c a b

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θ

θ

A P ni

A P in

A n

P

n

i rr

θ

t

t

nt

t

Fx ( +i)

𝑛−

i

Fx ( +i)

𝑛− i

i

F

i

n

d at

d

a

t

DII0

D

I

I0

M

x x

x

x

s t vt

s tV

√ √ √

√

√

√

√

√

V r h

v r h

r √V

h

r √ V

h

rVh

hV

√r

h r v

x y

x y

y x

y x

y x

»

»

»

»

x

x

y x x

y x x

y x x

y x x

y x

y x

0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

1 5 9

13

17

21

25

29

33

37

41

45

49

53

57

61

65

69

73

77

81

85

89

93

97

101

105

109

113

117

121

125

129

133

137

Pe

rfo

rma

nce

tim

e (

seco

nd

s)

trial number

Figure 1: Performance time vs trial number