he Oen Aece Engineeing Junl, 9,, -9 Cninuu-ime cking File f he Cdined un Mdel Beil Eknd Oen Acce Ekelundvägen, S-9 Säö, Sweden Abc: Cninuu-ime cking file bed n he cdined un mdel e dicued. B cdine nfmin, he fu-e file deign i educed deign f w-e file. An beve ch i lied, including le lcemen nd nfe funcin nli. Deeminiic ed-e e f cicul un e bined nlicl exein in ge ccelein, file bndwidh, nd he cul nd umed un e. I i een h n e e bined if he un e i knwn. If i i unknwn, efmnce culd ill be bee hn wih indeenden file, if he umed un e i n eneu. Even fi de nfe funcin cn be fmuled fm which he ed-e e e eil bined. An ineein in em bic w-e file i given f file bed n he cdine un mdel. Fuheme, he Klmn file f chic cdined un mdel i given in cled fm nd cmed he beve.. INRODUCION Cicul mneuveing i bic ce f ge cking. I i he cmmn w mneuve f civilin icf nd i elevn l f evive mneuve. he cking e f cicle i n imn efmnce meue in cice nd bund n hi e i nul f he equiemen. he cking lieue n mneuveing ge i exenive nd i dmined b diffeen chic che, ee [-] nd fuhe efeence heein. Pefmnce i icll exeed numeicl R-Men-Sque RMS e bined b chic Mne-Cl imulin. Inveigin bed n beve nd nfe funcin e e, lhugh hi ch include equiemen in nul w nd give fuhe inigh in deign nd efmnce, i well-knwn in cnl nd he ignl ceing field. Uing nfe nd fequenc funcin, cicul ede e e udied in [] f indeenden file in he w Cein diecin. A cninuu-ime w-e beve nd he dicee-ime ude Klmn file e dicued. Rdil nd ngul e e bined nlicl exein in ge ccelein nd file bndwidh. A new bndwidh ineein f he cking index i bined, well ule-f-humb f n ue bund f hi index. In [5] evel ic f he edicin file e dicued uing nfe funcin. he cicul ede e f indeenden file i l given nd ued in icul imiin eing. If indeenden file e ued, he culing beween he diecin duing cicle mneuve i negleced nd ede e e bined. In he cdined un mdel, he C mdel f h, hi culing i ken in ccun [, ]. An exmle i given in [, ecin.7] uing he inecing mulile mdel IMM ch whee l he C mdel i *Adde cendence hi uh he Ekelundvägen, S-9 Säö, Sweden; E-mil: beileknd@eli.cm included. Pefmnce i evlued in em f numeicl RMS e bined b imulin in chic fmewk. In he een e cking file deign bed n he C mdel i dicued. he cninuu-ime ce i cnideed nd n beve ch i lied, including nfe funcin nd le lcemen. B cdine nfmin, ued in mulivible cnl em [6], he fu-e deign i imlified w-e ce. Uing fequenc funcin, nlicl exein e bined f he ede dil nd ngul e in em f ge ccelein, file bndwidh, nd he cul nd umed un e. hee exein e ueful f deign, efmnce evluin, nd equiemen fmulin. N ed-e e e bined if he un e i knwn nd he e f n incec umin f he un e e eil een. I un u h he ed-e efmnce cn even be bined fm imle fi-de nfe funcin. An illuive ineein f C-mdel file i given in em f bic ecnd de file. Fuheme, he Ricci equin f chic C mdel i lved in cled fm nd he cied Klmn file i cmed he beve ce. Alhugh dicee-ime file e ued in cice, he cninuu-ime ce i f inee. Mehd nd eul e diled me clel in cninuu-ime. N mling inevl need be cnideed nd he nfe funcin e eie inee. Fuheme, he C-mdel Klmn file f de fu cn be lved in cled fm. Hweve, he de educin cdine nfmin nd he beve ch cn be lied he dicee-ime ce, f cue, nd he mehd nd file eie dicued hve dicee-ime cune. Cmin beween cninuu nd dicee-ime cking file e fuhe illued in []. If he un e i unknwn, eimin f he un e mee cn be ied duing he mneuve, in he exmle in []. Alhugh hi i n ddeed, he e i f inee l f hi ce. he ed-e e f n 87-6/9 9 Benhm Oen
he Oen Aece Engineeing Junl, 9, Vlume Beil Eknd incec mdel un e e given, which huld give me inigh in he e f n incec un e eime, nd, in he quein f wh culd be gined b un e eimin. he cdine nfmin mehd i f inee f he eimin ce well. In he e deeminiic ed-e e e dicued. Schic e e bined fm meuemen inccucie, fen mdeled enbl well whie nie. A he file e line nd ime-invin, deeminiic nd nie inu cn be eed eel nd he uu fm nie inu cn be ueimed n he deeminiic uu. he influence f whie nie inu line em i well-knwn ic [7]. In he een ce hi i fuhe imlified i i educed ecnd de file. In view f hi, nie quein e n ddeed, lhugh me fuhe cmmen e given in ecin 5. he C mdel i induced in ecin, beve e dicued in ecin, nd ed-e e e deived in ecin. he Klmn file i given in ecin 5, well me emk n he Klmn veu beve che, while beve lnmil nd deivin f he Klmn file cn be fund in Aendix.. HE C MODE Cicul min f ge wih cnn eed in hinl lne i illued in Fig.. A Cein cdine em, i induced, whee he cene f he cicle i he igin. Cnide he iuin whee he iin i meued b en ined he igin, uull d f he civilin icf ce. In cice en ue l cdine nd i i umed h l--cein cnvein h been cied u. he meuemen f he iin, e inu fileing ce, which give eime, f he iin. If he eime e eneu, he eimed iin i diffeen fm he ue ne, indiced in Fig.. η ω Fig.. Cicul cking. ϕ R, ξ η ξ, η ξ Induce he e vec.. x ] [ ] [ x x x x nd he meuemen vec [ ] he C mdel i [, ] x Ax Cx whee b A C nd i he cnn un e. i he kinemic equin f cicul min nd imlie culing beween he w diecin. he cmnen f e he meuemen f he iin cdine nd. F cicul un f diu R, he meuemen ime e Rc R in whee i he cul un e. I i umed h he iniil iin i, R,, bu f ed-e efmnce he iniil iin i n ignificn. he me ed-e will be eched if he cking me he in f he cicle, nd 6 i ued f imlici. he cul un e huld be ued f he mdel mee, h i, he ide i ke in he mdel. Hweve, he cul un e i uull unknwn, knwn nl wihin cein nge f ccuc. ke hi uncein in ccun, he w nin nd e ued f he umed nd cul un e eecivel. If he en nd b h he igin i n he cene f he mneuve cicle, he cdine f he cicle cene e inu he cking file well, nd cnn i hen dded ech f he inu 6. Hweve, f he file udied hee, nd huld be he ce, cking file uull dn give ed-e e f cnn inu, h i, he cnn cene f he cicle de n cnibue hee e. Sed-e e e hen bined nl fm he cicul inu 6.. C MODE OBSERVERS Genel Obeve he beve f he C mdel i. x Ax K Cx 7 5 6
Cninuu-ime cking File f he Cdined un Mdel he Oen Aece Engineeing Junl, 9, Vlume whee K i he cnn file gin, bined b n mehd h will give equied efmnce. hi beve h he me ucue he Klmn file. h i, 7 i cull Klmn file if he gin i deemined fm he Ricci equin bed n whie nie diubnce dded in he uul w in he mdel. Hweve, uul f beve deign, n diubnce e umed in he mdel. Dene he gin cmnen K K K K K 8 lce nfmin give x G whee G I A KC K. hi nfe funcin h he lnmil ucue 8 7 6 5 D G 9 hee lnmil, bined fe me ighfwd clculin, e given in Aendix. A bic e f he beve cn be bined immediel. he eime f he iin x i 5 D D x If nd e cnn, i i een fm he lnmil in Aendix king h in ed-e x. Simill f he he iin, x in ed-e. hu, f cnn inu he beve give he cec iin in ed-e, nd he cnn cene f mneuve cicle de n cnibue he ed-e e. F le lcemen deign, he uul ch i idenif he chceiic lnmil D wih equied lnmil nd b h bin equin f he gin fc K i. In he een ce he meuemen vec h w cmnen, which give me cmliced equin hn wih ingle meuemen cmnen, in which ce em f line equin i bined. Fuheme, hee e eigh gin cmnen, while he em i f de fu, which men edundnc. Alhugh diec idenificin cedue i cnceivble, le b numeicl mehd, nd culd be imlified b he cicul mme, imlifing ch i ible, fllw. w-se Obeve In cnl eminlg, i mulivible em hee e w meuemen cmnen lhugh n cnl inu. B cdine nfmin he deign cedue cn hen be educed he ingle meuemen ce. hi end, dicued in [6], induce he new e vec x x Uing h he em equin e nfmed A C b which e in mulivible bevble cmnin fm [6]. Induce he nin [ ] A nd, he em equin cn be wien ] [ 5 [ ] 6 w ee ingle-inu/ingle-uu em f he me w-e ucue e bined, whee nd, beide being meuemen, l l he le f inu. he beve f 5 i [ ] 7 whee, e gin cmnen be deemined. lce nfmin give
he Oen Aece Engineeing Junl, 9, Vlume Beil Eknd he cending beve f 6 i ẑ ẑ whee, e he gin cmnen. 8 9 hu, w beve f imil ucue e bined, ech f which h w e nd he meuemen cmnen inu. he dvnge f hi ch i bviu. Ple lcemen i immedie nd f nli he nfe funcin 8 nd cn be ued. Clel, cnideble imlificin h been chieved b he nfmin. In he mdel 5 nd 6 he un e mee ene nl in he inu vec cied wih nd. he chceiic lnmil f he beve will hen be indeenden f. A i een fm he nfe funcin 8 nd, hee lnmil deend nl n he deign mee, nd, eecivel, nd cnequenl, d he le. Fu-Se Obeve he w-e beve give ẑ, nd x cn hen be bined b he invee nfmin x ẑ. hu, he bic e vec x i bined fm he w-e beve. x cn l be viewed bined diecl fm fu-e beve. Cmbining 7 nd 9 give A ẑ whee A ; hi i ju nhe w wie he w-e beve. Muliling b, uing h A A C ield he fu-e beve x A KC x K whee K Inu/uu nfe funcin f e-ce eeenin f line em e n chnged b cdine nfmin. In icul, he chceiic equin de n chnge. Uing in 5 give D. h i, he le f he fu-e beve e he me f he w-e beve. Deign f cn hen be cied u b deign f he w-e beve. In hi w he iginl beve 7 cn be deigned uing he gin 8. Cnideing he cicul mme, nd f imlici, hee i n en deign he w-e beve diffeenl. I i nul ke nd, h i, che n idenicl deign f he w-e beve. I i cnvenien f deign wie he chceiic lnmil, uing ecnd de ndd nin. hu, n ideni deign i bined b king 5 ge gd dnmicl behvi, chice f he dming fc i nmll eiced enble inevl, f exmle.5 < <, whee.7 i cmmnl ued. hu, in cice i eenill deemined. hen he min ignificnce f 5 i he ibili bin cein, which m be hugh f bndwidh. Requiemen cn fen be fmuled in em f. A will be een belw, hi i he ce f ed-e cicul e. Rene ime i nhe imn efmnce mee eled, even b imle ule f humb in bic ce. Clel, i cnvenien deign mee b which deign mee equiemen cn be dne. B ineing he gin cmnen in he exein 5-6 in Aendix, he nfe funcin f he beve, defined fm x G, e bined. Uing he mee nd he ideni deign 5 ield G whee 5 6 7 8 6 7 7 8 8 5 9 6 he nfe funcin 6, well he gin, h mmeic ucue.
Cninuu-ime cking File f he Cdined un Mdel he Oen Aece Engineeing Junl, 9, Vlume 5 An Ineein An illuive ineein f he C mdel beve i ible. Fm 6 he eime f he iin x i x F F whee he nfe funcin nin F nd F hve been induced. I i cmed f w : he uu fm F diven b he inu, nd he uu fm F diven b. F i indeenden f. In fc, F i he bic ecnd de file bined f he indeenden file ce, dicued in []. he un e ene in F, nd nl ne in diec nfe funcin gin. I i enble f imlici deign f cking file f cicul mneuve b cnideing idenicl indeenden file f ecnd de, nd bin he file F in bh diecin. hi i even me nul if uch file e ued f igh-line cking i fen he ce. Hweve, ed-e e will hen be bined f cicul mneuve. hee e cn be educed n equied vlue b inceing he file bndwidh [], bu if he equiemen i high hi culd be inie in cice. F exmle, i will incee he chic e bined fm he meuemen nie. If C mdel beve i induced, i h he ucue f x nd cn be egded n em imve he bic eime bined fm nd F, b uing l he inu vi he nfe funcin F. A cending ucue i bined f x. hu, he C mdel beve cn be ineeed w cmlemen he bic indeenden file in ne diecin, b icul ue f he infmin bu he iin in he he diecin. Whehe hi will cull be ucceful deend n hw well he un e i knwn, will nw be dicued.. SEADY-SAE ERRORS A he inu 6 e in nd c funcin, i i cle h file fequenc funcin huld be ueful gin inigh in ed-e cicul e f line ime-invin cking file. Anhe ueful fc i h he inu e eled, me excl, b lce nfmin ~ Uing hi inu elinhi nd he nfe funcin 6 ield x G ~ x G hu, he beve uu x, uing bh meuemen, i he me he uu fm G diven nl b he inu. Simill, x i bined fm G vi he inu. Nw G i G i i i W 5 h i, he w fequenc funcin e equl f he cul un e fequenc. he nin W h been induced f hi fequenc funcin vlue. A he inu nd e he c nd in funcin 6, he ed-e uu e x R W c 6 x R W in whee R gw. hu, ccding he file he ge mve lng cicle f diu R W nd h he ngul ein fm he cul iin. E e bined if W. A in [], induce Rdil e: e R W 7 Angul e: e R R gw 8 Bh hee e e lengh dilcemen e, e in he dil diecin nd e lng he cicle. Beide he mgniude, hee e cnibue fuhe illuive infmin well: i i een h he fileing give cicle uide he cul ne if he dil e i iive nd h he iin i deled if he ngul e i negive. he l e i eil bined fm he ee e. Fm 5 i i een h W if, which men e e 7, 8. h i, if he cec un e i ued in he mdel, n ed-e e e bined. If hee will be e. F cnvenience, induce d ; ~ h 9 d i he i beween he mdel un e mee nd he file mee, while h i he cending i uing he cul un e ~. Afe me clculin W hh d hh d/ h h he dil e 7 cn nw be bined. A ueful ximin i ible, hugh. In cice nd d <<, h <<. hen W h h d h h d nd he dil e becme ~ e R ~
6 he Oen Aece Engineeing Junl, 9, Vlume Beil Eknd I i ineeing cme wih he cending indeenden file dicued in [], in which ce he dil e i ximel R ~ /. F he C ce hee i fuhe fc /. Agin i i een h if he cec un e i ued he e i e, in cn indeenden file. Hweve, f n unknwn un e, he C ce culd ill be bee hn indeenden file if he umed vlue i enbl cle he cul vlue. In n ce, he e cn be educed b inceing he file mee, h i, b inceing he file bndwidh. F he ngul e h gw cn h d dh h h h h d which give ~ e e hi i he me exein f he indeenden file in []. he ngul e i uull much mlle hn he dil e ince ~ / i mll. h i, he ed-e e i minl in he dil diecin. A ge un i fen chceied b i ccelein, nmll exeed in uni f g. hi cn be dne b uing he kinemic elin V R ~ nd V /R, whee V i he ge velci nd he dil ccelein. he dil e cn hen be exeed e ~ 5 he velci V nd he diu R e n invlved exlicil; f given i / ~ he influence he e nl vi. N e e bined f ~. hi i fc ieecive f he icul idenicl deign, h i, ieecive f nd, i een fm 5. Fm hi in f view, hee i n en f mll vlue f d nd h, umed bin he e ximin nd. Hweve, he exc un e i icll unknwn, kee he e enbl mll in cice, he file mee h be cnidebl highe hn he un e nd ~. hu, in cice d << nd h << umed. I huld be ned h 5 cn be egded bined fm he fequenc funcin f he nfe funcin b F 6 c whee b hd 7 c h 7b In fc, 5 i he fequenc funcin vlue F i ~ f 6 f he cul un e fequenc ~. hu, he ede cicul e cn be bined fm he imle nfe funcin 6. A fuhe quein f inee i hw f he ed-e will be eched. hi i deemined b he file ene ime equivlenl b. A dicued in [], ince ~ / i mll in cice, he ed-e i nmll eched fe min f he mneuve cicle. 5. KAMAN FIER bin Klmn file, chic diubnce e induced in he uul w in he mdel x Ax v 8 Cx w 8b whee uul v nd w e e men, whie nie wih cvince E[ ] Q 9 E[ww ] R 9b Cnide he chice q Q ; R q 5 R imlie h he w meuemen cmnen e indeenden nd h he me ccuc. Q m eem vel imlified, bu he x idenicl blck dignl mice f Q e cmmnl ued he cvince in w-e cninuu-ime chic mdel, eihe bin cninuu-ime Klmn file, bin dicee-ime mdel b mling nd b h dicee-ime Klmn file. he cvince Q i n exenin he fu-e ce. he C-mdel in he exmle in [] i fu-e exenin f he w-e clled diec dicee-ime mdel, which i quie cle he mdel bined b mling he w-e cninuu-ime mdel menined bve. In view f hi, 8-5 cn be cnideed chic cninuu-ime mdel, which eenill cend he dicee-ime C-mdel in []. he lgebic Ricci equin f he mdel 8-5 i lved in cled fm in Aendix, which give he gin K whee 5
Cninuu-ime cking File f he Cdined un Mdel he Oen Aece Engineeing Junl, 9, Vlume 7 q 5 he ed-e Klmn file i bined b uing hi gin in he beve. he gin h mmeic ucue imil he beve gin f he ideni deign 5. B cnideing he Klmn file lnmil in Aendix, i i een h he gin 5 cend eenill n beve gin wih nd / ince i mll in cice. Cnequenl, f, he mee m be hugh f bndwidh. he nfe funcin nd he ed-e cicul e f hi Klmn file e given in Aendix. Exeed in dil ccelein, he dil e 86 i e ~ 5 hi i he me exein f he beve ce if. he ngul e i lighl diffeen fm he beve ce, bu f hi ce, hi e i uull much mlle hn he dil e. he dil e i he dmining f he l e l f he Klmn file. Fuhe Remk I huld be ned h f he Klmn file q/ i deign mee in fc he nl ne, hi i deemine he mee nd b h he gin. F exmle, q/ cn be chen kee he ed-e e 5 belw cein bund. If i cnideed mdel mee which i enble, hen q i he deign mee, which h be chen give equied file if ible. I cn be gued h hi i hw nie mee hve be cnceived when he Klmn file i ued in cking licin. A in he field, cein file equiemen e lw invlved in cice, icll cncening bndwidh, ene ime, nd ed-e e, nd he nl w fulfill he equiemen f given chic mdel ucue i b chice f he nie mee. hi view i ued b he fc h whie ce nie cnn be egded enble mneuve mdel. Cnide f exmle he cninuu- dicee-ime Klmn cking file, in which ce he ge ccelein i umed be whie ce nie []. Hweve, cnn nel cnn ccelein i ued f mneuveing, i i ceinl n whie. he nl enble w inee he ccelein ce nie mee i deign mee [8]. I huld be ned h if clued ce nie i induced ined, efmnce culd deeie [9]. Fuheme, i huld be ned h equiemen e cull negleced in he chic ch cking. Cnequenl, deign mee equiemen cnn be dne. If equiemen e ken in ccun huld be he ce f cue, chic deign ce will be quie cmlex, invlving exenive chic imulin f diffeen nie mee vlue, in which ce he nie mee e ued deign mee nhw. Clel, n beve ch, uing le lcemen nd nfe funcin bve, i me imle nd efficien, nd include equiemen in nul w. A ined u in he inducin, n uu cued b meuemen nie cn be ueimed n he deeminiic uu. Anlicl exein f hi e given in [7]. I huld be ned h deign i cull nin h efe civiie nd mehd ued bin file h fulfill he equiemen. Wihu equiemen hee i n need f deign, in fc n file wuld d. In cice me equiemen e lw ecified nd needed. Fuhe ec n hee iue cn be fund in [] nd [8-]. 6. CONCUSIONS Cninuu-ime cking file bed n he cdined un mdel e dicued. B cdine nfmin he fu-e file deign i nfmed deign f w-e file. Uing file fequenc funcin, he deeminiic ed-e dil nd ngul e f cicul un e bined nlicl exein in ge ccelein, file bndwidh, nd he cul nd umed un e. I i een h n e e bined if he un e i knwn. If i i unknwn, efmnce culd ill be bee hn wih indeenden file if he umed un e i enbl cle he cul vlue. Even imle fi de nfe funcin cn be fmuled fm which he e e bined. An ineein f C-mdel file i given in em f bic ecnd de file. Fuheme, Klmn file f he cdined un mdel i lved in cled fm nd cmed he beve. I i gued h he nie mee in he Klmn file huld be cnideed deign mee. he e i beve nd nfe funcin bed nd illue he benefi f hi ch. APPENDIX nfe Funcin Plnmil Uing he gin 8 in he beve 7 give he fllwing lnmil in he nfe funcin 9. D K K K K [K K K K K K ] K K K K K K K K K K K K K K K K K K K K K K K K K K [K K K K K K K K ] 5 55 56 K K K K 57
8 he Oen Aece Engineeing Junl, 9, Vlume Beil Eknd [K K K K K K ] 58 5 59 6 [ K K K K ] 7 K K K K K K K K K K K K K K 8 [ K K K K K K ] Ricci Equin 6 6 6 he lgebic Ricci equin f he mdel 8, 9 i AP PA PC R CP Q 6 Dene P [ ij] nd le Q, R be given b 5. Uing he fc h P i mmeic, he cmnen equin f 6 e 6 65 66 67 q 68 69 7 7 7 q 7 hee equin cn be lved in he fllwing w. S b he umin nd, i enble b mme. hen, 6 nd 7 give, which give uing 7 fm 6 >. Nw 66 give nd i fllw fm 68 nd 7 h. Fm 6 nd uing 67 i i fund h /. hen 68 ield ecnd de equin f, which h nl ne luin >, nd finll i bined vi 7. Uing he mee he eul f hi cedue i q 7 75 hee cmnen if 6-7 nd i cn be hwn h he give iive definie P. hu, lhugh he ing in w n umin, 75 i in fc he unique luin he lgebic Ricci equin 6. he Klmn gin K P C R becme K Klmn File Plnmil 76 Ineing he Klmn gin 76 in he exein 5 ield he chceiic lnmil D 77 Due he icul fm f hi lnmil, i i e lve he chceiic equin D. I i me f lving ecnd de equin nd he eul i [ ± i ± ] 78 Uing he ign indeendenl ield he fu le. F duble le e bined in ± i /, which b ecnd de ndd nin cend / nd /. he nume lnmil 5-6 becme
Cninuu-ime cking File f he Cdined un Mdel he Oen Aece Engineeing Junl, 9, Vlume 9 7 79 8 5 6 [ ] 8 8 8 A f he beve ce, evel f he nfe funcin lnmil e he me. Klmn File Sed-Se E he cicul ed-e e f he Klmn file e bined in he me w f he beve. Uing he inu elin, he nfe funcin cending nd e x ~ 5 H D x ~ 7 H D 8 8 Fm he imiliie f he lnmil in 79 nd 8, i i een h hee w nfe funcin hve he me fequenc funcin vlue f he cul un e fequenc ~, h i H i ~ H i ~ 85 A f he beve, hi fequenc funcin vlue deemine he ed-e e, which, fe me clculin nd me ximin bed n he umin <<, ~ <<, e fund be ~ e R ~ 86 ~ e ~ e 87 REFERENCES [] Y. B-Shlm, X.R. i, nd. Kiubjn, Eimin wih Alicin cking nd Nvigin, New Yk: Wile,. [] Y. B-Shlm, nd.e. Fmnn, cking nd D Aciin, Sn Dieg, CA: Acdemic Pe, 988. [] X.R. i, nd V.P. Jilkv, Suve f mneuveing ge cking. P I: dnmic mdel, IEEE ncin n Aece nd Elecnic Sem, vl. 9,. -6,. [] B. Eknd, Sed-e cicul e f bic cking file, IEE Pceeding Cnl he & Alicin, vl. 5,. -9, 6. [5] D. enne, nd. Singh, Chceiing efmnce f file, IEEE ncin n Aece nd Elecnic Sem, vl. 8,. 7-87,. [6] W.A. Wlvich, ine Mulivible Sem, Alied Mhemicl Science, New Yk: Singe-Velg, Vl., 97. [7] K.J. Åöm, Inducin Schic Cnl he, New Yk: Acdemic Pe, 97. [8] B. Eknd, Ple nd e f nd cking file, IEE Pceeding Cnl he & Alicin, vl. 85,. 7-76,. [9] B. Eknd, Deign ec f cninuu-ime cking file, IEE Pceeding Cnl he & Alicin, vl. 5,. -5,. [] B. Eknd, cking File nd Mdel f Seeken Alicin, IEEE ncin n Aece nd Elecnic Sem, vl. 7,. 965-977,. Received: Mch, 8 Revied: Decembe 8, 8 Acceed: Decembe 8, 8 Beil Eknd; icenee Benhm Oen. hi i n en cce icle licened unde he em f he Ceive Cmmn Aibuin Nn-Cmmecil icene h: //ceivecmmn.g/licene/bnc/./ which emi uneiced, nn-cmmecil ue, diibuin nd educin in n medium, vided he wk i el cied.