Introduction
The China Spallation Neutron Source (CSNS) is a high-intensity proton accelerator-based facility [1, 2] designed to provide multidisciplinary platforms for scientific research and applications [3-6]. The accelerator complex consists of two primary components: a Negative Hydrogen (H-) Linac [7-10] and a Rapid Cycling Synchrotron (RCS) [11]. The H- beam from the linac is injected into the RCS through a multi-turn charge-exchange process [12]. Within the RCS, two proton bunches, with a total of Np = 1.56 × 1013 per pulse, are accelerated from 80 MeV to 1.6 GeV at a repetition rate of 25 Hz. Currently, the RCS provides a beam power of 100 kW on the target. In the Phase-II of the CSNS (CSNS-II), the beam power on the target will be upgraded from 100 kW to 500 kW by increasing the beam intensity. The RCS is dominated by space charge effects. To address these issues, superconducting cavities will be utilized to boost the Linac beam energy from 80 MeV to 300 MeV, mitigating the space charge effects in the RCS. Following these upgrades, the accumulated number of protons in the RCS is expected to reach Np = 7.8 × 1013 per pulse.
Table 1 presents the main parameters of the RCS, which employs a triplet four-fold symmetric lattice structure with a circumference of 227.92 m. It consists of 24 dipole magnets and 48 quadrupole magnets, energized by a 25 Hz DC-biased sinusoidal current pattern [13, 14]. The RCS has a nominal tune of (4.86, 4.78) and natural chromaticity of (-4.2, -9.1). The DC sextupole field was designed to improve chromaticity control and minimize beam loss during injection. The magnetic field is synchronized with the beam energy, resulting in a highly dynamic magnetic environment. Figure 1 depicts the ramping energy, magnetic field curve, and its rate of change. The acceleration ramp was characterized by a standard sine wave, with a magnetic field change rate exceeding 60 T/s.
| Parameters | Values |
|---|---|
| Circumference (m) | 227.92 |
| Injection energy of CSNS/CSNS-II (GeV) | 0.08/0.3 |
| Extraction energy (GeV) | 1.6 |
| Repetition rate (Hz) | 25 |
| Ramping pattern | Sinusoidal |
| dB/dt (T/s) | 63 |
| Number of ceramic chambers | 76 |
| Bunch number | 2 |
| Bunch intensity of CSNS/CSNS-II, (1 × 1012) | 7.8/39 |
| Nominal tune (H,V) | (4.86,4.78) |
| Natural chromaticity (H,V) | (-4.2,-9.1) |
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F001.jpg)
Owing to the heating of eddy current effects [15], traditional metal chambers are inadequate in such a dynamic magnetic environment of the RCS; hence, ceramic chambers are employed. The main part of the chamber was made of ceramic. To mitigate the leakage field induced by the beam due to the non-conductive nature of the ceramic chambers, an RF shield was used to reduce the eddy current effects and beam coupling impedance. These ceramic chambers are used in magnets with a high dynamic magnetic field. A ceramic chamber [16] at the CSNS was designed based on an existing chamber [17, 18]. The inner surface of the ceramic chamber was coated with a TiN film to reduce the secondary electron emission. Surrounding the ceramic, an RF shield is composed of a series of copper strips and capacitors, creating a high-pass filter that mitigates eddy current effects and reduces beam coupling impedance. The ceramic chamber occupies approximately 130 m of the RCS, whereas stainless-steel chambers occupy the remaining space.
Beam instability associated with ceramic chambers has been observed in RCS facilities worldwide. The head-tail effects [19] were identified in the RCS of ISIS [17] many years ago, and the ceramic chamber has recently been implicated as a potential contributor to impedance [20]. In the RCS of the Japan Proton Accelerator Research Complex (J-PARC) [18], an instability [21] was detected during beam commissioning, appearing before 2 ms when the horizontal and vertical tunes were set to
In 2019, the RCS of CSNS experienced an unforeseen instability in the transverse plane as beam power was gradually increased from 20 kW to 50 kW, with the instability worsening at higher power levels [22]. Measurements identified this issue as a transverse coupled bunch instability (TCBI). To address this, tune tracking pattern adjustments and chromaticity optimization using DC-powered sextupole magnets were applied, successfully achieving the designed beam power of CSNS [22, 23]. In 2021, DC sextupole magnets were replaced with AC versions and their associated power supplies [24], providing dynamic chromaticity control over the acceleration cycle. Furthermore, a pulsed octupole magnet was proposed and developed in summer 2023 to mitigate instability under increased beam power. With the aid of AC sextupole and pulsed octupole magnets, the RCS beam power was increased to 160 kW. Despite these improvements, the beam power has reached the limits of current mitigation strategies, presenting a considerable challenge to the 500 kW objective of CSNS-II. Additionally, the inability to accurately identify the sources of impedance remains a critical issue. If the components contributing to impedance are precisely identified, reducing their impedance could provide a fundamental strategy for increasing beam power, surpassing the effectiveness of existing suppression methods.
The driving forces behind beam instabilities in accelerators depend on the interaction between charged particles and their environment, which is typically described by the beam coupling impedance [25-27]. The RCS of CSNS incorporates components that are widely used and have been effective in other accelerator systems. Despite this, we conducted an extensive impedance analysis for each component of the RCS [28]. Notably, instabilities originating from the stainless-steel chamber [29] and extraction kicker [30] were anticipated to be negligible. Furthermore, the real part of impedance from ceramic chambers [31, 32] was expected to be minimal. It should be noted that the ceramic chamber was modeled as an infinitely long, multi-layered structure with perfect RF shielding, which significantly differed from the actual RF shielding setup.
Recent bench measurements have confirmed that the RF shield on the ceramic chamber is a source of impedance [33]. This represents a novel source of impedance with relatively limited international research to date. The earliest work on infinitely long ceramic chambers was conducted by Zotter [34] in 1970. Since then, the model has primarily evolved, particularly in the field matching method for both relativistic and non-relativistic particles [35-38]. Danilov developed an impedance model to estimate the impedance of a finitely long chamber [39]. In these models, the electromagnetic fields are assumed to be fully shielded by metal strips, resulting in a very low calculated impedance with no predicted resonances. Given the limitations of theoretical calculations, this study employed CST Microwave Studio [40] to simulate the impedance of the ceramic chamber. The simulation validated the existence of resonant impedance and allowed for the determination of the impedance characteristics for all ceramic chambers in the RCS.
The remainder of this paper is organized as follows: Section 2 provides a brief overview of RCS instability characteristics. Section 3 reports preliminary impedance measurements of a ceramic chamber. Section 4 discusses the simulation techniques used to evaluate ceramic chamber impedance and calculates the total impedance for the RCS. The simulations indicated an unexpectedly high impedance in the RCS, which presents a substantial challenge for the CSNS-II project. As a result, Sect. 5 explores chamber parameters to identify effective impedance reduction methods. The findings suggest that optimizing capacitor capacitance is an effective technique, with capacitor voltage being a key factor. Consequently, Sect. 6 provides a detailed theoretical analysis of capacitor voltage, serving as a reference for subsequent impedance reduction practices. The study is summarized and discussed in Sect. 7.
Characteristic of the RCS instability in CSNS
The instability in the RCS was observed at a beam power of approximately 50 kW. Beam measurements confirmed that it was a TCBI. Under normal tune and natural chromaticity, the beam position in the horizontal plane began to oscillate at around 8 ms. This instability was found to be dependent on the beam population, regardless of whether particles were filled into single or double buckets. The coupled bunch mode was identified as mode one, which means that the betatron oscillation of the two bunches was out of phase. The instability exhibited sensitivity to chromaticity, prompting the introduction of sextupole magnets to mitigate this problem. The horizontal tune also had a significant impact on this instability. Figure 2 illustrates the measured Turn-by-Turn (TbT) beam positions and transmission efficiency in the RCS at different tunes with a beam power of 100 kW. The instability is observed when the tune is below 5.0, and its occurrence time shifts later as the tune increases. Furthermore, with tested tune during the beam commissioning, the instability in vertical plane can also be observed as beam power increases. If there are M identical equally spaced bunches, the growth rate of the coupled bunch instability _2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M001.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F002.jpg)
| Parameter | νx=4.78 | νx=4.83 | νx=4.86 | νx=4.89 |
|---|---|---|---|---|
| Occurrence time (ms) | ~ 2 | 5 | 7.0 | ~ 14 |
| E0 (GeV) | 0.11 | 0.22 | 0.42 | 1.3 |
| β | 0.441 | 0.585 | 0.722 | 0.905 |
| f0 (MHz) | 0.58 | 0.77 | 0.95 | 1.19 |
| νs | 0.01 | 0.0085 | 0.005 | 0.002 |
| fr (MHz) | 0.127 | 0.131 | 0.132 | 0.13 |
Our comprehensive studies provide valuable insights and practical guidance for mitigating instability, particularly through the optimization of the tune and chromaticity [23, 33]. To achieve better control over the tune spread and further suppress the instability, the DC sextupole field was upgraded to an AC sextupole field [24], aiming to provide dynamics for controlling the chromaticity and enhancing the beam transmission efficiency over an acceleration cycle.
Bench measurement of a ceramic chamber
To mitigate eddy current effects and ohmic losses, ceramic chambers are employed in AC magnets, including the dipole, quadrupole, and injection painting magnets in the RCS of CSNS. As detailed in reference [16] and shown in Fig. 3, these chambers feature a three-layer tube design. The inner surface was coated with a 100 nm layer of Titanium Nitride (TiN) to reduce the secondary electron emission. Given the non-conductive nature of ceramics, an RF shield composed of 0.4 mm thick Cu plates, waterjet-cut into 5 mm wide strips with 5 mm spacing, was utilized to decrease the impedance of the image current. Each Cu strip was segmented to prevent current loops, effectively suppressing the eddy current effects. Furthermore, connecting the strip segments with capacitors (with a capacitance of 330 nF) creates an RF shield with a high-frequency pass filter, which reduces both eddy current effects and beam coupling impedance. Table 3 summarizes the shapes, lengths, and thicknesses of the chambers. An elliptical chamber is used for the dipole magnet, whereas circular cross-section chambers are employed for the others. The RCS comprises six types of ceramic chambers, with a total length of approximately 130 m, distributed across 76 units.
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F003.jpg)
| Name | Shape | Length (m) | Size (mm) | Thickness (mm) | Number |
|---|---|---|---|---|---|
| MBa | elliptic | 2.775 | 218×135 | 15×8.5 | 24 |
| QA | circular | 0.78 | 91.5 | 7.5 | 16 |
| QB | circular | 1.535 | 124.5 | 7.5 | 16 |
| QC | circular | 1.54 | 99.5 | 7.5 | 8 |
| QD | circular | 1.205 | 115 | 7.5 | 8 |
| INBb | circular | 1.1 | 80 | 7.5 | 4 |
To identify the impedance, a ceramic chamber located in the injection area (INB1) was used to measure the impedance. The conventional wire method was employed for the coupling impedance measurements. For transverse impedance measurements, the standard technique involves the twin-wire method, where two parallel wires carrying out-of-phase signals are inserted through the Device Under Test (DUT) to generate a dipole current moment, and the forward scatter coefficient, S21, is measured covering the frequency range <100 MHz. We did not observe unexpected impedance in such frequency range. However, due to significant measurement errors associated with the twin-wire method at low frequencies, the loop method is more suitable for this measurement, as illustrated at the top of Fig. 4. The equipment for the loop measurements included a Vector Network Analyzer (VNA), a hybrid, and the DUT. An out-of-phase signal is generated by the hybrid. The loop probe comprised two parallel wires with shorted ends. The spacing Δ of the Cu wires is 40 mm, with a wire diameter of 0.5 mm. The reflection coefficient, S11, is measured and the input impedance for DUT, _2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M002.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M003.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F004.jpg)
The impedance < 10 MHz was measured, and a sharp resonance peak was detected. The real part of the impedance is presented in the bottom of Fig. 4. The center frequency is 0.123 MHz, aligning perfectly with the beam measurement results, ~ 0.13 MHz. To investigate the source further, the RF shield was removed during the measurement, leading to the disappearance of the resonance. Notably, the INB1 chamber measured was not coated by the TiN film. Impedance measurements were repeated after TiN coating, and the impedance persisted. Consequently, it was determined that the resonance originated from the RF shield.
Numerical simulation
To verify the impedance of the ceramic chamber, numerical simulations were conducted using the CST simulation suite. Actually, the wake field of ceramic chamber was simulated using Particle STUDIO many years ago, but no resonance was detected. In contrast, a simulation with Microwave STUDIO recently revealed the resonance. This discrepancy may be from meshgrids: Particle STUDIO employs only hexahedral meshgrid in the time domain, while Microwave STUDIO utilizes tetrahedral meshgrid in the frequency domain (the hexahedral meshgrid is unsuitable for capacitors in the frequency domain). To further investigate this phenomenon, a time-domain model with hexahedral meshgrids was constructed in Microwave STUDIO and recomputed; however, resonance remained undetected. This hypothesis will be further investigated as the software is upgraded.
In the simulation, several reasonable simplifications were applied to develop a physical model that closely resembled the actual chamber. A simplified representation of the chamber is shown in Fig. 5. The primary components of the chamber included ceramic and two titanium ports at each end, consistent with a real chamber. The thin TiN film inside is not shown. The RF shield covering the ceramic consisted of Cu strips and capacitors, consistent with the actual design. We assumed that the capacitor had a loss of 0.09 Ω. The Kapton film, used in the real chamber for its high radiation resistance, was ignored owing to its non-conductive nature. The chamber length is 1.07 m. A loop probe, similar to that in the measurement, was incorporated in the simulation using two parallel wires with shorted ends, matching the 0.5 mm diameter of the measurement wires. A discrete port was provided to calculate the reflection-scattering coefficient at the open port. The size of the meshgrid was automatically adjusted based on regional dimensions, thereby improving calculation accuracy and optimizing memory and time usage. Approximately one million meshgrids were used to ensure precise results. A REF simulation was performed on a stainless-steel chamber of equal length.
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F005.jpg)
The input reflection coefficients for both the DUT and REF were simulated, and the corresponding input impedances are provided in Eq. (2). The simulated impedance of the ceramic chamber is expressed as follows (Eq. (3)), as illustrated in Fig. 6. To enhance clarity, the measured results from Fig. 4 are also displayed. The resonant frequency identified closely corresponded to the measured results, thereby confirming the impedance in the simulation.
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F006.jpg)
After accurately confirming the INB1 impedance, we simulated the impedances of all the chamber types in the RCS and developed a comprehensive impedance model that included all the ceramic chambers, as illustrated in Fig. 7. Each ceramic chamber exhibited resonance in the low-frequency range, with resonant frequencies varying among the different chambers. Table 4 provides a detailed summary of the resonant parameters of all the chambers in the RCS. The resonant frequencies range from 70 kHz to 150 kHz, with Q-values below 150. The MB chamber in the dipole magnet exhibited the highest impedance, reaching 6 MΩ/m.
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F007.jpg)
| Name | fr without yoke (MHz) | fr with yoke (MHz) |
|---|---|---|
| MB, Zh | 0.071 | 0.085 |
| MB, Zv | 0.079 | 0.114 |
| QA | 0.136 | 0.141 |
| QB | 0.088 | 0.098 |
| QC | 0.087 | 0.1 |
| QD | 0.102 | 0.109 |
| INB | 0.123 | 0.127 |
In our simulations, we employed a monitor to evaluate the electromagnetic fields at the resonant frequency. The findings indicate that the induced electromagnetic field predominantly propagates along the Cu strips, with some leakage beyond the vacuum chamber. Such leakage may cause disturbances owing to external magnet yokes, thereby influencing the resonance. The ceramic chambers in the RCS are predominantly surrounded by dipole and quadrupole magnets. To explore this phenomenon, simplified models of the magnet yokes were developed and modeled as perfect electric conductors (PEC) with a thickness of 20 mm. The resonant frequencies of the chamber with and without the yokes are compared in Table 4. The results demonstrate that the presence of the yokes induces a shift in resonance frequency, which varies among different chamber configurations. For chambers with circular cross-sections, the yoke-induced frequency shift is negligible. However, for the MB chamber with an elliptical cross-section, where the yoke is 2.1 m long and closely aligned with the chamber in the vertical plane, the resonant frequency increases significantly, reaching approximately 35 kHz, indicating a substantial effect.
Investigation of impedance reduction techniques
The unusually high impedance, as illustrated in Fig. 7, explains the instability encountered during the RCS beam commissioning at low power levels. Achieving the design power target of 500 kW for CSNS-II requires a reduction in the ceramic chamber impedance in the RCS. Accordingly, we conducted a series of simulation studies to explore effective impedance reduction strategies. In this context, the feasibility and cost-effectiveness of these techniques are critical. Therefore, our objective was to identify the most dependable methods for impedance reduction, rather than focusing exclusively on the optimal solution.
Using INB1 as a reference, we performed detailed scans of various parameters, such as the strip number, width, and thickness, along with the chamber radius and length and capacitor capacitance. The simulations demonstrated that the resonant frequency was mostly unaffected by the strip number, width, and thickness, as well as the chamber radius. Rather, it is determined by the length of the ceramic chamber and the capacitance of the capacitors.
The impedance for various chamber lengths was examined, showing a decrease in the resonant frequency with increasing vacuum chamber length. However, because the chamber length is fixed in practical accelerators, this aspect will not be further explored in this study. Moreover, the resonant impedance for different capacitor capacitances was also simulated, and the results are displayed at the top of Fig. 8. It is evident that as the capacitance increases, both the resonant frequency and peak impedance decrease. The lower figure provides a summary of the resonant frequencies for various capacitances. With a given capacitance of the capacitor C, the resonant frequency is calculated theoretically by_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M004.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F008.jpg)
In summary, the simulations demonstrate that adjusting the capacitance of the capacitors can effectively reduce the impedance. Nonetheless, careful experimental validation is essential before applying this strategy to the RCS to ensure its reliability, particularly the voltage across the capacitors.
Induced voltages on capacitors
During the ramping process in the RCS, voltages are induced on the capacitors. If these voltages exceed the rated threshold, capacitor failure may occur, leading to distortions in the magnetic field and subsequent beam instability. This instability has been empirically observed in the RCS of J-PARC as a result of these field distortions [44]. The voltage on capacitors was generated by both the beam and the dynamic magnetic field. In accelerators, circular vacuum chambers are the predominant structural configuration. Therefore, this study focuses on examining the voltage within circular cross-sections.
Voltages on capacitors from dynamic magnetic field
The induced electromotive force, V, is proportional to the rate of change of magnetic flux linking the circuit, as dictated by Faraday’s law of electromagnetic induction_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M005.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F009.jpg)
In the RCS of CSNS-II, a transverse painting technique was utilized during injection to ensure beam uniformity and reduce space charge effects. A new rectangular chamber (BCH) with a larger size of 245 mm × 167 mm and length of 0.44 m will be implemented. The injection system comprises horizontal and vertical painting magnets. The painting magnetic field exhibited the highest temporal rate of change. As illustrated in Fig. 10, the typical magnetic field profile for these magnets includes a rise time (from 0 to t1), a flat-top time (from t1 to t2), a painting time (from t2 to t3), and a fall time (from t3 to 1.2 ms). During the fall phase, the rate of change of the magnetic field reached a peak of dB/dt=3660 T/s, inducing a voltage of approximately 320 V, thereby justifying the use of capacitors. Additional evaluations were conducted to determine the voltage that the capacitors on all vacuum chambers must withstand, considering the dimensions of the RCS vacuum chamber and the change rate of magnetic field, as detailed in Table 5. It is clear that, apart from the injection region, the voltage endured by other capacitors is significantly lower.
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F010.jpg)
| Chamber in magnet | dB/dt (T/s) | Volt (V) |
|---|---|---|
| Dipole magnet | 60 | 27.5 |
| Quadrupole magnet | 61 | 15 |
| Painting magnet | 3660 | 314 |
Voltages on capacitors from beam
When the beam travels along the ceramic chamber, the beam current is easily given as_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M006.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M007.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M008.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M009.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M010.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M011.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M012.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M013.png)
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F011.jpg)
The resistance of the strip is given by_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M014.png)
With the resistance of strips, the voltage across the capacitor is determined by the current flowing through the strip as_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-M015.png)
| Parameter | Values |
|---|---|
| σz at injection/extraction (m) | 20/9 |
| β at injection/extraction | 0.38/0.93 |
| Ib at injection/extraction (A) | 14/77 |
| Length of chamber, L (m) | 2.1 |
| Radius of chamber, r (m) | 0.1 |
| Strip number, Ns | 66 |
| Strip width, w (mm) | 5 |
| Strip thickness, t (mm) | 0.4 |
| Resistivity of strips (Ω·m) | 1.7 × 10-8 |
_2026_01/1001-8042-2026-01-20/alternativeImage/1001-8042-2026-01-20-F012.jpg)
Conclusion and outlook
An unexpected transverse instability was detected at low beam powers during the beam commissioning phase in the RCS of CSNS. Subsequent measurements identified this instability as a TCBI. By optimizing the tune and chromaticity, the instability was effectively suppressed, allowing for the current achievement of a 160 kW beam power. However, achieving the 500 kW goal for CSNS-II is challenging. Consequently, studying the sources of impedance remains essential. Beam measurements indicated a possible resonance with a significantly large impedance. Impedance measurements confirmed a resonance associated with the RF shield on the ceramic chamber, which aligned with the frequency observed in the beam measurements. Simulations conducted using the CST Microwave Studio replicated this impedance. As this new impedance cannot be theoretically calculated, we developed an impedance model for the RCS ceramic chambers based on the simulation, providing a foundation for further analysis of the beam effects.
Preliminary numerical simulations provided insights into the physical principles underlying impedance, thereby contributing to the enhancement of the chamber design for impedance reduction. The simulations investigated key parameters such as the chamber length, capacitor capacitance, and effect of the magnet yoke. From a practical and cost-effective perspective, optimizing the capacitor capacitance is a promising approach for reducing the impedance. Although these simulations offer a comprehensive understanding of the impedance characteristics of ceramic chambers and propose effective reduction strategies, thorough validation is required before practical application, with particular attention to the voltage on the capacitors.
This research is currently in its early stages. Although simulation studies have provided valuable insights into the impedance characteristics of the ceramic chamber in the RCS, further research is crucial. This involves exploring additional strategies for impedance reduction and the impact of electromagnetic fields in accelerator tunnels. Moreover, detailed simulation results require interpretation through comprehensive impedance and beam physics theories. Consequently, future work will focus on theoretical analysis and exploration of techniques for reducing impedance.
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