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E=[h_m \dfrac{n^2+n−2r−2}{2}+h_r \dfrac{2n+1}{2}]T_RD_R+\dfrac{(n+1)c_{r1}I_eD_cM^2}{2} \\ +(nid_m−id_s−id_r)T_R+id_sT_s−(A_s+A_m+A_r