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Y. Hori, Y. Toyoda and Y. Tsuruoka, “Traction Control of Electric Vehicule Based on the Estimation of Road Surface Condition. Basic Experimental Results Using the Test EV UOT Electric March,” IEEE Transactions on Industry Applications, Vol. 34, No. 5, 1998, pp. 1131-1138. doi:10.1109/28.720454

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