Ind
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f
E
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a
l E
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g
in
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r
ing
and
C
o
mp
u
t
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S
c
ienc
e
V
ol
. 8
,
No.
3
,
Dec
em
be
r
20
17
, p
p
.
6
45
~
6
47
DO
I: 1
0.
11
5
91
/
i
j
ee
c
s
.v
8
.i
3
.
pp
64
5
-
64
7
6
45
Rec
ei
v
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A
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8
, 2
01
7
;
Rev
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2
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01
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;
A
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Nov
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mb
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1
4
,
20
17
Con
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Im
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Clo
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Smart
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Rob
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titu
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Adv
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Eng
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a
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Sc
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All
righ
t
s
re
s
e
rve
d.
1.
Int
r
o
d
u
ctio
n
Cl
ou
d
m
ec
ha
ni
c
al
au
t
on
om
y
i
s
a
de
v
e
l
op
i
n
g
f
i
el
d
th
at
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on
s
ol
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da
t
i
on
s
t
he
i
de
as
of
c
l
ou
d
ad
v
an
c
em
en
ts
an
d
ad
m
i
ni
s
tr
ati
o
n rob
ots
. It
i
s
a
tr
o
ub
l
e
s
o
m
e i
nn
ov
ati
on
i
n
v
i
e
w
of
the
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ps
i
d
es
of
f
as
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f
al
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n
ex
pe
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s
erv
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arm
s
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an
d
b
r
oa
db
an
d
ge
t
to,
r
e
as
on
a
bl
e
di
s
tr
i
bu
t
ed
s
torage
,
a
nd
c
on
v
e
y
ed
r
e
g
i
s
teri
n
g.
W
eb
i
s
uti
l
i
z
ed
to
s
up
pl
em
en
t
the
ab
i
l
i
ti
es
of
the
r
ob
o
ts
b
y
ea
s
i
n
g
the
m
f
r
o
m
on
-
bo
ard
c
al
c
ul
ati
on
es
c
al
at
ed
u
nd
ertak
i
ng
s
a
nd
em
po
w
er
the
m
to
gi
v
e
c
o
m
pe
l
l
i
ng
ad
m
i
ni
s
tr
at
i
o
n
s
on
r
eq
ue
s
t.
Me
c
h
an
i
c
al
a
ut
on
om
y
i
s
an
i
n
no
v
ati
on
tha
t
arr
an
ge
m
en
ts
wi
th
t
he
o
utl
i
ne
,
de
v
e
l
op
m
en
t,
op
erati
o
n,
a
nd
ut
i
l
i
z
at
i
on
of
r
ob
ots
,
a
nd
P
C
f
r
a
m
ew
ork
s
f
or
the
i
r
c
o
ntro
l
,
t
ac
ti
l
e
c
r
i
t
i
c
i
s
m
,
an
d
da
t
a
prep
arin
g
[
1].
T
he
hu
m
an
ad
m
i
ni
s
tr
ato
r
m
ay
c
on
tr
ol
the
r
ob
ot
f
r
om
a
s
ep
arati
o
n
b
y
s
en
d
i
n
g
ord
ers
an
d
ac
c
ep
t
i
n
g
d
a
ta
b
y
m
ea
ns
of
c
orr
es
po
nd
e
nc
e
s
y
s
tem
.
A
uto
m
ate
d
f
r
am
ew
ork
s
ha
v
e
c
on
v
e
y
e
d
hu
g
e
m
on
eta
r
y
an
d
s
oc
i
al
ef
f
ec
ts
to
hu
m
an
l
i
v
es
i
n
t
h
e
c
ou
r
s
e
of
r
ec
en
t
d
ec
ad
e
s
.
A
s
of
l
ate
,
m
ec
ha
ni
c
al
f
r
am
ew
ork
s
are
us
ed
as
i
nf
or
m
ati
on
s
oc
i
al
af
f
ai
r
ap
pa
r
at
us
es
b
y
r
es
ea
r
c
he
r
s
f
or
a
m
or
e
no
t
e
w
orth
y
c
o
m
prehen
s
i
o
n
of
na
tur
al
proc
ed
ures
[4]
.
Ro
bo
ts
are
ad
di
t
i
on
al
l
y
b
ei
n
g
i
nt
en
d
e
d
to
i
nv
es
ti
g
ate
prof
ou
nd
s
ea
s
,
to
tr
ac
k
un
s
af
e
al
ga
l
bl
os
s
om
s
,
s
c
r
ee
n
c
l
i
m
ati
c
c
on
di
t
i
on
ns
,
a
nd
to
l
ea
r
n
ab
o
ut
r
em
ote
v
ol
c
an
o
es
.
Cl
ou
d
i
s
a
s
pe
c
i
al
i
s
t
c
o
-
op
t
ha
t
g
i
v
es
ad
m
i
ni
s
tr
ati
on
s
,
f
or
ex
a
m
pl
e,
f
ou
nd
at
i
on
,
pro
gram
m
i
ng
or
as
s
ets
.
F
r
a
m
ew
ork
as
a
S
erv
i
c
e
m
od
el
s
an
a
s
s
oc
i
ati
o
n
tha
t
ou
ts
ou
r
c
es
the
as
s
ets
r
eq
u
i
r
ed
f
or
i
ts
op
erat
i
on
s
,
i
nc
l
u
di
n
g
c
ap
ac
i
t
y
an
d
s
y
s
tem
s
ad
m
i
ni
s
tr
ati
o
n
p
arts
.
W
hi
l
e
the
d
i
s
tr
i
bu
t
e
d
c
o
m
pu
ti
n
g
wor
l
d
v
i
e
w
w
a
s
i
ni
ti
al
l
y
c
r
ea
t
ed
i
n
the
d
i
gi
ta
l
w
orl
d
an
d
c
on
ne
c
te
d
progr
am
m
i
ng
as
an
ad
m
i
ni
s
tr
ati
on
,
o
v
er
t
he
m
os
t
r
ec
en
t
c
ou
pl
e
of
y
e
ars
i
t
ha
s
be
e
n
r
ea
c
he
d
ou
t
to
th
e
di
g
i
ta
l
ph
y
s
i
c
a
l
wor
l
d,
i
nc
l
u
di
n
g
v
e
hi
c
l
es
l
i
k
e
a
ut
os
a
nd
i
nd
i
v
i
du
a
l
s
wi
th
ad
v
an
c
ed
m
ob
i
l
e
ph
on
es
,
an
d
r
ob
ots
l
i
k
e
groun
d
v
eh
i
c
l
es
a
nd
un
m
an
ne
d
ai
r
bo
r
ne
v
eh
i
c
l
es
G
en
erat
i
ng
a
d
i
g
i
ta
l
s
i
gn
at
ure
ba
s
ed
on
n
e
w
c
r
y
pto
graph
i
c
s
c
he
m
e
f
or
us
er
au
t
he
nt
i
c
ati
on
an
d
s
ec
urit
y
i
s
ex
p
l
ai
ne
d
i
n
[8
]
.
2.
E
xis
t
ing
S
y
stem
In
the
c
urr
e
nt
f
r
am
ew
ork
c
o
m
pl
ex
c
om
po
ne
nts
a
r
e
uti
l
i
z
e
d
f
or
pi
c
k
an
d
pl
ac
e
op
erat
i
o
ns
.
T
he
c
urr
en
t
f
r
am
ew
ork
ha
s
a
l
o
w
ac
h
i
e
v
em
en
t
r
ate
[5]
.
W
ha
t's
m
o
r
e,
the
arti
c
l
es
tha
t
c
an
be
go
tt
en
a
ha
nd
l
e
on
b
y
the
r
ob
ot
are
of
u
nm
i
s
ta
k
ab
l
e
s
ha
pe
.
T
hu
s
t
he
r
e
are
a
f
e
w
i
m
pe
r
ati
v
es
i
n
t
he
c
urr
en
t
arr
an
ge
m
en
t
of
pi
c
k
an
d
p
l
ac
e
r
ob
ots
.
T
he
c
urr
en
t
p
i
c
k
an
d
pl
ac
e
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N:
25
02
-
4
75
2
IJE
E
CS
V
ol
.
8
,
N
o.
3
,
Dec
em
be
r
2017
:
645
–
6
47
646
r
ob
ots
de
p
en
d
on
s
en
s
ors
to
di
s
ti
ng
u
i
s
h
th
e
i
tem
s
.
S
en
s
ors
,
f
or
ex
a
m
pl
e,
i
nf
r
ared
s
en
s
or
an
d
pi
e
z
o
el
ec
tr
i
c
s
en
s
or
c
an
be
ut
i
l
i
z
ed
.
T
he
s
e
s
en
s
or
s
c
an
't
w
ork
w
h
e
n
t
he
pr
ote
s
t
i
s
pu
t
at
ex
tr
em
el
y
f
ar s
ep
arati
on
.
3.
A
r
chit
ec
t
u
r
e of
S
m
ar
t
Ro
b
o
t
T
he
de
s
i
gn
of
the
propos
e
d
k
ee
n
c
l
ou
d
r
ob
ot
f
r
am
ew
ork
i
s
ap
pe
are
d
i
n
F
i
g
ure
1.
T
he
v
ers
ati
l
e
r
ob
ot
i
s
of
w
he
el
ed
s
ort
th
at
i
s
an
y
th
i
ng
bu
t
di
f
f
i
c
ul
t
to
ex
pl
ore
i
ns
i
d
e,
ho
w
e
v
er
c
a
n
l
i
k
ewi
s
e
b
e
ut
i
l
i
z
ed
f
or
r
ou
t
e
on
s
m
oo
th
op
e
n
a
i
r
s
urf
ac
es
.
T
he
r
ob
ot
m
i
gh
t
be
s
c
al
e
d
u
p
l
ate
r
o
n
wi
th
a
l
l
t
he
m
ore
c
ap
ab
l
e
e
ng
i
ne
s
an
d
el
as
t
i
c
whee
l
s
f
or
w
ork
i
ng
i
n
un
ev
en
op
en
ai
r
terr
i
tor
i
es
.
T
he
r
ob
ot
i
s
m
ad
e
to
m
ov
e
i
n
a
m
an
ua
l
wa
y
c
on
tr
o
l
l
e
d
t
hrou
gh
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7]
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m
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b
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CA
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d
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)
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pre
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V
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pe
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Mo
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a
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pa
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ath
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s
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d rec
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y
of
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i
nf
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ati
on
.
Ref
er
en
ce
s
[1
]
H
Is
h
i
d
a
,
AJ
L
i
l
i
e
n
th
a
l
.
To
w
a
rd
s
En
v
i
ro
n
m
e
n
ta
l
M
o
n
i
to
ri
n
g
wit
h
Rob
o
ts
.
Pro
c
.
RSJ
In
t.
Con
f.
o
n
In
te
l
l
i
g
e
n
t
Rob
o
ts
a
n
d
Sy
s
te
m
s
.
2
0
0
8
:
2
2
-
26
.
[2
]
M
Dun
b
a
b
i
n
,
L
M
a
rq
u
e
s
..
Ro
b
o
ts
f
o
r
En
v
i
ro
n
m
e
n
t
a
l
M
o
n
i
to
ri
n
g
.
IEEE
Rob
o
ti
c
s
M
a
g
a
z
i
n
e
.
2012;
19
:
24
-
39
.
[3
]
R
Han
s
e
n
,
J
Hua
n
g
,
F
L
a
n
d
o
l
t
,
M
L
i
p
p
a
u
tz
,
A
Rot
t
m
a
n
n
,
R
S
w
i
c
k
,
R
T
ru
m
m
e
r,
D
V
i
z
z
i
n
i
.
C
y
b
e
r
C
l
o
u
d
Com
p
u
ti
n
g
:
T
h
e
Bi
n
d
i
n
g
a
n
d
M
i
g
ra
ti
o
n
Pro
b
l
e
m
.
Des
i
g
n
,
A
u
to
m
a
ti
o
n
&
T
e
s
t
i
n
Eu
ro
p
e
C
o
n
fe
re
n
c
e
&
E
x
h
i
b
i
ti
o
n
,
Dre
s
d
e
n
,
G
e
rm
a
n
y
.
2012
:
1
4
2
5
-
1
4
2
8
.
[4
]
G
Hu,
Y
W
e
n
.
Clo
u
d
Rob
o
ti
c
s
:
Arc
h
i
te
c
tu
re
,
Ch
a
l
l
e
n
g
e
s
a
n
d
Ap
p
l
i
c
a
ti
o
n
s
.
IEEE
Net
wor
k
.
2
0
1
2
;
27
:
21
-
28.
[5
]
E G
u
i
z
z
o
.
Rob
o
ts
w
i
th
T
h
e
i
r He
a
d
s
i
n
t
h
e
Cl
o
u
d
s
.
IEEE
S
p
e
c
tru
m
.
M
a
rc
h
2
0
1
1
:
19
-
20.
[6
]
Y
Che
n
,
M
G
a
rc
ía
-
Ac
o
s
ta
.
Rob
o
t
a
s
a
Se
rv
i
c
e
i
n
Clo
u
d
Com
p
u
ti
n
g
.
Pro
c
.
IEEE
In
te
rn
a
t
i
o
n
a
l
Sy
m
p
o
s
i
u
m
o
n
Se
rv
i
c
e
Sy
s
t
e
m
En
g
i
n
e
e
r
i
n
g
.
2
0
1
0
:
1
5
1
-
1
5
8
.
[7
]
M
a
n
i
c
k
a
s
a
n
k
a
ri
N,
Ari
v
a
z
h
a
g
a
n
D,
Ve
n
n
i
l
a
G
.
A
Su
r
v
e
y
on
Q
u
e
ry
Pro
c
e
s
s
i
n
g
in
M
o
b
i
l
e
Dat
a
b
a
s
e
.
I
n
d
i
a
n
J
o
u
rn
a
l
o
f
S
c
i
e
n
c
e
a
n
d
Te
c
h
n
o
l
o
g
y
.
2
0
1
4
;
7
(6
):
3
2
.
[8
]
G
a
n
e
s
h
k
u
m
a
r
K,
Ar
i
v
a
z
h
a
g
a
n
D.
G
e
n
e
ra
ti
n
g
a
Dig
i
ta
l
S
i
g
n
a
t
u
re
Ba
s
e
d
on
New
Cry
p
to
g
ra
p
h
i
c
Sc
h
e
m
e
fo
r
Us
e
r A
u
th
e
n
ti
c
a
ti
o
n
and
Se
c
u
ri
ty
.
I
n
d
i
a
n
J
o
u
rn
a
l
o
f
Sc
i
e
n
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
2
0
1
4
;
7
(S6
)
:
1
-
5.
Evaluation Warning : The document was created with Spire.PDF for Python.