違いははっきりしていないみたいです
論文見つけたので貼っときます
https://kyutech.repo.nii.ac.jp/index.php?action=pages_view_main&active_action=repository_action_common_download&item_id=2207&item_no=1&attribute_id=17&file_no=1&page_id=13&block_id=21
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