Int J Adv Manuf Technol (2014) 75:269277

DOI 10.1007/s00170-014-6115-x

ORIGINAL ARTICLE

Study of machining parameter optimization in high speed milling

of Inconel 718 curved surface based on cutting force
Jian-wei Ma & Fu-ji Wang & Zhen-yuan Jia & Qiang Xu &
Yan-yu Yang

Received: 12 January 2014 / Accepted: 26 June 2014 / Published online: 15 July 2014
# Springer-Verlag London 2014

Abstract Nickel-based alloy Inconel 718 is a kind of

difficult-to-machine material, and the development of highspeed milling technology provides an effective machining
method for the Inconel 718 parts. As the machining parameters play a crucial role in the high-speed milling of Inconel 718
parts, a lot of researches on the optimization of machining
parameters have been conducted, and the optimum machining
parameters under different test conditions have been obtained
according to the experiments of flank milling or slot milling of
Inconel 718. However, the machining parameter optimization
in high-speed milling of Inconel 718 curved surface is seldom
involved. The variation of the geometric features of the curved
surface results in the sharp fluctuation of the cutting force as
well as the vibration of the machine tool, which not only
makes a severe impact on the surface machining quality and
the tool life but also greatly affects the efficiency of the highspeed milling. In the machining process of the Inconel 718
parts with curved surface, the change of cutting force in highspeed milling should be smooth as far as possible. In this
study, the experimental study is carried out on machining
parameter optimization in high-speed milling of Inconel 718
curved surface based on the cutting force. The relationship
between the cutting force and the spindle speed is analyzed,
and in particular, the machining parameter optimization is
investigated. The experiment results indicate that the cutting
force relates to the geometric feature of curved surface, the
cutting force is relatively smaller and the change of cutting
force is smoother when the spindle speed changes from 4,000
to 4,500 rpm, the effect of the feed per tooth on the cutting
force is little, and the cutting depth should be small to lessen
J.<w. Ma : F.<j. Wang (*) : Z.<y. Jia : Q. Xu : Y.<y. Yang
Key Laboratory for Precision and Non-traditional Machining
Technology of the Ministry of Education, School of Mechanical
Engineering, Dalian University of Technology, Dalian 116024,
China
e-mail: wfjsll@dlut.edu.cn

the fluctuation of the cutting force. The research results can be

considered to improve the machining quality of Inconel 718
parts with curved surface and will enrich the processing and
manufacturing theory for the Inconel 718 parts.
Keywords Machining parameter optimization . High speed
milling . Curved surface . Inconel 718 . Cutting force

1 Introduction
Nickel-based alloy Inconel 718 has outstanding mechanical
properties such as high oxidation resistance, corrosion resistance even at very high temperature, and retaining a high
mechanical strength under these conditions as well, with
which Inconel 718 has been widely used for many applications: aircraft gas turbines, reciprocating engines, metal processing (e.g., hot work tools and dies), space vehicles (e.g.,
aerodynamically heated skins, rocket engine parts), heat
treating equipments, nuclear power plants, chemical and petrochemical industries, and heat exchangers [1, 2]. Although
Inconel 718 is the most common nickel superalloy used in the
aerospace industry, some drawbacks are noticed, and within
these, the poor machinability is probably the worst [2]. As the
peculiar characteristics such as lower thermal conductivity,
work hardening, presence of abrasive carbide particles, hardness, affinity to react with tool material, etc., the cutting tools
wear very rapidly due to the high cutting temperature and high
cutting force. So, Inconel 718 is classified as difficult-toprocess materials [3]. Therefore, all the cutting parameters,
such as tool and coating material choice, tool geometry, machining strategy, cutting speed, feed rate, depth of cut, lubrication, etc., must be controlled and selected in order to achieve
a correct surface integrity and an acceptable tool life for the
machined parts [4, 5].

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At present, high-speed milling shows obvious superiority

in the machining of Inconel 718. Due to its high material
removal rate and low cutting force, as well as the advantages
of high machining accuracy and high surface quality, the
development of high-speed milling technology provides an
effective machining method for the Inconel 718 parts to
improve the processing efficiency and the surface quality
and prolongs the tool life [6, 7]. The machining parameters
are important in the processing technology of high-speed
milling of Inconel 718, which directly affect the machining
accuracy and surface quality of parts, machining cost, and
production efficiency. Lots of researches have been conducted
on the optimization of machining parameters for the highspeed milling of Inconel 718 according to the different optimization objectives. Alaudin et al. [8] performed extensive
research on the end milling of Inconel 718 and found that a
tool life range of 510 min could be obtained at cutting speed
of 19.32 m/min, feed of 0.09 mm/tooth, and axial depth of cut
of 1.0 mm. Derrien and Vigneau [9] tested uncoated and
coated carbide (K20 grade, CrN and TiN coatings) for the
milling operation at a high cutting speed of 200 m/min, a feed
rate of 0.04 mm/tooth, and a depth of cut of 0.5 mm and
showed that the TiN-coated carbide had the lowest wear.
Thakur et al. [10] conducted an experiment to investigate the
machinability of superalloy Inconel 718 during high-speed
turning using the tungsten carbide insert (K20) tool and provided useful economic machining solution by utilizing economical tungsten carbide tooling during the high-speed processing of Inconel 718. Vagnorius and Srby [11] studied the
effect of high pressure cooling on the life of Sialon tools in
turning of Inconel 718. Zheng et al. [12] studied the wear
mechanisms during high-speed turning of Inconel 718 alloy
with Sialon cutting tools and found that the main wear mechanisms were adhesive wear and abrasive wear. They also
studied cutting performance and wear mechanisms of
Sialon-Si3N4 graded nano-composite ceramic cutting tools
in turning tests of Inconel 718 [13].
From the previous studies, a large number of researches
have been conducted about the machining parameter optimization of high-speed milling for Inconel 718. However, the
experiments are mostly based on flank milling or slot milling
for Inconel 718 to obtain the optimum machining parameters
under different test conditions. In the industry applications of
Inconel 718, lots of parts have complex curved surface, such
as gas turbine wheel, vanes, etc., in the aerospace field, and the

machining parameter optimization in the high-speed milling

of Inconel 718 parts with curved surface is seldom involved.
To further increase the productivity of Inconel 718, there is an
urgent need for the deep research into the machining parameter optimization in high-speed milling for Inconel 718 parts
with curved surface.
The cutting force is large in Inconel 718 machining, and the
cutting force is one of the significant physical variables that
embodies a wealth of information in machining and affects the
machining precision, machined surface integrity and tool life,
etc. [14, 15]. There are lots of researches for the cutting forces
under variable machining conditions [1618]. The cutting
forces are directly related to the chip thickness. The uncut
chip thickness can be calculated or simulated and with known
cutting force coefficients, and the cutting forces can be simulated. Taking the instantaneous and regenerative feedback of
cutting system deflections into account, Feng and Menq [19]
proposed a flexible system model for the prediction of cutting
force in the ball-end milling process, which had better predictions than the grid system model. Milfelner and Cus [20]
proposed a simulation system based on numerical method
which helped to predict the cutting force in the ball-end
milling process. Wei et al. [21] presented a prediction model
for cutting forces in three-axis ball-end milling to deal with the
problems of varying feed direction, varying cutter engagement, and the consequent varying cutting forces in sculptured
surface machining. However, the influence of feed rate was
not considered in the model. Ozturk and Lazoglu [22] claimed
that the undeformed chip load from the tool-workpiece engagement regions played a very critical role in force and
surface quality predictions and proposed a fast and accurate
analytical method for the determination of the instantaneous
engagement regions in the 3D machining of monotonic freeform surfaces. Based on the important effect of chip thickness
calculation on the prediction accuracy of accompanied cutting
forces in milling process, Sun et al. [23] proposed a mechanistic method for estimating cutting force in the ball-end
milling of sculptured surfaces for any cases of tool paths and
varying feed rate by incorporation into a new chip thickness
model. Regarding the Inconel 718 parts with curved surface,
the geometric features of the curved surface are often inconsistent. Due to the variation of geometric features, the cutting
quantity changes continuously, so as to lead to the sharp
fluctuation for the cutting force, which makes a serious impact
on the curved surface machining quality and even causes the

Table 1 Composition of Inconel

718

Content

Si

Mn

Ni

Cr

Ti

Composition (wt%)
Content
Composition (wt%)

0.037
Nb+Ta
5.12

0.12
Mo
2.99

0.06
Al
0.51

0.0007
B
0.0025

0.0042
Cu
0.02

52.17
Co
<0.1

19.72
Fe
Last

0.87

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Table 2 Mechanical properties of Inconel 718

Table 3 Parameters of the coated carbide ball end cutter

Workpiece
material

Tensile
strength (MPa)

Yield strength
(MPa)

Elongation
(%)

Hardness
(HRC)

Cutting tool

Blade length
(mm)

Fillet radius
(mm)

Helical
angle ()

Rake
angle ()

Inconel 718

1,447

1,207

22

42

Coated carbide ball

end tool

30

10

machine tool vibration that is deadly for the high-speed milling of Inconel 718. When processing the Inconel 718 parts
with curved surface, the change of cutting force in high-speed
milling should be smooth as far as possible. Though decreasing the feed rate at the certain section can smooth out the force
peaks, regrettably, no available method combined with the
high spindle speed is proposed in decreasing the fluctuations
of cutting force while the spindle speed is the most important
characteristic for the high-speed milling.
The machining parameter optimization of high-speed milling for the Inconel 718 curved surface is closely related with
the cutting force, while the spindle speed is the most important
characteristic for the high-speed milling. In this paper, the
relationship between the spindle speed and the cutting force
in the high-speed milling process of Inconel 718 curved
surface is studied. Then, with the small fluctuation of cutting
force as constraint condition, the optimum spindle speed range
in the high-speed milling of Inconel 718 curved surface is
selected, and the feed per tooth and the cutting depth are
analyzed based on the cutting force as well. These studies
are of great significance for improving machining quality and
machining efficiency for the Inconel 718 parts with curved
surface.

2.2 Cutting tool

With the rapid development of the coating technology, it has
become a key technology to improve the performance of
cutting tool. Good comprehensive mechanical properties of
the cutting tool can be obtained by utilizing the coating
technology. In this way, the machining efficiency can be
greatly improved and the working life of cutting tool can also
be improved. New coating is suitable for high speed cutting,
dry cutting and hard cutting, and nanoscale ultra-thin and
multilayer coating, and the development of new coating materials greatly improves the coating hardness and toughness,
so the application of a new type of coating becomes one of the
main ways to improve the tool performance. The coated
carbide tool has been widely applied as its better toughness,
wear resistance, and thermal conductivity and as well as with
which the high surface quality can be obtained in rough
machining and finish machining [24]. Because of the advantages of coated carbide tool, coated carbide tool is suitable for
the high-speed milling of Inconel 718 [25]. In this study,
coated carbide ball end cutter made by Fraise company is
used for the high-speed milling as shown in Fig. 1. Its parameters are shown in Table 3.
2.3 High speed milling machine

2 Experiment details
2.1 Workpiece material
The workpiece used in this study is Inconel 718 sheet material
with the size of 505030 mm. Its chemical composition
and mechanical properties are shown in Tables 1 and 2,
respectively.

High-speed milling NC equipment is generally high speed

milling machining center with high performances, such as
high spindle speed, big spindle power and torque, large feed
rate and feed acceleration, as well as high machine stiffness
and precise motion control. In this study, the experiments are
performed on the Mikron HSM500 machining center, which
is mainly used in the high-speed milling fields such as high
speed cutting of difficult-to-machine materials, precision mold
processing, etc. The maximum spindle speed can reach to
54,000 rpm, and the power of the spindle motor is 16 kW.
Table 4 Parameters of the high-speed milling machine
Parameters Working
stroke (mm)

Values
Fig. 1 Coated carbide ball end cutter

Maximum Acceleration Repeatability

positioning
feeding
(ms2)
accuracy
speed
(m)
(m/min)

500450350 40

10

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Fig. 2 Cutting force measuring

system

Other parameters of the high-speed milling machine are

shown in Table 4.

surface, the machining parameter optimization in highspeed milling of Inconel 718 curved surface based on
cutting force is carried out.

2.4 Stationary dynamometer

2.6 Machining method
The Kistler 9253B23 stationary dynamometer has large
measuring range and wide frequency response for measuring the forces while milling in larger machines or
machining centers. The Kistler Type 5697A data acquisition system has been developed specifically for piezoelectric measuring systems and the charge amplifiers
and signal conditioners, and its very high sampling
frequency of up to 125 kS/s with eight measuring
channels enable customers to measure highly dynamic
processes and cover a very broad range of applications.
When used in conjunction with the DynoWare package,
the data acquisition system comes into its own in general measuring and cutting force measurement applications. The Kistler Type 5080A multichannel laboratory
charge amplifier is particularly suitable for general force
measurements, cutting force measurements with Kistler
dynamometer when a wide measuring range or high
quality of signals are needed. In this way, a Kistler
9253B23 stationary dynamometer, a data acquisition
system for cutting force measurement of Kistler Type
5697A, and a multichannel laboratory charge amplifier
of Kistler Type 5080A, which constitute the cutting
force measuring system, are used for cutting force measurement, as shown in Fig. 2. After measuring the
cutting force, the signals are processed with Matlab
7.1 software, so the result can be used to do the
following research.

The test piece, as shown in Fig. 3, is used to conduct the

machining parameter optimization in high-speed milling of
Inconel 718 curved surface based on cutting force, and the
machining path of cutting tool is along with the generatrix of
the sine curve.
For the Inconel 718 curved surface, the cutting quantity
changes continuously, so as to lead to the sharp fluctuation for
the cutting force, which could cause the machine tool vibration that is deadly for the high-speed milling. In this way, the
change of cutting force in high-speed milling should be
smooth as far as possible. As the high spindle speed is the
most important characteristic in high-speed milling, the spindle speed n is optimally chosen firstly, and then the feed per
tooth fz and the cutting depth ap are optimally selected. The
change of machining parameters in the machining experiments of curved surface is as follows:
(1) Spindle speed n=2,000~10,000 rpm, increasing by
500 rpm

2.5 Test piece

A Inconel 718 curved surface which is set as a test piece is
an extruded surface whose generatrix is a sine curve. The


formulation of the sine curve is designed as y 4sin 26
x
, as shown in Fig. 3. By utilizing the sample of curved

Fig. 3 Test piece

Int J Adv Manuf Technol (2014) 75:269277

273

(2) Feed per tooth fz =0.005~0.035 mm/z, increasing by

0.05 mm/z
(3) Cutting depth a p = 0.05 ~ 0.40 mm, increasing by
0.05 mm

3 Results and discussion

3.1 Machining tests
All the experimental tests are carried out on the Mikron
HSM500 machining center. The test piece of Inconel 718
curved surface is mounted on the Kistler 9265B stationary
dynamometer for measuring the cutting forces in three directions. The force signals are subsequently amplified by the
Kistler charge amplifier and then captured and stored in a
computer via a Kistler data acquisition system.

(a) Force component Fx

3.2 Machining results

When the spindle speed n is 2,000 rpm, feed per tooth fz is
0.02 mm/z, and cutting depth ap is 0.1 mm, the measured
cutting forces of three force components Fx, Fy, and Fz are
shown in Fig. 4. The directions of three force components are
consistent with the machine coordinates. From the measured
cutting force, it can be seen that as the change of geometric
feature of curved surface, the sharp fluctuation of the cutting
forces can be observed at the certain machining parameters.
After all the machining tests, seven points with different
geometric features are selected on the sine curve as shown in
Fig. 5. Point 2 is the convex point, point 6 is the concave point,
and point 4 is the inflection point. These three points are the
feature points on the sine curve. Point 1, point 3, point 5, and
point 7 are the general points on the sine curve. In this way, the
selected seven points are representative. The cutting forces for
the seven points can be used for the machining parameter
optimization in high-speed milling of Inconel 718 curved
surface.

(b) Force component Fy

3.3 Denoising for cutting force signals

There exist noises in the cutting force signals unavoidably, so
the denoising should be carried out firstly before the analysis
of cutting force. The cutting force signals are processed by
Fourier transform, and it can be seen that the cutting force is
nonzero at the location of integral multiple of tooth frequency
in the frequency domain as shown in Fig. 6 [26]. The integral
multiple of tooth frequency is Tq =kNf, k=0, 1, 2, , in
which N is the teeth number of the cutter and f is the rotation
frequency of the spindle.

(c) Force component Fz

Fig. 4 (ac) Measured cutting forces of three force components (n=
2,000 rpm, fz =0.02 mm/z, ap =0.1 mm)

The noises in the cutting force signals are usually highfrequency signals, so the LEP (low-pass filter) method based
on FFT is used for the preprocessing of the cutting force

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Int J Adv Manuf Technol (2014) 75:269277

Fig. 5 Seven points with

different geometric features on
sine curve

signals, and the critical frequency selected is 6Nf. After

denoising, the cutting forces for the seven points can be
extracted and obtained.
3.4 Analysis of cutting forces in relation to the spindle speed
As the spindle speed is an important machining parameter for
the high-speed milling of Inconel 718 curved surface, the
relationship between the spindle speed and the cutting force
is discussed in this section. It should be noticed that the cutting
quantity changes continuously due to the variation of geometric features for the curved surface. The geometric features of
the seven points are obtained firstly.
For the seven points with different geometric features on
the sine curve, the curvature of the point and the concavity or
convexity of the point are selected to represent the geometric
features. The curvature of the point can be calculated by the
0

jy 0j
3=2 . In addition, the movement direction
1y0 2
of spindle when the cutting tool passes the point is also
introduced for the analysis of the cutting forces. The curvature
of the point (COP, for short), the concavity or convexity of the
point (COCOP, for short), and the movement direction of

formula of K

spindle (MDOS, for short) for the seven points are shown in
Table 5.
Based on the obtained cutting force components for the
seven points, the resultant force can be calculated based on the
three cutting force components Fx, Fy, and Fz, just the square
root of the sum of the squares for the three cutting force
components,
so
the
resultant
force
is
p
2
2
2
F Fx Fy Fz . Then, the resultant force is used
for analyzing.
As shown in Table 5, the COP and COCOP are the same
for two groups of points: (1) point 1 and point 3 and (2) point 5
and point 7, but the MDOS is different. The diagram of
resultant forces for point 1 and point 3 changing in relation
to the spindle speed is shown in Fig. 7, and the diagram of
resultant forces for point 5 and point 7 changing in relation to
the spindle speed is shown in Fig. 8. It can be obviously found
that with the increase of the spindle speed, the change law of
the cutting force is the same for point 1 and point 3 and for
point 5 and point 7. However, the cutting force of point 1 is
larger than that of point 3, and the cutting force of point 5 is
larger than that of point 7. So, the MDOS affects the cutting
force in high-speed milling of Inconel 718 curved surface, and
the cutting force is larger when the movement direction of
spindle is in Z direction.
For another two groups of points, (1) point 1 and point 2
and (2) point 5 and point 6, the COCOP and the MDOS are the

Table 5 COP, COCOP, and MDOS for the seven points

Fig. 6 Fourier transform for cutting force signal

Point

COP

COCOP

MDOS

Point 1
Point 2
Point 3
Point 4
Point 5
Point 6
Point 7

K1 =0.035
K2 =0.058
K3 =0.035
K4 =0
K5 =0.035
K6 =0.058
K7 =0.035

Convexity
Convexity
Convexity
Inflection point
Concavity
Concavity
Concavity

+Z
+Z
Z
Z
Z
Z
+Z

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Fig. 7 Diagram of resultant forces for point 1 and point 3 changing in

relation to the spindle speed

Fig. 9 Diagram of resultant forces for point 1 and point 2 changing in

relation to the spindle speed

same, but the COP is different. The curvature of point 2 is

larger than that of point 1, and the curvature of point 6 is
larger than that of point 5. Figure 9 shows the resultant
forces for point 1 and point 2 changing in relation to the
spindle speed, and Fig. 10 shows the resultant forces for
point 5 and point 6 changing in relation to the spindle
speed. It reveals that the change law of the cutting forces
is the same for point 1 and point 2 and for point 5 and
point 6. So, the curvature affects the cutting force in highspeed milling of Inconel 718 curved surface, and cutting
force is larger when the curvature is larger.
Figure 11 shows the diagram of resultant forces for
point 3 and point 5 changing in relation to the spindle
speed. For point 3 and point 5, the COP and the MDOS
are the same. However, point 3 is a convex point and point
5 is a concave point. From Fig. 11, it demonstrates that the
change of cutting force for point 5 is sharper than that of
point 3, and the change laws of the cutting forces are
fuzzy for point 3 and point 5.

3.5 Machining parameter optimization

When processing the Inconel 718 parts with curved surface, the change of cutting force in high-speed milling
should be smooth as far as possible. In this section, with
small fluctuation of cutting force as constraint condition,
the optimum range of spindle speed in the high-speed
milling of Inconel 718 curved surface is obtained, and
the feed per tooth and the cutting depth are analyzed
based on cutting force as well.
The diagram of resultant forces for the seven points
changing in relation to the spindle speed is shown in
Fig. 12. An interesting phenomenon can be found that in
the spindle speed range from 4,000 to 4,500 rpm, the
cutting force is relatively smaller and the change of cutting
force is smoother for different points with different geometric features. So, the spindle speed can be selected
optimally in this range for the machining of the Inconel
718 parts with curved surface.

Fig. 8 Diagram of resultant forces for point 5 and point 7 changing in

relation to the spindle speed

Fig. 10 Diagram of resultant forces for point 5 and point 6 changing in

relation to the spindle speed

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Fig. 11 Diagram of resultant forces for point 3 and point 5 changing in

relation to the spindle speed

Fig. 13 Diagram of resultant forces for the seven points changing in

relation to the feed per tooth

Figure 13 is the diagram of resultant forces for the seven

points changing in relation to the feed per tooth. From Fig. 13,
there is no obvious change of cutting force with the increase of
the feed per tooth. It is evident that the effect of the feed per
tooth on the change of cutting force is little in high-speed
milling of Inconel 718 parts with curved surface, and the feed
per tooth can be selected according to the processing
requirement.
Figure 14 is the diagram of resultant forces for the
seven points changing in relation to the cutting depth.
With the increase of the cutting depth, the cutting forces
of all the seven points grow obviously. And the change of
cutting forces at a certain cutting depth becomes sharp as
the different features for the seven points. So, the cutting
depth should be small for the small fluctuation of cutting
force.

4 Conclusions
Nickel-based alloy Inconel 718 is a kind of typical difficult-toprocess material, and few researches are reported about the
machining parameter optimization in high-speed milling of
Inconel 718 parts with curved surface at present. Nowadays, it
is still essential and irreplaceable to study the machining
parameter optimization through experimental method. This
paper presented the machining parameter optimization in
high-speed milling of Inconel 718 curved surface based on
cutting force.
The experimental study is carried out with the spindle
speed n=2,000~10,000 rpm (increasing by 500 rpm), the feed
per tooth fz =0.005~0.035 mm/z (increasing by 0.05 mm/z),
and the cutting depth ap = 0.05 ~ 0.4 mm (increasing by
0.05 mm). The experiment results show that:

Fig. 12 Diagram of resultant forces for the seven points changing in

relation to the spindle speed

Fig. 14 Diagram of resultant forces for the seven points changing in

relation to the cutting depth

Int J Adv Manuf Technol (2014) 75:269277

(1) Due to the differences of geometry features of each

point on the curved surface, there exists sharp fluctuation for
the high-speed milling force, which would influence the machining quality of the Inconel 718 parts with curved surface.
(2) The MDOS affects the cutting force in high-speed
milling of the Inconel 718 parts with curved surface, and
cutting force is larger when the movement direction of spindle
is in Z direction. The curvature of the point on the curved
surface also affects the cutting force in high-speed milling, and
the cutting force is larger when the curvature is larger.
(3) For machining parameter optimization, the cutting force
is relatively smaller and the change of cutting force is smoother when the spindle speed changes from 4,000 to 4,500 rpm,
so the spindle speed can be selected optimally in this range for
the machining of Inconel 718 parts with curved surface. The
effect of the feed per tooth on the change of cutting force is
little, and the feed per tooth can be selected according to the
processing requirement. The change of cutting forces at a
certain cutting depth becomes sharp as the different features
for the seven points, and the cutting depth should be small for
the small fluctuation of cutting force.
The research results of this paper will provide the basis for
the machining parameter optimization for the high-speed milling of Inconel 718 parts with curved surface. It is significant
for improving machining quality and machining efficiency for
the Inconel 718 parts with curved surface and enriching the
processing and manufacturing theory of the Inconel 718 parts.
Acknowledgments The project is supported by the National Natural
Science Foundation of China (No. 51205041), Research Project of Chinese Ministry of Education (No. 113018A), China Postdoctoral Science
Foundation (No. 2013 T60277), Liaoning BaiQianWan Talents Program
(No. 2011921066), and the fundamental research funds for the central
universities (No. DUT14QY25, No. DUT14RC(4)16). The authors wish
to thank the anonymous reviewers for their comments which led to
improvements of this paper.

277

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8.

9.

10.

11.

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13.

14.

15.

16.

17.

18.

19.

20.

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