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th
e
o
p
er
ato
r
is
n
ee
d
ed
to
r
e
p
lace
d
o
cto
r
s
an
d
n
u
r
s
es
co
m
i
n
g
to
th
e
p
atien
t
s
o
th
at
d
ir
ec
t
co
n
tact
w
it
h
th
e
p
atien
t
ca
n
b
e
r
ed
u
ce
d
.
I
n
cr
ea
s
es
in
t
h
e
ap
p
licatio
n
o
f
au
to
m
atio
n
an
d
m
ed
ical
r
o
b
o
tics
o
cc
u
r
ev
er
y
d
ay
[
2
]
-
[
5
]
.
T
h
er
e
ar
e
s
ev
er
al
p
r
ev
io
u
s
s
tu
d
ies
r
eg
ar
d
in
g
h
ea
lt
h
ca
r
e
r
o
b
o
tics
.
As
i
m
p
le
m
e
n
ted
i
n
t
h
e
P
o
l
y
cli
n
ic
o
f
Mo
d
en
a
(
I
tal
y
)
[
6
]
,
Hu
m
an
o
id
co
m
p
a
n
i
o
n
r
o
b
o
t
f
o
r
p
a
t
i
e
n
t
s
[
7
]
,
a
s
s
i
s
t
i
v
e
r
o
b
o
t
[
8
]
-
[
11
]
,
e
n
d
-
e
f
f
e
c
t
o
r
w
h
e
e
l
e
d
r
o
b
o
t
i
c
a
r
m
[
1
2
]
,
a
u
t
o
m
a
t
i
o
n
a
n
d
c
o
n
t
r
o
l
s
y
s
t
em
i
n
m
e
d
i
c
a
l
s
e
c
t
o
r
[
13
]
-
[
15
]
,
a
n
d
a
l
s
o
a
r
o
b
o
t
w
i
t
h
a
r
e
h
a
b
i
l
i
t
a
t
i
o
n
f
u
n
c
t
i
o
n
a
n
d
m
o
t
i
o
n
a
s
s
i
t
a
n
c
e
[
16
]
-
[
23
].
I
n
ad
d
itio
n
,
th
er
e
ar
e
also
r
o
b
o
ts
w
ith
s
li
g
h
tl
y
d
if
f
er
en
t
g
o
al
s
,
n
a
m
el
y
to
d
is
i
n
f
ec
t
th
e
e
n
v
i
r
o
n
m
e
n
t
u
s
i
n
g
UV
lig
h
t
w
h
ich
ca
n
also
b
e
ap
p
lied
f
o
r
h
ea
lth
ca
r
e
p
u
r
p
o
s
es [
24
].
Fro
m
s
o
m
e
o
f
th
e
r
e
s
u
l
ts
t
h
at
h
av
e
b
ee
n
d
escr
ib
ed
,
th
e
m
ai
n
f
u
n
ct
io
n
n
ee
d
ed
in
d
es
ig
n
i
n
g
th
is
to
o
l is
th
e
ac
c
u
r
ac
y
in
ev
er
y
m
o
v
e
m
en
t,
s
u
c
h
as
i
n
a
m
u
lti
d
e
g
r
ee
o
f
f
r
ee
d
o
m
(
DOF
)
s
u
r
g
ical
r
o
b
o
t
w
h
ich
r
eq
u
ir
es
a
m
i
n
i
m
u
m
er
r
o
r
in
ev
er
y
m
o
v
e
m
en
t
[
25
]
-
[
27
]
.
C
o
m
m
u
n
icat
i
o
n
is
u
s
ed
s
o
th
a
t
d
o
cto
r
s
an
d
n
u
r
s
e
s
ca
n
in
ter
ac
t
d
ir
ec
tl
y
w
it
h
p
atien
t
s
r
e
m
o
tel
y
.
T
h
en
,
to
h
elp
p
r
o
v
id
e
f
o
r
t
h
e
p
atien
t
'
s
n
ee
d
s
,
a
d
ev
ice
th
at
ca
n
b
e
c
o
n
tr
o
lled
r
e
m
o
tel
y
is
n
ee
d
ed
to
s
er
v
e
th
e
p
atien
t
'
s
n
ee
d
s
s
u
c
h
as
f
o
o
d
,
d
r
in
k
an
d
m
ed
ici
n
e.
Fro
m
s
o
m
e
o
f
th
e
k
n
o
wn
n
ee
d
s
,
it
is
co
n
cl
u
d
ed
th
at
th
i
s
d
ev
elo
p
m
en
t
is
a
r
o
b
o
t
th
at
ca
n
b
e
co
n
tr
o
lled
r
em
o
tel
y
t
o
h
elp
d
o
cto
r
s
an
d
n
u
r
s
es i
n
ter
ac
t a
n
d
s
er
v
e
t
h
e
n
ee
d
s
o
f
p
atien
ts
i
n
is
o
lat
io
n
r
o
o
m
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Dev
el
o
p
m
ent
m
o
de
l
T
h
e
ap
p
licatio
n
o
f
s
u
p
p
o
r
tin
g
to
o
ls
f
o
r
h
an
d
li
n
g
C
OVI
D
-
19
p
atien
ts
h
a
s
r
ec
eiv
ed
s
p
ec
ia
l
atten
tio
n
f
r
o
m
r
esear
c
h
er
s
ar
o
u
n
d
t
h
e
w
o
r
ld
.
T
h
e
ap
p
r
o
ac
h
tak
en
i
n
t
h
is
s
t
u
d
y
ad
o
p
ts
t
h
e
P
r
ess
m
an
De
v
elo
p
m
e
n
t
m
o
d
el.
O
n
e
o
f
th
e
d
ev
e
lo
p
m
e
n
t
m
o
d
el
s
b
y
P
r
ess
m
an
i
s
t
h
e
w
ater
f
all
m
o
d
el
o
r
o
f
ten
r
ef
e
r
r
ed
to
as
a
lin
ea
r
s
eq
u
en
tial
m
o
d
el
[
28
]
.
P
r
ess
m
an
ar
g
u
e
s
th
at
th
e
w
ater
f
a
l
l
d
ev
elo
p
m
e
n
t
m
o
d
el
co
n
tain
s
an
ap
p
r
o
ac
h
th
at
ca
n
b
e
u
s
ed
to
s
u
p
p
o
r
t
s
eq
u
en
ti
al
an
d
s
y
s
te
m
a
tic
d
ev
elo
p
m
en
t.
T
h
e
w
ater
f
a
ll
m
o
d
el
h
a
s
4
s
tag
es,
n
a
m
el
y
An
al
y
s
i
s
as
a
p
r
o
ce
s
s
o
f
g
at
h
e
r
in
g
n
ee
d
s
,
d
esig
n
to
tr
an
s
late
r
eq
u
ir
e
m
en
ts
i
n
to
q
u
alit
y
h
ar
d
w
ar
e
an
d
s
o
f
t
w
ar
e
r
ep
r
esen
tati
o
n
s
b
e
f
o
r
e
d
ev
elo
p
m
e
n
t
b
eg
in
s
,
d
ev
elo
p
m
e
n
t
as
a
m
ea
n
s
o
f
i
m
p
le
m
e
n
ti
n
g
d
es
ig
n
to
b
e
tr
an
s
lated
in
to
h
ar
d
w
ar
e
a
n
d
s
o
f
t
w
ar
e,
an
d
T
ests
to
test
t
h
e
f
u
n
ct
i
o
n
s
a
n
d
b
en
ef
its
o
f
p
r
o
d
u
ct
d
ev
elo
p
m
en
t.
T
h
e
w
ater
f
all
m
o
d
el
ca
n
b
e
v
ie
w
ed
f
r
o
m
th
e
f
lo
w
c
h
ar
t in
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
Dev
elo
p
m
e
n
t
m
o
d
el
ad
o
p
ted
f
r
o
m
w
ater
f
al
l
m
o
d
el
b
y
p
r
ess
m
a
n
[
28
]
B
ased
o
n
Fig
u
r
e
1
,
th
e
m
o
s
t
i
m
p
o
r
tan
t
t
h
i
n
g
to
d
o
to
s
tar
t
th
is
r
esear
c
h
is
n
ee
d
an
a
l
y
s
is
.
I
d
en
tif
icat
io
n
o
f
n
ee
d
s
is
ca
r
r
i
ed
o
u
t
in
o
r
d
er
to
id
en
tify
r
ea
l
n
ee
d
s
an
d
p
r
o
b
lem
s
t
h
at
o
cc
u
r
in
th
e
f
ield
to
b
e
r
eso
lv
ed
.
I
n
th
is
s
tag
e,
i
n
f
o
r
m
atio
n
is
co
llected
to
cr
ea
te
a
r
o
b
o
t
d
ev
elo
p
m
en
t
f
lo
w
.
I
n
f
o
r
m
atio
n
g
at
h
er
i
n
g
w
as
c
a
r
r
i
e
d
o
u
t
b
y
m
e
an
s
o
f
a
fo
cu
s
g
r
o
u
p
d
i
s
cu
s
s
i
o
n
(
F
GD
)
.
T
h
e
F
G
D
w
as
c
a
r
r
i
e
d
o
u
t
b
y
d
i
s
cu
s
s
in
g
w
ith
th
e
u
s
e
r
,
in
th
is
c
as
e
th
e
h
o
s
p
i
t
a
l
h
e
a
l
th
w
o
r
k
e
r
,
t
o
f
in
d
o
u
t
th
e
f
u
n
c
ti
o
n
al
r
e
q
u
i
r
em
en
ts
o
f
th
e
r
o
b
o
t
b
e
i
n
g
m
a
d
e
.
Af
ter
t
h
e
n
ee
d
s
h
a
v
e
b
ee
n
o
b
tain
ed
,
th
e
n
t
h
e
d
esi
g
n
is
ca
r
r
ied
o
u
t
t
o
m
ap
t
h
e
tec
h
n
ical
asp
ec
ts
o
f
h
ar
d
w
ar
e
a
n
d
s
o
f
t
w
ar
e.
Har
d
w
ar
e
d
esi
g
n
is
ca
r
r
ied
o
u
t
m
o
r
e
o
n
m
ap
p
in
g
t
h
e
p
o
w
er
s
u
p
p
l
y
r
eq
u
ir
e
m
en
ts
,
elec
tr
o
n
ic
cir
cu
its
,
co
n
tr
o
l
s
y
s
te
m
s
,
a
n
d
o
th
er
r
eq
u
ir
ed
p
er
ip
h
er
als.
As
f
o
r
th
e
s
o
f
t
w
ar
e,
it
is
d
o
n
e
m
o
r
e
o
n
m
ap
p
in
g
th
e
n
e
ed
s
o
f
t
h
e
u
s
er
in
ter
f
ac
e,
n
et
w
o
r
k
i
n
g
,
an
d
o
p
er
atin
g
s
y
s
te
m
f
o
r
r
o
b
o
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Th
e
d
ev
elo
p
men
t
o
f h
ea
lth
c
a
r
e
mo
b
ile
r
o
b
o
t fo
r
h
el
p
i
n
g
me
d
ica
l p
ers
o
n
n
el
in
…
(
N
o
va
E
ka
B
u
d
iya
n
ta
)
1381
Fu
r
t
h
er
m
o
r
e,
af
ter
th
e
h
ar
d
w
a
r
e
an
d
s
o
f
t
w
ar
e
d
esig
n
is
d
ete
r
m
in
ed
,
th
e
r
o
b
o
t
m
a
n
u
f
ac
t
u
r
i
n
g
p
r
o
ce
s
s
is
ca
r
r
ied
o
u
t.
T
h
e
r
o
b
o
t
w
o
r
k
in
g
p
r
o
ce
s
s
is
d
i
v
id
ed
in
to
h
ar
d
w
ar
e
a
n
d
s
o
f
t
w
ar
e
w
o
r
k
.
Har
d
w
ar
e
w
o
r
k
i
s
d
o
n
e
b
y
m
ak
i
n
g
a
p
r
in
ted
cir
cu
it
b
o
ar
d
(
P
C
B
)
b
o
a
r
d
co
n
s
is
t
in
g
o
f
2
b
o
ar
d
s
,
n
a
m
el
y
t
h
e
p
o
w
er
s
u
p
p
l
y
b
o
ar
d
an
d
th
e
co
n
tr
o
l
b
o
ar
d
.
T
h
en
t
h
e
s
o
f
t
w
ar
e
w
o
r
k
i
s
d
o
n
e
b
y
cr
ea
tin
g
a
m
icr
o
co
n
tr
o
ller
p
r
o
g
r
a
m
co
d
e
o
n
t
h
e
co
n
tr
o
l
b
o
ar
d
an
d
,
m
a
k
i
n
g
d
es
k
to
p
s
o
f
t
w
ar
e,
an
d
also
m
ak
in
g
a
s
er
v
er
f
o
r
in
ter
n
al
v
id
eo
co
n
f
er
en
ci
n
g
w
it
h
o
u
t u
s
in
g
t
h
e
in
ter
n
et.
Af
ter
th
e
r
o
b
o
t
m
an
u
f
ac
t
u
r
in
g
s
tag
e
is
ca
r
r
ied
o
u
t,
th
e
n
th
e
t
esti
n
g
p
h
a
s
e
is
ca
r
r
ied
o
u
t
o
n
th
e
r
o
b
o
t.
T
esti
n
g
o
n
th
e
tech
n
ical
asp
ec
ts
is
ca
r
r
ied
o
u
t
o
n
t
h
e
s
p
ee
d
test
w
it
h
an
d
w
it
h
o
u
t
lo
ad
,
th
e
d
is
tan
ce
m
ea
s
u
r
e
m
e
n
t
test
o
n
t
h
e
3
s
id
es
o
f
t
h
e
r
o
b
o
t
(
f
r
o
n
t,
r
i
g
h
t,
le
f
t)
,
co
n
tr
o
l
d
is
ta
n
ce
t
esti
n
g
,
a
n
d
m
o
to
r
p
er
f
o
r
m
a
n
ce
test
i
n
g
.
T
esti
n
g
o
n
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ig
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u
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b
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b
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I
DE
6
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A
s
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m
icr
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am
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A
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D
E
v
1
.
8
.
1
2
w
a
s
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s
ed
in
t
h
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y
to
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u
p
p
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lan
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b
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its
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m
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s
e
[
30
]
-
[
32
]
co
m
p
ar
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i
[
3
3
]
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3
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3
5
].
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4
.
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T
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ar
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3
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ig
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4
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I
SS
N
:
2
5
0
2
-
4752
I
n
d
o
n
esia
n
J
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lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
22
,
No
.
3
,
J
u
n
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2
0
2
1
:
1
3
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1384
3.
RE
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L
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D
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SI
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3
.
1
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Ro
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T
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4
tech
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n
d
w
ith
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t
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ad
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is
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ce
m
ea
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r
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m
en
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te
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t
o
n
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s
id
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t
h
e
r
o
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o
t
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f
r
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t,
r
ig
h
t,
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f
t)
,
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tr
o
l
d
is
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te
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tin
g
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tes
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g
.
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h
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f
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llo
w
i
n
g
ar
e
th
e
r
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u
lts
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f
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n
ic
al
test
i
n
g
.
3
.
2
.
Ro
bo
t
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peed
t
est
w
it
h a
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w
it
ho
ut
lo
a
d
R
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t r
u
n
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i
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a
te
s
t
w
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th
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d
w
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h
o
u
t lo
ad
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ca
r
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ied
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t to
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eter
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t
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er
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ce
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th
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o
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ain
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t
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r
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.
1
2
.
5
9
k
g
o
f
th
e
m
eta
l
lo
ad
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s
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ee
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s
ed
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h
e
r
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t.
r
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t
s
p
ee
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test
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lt
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ata
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it
h
a
n
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n
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e
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n
in
T
ab
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2
.
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ased
o
n
th
e
d
ata
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tain
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f
r
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m
t
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r
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p
ee
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test
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at
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a
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4
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th
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n
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g
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f
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.
9
6
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T
ab
le
2
.
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o
b
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t sp
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test
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it
h
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o
lo
ad
T
e
st
i
n
g
(
w
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t
h
i
n
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m)
T
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st
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me
(
s)
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2
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3
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Dis
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n 3
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ide o
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ro
bo
t
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a
r,
r
ig
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t
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R
o
b
o
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d
is
tan
ce
m
ea
s
u
r
e
m
e
n
t
test
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ca
r
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t
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th
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r
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th
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h
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ata
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t
h
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n
ce
m
ea
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r
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en
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t
r
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n
th
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f
th
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r
o
b
o
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r
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t,
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le
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ased
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ce
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ea
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e
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ata
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n
th
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id
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th
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r
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b
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r
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ed
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h
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t
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h
a
n
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r
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f
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9
.
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2
%.
T
ab
le
3
.
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tan
ce
m
ea
s
u
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m
e
n
t te
s
t o
n
3
s
id
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o
f
r
o
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t (
r
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r
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i
st
a
n
c
e
M
e
a
su
r
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t
R
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t
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n
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f
t
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R
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M
o
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l
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4
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Ro
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o
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est
R
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b
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co
n
tr
o
l
d
is
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ce
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g
is
ca
r
r
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o
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t
to
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ee
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er
f
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r
m
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ce
o
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tr
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o
b
o
t
co
n
tr
o
l d
is
tan
ce
test
w
a
s
ca
r
r
ied
o
u
t
w
ith
2
ex
p
er
i
m
e
n
ts
.
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n
th
e
f
ir
s
t
ex
p
er
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m
e
n
t
th
e
r
o
b
o
t r
u
n
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d
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ce
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et
w
ee
n
r
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o
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s
as
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a
r
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3
5
.
2
m
.
T
h
e
s
ec
o
n
d
ex
p
er
i
m
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n
t
is
also
w
e
n
t
w
ell
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d
r
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m
ai
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ed
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n
n
ec
te
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t
h
e
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ce
s
s
p
o
in
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at
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av
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d
is
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n
ce
o
f
5
6
.
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m
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h
e
f
ir
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t
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s
ec
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d
ex
p
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ch
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ca
n
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Fi
g
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r
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5
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Fig
u
r
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o
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I
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d
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ata
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ased
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n
th
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m
o
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test
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ata
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w
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h
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cr
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f
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m
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℃.
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t c
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r
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ted
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t
h
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e
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e
a
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ibi
lity
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T
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f
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ased
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ased
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d
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Fig
u
r
e
6
.
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tem
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r
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t
esti
n
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:
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m
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
5
0
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4752
I
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J
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Vo
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ased
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ased
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.
RE
F
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R
E
NC
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S
[1
]
W
o
rld
He
a
lt
h
Org
a
n
iza
ti
o
n
.
Re
p
o
rt
o
f
th
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HO
-
Ch
in
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J
o
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t
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CO
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2
0
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0
.
[2
]
Z.
H
.
Kh
a
n
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A
.
Kh
a
li
d
b
,
a
n
d
J
.
I
q
b
a
l
,
“
T
o
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rd
s
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m
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In
n
o
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o
d
S
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e
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h
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v
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5
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1
.
[3
]
J
.
Iq
b
a
l
,
Z.
H
.
Kh
a
n
,
a
n
d
A
.
Kh
a
li
d
,
“
P
r
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sp
e
c
t
s
o
f
ro
b
o
t
ics
in
f
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o
d
in
d
u
stry
,
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o
d
S
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T
e
c
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l
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p
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1
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6
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8
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1
4
6
1
6
.
[4
]
J
.
Iq
b
a
l,
M.
R
.
U
I
Isla
m
,
S
.
Z
.
A
b
b
a
s,
A
.
A
.
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a
n
a
n
d
S
.
A
.
A
j
w
a
d
,
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A
u
to
m
a
ti
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g
in
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u
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h
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tro
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s
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A
re
v
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w
o
f
ro
b
o
ti
c
s
in
in
d
u
str
ial
p
e
rsp
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c
ti
v
e
,
”
T
e
h
n
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i
v
jes
n
ik
v
o
l.
2
3
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o
.
3
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-
2
0
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2
4
2
2
0
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0
1
.
[5
]
A
.
M
.
T
a
h
ir,
J
.
Iq
b
a
l,
T
.
A
ize
d
,
“
Hu
m
a
n
m
a
c
h
in
e
in
terf
a
c
e
:
ro
b
o
ti
z
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g
th
e
in
sti
n
c
ti
v
e
li
v
in
g
,
”
In
ter
n
a
ti
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n
a
l
Ro
b
o
ti
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s
&
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to
ma
ti
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n
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l.
v
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4
,
p
p
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3
0
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0
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8
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0
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4
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6
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ra
tj
.
2
0
1
8
.
0
4
.
0
0
1
4
2
.
[6
]
F.
Ca
p
e
z
io
,
e
t
a
l
,
“
M
o
b
il
e
Ro
b
o
t
s
in
Ho
s
p
it
a
l
E
n
v
iro
n
m
e
n
ts:
a
n
I
n
sta
ll
a
ti
o
n
Ca
se
S
tu
d
y
,
”
ECM
R
.
p
p
.
1
-
7
.
2
0
1
1
.
d
o
i:
h
tt
p
:/
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s/p
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rs/ECM
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0
0
3
8
[7
]
M
.
Z
u
k
o
w
sk
i,
e
t
a
l
.
,
“
Hu
m
a
n
o
id
m
e
d
ica
l
a
ss
istan
t
a
n
d
c
o
m
p
a
n
io
n
r
o
b
o
t
f
o
r
p
a
ti
e
n
ts,”
AIP
C
o
n
fer
e
n
c
e
Pro
c
e
e
d
in
g
s
,
2
0
2
9
,
0
2
0
0
8
6
.
2
0
1
8
,
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i:
1
0
.
1
0
6
3
/
1
.
5
0
6
6
5
4
8
.
[8
]
N
.
Ch
iv
a
ro
v
,
D
.
Ch
ik
u
rtev
,
K
.
Yo
v
c
h
e
v
,
a
n
d
S
.
S
h
iv
a
ro
v
,
“
Co
s
t
-
Orie
n
ted
M
o
b
i
le
Ro
b
o
t
A
ss
istan
t
f
o
r
d
isa
b
le
d
Ca
re
,
”
IFA
C
-
Pa
p
e
rs
On
L
i
n
e
.
v
o
l.
4
8
,
n
o
.
2
4
,
p
p
.
1
2
8
-
1
3
3
,
2
0
1
5
,
d
o
i
:
1
0
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1
6
/j
.
if
a
c
o
l.
2
0
1
5
.
1
2
.
0
6
9
.
[9
]
M
.
S
h
is
h
e
h
g
a
r
,
D
.
Ke
rr
,
a
n
d
J
.
Bl
a
k
e
,
“
A
s
y
ste
m
a
ti
c
re
v
ie
w
o
f
re
se
a
rc
h
in
to
h
o
w
ro
b
o
ti
c
te
c
h
n
o
lo
g
y
c
a
n
h
e
lp
El
d
e
r
p
e
o
p
le,”
S
ma
rt He
a
lt
h
.
p
p
.
1
-
1
8
,
2
0
1
8
,
d
o
i
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0
.
1
0
1
6
/J.
S
M
HL
.
2
0
1
8
.
0
3
.
0
0
2
.
[1
0
]
R.
Bo
g
u
e
,
“
Eu
r
o
p
e
lea
d
s
th
e
w
a
y
in
a
ss
isti
v
e
ro
b
o
ts
f
o
r
t
h
e
e
l
d
e
rly
,
”
In
d
u
stri
a
l
Ro
b
o
t:
t
h
e
i
n
ter
n
a
ti
o
n
a
l
jo
u
rn
a
l
o
f
ro
b
o
t
ics
re
se
a
rc
h
a
n
d
a
p
p
li
c
a
ti
o
n
,
v
o
l.
4
4
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o
.
3
,
p
p
.
2
5
3
-
2
5
8
,
2
0
1
7
,
d
o
i
:
1
0
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1
1
0
8
/IR
-
02
-
2
0
1
7
-
0
0
4
1
.
[1
1
]
A.
A
.
A
ll
a
b
a
n
,
M.
W
a
n
g
,
a
n
d
T
.
P
a
d
ır,
“
A
S
y
st
e
m
a
ti
c
Re
v
ie
w
o
f
Ro
b
o
ti
c
s
Re
se
a
rc
h
in
S
u
p
p
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rt
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f
In
-
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e
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r
e
f
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r
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r
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d
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lt
s,”
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f
o
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ti
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n
,
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l.
1
1
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o
.
7
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,
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0
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0
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1
0
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3
3
9
0
/
in
f
o
1
1
0
2
0
0
7
5
.
[1
2
]
A
.
H
.
Ba
so
ri,
“
En
d
-
e
f
fe
c
to
r
w
h
e
e
led
ro
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o
ti
c
a
rm
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a
m
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p
ro
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ty
p
e
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p
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im
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c
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ti
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n
tr
o
l
i
n
h
o
m
e
-
b
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se
d
th
e
ra
p
y
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
ti
o
n
Co
m
p
u
t
in
g
E
lec
tro
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ics
a
n
d
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l
,
v
o
l
.
1
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o
.
4
,
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p
.
2
0
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0
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0
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0
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1
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8
/
telk
o
m
n
ik
a
.
v
1
8
i4
.
3
7
7
5
.
[1
3
]
M
.
Ily
a
s
,
A
.
Kh
a
q
a
n
,
J
.
Iq
b
a
l
,
a
n
d
R
.
A
.
Riaz
,
“
Re
g
u
latio
n
o
f
h
y
p
n
o
sis
in
P
ro
p
o
f
o
l
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n
e
sth
e
sia
a
d
m
i
n
istratio
n
b
a
se
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o
n
n
o
n
-
l
in
e
a
r
c
o
n
tr
o
l
stra
teg
y
,
”
Bra
z
J
An
e
sth
e
si
o
l
,
v
o
l.
6
7
,
n
o
.
2
,
p
p
.
1
2
2
-
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3
0
,
2
0
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7
,
d
o
i:
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1
0
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6
/
j.
b
ja
n
e
.
2
0
1
5
.
0
8
.
0
1
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
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N:
2502
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4752
Th
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1387
[1
4
]
M
.
Ily
a
s,
J.
Iq
b
a
l,
S
.
A
h
m
a
d
,
A
.
A
rsh
a
d
,
W
.
A
.
I
m
ti
a
z
,
a
n
d
R.
A
.
Riaz
,
"
H
y
p
n
o
sis
re
g
u
latio
n
in
p
r
o
p
o
f
o
l
a
n
e
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e
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m
p
lo
y
in
g
su
p
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-
tw
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n
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slid
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o
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e
c
o
n
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to
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o
m
p
e
n
sa
te
v
a
riab
il
it
y
d
y
n
a
m
ics
,
"
IET
S
y
st.
Bi
o
l.
,
Oc
t.
2
0
1
9
,
doi
:
1
0
.
1
0
4
9
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-
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b
.
2
0
1
8
.
5
0
8
0
.
[1
5
]
W
.
A
la
m
,
N.
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li
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.
[1
6
]
J
.
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.
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h
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.
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[1
7
]
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G
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T
sa
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ra
k
is
,
D.
G
.
Ca
ld
w
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ll
,
“
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m
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d
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p
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ra
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o
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ti
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sy
ste
m
,
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e
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o
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4
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0
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0
8
.
[1
8
]
J.
Iq
b
a
l
,
N.
G
.
T
sa
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r
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k
is
,
D.
G
.
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ld
w
e
ll
,
"
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h
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lp
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g
h
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n
d
:
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li
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g
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t,
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o
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5
1
.
[1
9
]
J.
Iq
b
a
l
,
N.
G
.
Tsa
g
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ra
k
i
s
,
D.
G
.
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ld
w
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ll
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if
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re
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tro
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L
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0
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5
0
.
[2
0
]
K.
Na
v
e
e
d
,
J.
I
q
b
a
l,
a
n
d
H.
U.
R
a
h
m
a
n
,
“
Bra
in
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o
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t
ro
ll
e
d
h
u
m
a
n
ro
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o
t
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n
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c
e
,
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IEE
E
In
ter
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ti
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l
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fer
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e
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s
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5
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2
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.
[2
1
]
L
.
S
h
i,
Y
.
Yu
,
N
.
X
iao
,
a
n
d
D
.
G
a
n
,
"
Bio
lo
g
ica
ll
y
In
sp
ired
a
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d
Re
h
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tatio
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Ro
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s
,
"
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5
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4
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0
7
.
[2
2
]
A
.
C
.
Lo
,
L
.
Rich
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r
d
s
,
P
.
D.
G
u
a
rin
o
,
a
n
d
J
.
Ha
se
lk
o
rn
,
“
Ro
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ir
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t
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f
ter
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Ne
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a
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3
4
1
.
[2
3
]
P.
Zh
a
o
,
B.
Zi
,
A.
P
u
rw
a
r,
a
n
d
N.
An
,
“
E
d
it
o
r
ial:
S
p
e
c
ial
issu
e
o
n
re
h
a
b
il
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ti
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s,
d
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s
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o
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,
”
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.
En
g
.
S
c
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M
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1
1
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.
4
0
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3
2
5
.
[2
4
]
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.
E
.
Zan
t,
N
.
Kle
m
e
n
t,
B
.
Be
tt
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e
b
,
M
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.
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n
d
V
.
Ha
v
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rd
,
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UV
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sy
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sig
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d
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m
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t,
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2
5
è
me
c
o
ll
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q
u
e
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s S
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ti
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t
d
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o
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ti
o
n
,
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d
a
p
e
st,
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n
g
a
ry
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h
a
l
-
0
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0
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3
3
2
0
,
2
0
1
8
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o
i
:
h
t
tp
s://
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.
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r/h
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-
0
2
0
5
3
3
2
0
[2
5
]
S.
Ba
las
u
b
ra
m
a
n
ian
,
“
T
h
e
e
ra
o
f
ro
b
o
ti
c
s:
De
x
terit
y
f
o
r
su
rg
e
r
y
a
n
d
m
e
d
ica
l
c
a
re
:
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a
rra
ti
v
e
r
e
v
ie
w
,
”
In
ter
n
a
ti
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a
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rg
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ry
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o
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o
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4
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2
9
0
2
.
isj2
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0
1
0
5
7
.
[2
6
]
A
.
A
.
S
y
e
d
,
A
.
M
.
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o
o
m
ro
,
A
.
N
.
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iza
r,
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.
-
G.
Du
a
n
,
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.
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n
g
,
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.
M
a
n
z
o
o
r
,
“
T
e
le
-
Ro
b
o
ti
c
A
ss
isted
De
n
tal
Im
p
lan
t
S
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rg
e
r
y
w
it
h
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irt
u
a
l
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o
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e
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e
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d
b
a
c
k
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
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o
n
Co
mp
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ti
n
g
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tro
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lk
o
m
n
ik
a
.
v
1
2
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.
3
1
2
4
.
[2
7
]
L.
Ba
i
,
J.
Ya
n
g
,
X.
Ch
e
n
,
Y.
S
u
n
,
a
n
d
X.
L
i,
“
M
e
d
ica
l
Ro
b
o
ti
c
s
i
n
Bo
n
e
F
ra
c
tu
re
Re
d
u
c
ti
o
n
S
u
rg
e
ry
:
A
Re
v
i
e
w
,
”
S
e
n
so
rs
(
Ba
se
l,
S
wi
tze
rla
n
d
)
,
v
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l.
1
9
,
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o
.
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9
3
,
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p
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9
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o
i
:
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0
.
3
3
9
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/s1
9
1
6
3
5
9
3
.
[2
8
]
R.
S
.
P
re
ss
m
a
n
,
“
S
o
f
twa
re
En
g
in
e
e
rin
g
:
A
P
ra
c
ti
ti
o
n
e
r'
s A
p
p
ro
a
c
h
,
”
Ne
w
Y
o
rk
:
M
c
Gr
a
w
-
Hill
,
2
0
0
1
.
[2
9
]
R.
L
ik
e
rt,
"
A
T
e
c
h
n
iq
u
e
f
o
r
th
e
M
e
a
su
re
m
e
n
t
o
f
A
tt
it
u
d
e
s,"
Arc
h
ive
s o
f
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c
h
o
lo
g
y
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v
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l
.
1
4
0
,
p
p
.
1
-
55,
1
9
3
2
.
[3
0
]
A
.
B
.
D
.
Na
n
d
iy
a
n
to
,
R
.
Zae
n
,
R
.
Ok
ti
a
n
i,
A
.
G
.
A
b
d
u
ll
a
h
,
a
n
d
L
.
S
.
Riza
,
“
A
si
m
p
le,
ra
p
id
a
n
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ly
sis
,
p
o
r
tab
le,
l
o
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c
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a
n
d
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rd
u
in
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-
b
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se
d
sp
e
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tro
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h
o
t
o
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ter
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h
w
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it
e
L
ED
a
s
a
li
g
h
t
so
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rc
e
f
o
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n
a
ly
z
in
g
so
lu
ti
o
n
c
o
n
c
e
n
tratio
n
,
”
T
EL
KOM
NIKA
T
e
lec
o
mm
u
n
ica
t
io
n
Co
m
p
u
t
in
g
El
e
c
tro
n
ics
a
n
d
Co
n
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ro
l
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l.
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o
.
2
,
p
p
.
5
8
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,
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1
8
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0
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1
2
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2
8
/t
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lk
o
m
n
ik
a
.
v
1
6
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.
7
1
5
9
.
[3
1
]
H.
M
u
h
a
m
m
a
d
As
ra
f
,
K.
A
.
N
u
r
Da
li
la,
A
.
W
.
M
u
h
a
m
m
a
d
Ha
k
i
m
a
n
d
R.
H.
M
u
h
a
m
m
a
d
F
a
izz
u
a
n
Ho
n
,
“
De
v
e
lo
p
m
e
n
t
o
f
E
x
p
e
ri
m
e
n
tal
S
im
u
lato
r
v
ia
A
rd
u
in
o
-
b
a
se
d
P
ID
T
e
m
p
e
r
a
tu
r
e
Co
n
tro
l
S
y
ste
m
u
sin
g
L
a
b
V
IEW
,
”
J
.
T
e
lec
o
mm
u
n
.
El
e
c
tro
n
.
Co
mp
u
t.
En
g
.
v
o
l
.
9
,
p
p
.
5
3
-
5
7
.
2
0
1
7
.
d
o
i:
h
tt
p
s://
c
o
re
.
a
c
.
u
k
/rea
d
e
r/2
2
9
2
7
5
4
1
0
[3
2
]
Jid
in
A
.
Z,
Yu
so
f
N.
M
,
S
u
ti
k
n
o
T
,
“
A
rd
u
in
o
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Evaluation Warning : The document was created with Spire.PDF for Python.