&RQI,QVWLWXWHRI(OHFWULFDODQG
(OHFWURQLFV(QJLQHHUV3LVFDWDZD\1-
 .2JDWD0RGHUQ&RQWURO(QJLQHHULQJWKHG3UHQWLFH+DOO8SSHU6DGGOH5LYHU1-
 )/0DUNOH\DQG-/&UDVVLGLV)XQGDPHQWDOVRI6SDFHFUDIW$WWLWXGH'HWHUPLQDWLRQDQG&RQWURO6SULQJHU
9HUODJ1HZ<RUN1<

030003-11