generating an input signal using the switch time, final time, acceleration amplitude, and deceleration amplitude parameters to specify a piecewise trigonometric function of time as said input signal, {HEAD ~ the piecewise trigonometric function} of time comprising {TAIL ~ concatenated cosine} and constant functions, the switch time parameter specifying a time at which the input signal changes polarity, and the final time parameter specifying a time at which the input signal is no longer generated 
comprising
generating an input signal using the switch time , final time , acceleration amplitude , and deceleration amplitude parameters to specify a piecewise trigonometric function of time as said input signal , { HEAD ~ the piecewise trigonometric function } of time comprising { TAIL ~ concatenated cosine } and constant functions , the switch time parameter specifying a time at which the input signal changes polarity , and the final time parameter specifying a time at which the input signal is no longer generated
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