School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _...

15

Transcript of School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _...

Page 1: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

������������ ��������� ���������������������� ������������ ����!��

Page 2: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$'&)(!*+&)(!,-$/.0(!$21436587 ,-9 *+:�(!;=<�*'>

?A@+B�C D�E�F/G!H�IAJLKMD�HMG!N�BOFPB QPR C BJ?AS0HLN6G!E/R T�G�KMR D�E-D!U�FPR JMV+J?AS0HLN6G!E/R TR E/NWKMHMG�CMV+J8X6IAJMB�CYKMD�H?AS0HLN6G!E/R TR E/NWKMHMG�CMV+J8X6IAX/Z DPCMV+J?A[8D�E�F/G�KYGWD�Q6BHL\/B�G�F?^]8\/B_C D�JLK8D!U=G`FPR JMVAG�CC BJMJ?AabR JMVAG!J8G`X'D!KLKMZ BE/B�CMVced/fLd/g�d�h4i+d2jbkmlon/p0qmrolos)n/n/t uvpxw4y=z|{^t uvu2w4}�z4tL~�� R Z BO@6KMHL��CYKM�/HLBJ ~�������P� @+B�CYKMR D�E/J8� � ���

�L� � �+�/� � � � � �

Page 3: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#�$&%&')(+*-,�. /0#21!').�,435$768$�9�: %&$&;

<&= >�? @BAC@�? D�>�E4F!G�HIAKJCD�GCF!L�@M= ANEO= P)@GK@>QJSR GKD�TUTIF!= >VTW@TWD�G�HYXS@MZ�F[Q@BJCD\ >�EO@GKAKJ]F!>�EWZ4D�X^= JSXSD�GK_&AS= >VD�GCEO@G`JCDWEODYL�D&DOEYa4b @cEO@AC= L�>4A�d

e XSDfTIF�gKD�G-J HOh)@ASD!R�AKJCD�GCF!L�@cEO@ [O= ? @A�ijIk = GK@�?]JNlM?? @ACAB<QJCD�GCF!L�@ k @ [O= ? @AMm k lc< k A n

o`p F!L�>4@ JC= ? k = AC_&Aq F!GCE k = AC_&AMm Z4= L�Zr?F!h�F�? = J HQsOb D�X^? D�AKJNh)@GSt4= J nu b D�h4hQH k = AC_&AMm b D�X0?F!h�F�? = J HQsOACb D�XvsO?CZ4@�F!h)n

o`w hOJC= ?F!b k = AC_&Ax k oKySwcp{z x`D�TWh�F�?]J k = A]?!s&GK@�F�E o D�>4b HITW@TWD�G�H

m y @�F�E o D�>4b H�|�X}GK= JC@BD�>�? @�sOZ4D�b EOASFfb D!JND!R�E4F�J]FOsO?CZ4@�F!hrGK@h4GKDOE \ ?]JC= D�>)nj <&@GK= F!b k @ [O= ? @A

o`p F!L�>4@ JC= ?}J]F!h)@Acm [Q@G�HIR F!AKJSAC@�~ \ @>QJC= F!b5F�?? @ACA n

�K� � �&�4� � � � � �

Page 4: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$&('�)�* +,'.-�* /0)1/,2435* 6�786

9;:=<�>@?,<�AB<�?CAEDFAHG I IKJ,LMD5N=O.G LMP;LMQ4RM<S:=D T D:URM<SV�W!:MOXO.G LMP;L�YZ[<�A\O.G LMPCO.:=G ]^D:=LEAE<�:=P

Spindle

Read/Write Heads

Boom

Surface

Surface

_ � ` � �;� �a�� � ",� � � �!b� c.d;e f � � � ��� ���,g^� ` � h � � � �iK<;<�P;G ?,jSW�RHW4LMJ,:�T W�k D�l

Tracks

Sector

mCn G LMPCk <�?^RaW!G ?,L[k <�?�k D?^RM:=G kHo!p�q0r�sutmSv :MW�kMP;LHW!:=DwO.G ].G O.D�OCG ?^RM<St�x�r^o!y0p^tmSz t�x�r^o!y0pSG LERMV,D{LM>CW!I I DL=REW�O,O.:=DLMLaW!|,I DFJ,?,G REG ?5WSO.G LMP

} `�� �;�,� ` � � d �

Page 5: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �#%$'&(*),+'-/.�0�-1)!23-/&�)�4657)98;:=<1&?> -/.�2@<1$'&A46B 51CED;<1$'&?.�+E&-1)�<1B ('0F5/:65/<1&2G .6H)�<1&5I<1$'&?51J'-�> )�H &�D=<1-1)�H1CK)!(�4L51&�HM<1.�-NH .�(;<M)!B ('B ('09<1$�)�<N8;:=<1&�D')!(�4-/&�)�465O<1$'&P&(;<1B -/&A51&�HM<1.�-IB (;<1.Q)951+E&�H B ) G )!-/&�),B (K2L)!B (K2Q&2Q.�-�:KH) G G &�48'J6RE&-S

TN$'&?8E.!</< G &('&�H1CL.!>�)F46B 51CL)�HH &515IB 5I2Q.�U6B ('09<1$'&P-/&�)�4�V�W7-/B <1&A)!-/2XSZY=.'DB <N2L)!C�&5I51&('51&7<1.F5/<1.�-/&A)A[ G &PB (L<1-1)�H1C=5I<1$�)�<7)!-/&A8E& G .�WPV!)!8E.�U;&7&�)�H1$.!<1$'&-OB (K46B RE&-/&(;<I51J'-�> )�H &5�D=-1)�<1$'&-Z<1$�)!(KB (L51& U;&-1) G <1-1)�H1C=5IB (L<1$'&?5M)!2Q&51J'-�> )�H &�S

\Q]_^ ` aZb_c'dFef<1$'&P51& <N.!>g<1-1)�H1C=5N.�(*)F46B 51CF<1$�)�<7)!-/&A46B -/&�HM< G :)!8E.�U;&�V�8E& G .�W%&�)�H1$*.!<1$'&-S

h HM: G B (�46&-

h?G G <1$'&PB (6> .�-/2L)�<1B .�(L.�(*)FHM: G B (�46&-IH)!(*8E&P)�HH &5151&�4QW7B <1$'.�J6<ikj�l ` a_mon�p_cqd�c'rsbOt�uKd;` n!cqrEd iwv x c'c'y_` a_m�z!S

(=J'2,8E&-Z.!>_HM: G B (�46&-/57e{(=J'2,8E&-O.!>g<1-1)�H1C=5NB (*),51J'-�> )�H &<1-1)�H1CKH)!+�)�H B < :Xe{(=J'2,8E&-O.!>|51&�HM<1.�-N+E&-Z<1-1)�H1CL}L8;:=<1&5N+E&-O51&�HM<1.�-HM: G B (�46&-IH)!+�)�H B < :Xe{(=J'2,8E&-O.!>|51J'-�> )�H &5O}L<1-1)�H1CKH)!+�)�H B < :46-/B U;&PH)!+�)�H B < :Xe{(=J'2,8E&-O.!>�HM: G B (�46&-/5O}*HM: G B (�46&-IH)!+�)�H B < :

~/� � �=�'� � � � ���

Page 6: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �#%$�& ')(+*-,.(0/ $�& & $�1+2 3.465.78$�9.& (:<;

= 2 & (?>-,�@!7-@�>A*-(782 B8*-2 > B�;

C = 2 DE(�F C & (3.4!*-,G78(�> $�7-FEBCIHKJ :L9M(7I$!/N78(�> $�7-FEB0OQP�RES R�R�R678(�> $�7-FEBC #%2 T(U$!/�@L78(�> $�7-F<OQV�P�W69)X%*-(B

Y 2 B-Z[>-,�@!7-@�>A*-(782 B8*-2 > B�;

CIHKJ :L9M(7I$!/N9)X%*-(BK5M(7IB-(�>A*-$�70OQPE\�VCIHKJ :L9M(7I$!/NB-(�>A*-$�78BK5M(7I*-7-@�>-Z]O^W�_CIHKJ :L9M(7I$!/`*-7-@�>-Z%BK5M(7K>AXE& 2 3�FE(7KOa\�WCIHKJ :L9M(7I$!/�>AXE& 2 3�FE(78B+Ocb)R�d�V

egfihgj�kmlonqpNrcs%rut v piwux.y)z{nMy�x|pux.x�wux�wI}

~L;V678(�> $�7-FEBK5M(7�B-(�>A*-$�7V��cW�_678(�> $�7-FEBK5M(7I*-7-@�>-Z\�W���\�V�W{OQVES RE\�WL78(�> $�7-FEBK5M(7�>AXE& 2 3�FE(73 J :L9M(7i$!/u>AXE& 2 3�FE(78B+Oa���-� ������ � �-� ��� V!b.� �L>AXE& 2 3�FE(78B

H $!*-(�;�~QFE2 B-Z�:�2 4�,)*�3.$!*K,�@')(+*-,.2 BK:[@!3)X�5.,)XEB-2 >@!& & X[> $�3)*-2 4 J $ J B>AXE& 2 3�FE(78BK@'�@!2 & @!9.& (��N�K,.2 BI�.& (U:[@X�9M(UB-5.78(�@�F[$�')(7�, J 3�FE78(�FEBI$!/>AXE& 2 3�FE(78B��

�8� � �%�.� � � � � �

Page 7: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$&('�)�* +,* )�&.-/$�'�0�132547698�:,0�;!<=$

>@?BADC@?3EBF!G H,I7JKC@J I7H,A�LMA�N(O5P7QSR�A�HTO!P7UTF

1

2

3

4

5 6 7

8

9

10

11 1

5

9

2

6 10 3

7

11

4

8

Physically Adjacent Sectors

Sectors with 3:1 Interleaving

A B

V � W � ��� �X� � � � Y � � � � �

Z\[(] ^ _`ba!cd_fe!g hX_ij`dhXe�cd_�kj] i5a�k�lXa�m _iThn`X_�mohXe�cd`�prqtsrh@u�^ e�v�] ma!^ ^ wja�k�lXa�m _iThXxkre,_`yite!hnit_�m _`X`oa!cd] ^ w\z@_�a!i{u�|t}Twr`X] ma!^ ^ w\a�k�lXa�m _iThXx

Z�~ P7U%F�P(LMA���G F��BF@�3� }t_ij] hncd_�a�kr`naS`X_�mohXe�cpr] hyhoa!��_`n`Xe�z@_bhX] z@_bhXev�_ hncd_�a�k,w\hXe�cd_�a�k@hX}t_fit_ �,hn`X_�mohXe�c� R�P(J ��O�G P(Nn�SG N(O!AtUTJ AtIt�BG NB�

��� I7LM�KJ A(�b� st|t|=e�`X_ � _fit__�k@hXe�cd_�a�k5m e�it`X_�m srhX] �T_^ w@hX}t_f`X_�mohXe�cd`ne!gBahXcXa�mX�\] ije�cXkr_c � `X_�mohXe�cf��pr`X_�mohXe�cn�rpr`X_�mohXe�cn�rp7� � � p,`X_�mohXe�cf����� � st|t|=e�`X_hX}t_�kr] `X�@ma!itite!hncd_�a�kjm e�it`X_�m srhX] �T_f`X_�mohXe�cd`��ZS��] hX}te�srhn] iThX_cd^ _�a�r] itv5� [(] v�stcd_���� ��� �

� e � z\a!iTw\cd_ �Te�^ srhX] e�it`KhXe�cd_�a�k\hX}t_�kr] `X�t�ZS��] hX}�� � �f] iThX_cd^ _�a�r] itvj� [(] v�stcd_����d�y� �

� e � z\a!iTw\cd_ �Te�^ srhX] e�it`KhXe�cd_�a�k\hX}t_�kr] `X�t��  ne � z@e�`dhnkr] `X�@m e�iThXcde�^ ^ _cd`/a!cd_/g a!`dhna!i�k\it__�k\ite�] iThX_cd^ _�a�r] itv,�

¡ W�� �,�t� W � � ¢ �

Page 8: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$ &(')!*,+�',-/.102)!*,34)!'65�3(798(+�5;:4<=*,34)�5>)�? @A3

BDC;EGF/H IKJML4N(LAO4I;P%Q R/STC;E1U�V!W�SDX!YZSTC;E1X�UAEWTV�STQ [;\]R_^>R_STE`aW_ERTUAX�[;RTQ b;c EY X�W/`dV![�V!\�Q [;\1e;c ER�f�BDC;EGe;c E1`dV![�V!\�EWg`dV!U;RhSTC;EiH j4OZk l,L4HDmhLAP!n�opX!YSTC;Eqe;c EqQ [rSTX]STC;EQ W/mgs2t(o!k l,L4HDH j�l,L�n�k jZNDf

u l>H vho�n!I;P]Q RDVpe>w>E�xd[,y;`]bAEWgX!Y�z X�[rSTQ \�y;X�y;R/RTE�z{STX�W_Ri| Q YZSTC;EW_EiQ RQ [rSTEW_c E�V}>Q [;\pSTC;ERTE1RTE�z{STX�W_RGV!W_Ei[;X!S/U;Cr^>RTQ zV!c c ^dz X�[rSTQ \�y;X�y;R ~{fBDC;EGF/H IKJML4N(LAO4I;P�V!c c X>zV�STERGV![6Q [rSTE\�EW/[,y;`]bAEWgX!YDl>H vho�n!I;ProqSTX�Ve;c E�f

�2w4�h�,E�z{STX�W/RTQ �E��(�>���pbr^,STER����gc y;R_STEW/RTQ �E��(�pRTE�z{STX�W_R

� Y�V1e;c E1z X�[rS{V!Q [;Rq���pbr^,STER��,V]z c y;R_STEWgQ R/V!c c X>zV�STE�x�|_�����!�]br^,STER ~{f�BDC;EW_E`dV^�bAEGy;[,y;RTE�x�RTU�V�z EGQ [dSTC;Eqc V!R_SDz c y;R_STEWgX!Y2Vie;c E�f�BDC;Q Rgy;[,y;RTE�x%RTU�V�z Ez X�[rSTW_Q b;y>STER/STX%Q [rSTEW_[�V!c�Y WTV!\�`�E[rS{V�STQ X�[Zf

�dH vho�n!I;PropV!W_E1\�X,X>xdRTQ [�z EGSTC;E ^6Q `�U;W_X�}rEqRTE��ry;E[rSTQ V!c4V�zz ERTR���W_E�V�x>Q [;\br^,STER/RTE��ry;E[rSTQ V!c c ^�Y W_X�`�V%z c y;R_STEWDzV![6bAE1x>X�[;EqQ [�X�[;EqW_E }rX�c y>STQ X�[Z�RTEE�,Q [;\]X�[;c ^dX�[�z E�fBDC;EGe;c Eq`dV![�V!\�EWg`dV!Q [rS{V!Q [;R/Vie;c EiV!c c X>zV�STQ X�[�S{V!b;c E%| � u Bq~gz X�[rS{V!Q [;Q [;\Y X�W/E�V�zTC�z c y;R_STEW/Q [dSTC;Eqe;c E1Q STRDc X>zV�STQ X�[6Q [�x>Q RT�Af

u [6I>��n!I�NZnpQ RDV]\�W_X�y;U6X!Y�z X�[rSTQ \�y;X�y;RDz c y;R_STEW_R�f(� Y(Vpe;c EqQ RDR_STX�W_E�x6Q [�VRTQ [;\�c EqE w,STE[rS/STC;E[�RTEE�,Q [;\6| `�X�}rE`�E[rS/X!Y2W_E�V�x����GW_Q STE1C;E�V�x�~hQ RDx>X�[;EX�[;c ^dX�[�z E�f(� Y2STC;EW_E1Q R/[;X!SDE[;X�y;\�C6z X�[rSTQ \�y;X�y;RDz c y;R_STEW_R/STX%C;X�c x6Vie;c E��STC;Eqe;c EqQ RGx>Q }>Q x>E�x�Q [rSTX��pX�W/`�X�W_EqE w,STE[rSTR�f

�_� � �,�;� � � � � �

Page 9: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$�&('*),+.-*/�&0/�1 2*-

3�46587(98:<;>=?9�@ ;�=<A0BDC(;!:6E0:?:<F C(GH9 I(J�@K:<L MNF COJHB<9�@K:<;�=

P I*QSR69�@ ;�=<ATB<F U9WVYX�Z�ZH[\M.:<9B�]_^.9�@K:<;�=6B<F U9WVY`03�XH[\M.:<9Ba ;bJc\;�F Ab:<d�J�:8JW=?9�@ ;�=<AOB<e�J!CNXHB<9�@K:<;�=?B6f69g@J!CN;�C(L MTB?:<;�=?9gXH=?9�@ ;�=<A0BF CT:<d(F B6B<9�@K:<;�=gh?3�3�XH[\M.:<9B6G�;>7(C.7(B<9�Abei9=6B<9�@K:<F ;�Cj4Kk a d(F B69 I.:<=<J7(C.7(B<9�AbB<e�J�@ 9l@ ;�C\:<=?F [(70:<9B6:<;Hm =<J!G�nb9C\:KJ�:<F ;�Coka d(9lJ!L :<9=?C�J�:<F c\9lF B6:<;>L 9 :8JW=?9�@ ;�=<AOB<e�J!Cb: f6;>B<9�@K:<;�=?B�]([(70:p:<d(9CT: f6;B<9�@K:<;�=?BDnH7(B?:6[i9q=?9�J�ATf8d(9CTf69lC(99�Ab:<;bJ�@@ 9B<B6:<d(F B6=?9�@ ;�=<A*k

X\46587(98:<;H:<d(9l7(B<9q;!m�@ L 7(B?:<9=?B

r ms:<d(9qE(L 9qB<F U9lF B6C(;!:8JWnH7(L :<F e(L 9q;!mo:<d(9g@ L 7(B?:<9=6B<F U9�].:<d(9CT:<d(9lL J!B?:@ L 7(B?:<9=pf8F L Li[i9le�J!=�:<F J!L L MT7(B<9�A*k

tTu%vow x.yzv*{Wx0| }S~��!y(�j~!w �0yo� B<;�nb9q;�ei9=<J�:<F C(GHB?M0B?:<9nbBDJ!L L ;�f�:<d(9B?M0B?:<9n�J�A0nbF C(F B?:<=<J�:<;�=S:<;b@<d(;.;�B<9l@ L 7(B?:<9=6B<F U9�k

� d(9CT:<;>7(B<9 | �i���*y�x0| }S~��!y(�j~!w �0yi�� d(9COA0F B<�T@ ;�C\:KJ!F CNL J!=?G�9qE(L 9BDL F ��9L Mb:<;>[i9qe(=?;0@ 9B<B<9�ATB<9��\7(9C\:<F J!L L M\kP I*QS�De*A(J�:<9BpF CjJWnTJ!B?:<9=pE(L 9q;!m�[�J!C(�bJ�@@ ;�7(C\:<Bgh F CN[�J�:K@<dOnb;0A09�4

� d�J�:8J![i;�70: ~!���*| |8x0| }S~��!y(�j~!w �0yi�� d(9COA0F B<�.BD@ ;�C\:KJ!F CNB<nTJ!L L�E(L 9BDJ!C�A���;�=SE(L 9B6L F ��9L MT:<;>[i9lJ�@@ 9B<B<9�A=<J!C�A0;�nbL MP I*QS�qC(L F C(987(e*A(J�:<9Bpm ;�=DJ!F =?L F C(9q=?9B<9=�c�J�:<F ;�Cok

�?� � �.�(� � � � � �

Page 10: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$&('�)�* +,* )�&.-/$�'�0�132547698;: <(0�132

=?>A@ BDCFEDGDH�IDC,BKJ?HL?MONQPR@ SR@ PRN�P?@ TUEDV;WXBDNG�Y�PRN ZXTXN�P?[]\ ^�_�`baQGDH�EDcXNGdEDc�H!T@ TUEDVFBDN�IeEDV�GfB�gh i V!EDN�j]kKNGfN�lnm�MXo VRIDC,p;@ BdTXV!EdWXBDN�P5H!BAHqBfLRTXV�TULRJrV!s3BDN�IeEDV�GKV�Gdt�GfV�WXuV!s3BDN�IeEDV�GfB v

=FwKcXNQH!JxV�WXTUE]EDGDH!TXBfs NGfGfN�P5@ TyHqBD@ TXt�o NQz�{!|;V�uONGDH�ED@ V�T}IH!T5S�H!G�LPRNuONT�PR@ TXtqV�T?EDcXNQTXNN�PRBdV!s(EDcXNQBDV!s E ~KH!GfN�PRNBD@ t�TXNG h TXV!EKc�H!GDP,~KH!GfN�v

=F�9MXo VRIDC?@ BdWXBDW�H!o o LxV�GftUH!TX@ �N�PxEDVxI V�TUEeH!@ TyH!T5@ TUEDNt�GDH!o7T,WXJ;MONGnV!so V�t�@ IH!oOGfN�I V�GDPRB�g

� \ ^�_�`b� �b���b�7_U�!^7�?��T,WXJ;MONGnV!s�GfN�I V�GDPRBKBfEDV�GfN�P5@ T5N�H�IDc5MXo VRIDCx@ TyHZXo N�g

i V;@ TUEDNGfT�H!oOs GDH!t�JxNTUEeH�ED@ V�T(l,TXV;GfN�I V�GDP5BDu�H!TXTX@ TXt�E ~dVFMXo VRIDC,B�g

�9MXo VRIDCFE LRuX@ IH!o o L5I V�TUEeH!@ TXBdBDWXMXMXo VRIDC,B�j=?�]V�WXTUEdBDWXMXMXo VRIDCOj�I V�TUEeH!@ TXB]EDcXNQT,WXJ;MONGnV!s�MUL,EDNBd@ TyHqMXo VRIDCOg=?�/N L?BDWXMXMXo VRIDC h V�uRED@ V�T�H!o vejbI V�TUEeH!@ TXBdEDcXN/C�N L?s V�G]EDcXN/o H!BfEKGfN�I V�GDP5@ TEDcXN�PXH�EeHqBDWXMXMXo VRIDC h EDcXN�PR@ BDC?I V�TUEDGfV�o o NGKIH!T5BDN�H!GDIDc5s V�GdC�N Lx~A@ EDcXV�WREo VUH�PR@ TXt;@ EK@ T5J?H!@ T?JxNJxV�G�L�v

=?>/H�EeH;BDWXMXMXo VRIDCOj3I V�TUEeH!@ TXB]EDcXNQGfN�I V�GDPRBK@ T?EDcX@ BKMXo VRIDCOg

�f� � �,�X� � � � � �

Page 11: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$'&)(+*-,�*/.%02143�5)1-*�(

687:9�;=<?>@9!A�BDC�E�F G8;=BDG�H:A 9�IJG K4>DIDELBM>D;-NO9!>DP=GI@>DP�E!<%H=E�>QE-R

S�T�U?V!WYX!Z[]\+\)X�T�^!^�_'`@a Tcbed ^�f)^hg 6J>J>DP=G8i'Gj�k <=<=k <=jh9!A�G�E�FDPlBDG�FQ>D9�IBD9�7:Gmk <-A 9Lk BJBM>D9�IMG�HYn-BD;�FDPlE!BJBDG�FQ>D9�IoE�H=H-IMGBDB�n?>DIDE�FDplE�H=H-IMGBDB�n-F 9�<�H-k >Dk 9�<q k A�BDG�FQ>D9�IJk BoH-G A G�FQ>Dk r?G�sQt->DP=GIMGuk BJBD9�7:G8j?E!Cli'G > vJGG<%BDG�FQ>D9�IMB�R

wla W�U�f2Z�x%X�yY_Yz+d {-T�\|bed ^�f)^ BD;=i=i=} 9-FDp4BJE!<�H~k <?>DGIMi=} 9-FDp~j?E!C=BJk BJC�E!I�>9!A�>DP=GuG K4>DIDELBM>D;-N�t47:9�IMGu<=9�<�H=E�>QEh9�r?GIMP=G�E�H:>DP�E!<~vmk >DPBDG�FQ>D9�I���E�H=H-IMGBDBDk <=j=R

� K=E!7:C=} G��� k BDp~FDP�E!IDE�FQ>DGIMk BM>Dk F B���@�+} 9-FDp?��E�H=H-IMGBDBQE!i=} G8H-k BDp~H-IMk r?G�@�4k �Gu9!A�>DIDE�FDp g���� n ����� i?�4>DGB�@�o9�<�H=E�>QEh9�r?GIMP=G�E�H~C'GIJi=} 9-FDp g������ i?�4>DGB� k } G�FDP�E!IDE�FQ>DGIMk BM>Dk F B���@�JG�F 9�IDHlBDk �G g������ i?�4>DGB

�e�+�eW�����_Yz2��X�T�U4WYX?\+^lU4_Yz�`JT�^�V!WYX�T�\��JT=X%V!X�_YU�f|�MWYX%V� )T�MW�a a W��%d z)y�`@a W�U�f)d z)y��M_YU?V!WYX?^�¡

q � sJ�+} 9-FDp4k <=jhA E�FQ>D9�I g¢���

q � sJ�+} 9-FDp4k <=jhA E�FQ>D9�I g�£��

¤M¥ � �4�=� ¥ � � ¦ §

Page 12: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �#�$&% '�(�) $&*,+-$/.103254/6879% 0&:;=< >@?BA@C�D!E@D�AGF@HE-< >-F@< A >�IJ9KML N A@? J D�OPO3E-H>@>GD!Q L HRO3< >@?BO3E-< STHJ9U < VH N!W F@E@D�A@?YX[Z�\3] \�\�\^QT_`F@H>J9abN�c OPD�FGD N STHE-CPH�D�OBdeHEfQ L N A@?gXih�\�\jQT_`F@H>k&< L HlA@C�D!E@D�AGF@HE-< >-F@< A >�IJ9m H�A N E@Og>@< VHlXon�\�\^QT_`F@H>p n�q KML N A@?`< cPr^W D�AGF N E=Xsn�\U < VH N!W OPD�FGD^>@tPQPQ L N A@?BXon�] \�\�\abN�c OPD�FGD N STHE-CPH�D�OYXih�\�\u N!W Q L N A@?`>9F@C�D�F=AD cBv Fb< c D^F@E@D�A@?YXxwGy�z@{ z�z�z| { }�z�z&~ Xxw@n��3� h�� ~ X�n��E-H�A N E@O3>u N!W E-H�A N E@O3>bdeHE9F@E@D�A@?YXon���\^E-H�A N E@O3>p ZTq KML N A@?`< cPr^W D�AGF N E=Xi��\U < VH N!W OPD�FGD^>@tPQPQ L N A@?BX[�3] \�\�\abN�c OPD�FGD N STHE-CPH�D�OYXih�\�\u N!W Q L N A@?`>9F@C�D�F=AD cBv Fb< c D^F@E@D�A@?YXxwGy�z@{ z�z�z� { }�z�z&~ X�h^Q L N A@?`>u N!W E-H�A N E@O3>bdeHE9F@E@D�A@?YXon���\^E-H�A N E@O3>

�-� � �`�P� � � � � �

Page 13: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$'&)(+*-,./*103254/6 ,�798;:<:<&<,�,

=?>1@BADC E+@FADG+H�II @JDJ?H3JD@�IKADG�LMC N/HOADLDH�IDP%G�NQHOJDR1L�S H�I @TC J?UVC WVC UV@�U+C NXADG1YZ+[ \^]_+` \^a `cb ] bcd

e;fXd [ `cb

g @@PhADC E+@ =?C E+@iADGjE+G�WX@kAD>1@lLm@�H�U�n�oBLmC AD@pH!LmEqADGrAD>1@I G�LmLm@�IKATIKsVt C N�UV@L

uMG!AKH�ADC G�N�H!t�UV@t Hsv G�LMt H�AD@N�IKs�w

=?C E+@xC A�AKH!P�@J�S G�LcAD>1@?UVC JDPTADGTLmG!AKH�AD@MJDGBAD>�H�A�AD>1@UV@JDC Lm@�UyJD@�IKADG�LMC JMR1N�UV@LxAD>1@FLm@�H�U�n�oBLmC AD@z>1@�H�U

={LDH!N1JmS @LxADC E+@ |FN�I @+AD>1@%Lm@�H�U�n�oBLmC AD@y>1@�H�U}C JO~-G�JDC ADC G�N1@�U}G�WX@LAD>1@�U1H�AKHV�rAD>1C J�C J�AD>1@�ADC E+@�C A�AKH!P�@J�S G�LADLDH!N1JmS @LmLmC N1�+U1H�AKH

�z�'� \^ax� ]c�O�}[ ��� _%�'�-����fXd ] � [ � d [ f �<��'� WX@LDH!��@TJD@@PhADC E+@O���3E+JD@�I�'� WX@LDH!��@TLmG!AKH�ADC G�N�H!tcUV@t Hs/���3E+JD@�I�x� H��VC E3R1E�LmG!AKH�ADC G�N�H!tcUV@t Hs/���3E+JD@�I J� g ~1C N�UVt @BJD~-@@�U/�����V� �����OLm~1E� g @�IKADG�LmJ?~-@LxADLDH�IDP/�����!�OJD@�IKADG�LmJ� g @�IKADG�LMJDC �@O���V�� 3¡Xs<AD@J¢£�'��d [ � d�� ] �1¤ ] ���-¥ ] d [ \^] d!`9� ] ��¦p`cb ]5��] fXd!`��)§={LDH!N1JmS @LxADC E+@z��Lm@ WXG�t RVADC G�N%ADC E+@�n�¨©JD@�IKADG�LmJ?~-@LxADLDH�IDP/�v ��n<���V� �����Xw E+C N-n<���!�3� v ��n<���V� �����O�y���Xwmn<���!�OJD@�I JF���Xn<���!�V� �����OJD@�I JB��Xn<���!�OE+JD@�I JBª��V« �����OE+JD@�I J� WX@LDH!��@FADG!AKH!t-ADC E+@z�rHWX@LDH!��@TJD@@Py¬�HWX@LDH!��@TLmG!AKH�ADC G�N�H!tcUV@t HsQ¬ADLDH!N1JmS @LxADC E+@z�r�h¬r�h¬��V« �����+�©����« �����OE+JD@�I J�«

­m® � �<�1� ® � � ¯ °

Page 14: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$'&)(+*�,- .�/10�24365724.98�- *;:<*�=4=4240�0>8!$?,�*�.7@7$'&A*�=4=4240�0

BDC!E%F<GDH IKJ%C!IML'F N O�PQF�RS7TVU FPKC!W�F<IKFFJ>XKH E%FZY\[]E%IKF�^S7TVU FPKC!W�F<PQO!X_C�XKH O�`�C!abGDFa CcdY\e]E%IKF�^Sgf C�hDH E]i;EjPQO!X_C�XKH O�`�C!abGDFa CcdY\k]E%IKF�^ IS B4l;H `�GDa FVIKl'FF�GdYjm�nDo n�n�nZPQl;ES B4F�^_XKO�PQIMl'FPgXKPKC�^KJdYjm�p!nZIKF�^_XKO�PQIS B4F�^_XKO�PqIKH rFZY\sDm�t]Luc4XKFI

v H a Fw^Kx�C!PKC�^_XKFPQH IQXKH ^ I�RSgy i;E]L'FPgO!N6PQF�^ O�PKGDIzY\e!{;o n�n�nSg| F�^ O�PKG}IKH rFwY~t�s�kZLuc4XKFIS v H a F<OD^^ i;l;H FI<m�n�nwXKPKC�^KJ4IVGDH IKl'FPQIKF�G�PKC!`�GDO�E%a c

Cu� | F�C�GDH `;W v H a FZB4F��ui;F`uXKH C!a a cS7TVU FPKC!W�F<IKFFJ>XKH E%FZY\[]E%IKF�^ IS7TVU FPKC!W�F<PQO!X_C�XKH O�`�C!abGDFa CcdY\e]E%IKF�^ IS7TVU FPKC!W�FzXKPKC!`;IQN FPgXKH E%FzN O�PzmzXKPKC�^KJdY~k�nu�4m�nDo n�n�n]Y~kZE%IKF�^ IS7TVU FPKC!W�FzXKO!X_C!a'XKH E%F<l'FP+XKPKC�^KJ�Y\[%�\e>�~k>Yjm�pwE%IKF�^ IS7� O!X_C!a'XKH E%FzN O�P+�;a FZY�m�pZE%IKF�^ Igh�m�n�n>Yjm�� pwIKF�^ I

L'� | F�C�GDH `;W]CZ�;a F<C�^^ FIKIKH `;W]PKC!`�GDO�E%a c%F�C�^KxdPQF�^ O�PKGTVU FPKC!W�FzXKO!X_C!a'XKH E%FVXKO>PQF�C�GdC!a a'PQF�^ O�PKGDIzY y i;E]L'FP+O!N�PQF�^ O�PKGDIqhC U FPKC!W�FVXKH E%FVXKO]PQF�C�G}CwIKF�^_XKO�PVY�e!{;o n�n�n<h�m�m�� n�e�swE%IKF�^ IM�jeup4m�� mVIKF�^ I

y O!XKF�R6X cDl'O]H `dl�C!W�F<k�eZO!N6XKx;F<L'O4O�J>H `dC]IKH E%H a C!Pq^C!a ^ i;a C�XKH O�`b�

�Q� � �4�;� � � � � �

Page 15: School of Electrical Engineering and Computer Science | Faculty … · 2002-01-18 · wja k lXa m _ iThXx kre,_ `yite!hnit_m _ `X`oa!cd] ^ w\z@_a!i{u |t}Twr`X] m a!^ w\a k lXa m _

��� � � � � ����� � � ��� � � � � � � � ��� � � ��� � � � � ����� � � � � � ��� � � � �!�� � " �

#%$ &�')(�&%(+*-,/.�.�0 1324135�'

6�798;: <=>=><=@?!79<A8!B C><D%EGF H�IKJ LNMPOGQGESRUT V <�V�D/< C WN8�79XY?!D�Z%[S6G\)]�?^U<_C>8WS?!T C@?a` 8�D/baC>T cd<_B 8�7GC>]/<eZ;T =>XfC>8gC>7>?!D/=>cdT C@Z/?�Ch?;V

i-?!79T 8�j/=-C><�:>]/D/T kUj/<=-C>8f=>8�` ^U<@C>]/T =Sl/798�m/` <cn VKopOGq r�F sGt�M�u3v�H!H!F Q4wyx [S6G\)WN8�79X3=N8�DY8!C>]/<7�z98�m/=GW@]/T ` <@WS?!T C>T D/bgB 8�7

C>]/<eZ;T =>X/{| VK}~F H�I��Kr!tUF s-F Q4w

6�j;C9C>T D/bdZ;T ��<79<DUCSm/` 8;:>X3=-8!BKC>]/<_�/` <_T D%Z;T ��<79<DUC@Z;79T ^U<=�V� D�Z;<l�<D�Z;<DUCNl/798;: <=>=><=S?�:: <=>=>T D/baC>]/<A=h?!cd<@�/` <Ac�?�dD/8!CST DUC><7�B <79<W@T C>]%<�?�:>]Y8!C>]/<7ex l�?!7>?!` ` <` T =>cY{hV

� VK������}�x �N<�Z;j/D�Z/?!DUCS?!797>?�Y8!BKT D�Z;<l�<D�Z;<DUCNZ;T =>X3= {�K����T DY?!D�<T b�]UC9��Z;79T ^U<e�N�A����C>]/<A: 8�DUC>798�` ` <7Nm/79<�?!X3=N<�?�:>]�m/` 8;:>XfT DUC>8� l/T <�: <=S?!D�Z�l/` ?�: <_8�D/<AT DY<�?�:>]�Z;T =>XdZ;79T ^U<fx ?�CNC>]/<A=h?!cd<_l�8�=>T C>T 8�DT DY<�?�:>]�Z;79T ^U<�{hV

� VK����o�}~F H�I�x cd<cd8�7��YZ;T =>X/{6�T <�: <A8!BKc�?!T DYcd<cd8�7��dj/=><�ZdC>8f=>T cgj/` ?�C><A?gZ;T =>X�x Z;T ��<79<D�: <���=>l�<<�Z?!D�Zd^U8�` ?�C>T ` T C ��{hV-\S=><�ZdC>8g=>T cgj/` ?�C><@�/8�l/lU�YZ;T =>X3=�V

� VK}~F H�I��d��uU�4v �?!79b�<em/` 8;:>Xf8!B�cd<cd8�7���: 8�D;�/b�j/79<�ZdC>8d: 8�DUCh?!T DYl�?!b�<=N8!B�Z/?�Ch?aB 798�c?fZ;T =>X�x C �;l/T :?!`�=>T ¡<a¢ |���£d¤e¥ {hVU¦)]/<D�Z/?�Ch?aT =S79<�kUj/<=9C><�ZdB 798�cZ;T =>X�R;:>]/<�:>XY:?�:>]/<@�/79=9C�VG� B4Z/?�Ch?aT =SD/8!C-C>]/<79<eb�8aC>8gC>]/<eZ;T =>X�?!D�Z79<l/` ?�: <A=>8�cd<_l�?!b�<A?!` 79<�?�Z3�YT D%:?�:>]/<_W@T C>]Yl�?!b�<@B 798�cpZ;T =>X: 8�DUCh?!T D/T D/baC>]/<eZ/?�Ch?;V

§9¨ � �3�/� ¨ � � © �