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Dai
[
1
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p
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2
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3
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4
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lt
s
s
h
o
w
ed
t
h
at
th
e
d
ev
ice
at
tain
s
tr
aj
ec
to
r
ies
o
f
p
r
e
-
p
r
o
g
r
a
m
m
ed
w
it
h
p
r
ec
is
io
n
o
f
p
o
s
itio
n
f
o
r
th
a
n
30
,
as
a
p
p
r
o
ac
h
o
f
im
a
g
e
in
d
icate
d
th
at
th
e
d
is
tu
r
b
an
ce
s
o
f
m
o
tio
n
u
p
to
1
.
2
5
m
m
s
-
1
.
T
h
is
m
et
h
o
d
d
is
p
la
y
s
a
n
ec
ess
ar
y
alter
n
at
iv
e
to
cu
r
r
en
t,
d
ec
r
ea
s
in
g
t
i
m
e
o
f
tis
s
u
e
a
s
s
e
s
s
m
en
t.
Far
ia
et
a
l.
[
6
]
in
tr
o
d
u
ce
d
an
id
ea
o
f
s
ter
eo
tax
y
an
d
r
ep
r
esen
t
a
n
eu
r
o
s
u
r
g
er
y
o
f
s
tan
d
ar
d
s
ter
eo
tactic.
E
x
p
ec
tatio
n
s
o
f
n
eu
r
o
s
u
r
g
er
y
r
elati
n
g
t
h
e
f
u
n
ct
io
n
o
f
r
o
b
o
ts
as
to
o
ls
o
f
ass
i
s
tiv
e
ar
e
ad
d
r
ess
ed
.
T
h
ey
i
m
p
r
o
v
ed
a
s
y
s
te
m
o
f
r
o
b
o
tic
to
ex
ec
u
te
a
n
e
u
r
o
s
u
r
g
er
y
o
f
s
ter
eo
tactic.
E
x
ce
l
o
f
r
o
b
o
ts
at
in
f
o
r
m
atio
n
o
f
h
a
n
d
li
n
g
s
p
atial
a
n
d
ar
e
c
lear
n
o
m
i
n
ee
s
i
n
t
h
e
d
ir
ec
tin
g
o
f
tr
aj
ec
to
r
ies.
A
s
y
s
te
m
w
it
h
r
o
b
o
tic
p
er
m
it
w
o
r
k
f
lo
w
o
f
s
tr
u
ct
u
r
e
in
s
p
ite
th
e
d
if
f
er
en
ce
i
n
tec
h
n
iq
u
e.
Faess
ler
et
a
l.
[
7
]
p
r
esen
ted
a
co
n
tr
o
ller
f
o
r
a
b
o
d
y
-
r
ate
a
n
d
an
iter
ati
v
e
s
ch
e
m
f
o
r
t
h
r
u
s
t
-
m
i
x
in
g
a
n
d
th
at
i
m
p
r
o
v
e
t
h
e
p
er
f
o
r
m
an
ce
th
e
tr
aj
ec
to
r
y
-
tr
ac
k
in
g
w
it
h
o
u
t
n
ee
d
i
n
g
lear
n
i
n
g
an
d
d
ec
r
ea
s
e
th
e
er
r
o
r
o
f
y
a
w
co
n
tr
o
l
f
o
r
r
o
b
o
tic.
T
h
ey
ap
p
lied
alg
o
r
it
h
m
w
it
h
s
atu
r
at
io
n
o
f
m
o
to
r
b
y
p
r
io
r
itizi
n
g
co
n
tr
o
l
in
p
u
t
b
y
L
QR
m
et
h
o
d
f
o
r
tr
aj
ec
to
r
y
tr
ac
k
in
g
an
d
s
tab
iliz
in
g
.
T
h
e
m
et
h
o
d
o
f
L
QR
f
o
r
d
y
n
a
m
ic
o
f
m
o
to
r
an
d
b
o
d
y
-
r
ate
to
d
ec
r
ea
s
e
th
e
er
r
o
r
o
f
t
h
e
o
v
er
all
tr
aj
ec
to
r
y
-
tr
ac
k
i
n
g
.
T
h
e
y
i
m
p
r
o
v
ed
th
e
r
o
b
u
s
t
n
ess
,
s
tab
i
lit
y
o
f
s
a
tu
r
atio
n
f
o
r
m
o
to
r
,
y
a
w
co
n
tr
o
l,
an
d
tr
aj
ec
to
r
y
tr
ac
k
in
g
.
L
ee
a
n
d
J
u
n
g
[
8
]
p
o
p
o
s
ed
a
r
ec
u
r
s
iv
e
least
s
q
u
ar
e
to
o
b
s
o
r
v
t
h
e
d
is
ta
n
ce
o
f
m
o
d
el
th
a
t
is
s
ec
o
n
d
o
r
d
er
th
e
f
ilter
in
g
o
f
in
p
u
t
-
o
u
t
p
u
t.
T
h
e
o
b
s
er
v
er
o
f
d
is
tu
r
b
an
ce
h
as
b
ee
n
a
m
et
h
o
d
o
f
r
o
b
u
s
t
co
n
tr
o
l
to
r
ej
ec
t
th
e
n
o
is
es.
T
h
e
tec
h
n
iq
u
e
to
d
esig
n
Q
f
il
ter
s
i
s
i
m
p
o
r
ta
n
t
f
o
r
o
b
s
er
v
er
o
f
d
i
s
t
u
r
b
an
ce
to
co
m
p
en
s
a
te
t
h
e
in
v
er
s
e
m
o
d
el
i
m
p
r
o
p
er
n
es
s
f
o
r
th
e
p
lan
t.
T
h
e
s
t
u
d
ies
o
f
e
x
p
er
im
e
n
t
th
e
p
er
f
o
r
m
a
n
ce
o
f
b
alan
cin
g
co
n
tr
o
l
o
f
r
o
b
o
t a
r
e
v
er
y
s
u
i
tab
le
an
d
ac
cu
r
ac
y
.
I
n
cr
e
m
o
n
a
et
a
l.
[
9
]
p
r
o
p
o
s
e
d
ap
p
r
o
ac
h
o
f
co
m
p
ass
ab
le
a
n
d
m
o
d
u
lar
d
e
p
en
d
in
g
o
n
f
e
atu
r
in
g
o
f
b
asic
m
o
d
u
le
s
in
v
o
lv
in
g
a
co
u
p
le
o
f
h
y
b
r
id
f
o
r
ce
/p
o
s
itio
n
co
n
tr
o
l
an
d
s
u
p
er
v
is
o
r
co
r
r
elate
d
w
it
h
m
an
ip
u
lato
r
s
o
f
r
o
b
o
tic.
T
h
e
co
n
tr
o
ller
s
o
f
f
o
r
ce
an
d
p
o
s
it
io
n
ar
e
t
y
p
e
o
f
s
u
p
er
v
is
o
r
y
s
lid
in
g
m
o
d
e
to
b
e
co
m
f
o
r
tab
le
f
o
r
tr
ac
k
in
g
o
f
t
r
aj
ec
to
r
y
i
n
e
x
is
ten
ce
t
h
e
e
x
ter
n
al
d
is
t
u
r
b
an
ce
s
a
n
d
m
o
d
elin
g
u
n
ce
r
tai
n
ties
.
C
iu
llo
et
a
l.
[
1
0
]
p
r
esen
ted
r
esu
lt
s
o
f
p
r
eli
m
i
n
ar
y
w
it
h
r
eg
a
r
d
to
s
y
s
te
m
o
f
s
u
p
er
n
u
m
er
ar
y
h
an
d
.
T
h
e
s
y
s
te
m
in
cl
u
d
es
r
o
b
o
tic
o
f
ac
tiv
e
s
o
f
t
h
an
d
an
d
m
ec
h
a
n
is
m
o
f
g
r
av
it
y
co
m
p
en
s
at
io
n
.
T
h
e
p
r
o
b
lem
o
f
th
i
s
d
esig
n
is
to
p
lace
th
e
ar
m
o
f
r
o
b
o
tic
b
ec
au
s
e
o
f
e
f
f
ec
ts
o
f
d
y
n
a
m
ics
an
d
k
i
n
e
m
atic
s
.
T
h
e
r
esu
l
ts
o
f
ex
p
er
i
m
en
ta
l
an
d
an
al
y
tical
r
ec
o
g
n
ize
th
e
p
o
s
iti
o
n
s
as
n
ea
r
est to
h
a
n
d
o
f
h
u
m
an
.
P
en
g
et
a
l.
[
1
1
]
p
r
esen
ted
th
e
ar
t
s
tate
f
o
r
d
an
ci
n
g
r
o
b
o
ts
.
T
h
is
w
o
r
k
h
a
s
i
m
p
o
r
tan
ce
to
r
o
b
o
tics
an
d
h
u
m
a
n
s
.
Dan
ce
o
f
r
o
b
o
tic
is
s
o
r
ted
to
f
o
u
r
p
ar
ts
:
r
o
b
o
tics
ch
o
r
eo
g
r
ap
h
y
cr
ea
tio
n
,
m
u
s
ic
w
i
th
s
y
n
c
h
r
o
n
izatio
n
,
r
o
b
o
t
d
an
ce
f
o
r
co
o
p
e
r
ativ
e
h
u
m
a
n
a
n
d
m
o
tio
n
s
f
o
r
h
u
m
an
d
an
cin
g
.
W
an
g
et
a
l.
[
1
2
]
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
o
f
p
r
ec
is
io
n
-
a
w
ar
e
d
i
f
f
u
s
io
n
b
y
u
s
i
n
g
s
e
n
s
o
r
s
o
f
aq
u
a
tic
m
o
b
i
le
s
u
c
h
as
r
o
b
o
tic
f
is
h
.
I
n
t
h
i
s
d
esig
n
,
t
h
e
s
e
n
s
o
r
s
o
f
r
o
b
o
tics
co
llab
o
r
ativ
el
y
p
r
o
f
ile
t
h
e
p
r
o
p
er
ties
o
f
p
r
o
ce
s
s
t
h
e
d
if
f
u
s
io
n
i
n
v
o
l
v
i
n
g
a
m
o
u
n
t
o
f
d
i
s
ch
ar
g
e
s
u
b
s
ta
n
ce
a
n
d
lo
ca
tio
n
o
f
s
o
u
r
ce
.
T
h
e
y
i
n
f
o
r
m
u
late
t
h
e
ac
cu
r
ac
y
o
f
p
r
o
f
il
in
g
o
f
r
o
b
o
tic
an
d
p
r
o
b
le
m
m
o
v
e
m
e
n
ts
s
c
h
ed
u
l
in
g
th
a
t
g
o
als
to
g
et
th
e
ac
cu
r
ac
y
o
f
p
r
o
f
ilin
g
at
m
a
x
i
m
u
m
to
m
a
k
e
th
e
s
en
s
o
r
en
er
g
y
an
d
m
o
b
il
it
y
.
T
h
e
r
es
u
lt
s
d
is
p
la
y
t
h
at
t
h
eir
m
et
h
o
d
ca
n
p
r
ec
is
el
y
th
e
p
r
o
ce
s
s
e
s
o
f
p
r
o
f
i
le
d
y
n
a
m
ic
d
i
f
f
u
s
io
n
w
i
th
b
u
d
g
ets o
f
tig
h
t e
n
er
g
y
.
Selv
a
g
g
io
et
a
l.
[
1
3
]
p
r
o
p
o
s
ed
a
tech
n
iq
u
e
to
u
s
e
th
e
a
s
s
is
ta
n
ce
o
f
v
ir
t
u
al
f
ix
tu
r
es
i
n
tas
k
s
o
f
in
v
a
s
i
v
e
r
o
b
o
tics
in
s
u
r
g
er
y
d
ep
ar
tm
e
n
ts
.
A
d
ap
tatio
n
s
o
f
g
eo
m
etr
y
a
n
d
p
o
s
e
o
f
th
e
v
ir
tu
al
f
i
x
t
u
r
es
ar
e
ex
a
m
in
ed
.
B
o
th
p
ar
am
eter
s
o
f
th
e
co
n
s
tr
ain
t
en
f
o
r
ce
m
en
ts
an
d
g
eo
m
etr
y
o
f
v
ir
tu
a
l
f
i
x
t
u
r
es
m
u
s
t
b
e
ad
ap
ted
.
T
h
is
tech
n
iq
u
e
i
s
s
u
b
s
tan
tiate
d
th
r
o
u
g
h
ex
p
er
i
m
en
ts
t
h
e
k
it
o
f
th
e
d
a
Vi
n
ici
R
e
s
ea
r
ch
.
R
o
d
r
´
ı
g
u
ez
et
a
l.
[
1
4
]
p
r
o
p
o
s
ed
an
d
s
u
b
m
itted
t
w
o
p
lan
s
to
d
ec
r
ea
s
e
ti
m
es
o
f
r
esear
ch
.
T
h
e
y
c
h
ec
k
ed
o
f
f
e
asib
ilit
y
o
f
p
la
n
o
f
ass
e
m
b
l
y
f
o
r
r
o
b
o
tic
s
y
s
te
m
a
n
d
th
i
s
w
ill
ca
r
r
y
o
u
t
t
h
e
p
la
n
t
f
o
r
th
e
s
y
s
te
m
.
T
h
e
ex
ec
u
tio
n
f
ea
s
ib
ilit
y
n
ee
d
s
th
e
s
y
s
te
m
s
i
m
u
latio
n
to
m
a
k
e
t
h
e
s
y
s
te
m
d
ec
eler
ate
to
e
x
ec
u
te
th
e
s
y
s
te
m
.
T
h
e
er
r
o
r
s
in
th
e
s
y
s
te
m
ar
e
s
p
r
ea
d
as r
u
les o
f
s
y
m
b
o
lic
to
cu
t b
ac
k
t
h
e
s
ea
r
ch
tr
ee
.
Ki
m
b
le
et
a
l.
[
1
5
]
p
r
esen
ted
a
g
r
o
u
p
o
f
m
a
tr
ices,
m
et
h
o
d
s
o
f
test
,
an
d
ar
tif
icia
l
o
f
ass
o
cia
ted
to
ai
d
ad
v
an
ce
th
e
d
ep
lo
y
m
e
n
t
a
n
d
i
m
p
r
o
v
e
m
e
n
t
o
f
as
s
e
m
b
l
y
o
f
r
o
b
o
tic
s
y
s
te
m
.
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1
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Xia
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l.
[
1
7
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d
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1
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1
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2
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2
3
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p
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r
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o
tic
ca
p
s
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la
en
d
o
s
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p
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o
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o
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co
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ies
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as
s
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e
p
er
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m
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x
v
i
v
o
an
d
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n
v
iv
o
.
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h
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y
d
esig
n
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n
cl
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d
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v
e
o
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b
le
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to
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th
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s
o
f
a
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ea
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as
m
o
m
o
en
t
s
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d
ec
r
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T
h
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u
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t
w
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tr
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s
f
o
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m
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to
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m
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ab
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t
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en
t
s
p
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2
-
DOF
in
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o
tic.
T
h
e
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esu
l
ts
en
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th
e
f
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ac
k
co
n
tr
o
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w
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h
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o
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h
m
s
o
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m
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ir
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m
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t o
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.
Desai
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l.
[
2
4
]
p
r
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iq
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p
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T
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m
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e
s
o
lu
tio
n
o
f
k
i
n
e
m
atics
if
it
is
in
v
er
s
e
i
n
m
an
ip
u
lato
r
o
f
p
u
m
a
r
o
b
o
t
w
il
l
b
e
in
n
e
x
t
eq
u
a
tio
n
.
T
h
e
p
ar
am
e
ter
s
o
f
t
w
elv
e,
t
h
at
d
escr
ib
e
th
e
e
n
d
ef
f
ec
to
r
f
o
r
o
r
ien
tatio
n
a
n
d
p
o
s
itio
n
o
f
in
(
6
)
.
[
]
(
6
)
Su
c
h
as
m
e
n
tio
n
ed
ea
r
lier
in
th
i
s
p
ap
er
,
th
e
s
o
lu
tio
n
m
et
h
o
d
s
iter
ativ
e
o
f
tr
ad
itio
n
al
in
v
er
s
e
k
in
e
m
at
ics,
al
g
eb
r
aic
a
n
d
g
eo
m
etr
ic,
ar
e
i
n
s
u
f
f
icien
t
i
f
t
h
e
d
s
ig
n
o
f
m
a
n
ip
u
lato
r
‟
s
j
o
in
t
i
s
i
n
tr
icate
.
Ne
u
r
al
n
et
w
o
r
k
w
i
th
t
h
is
m
et
h
o
d
m
a
k
es
i
t
v
er
y
s
u
cc
e
s
s
f
u
ll
y
to
ca
l
cu
late
t
h
e
s
o
lu
tio
n
o
f
k
i
n
e
m
at
ics
i
f
it
is
i
n
v
er
s
e.
T
h
e
p
ar
am
eter
s
o
f
m
o
d
els o
f
t
h
e
Den
at
v
it
-
He
n
atr
b
er
g
u
tili
ze
d
to
f
in
d
th
e
s
o
l
u
tio
n
.
T
h
e
en
d
ef
f
ec
to
r
s
o
f
o
r
ie
n
tati
o
n
an
d
p
o
s
itio
n
f
r
o
m
b
asic
tr
i
g
o
n
o
m
e
tr
y
ca
n
b
e
r
e
w
r
itte
n
i
n
ter
m
s
o
f
th
e
co
o
r
d
in
ate‟
s
ax
e
s
f
o
r
j
o
i
n
ts
i
n
t
h
e
f
o
llo
w
in
g
p
atter
n
.
T
h
e
an
g
le
s
o
f
li
n
k
h
a
v
e
b
ee
n
s
ca
led
i
n
co
u
n
ter
clo
ck
w
is
e
an
d
t
h
e
j
o
in
t
lo
n
g
i
tu
d
es
ar
e
s
u
p
p
o
s
ed
to
b
e
p
o
s
itiv
e
g
i
v
i
n
g
f
r
o
m
o
n
e
j
o
in
t
a
x
is
to
t
h
e
p
r
o
m
p
tl
y
d
is
tal
j
o
in
t
ax
is
.
I
n
(
7
)
is
s
av
in
g
s
o
f
t
h
r
ee
eq
u
atio
n
s
th
a
t
d
ep
ict
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
j
o
in
t
co
o
r
d
in
ates
an
d
ef
f
ec
to
r
s
co
o
r
d
in
ates
en
d
.
No
t
ice
th
at
w
e
h
av
e
e
v
id
en
t
eq
u
a
tio
n
s
o
f
t
h
e
e
n
d
-
e
f
f
ec
to
r
s
f
o
r
co
o
r
d
in
ates
ax
es
i
n
ter
m
s
o
f
li
n
k
co
o
r
d
in
ates
a
x
es
.
w
h
ile,
to
f
i
n
d
t
h
e
li
n
k
co
o
r
d
in
ates
a
x
e
s
f
o
r
a
g
i
v
e
n
g
r
o
u
p
o
f
e
n
d
-
e
f
f
ec
to
r
s
f
o
r
co
o
r
d
in
ates
ax
es
(
)
,
o
n
e
r
eq
u
ir
es
to
f
in
d
t
h
e
s
o
lu
t
io
n
o
f
t
h
i
s
p
r
o
b
lem
w
it
h
eq
u
atio
n
s
i
f
th
e
y
ar
e
n
o
n
li
n
ea
r
eq
u
atio
n
s
f
o
r
)
.
T
h
e
m
a
n
ip
u
lato
r
o
f
p
la
n
n
er
R
-
P
f
o
r
k
in
e
m
atic
s
o
f
i
s
s
i
m
p
l
e
to
s
u
b
ed
it.
T
h
e
ax
es
o
f
e
n
d
-
e
f
f
ec
to
r
ar
e
clea
r
l
y
g
iv
e
n
i
n
ter
m
s
o
f
co
o
r
d
in
ates
a
x
es
f
o
r
th
e
j
o
in
t.
w
h
il
e,
b
ec
au
s
e
th
e
eq
u
at
io
n
s
ar
e
ea
s
ier
i
n
(
7
)
,
it
is
clea
r
th
e
a
lg
eb
r
a
i
n
c
lu
d
ed
in
s
o
lv
i
n
g
t
h
e
ax
e
s
f
o
r
th
e
j
o
in
t
i
n
ter
m
s
co
o
r
d
in
ates
ax
es
f
o
r
th
e
en
d
ef
f
ec
to
r
to
b
e
s
im
p
ler
.
No
tice
th
at
in
d
is
p
ar
it
y
to
(
7
)
,
n
o
w
th
er
e
ar
e
o
n
l
y
t
w
o
j
o
in
t
ax
es
in
th
r
ee
eq
u
atio
n
,
.
C
o
n
s
eq
u
en
tl
y
,
in
g
e
n
er
al,
th
e
s
o
lu
tio
n
f
o
r
ax
es
o
f
th
e
j
o
in
t
c
a
n
‟
t
f
i
n
d
it
f
o
r
a
q
u
alitativ
e
s
et
o
f
ax
e
s
o
f
en
d
ef
f
ec
to
r
.
T
h
e
ax
es
o
f
th
e
en
d
ef
f
ec
to
r
to
o
l
p
o
in
t
o
r
tr
aj
ec
to
r
y
s
et
p
o
in
o
f
th
e
en
d
e
f
f
ec
to
r
d
ep
ict
b
y
(
x
,
y
)
b
y
t
w
o
eq
u
atio
n
s
.
No
tice
th
at
t
h
e
li
m
ited
to
v
a
lu
es
to
b
e
p
o
s
iti
v
e.
A
v
al
u
es
o
f
to
b
e
n
e
g
ativ
e
m
a
y
p
h
y
s
i
ca
l
l
y
co
m
p
leted
p
er
m
itti
n
g
t
h
e
tr
aj
ec
to
r
y
a
t
en
d
e
f
f
ec
to
r
p
o
in
t
to
p
ass
t
h
e
s
y
s
te
m
th
r
o
u
g
h
t
h
e
a
x
es
o
f
co
o
r
d
in
ate
x
-
y
o
v
er
to
an
o
t
h
er
q
u
ad
r
an
t.
I
f
w
e
b
ec
o
m
e
s
h
o
ter
to
th
e
r
an
g
e
v
alu
e
0
<
<2
,
th
er
e
is
a
s
i
n
g
le
v
alu
e
o
f
th
at
i
s
p
r
o
p
o
r
tio
n
ate
w
it
h
t
h
e
g
i
v
en
(
x
,
y
)
a
n
d
th
e
ca
lc
u
l
ated
.
T
h
e
p
r
esen
t
o
f
m
u
lti
p
le
s
o
lu
tio
n
s
i
s
ex
a
m
p
lar
y
w
h
en
w
e
s
o
lv
e
n
o
n
li
n
ea
r
eq
u
atio
n
s
.
T
h
e
eq
u
ati
o
n
s
f
o
r
k
in
e
m
at
ic
an
al
y
s
is
ar
e
d
ir
ec
t
an
d
in
v
er
s
e
k
in
e
m
t
ics
f
o
r
P
UM
A
r
o
b
o
tics
.
A
n
d
ca
lcu
la
tin
g
th
e
C
ar
t
esian
ax
e
s
,
.
T
h
e
j
o
in
t
p
o
s
itio
n
s
o
r
co
o
r
d
in
ates
ar
e
th
e
le
n
g
th
s
o
f
t
h
e
t
h
r
ee
telesco
p
ein
g
l
in
k
(
)
an
d
th
e
e
n
d
e
f
f
ec
to
r
s
co
o
r
d
in
ates
(
)
.
T
h
e
an
al
y
s
i
s
o
f
a
p
lan
ar
3
-
R
m
a
n
ip
u
lato
r
in
in
v
er
s
e
k
in
e
m
atic
s
f
o
r
s
h
o
w
s
to
b
e
d
if
f
icu
lt.
Ho
w
ev
er
,
w
e
f
i
n
d
th
e
s
o
l
u
tio
n
s
o
f
a
n
al
y
t
ic.
T
h
e
d
ir
ec
t k
in
e
m
atic
s
ar
e
as sh
o
w
n
i
n
(
7
)
.
[
(
)
√
]
(
7
)
W
h
er
e
,
(
[
√
√
]
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
R
ec
u
r
s
ive
lea
s
t sq
u
a
r
e
a
n
d
co
n
tr
o
l fo
r
P
UMA
r
o
b
o
tics
(
La
ft
a
E
.
Ju
ma
a
A
lku
r
a
w
y
)
1243
(
)
(
)
*
+
(
8
)
(
9
)
3.
RE
CUR
SI
V
E
L
E
AS
T
S
Q
U
ARE (
RL
S)
AND
CO
NT
RO
L
O
F
P
UM
A
T
h
e
R
L
S
is
m
o
s
t
l
y
u
s
ed
i
n
t
h
e
ap
p
licatio
n
s
o
f
e
n
g
in
ee
r
i
n
g
f
o
r
id
en
ti
f
icatio
n
th
e
p
ar
a
m
eter
s
o
f
a
s
y
s
te
m
.
T
h
e
eq
u
atio
n
o
f
li
n
ea
r
w
it
h
p
ar
a
m
eter
s
(
)
ca
n
b
e
ex
p
la
in
ed
as (
1
0
)
.
(
)
(
)
(
1
0
)
W
h
er
e
,
[
(
)
(
)
(
)
]
(
1
1
)
[
(
)
(
)
(
)
]
(
1
2
)
T
h
e
p
ar
am
eter
s
o
f
p
r
ed
icted
ca
n
b
e
ex
p
lain
ed
as
,
(
)
̂
(
)
̂
(
)
(
1
3
)
w
h
er
e,
̂
(
)
ar
e
p
a
r
am
eter
s
o
f
p
r
ed
icted
s
y
s
te
m
a
n
d
̂
(
)
is
an
er
r
o
r
b
etw
ee
n
th
e
tr
u
e
v
alu
e
a
n
d
p
r
e
d
icted
v
alu
e
̂
(
)
(
)
̂
(
)
(
1
4
)
C
an
b
e
r
e
w
r
i
te
(
1
8
)
as
,
̂
(
)
(
̂
(
)
)
(
1
5
)
T
o
b
e
m
i
n
i
m
ized
w
ith
o
b
j
ec
tiv
e
f
u
n
ctio
n
i
s
as
,
∑
̂
̂
̂
(
1
6
)
T
h
e
p
ar
am
eter
s
o
f
o
p
ti
m
al
s
o
l
u
tio
n
w
i
ll b
e
ze
r
o
,
̂
(
1
7
)
T
h
e
s
o
lu
tio
n
o
f
(
2
1
)
w
ill b
e
,
̂
(
)
[
(
)
(
)
]
[
(
)
(
)
]
(
1
8
)
T
h
e
m
atr
i
x
o
f
co
v
ar
ia
n
ce
is
,
(
)
[
(
)
(
)
]
(
1
9
)
B
y
u
s
i
n
g
a
Ma
tr
ix
I
n
v
er
s
io
n
L
e
m
m
a
an
d
ca
n
b
e
g
et
t
h
e
eq
u
a
tio
n
,
(
)
(
)
*
(
)
(
)
(
)
(
)
(
)
(
)
+
(
2
0
)
̂
(
)
̂
(
)
(
)
(
)
(
(
)
(
)
̂
(
)
)
(
2
1
)
T
h
e
f
o
r
g
ettin
g
f
ac
to
r
w
i
th
(
2
4
)
an
d
(
2
5
)
ca
n
b
e
as
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4752
I
n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
21
,
No
.
2
,
Feb
r
u
ar
y
2
0
2
1
:
1
2
38
-
12
46
1244
(
)
[
(
)
*
(
)
(
)
(
)
(
)
(
)
(
)
+
]
(
2
2
)
4.
P
I
D
CO
NT
RO
L
O
F
P
UM
A
RO
B
O
T
I
CS
T
h
e
co
n
tr
o
l
o
f
P
UM
A
r
o
b
o
tics
is
v
er
y
n
ec
es
s
ar
y
to
m
o
v
e
th
e
j
o
in
t
o
f
m
a
n
ip
u
lato
r
to
m
a
k
e
t
h
e
s
tab
ilit
y
w
it
h
w
it
h
t
h
e
s
ett
in
g
p
o
in
t.
I
n
th
is
p
ap
er
,
w
e
ap
p
lie
d
P
I
c
o
n
tr
o
ller
w
it
h
R
L
S
to
m
ak
e
th
e
o
p
tp
u
t
to
b
e
in
p
u
t
h
t
h
e
P
UM
A
r
o
b
o
tic
s
y
s
te
m
to
co
n
tr
o
l
ea
ch
p
o
s
itio
n
o
f
m
a
n
ip
u
lato
r
.
T
h
e
P
I
co
n
tr
o
ller
w
ith
S
-
d
o
m
ai
n
ca
n
b
e
d
escr
ib
ed
in
(
2
3
)
.
(
)
(
)
(
)
(
2
3
)
B
y
t
u
n
in
g
t
h
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RE
F
E
R
E
NC
E
S
[1
]
F
e
n
g
c
h
u
n
Zh
u
,
Ju
Da
i,
“
M
u
l
ti
-
ro
b
o
t
F
u
si
o
n
w
it
h
M
e
a
su
re
m
e
n
ts
Co
m
p
e
n
sa
ti
o
n
Ba
se
d
o
n
Re
c
u
rsiv
e
L
e
a
st
S
q
u
a
re
”
.
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Co
n
tro
l
a
n
d
Au
lt
o
ma
ti
o
n
,
p
p
.
2
9
5
3
-
2
9
5
7
,
2
0
0
7
.
[2
]
L
i
W
e
n
,
T
ian
m
iao
Wan
g
,
G
u
a
n
h
a
o
W
u
,
Jia
n
h
o
n
g
L
ian
g
,
a
n
d
Ch
a
o
lei
W
a
n
g
,
“
No
v
e
l
M
e
th
o
d
f
o
r
th
e
M
o
d
e
li
n
g
a
n
d
Co
n
tr
o
l
In
v
e
stig
a
ti
o
n
o
f
Eff
icie
n
t
S
w
i
m
m
in
g
f
o
r
Ro
b
o
ti
c
F
ish
,
”
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l.
5
9
,
n
o
.
8
,
p
p
.
3
1
7
6
-
3
1
8
8
,
2
0
1
2
.
[3
]
T
o
m
à
s
P
a
ll
e
jà
Ca
b
ré
,
M
e
rc
è
T
e
i
x
id
ó
Ca
iro
l,
Da
v
in
ia
F
o
n
t
Ca
laf
e
ll
,
M
a
rc
e
l
T
re
s
a
n
c
h
e
z
Rib
e
s,
a
n
d
Jo
rd
i
P
a
lac
ín
Ro
c
a
“
P
ro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
Ex
a
m
p
le:
Co
n
tro
ll
in
g
an
Ed
u
c
a
ti
o
n
a
l
Ro
b
o
ti
c
A
r
m
w
it
h
Co
m
p
u
ter”
,
IEE
E
Rev
ista
Ib
e
ro
a
me
ric
a
n
a
De
T
e
c
n
o
lo
g
ia
s
De
l
Ap
re
n
d
iz
a
je
,
v
o
l.
8
,
n
o
.
3
,
p
p
.
1
3
5
-
1
4
2
,
2
0
1
3
.
[
4
]
K
o
n
r
a
d
L
e
i
b
r
a
n
d
t
,
P
i
y
a
m
a
t
e
W
i
s
a
n
u
v
e
j
,
G
a
u
t
h
i
e
r
G
r
a
s
,
J
i
a
n
z
h
o
n
g
S
h
a
n
g
,
C
a
r
l
o
A
.
S
e
n
e
c
i
,
P
e
t
r
o
s
G
i
a
t
a
g
a
n
a
s
,
V
a
l
e
n
t
i
n
a
V
i
t
i
e
l
l
o
,
A
r
a
D
a
r
z
i
,
G
u
a
n
g
-
Z
h
o
n
g
Y
a
n
g
“
E
f
f
e
c
t
i
v
e
M
a
n
i
p
u
l
a
t
i
o
n
i
n
C
o
n
f
i
n
e
d
S
p
a
c
e
s
o
f
H
i
g
h
l
y
A
r
t
i
c
u
l
a
t
e
d
R
o
b
o
t
i
c
I
n
s
t
r
u
m
e
n
t
s
f
o
r
S
i
n
g
l
e
A
c
c
e
s
s
S
u
r
g
e
r
y
”
.
I
E
E
E
R
o
b
o
t
i
c
s
a
n
d
A
u
t
o
m
a
t
i
o
n
,
v
o
l
2
,
n
o
.
3
,
p
p
.
1
-
8
,
2
0
1
7
.
[5
]
P
e
tr
o
s
G
iata
g
a
n
a
s,
M
ich
a
e
l
Hu
g
h
e
s,
Ch
rist
o
p
h
e
r
J.
P
a
y
n
e
,
P
iy
a
m
a
te
W
isa
n
u
v
e
j,
Bu
ra
k
Te
m
e
lk
u
ra
n
,
a
n
d
G
u
a
n
g
-
Zh
o
n
g
Ya
n
g
,
“
In
trao
p
e
ra
ti
v
e
ro
b
o
ti
c
-
a
ss
isted
larg
e
-
a
re
a
h
ig
h
-
sp
e
e
d
m
icro
sc
o
p
ic
im
a
g
in
g
a
n
d
in
ter
v
e
n
ti
o
n
”
,
I
EE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Bi
o
me
d
ica
l
Im
a
g
in
g
,
v
o
l.
6
6
,
n
o
.
1
,
2
0
1
9
.
[6
]
Ca
rlo
s
F
a
ria,
W
o
lf
r
a
m
Erl
h
a
g
e
n
,
M
a
n
u
e
l
Rit
o
,
El
e
n
a
De
M
o
m
i,
Gia
n
c
a
rlo
F
e
rrig
n
o
,
a
n
d
Estela
Bich
o
“
Re
v
ie
w
o
f
Ro
b
o
ti
c
T
e
c
h
n
o
lo
g
y
f
o
r
S
tere
o
tac
ti
c
,”
IEE
E
R
ev
iew
s
in
B
io
me
d
ica
l
En
g
in
e
e
rin
g
,
v
o
l
.
8
,
p
p
.
1
-
1
3
,
2
0
1
5
.
[7
]
M
a
tt
h
ias
F
a
e
ss
ler,
Da
v
id
e
F
a
lan
g
a
,
a
n
d
Da
v
id
e
S
c
a
ra
m
u
z
z
a
,
”
T
h
ru
st
M
ix
in
g
,
S
a
tu
ra
ti
o
n
,
a
n
d
Bo
d
y
-
Ra
te
Co
n
tro
l
f
o
r
A
c
c
u
ra
te
Ag
g
r
e
ss
iv
e
Qu
a
d
ro
t
o
r
F
li
g
h
t”,
IE
EE
Ro
b
o
ti
c
s
a
n
d
A
u
to
ma
ti
o
n
L
e
tt
e
rs
.
Pre
p
rin
t
Ver
sio
n
.
v
o
l
.
2
,
n
o
.
2
3
,
A
p
ril
2
0
1
7
.
[8
]
S
.
D.
L
e
e
a
n
d
S
.
Ju
n
g
,
“
A
Re
c
u
rsiv
e
L
e
a
st
S
q
u
a
re
A
p
p
ro
a
c
h
t
o
a
Distu
r
b
a
n
c
e
Ob
se
rv
e
r
De
sig
n
f
o
r
Ba
lan
c
in
g
Co
n
tr
o
l
o
f
a
S
in
g
le
-
w
h
e
e
l
Ro
b
o
t
S
y
ste
m
”
,
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
I
n
f
o
rm
a
ti
o
n
a
n
d
Au
to
m
a
ti
o
n
,
p
p
.
1
8
7
8
-
1
8
8
1
,
2
0
1
6
.
[9
]
G
ian
P
a
o
lo
In
c
re
m
o
n
a
,
G
i
a
n
lu
c
a
De
F
e
li
c
i,
A
n
to
n
e
ll
a
F
e
rra
ra
,
a
n
d
Ezio
Ba
ss
i,
“
A
S
u
p
e
rv
iso
ry
S
li
d
in
g
M
o
d
e
Co
n
tr
o
l
A
p
p
ro
a
c
h
f
o
r
Co
o
p
e
ra
ti
v
e
Ro
b
o
ti
c
S
y
ste
m
o
f
S
y
ste
m
s,”
IE
EE
S
y
ste
m Jo
u
r
n
a
l
,
v
o
l.
9
,
n
o
.
1
,
2
0
1
5
.
[1
0
]
A
n
d
re
a
S
.
Ci
u
ll
o
,
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e
d
e
rica
F
e
li
c
i,
M
a
n
u
e
l
G
.
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tala
n
o
,
G
io
rg
io
G
rio
li
,
A
ra
sh
A
jo
u
d
a
n
i
,
a
n
d
A
n
to
n
io
B
icc
h
i,
“
A
n
a
l
y
ti
c
a
l
a
n
d
Ex
p
e
ri
m
e
n
tal
An
a
ly
sis
f
o
r
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o
si
ti
o
n
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ti
m
iza
ti
o
n
o
f
a
G
ra
sp
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s
sista
n
c
e
S
u
p
e
rn
u
m
e
ra
r
y
Ro
b
o
ti
c
Ha
n
d
”
,
IEE
E
Ro
b
o
t
ics
a
n
d
A
u
to
m
a
ti
o
n
,
v
o
l
.
3
,
n
o
.
4
,
2
0
1
8
.
[1
1
]
Hu
a
P
e
n
g
,
Ch
a
n
g
le
Zh
o
u
,
Hu
o
s
h
e
n
g
Hu
,
F
e
i
Ch
a
o
,
a
n
d
Jin
g
L
i,
“
Ro
b
o
ti
c
Da
n
c
e
in
S
o
c
ial
Ro
b
o
ti
c
s
-
A
Tax
o
n
o
m
y
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Hu
ma
n
-
M
a
c
h
in
e
S
y
ste
ms
,
v
o
l
4
5
,
no.
3
,
p
p
.
1
-
1
3
,
2
0
1
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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:
2
5
0
2
-
4752
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n
d
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esia
n
J
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E
n
g
&
C
o
m
p
Sci,
Vo
l.
21
,
No
.
2
,
Feb
r
u
ar
y
2
0
2
1
:
1
2
38
-
12
46
1246
[1
2
]
Yu
W
a
n
g
,
Ru
i
T
a
n
,
G
u
o
li
a
n
g
X
i
n
g
,
Jia
n
x
u
n
W
a
n
g
,
a
n
d
X
iao
b
o
T
a
n
,
“
P
ro
f
il
in
g
A
q
u
a
ti
c
Diff
u
sio
n
P
ro
c
e
ss
Us
in
g
Ro
b
o
ti
c
S
e
n
s
o
r
Ne
tw
o
rk
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
o
b
i
le Co
mp
u
ti
n
g
,
v
o
l.
1
3
,
n
o
.
4
,
p
p
.
8
8
0
-
8
9
3
,
2
0
1
4
.
[1
3
]
M
a
rio
S
e
lv
a
g
g
io
,
G
iu
se
p
p
e
A
n
d
re
a
F
o
n
tan
e
ll
i,
F
a
n
n
y
F
icu
c
iello
,
L
u
ig
i
V
il
lan
i
,
a
n
d
Br
u
n
o
S
icil
ian
o
,
“
P
a
ss
iv
e
V
irt
u
a
l
F
ix
tu
re
s
A
d
a
p
tatio
n
in
M
in
im
a
ll
y
In
v
a
si
v
e
Ro
b
o
ti
c
S
u
rg
e
r
y
,
”
IEE
E
Ro
b
o
ti
c
s
a
n
d
Au
t
o
ma
ti
o
n
,
v
o
l
3
,
n
o
.
4
.
p
p
.
3
1
9
2
-
3
1
3
6
,
2
0
1
8
.
[1
4
]
Is
m
a
e
l
Ro
d
r´
ıg
u
e
z
,
Ko
rb
in
ia
n
No
tt
e
n
ste
in
e
r,
Da
n
iel
L
e
id
n
e
r,
M
i
c
h
a
e
l
Ka
ß
e
c
k
e
r,
F
re
e
k
S
tu
lp
,
a
n
d
A
li
n
A
lb
u
-
S
c
h
¨a
ff
e
r,
“
Itera
ti
v
e
l
y
Re
f
in
e
d
F
e
a
sib
il
it
y
Ch
e
c
k
s
in
Ro
b
o
ti
c
A
ss
e
m
b
ly
S
e
q
u
e
n
c
e
P
lan
n
in
g
,
”
IE
E
E
Ro
b
o
ti
c
s
a
n
d
Au
to
m
a
ti
o
n
,
v
o
l.
4
,
n
o
.
2
,
p
p
.
1
4
1
6
-
1
4
2
3
,
2
0
1
9
.
[1
5
]
Ke
n
n
e
th
Kim
b
le,
Ka
rl
V
a
n
W
y
k
,
Jo
e
F
a
lco
,
El
e
n
a
M
e
ss
in
a
,
Y
u
S
u
n
,
M
izu
h
o
S
h
ib
a
ta,
W
a
taru
Ue
m
u
ra
,
a
n
d
Ya
su
y
o
sh
i
Yo
k
o
k
o
h
ji
,
“
Be
n
c
h
m
a
rk
in
g
P
ro
t
o
c
o
ls
f
o
r
Ev
a
lu
a
ti
n
g
S
m
a
ll
P
a
rts
Ro
b
o
t
ic
A
ss
e
m
b
l
y
S
y
st
e
m
s,”
IEE
E
Ro
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
,
v
o
l.
5
,
no
.
2
,
p
p
.
8
8
3
-
8
8
9
,
2
0
2
0
.
[1
6
]
M
.
A
ll
a
n
,
S
.
Ou
rse
li
n
,
D.
J.
Ha
wk
e
s,
J.
D.
Ke
ll
y
,
a
n
d
D.
S
to
y
a
n
o
v
,
“
3
D P
o
se
Esti
m
a
ti
o
n
o
f
A
rti
c
u
la
ted
In
stru
m
e
n
ts
in
Ro
b
o
ti
c
M
i
n
im
a
ll
y
In
v
a
si
v
e
S
u
rg
e
r
y
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
e
d
ica
l
Im
a
g
i
n
g
,
v
o
l.
3
7
,
n
o
.
5
,
p
p
.
1
-
1
0
,
2
0
1
8
.
[1
7
]
S
u
ib
o
X
ia,
C
h
e
e
Kh
ian
g
P
a
n
g
,
A
b
d
u
ll
a
h
A
l
M
a
m
u
n
,
Ch
e
e
M
e
n
g
Ch
e
w
,
Ki
m
P
o
n
g
T
a
n
,
“
F
e
e
d
f
o
r
w
a
rd
Co
m
p
e
n
sa
ti
o
n
f
o
r
S
u
p
p
re
ss
io
n
o
f
S
e
a
m
Bo
u
n
d
a
ry
Err
o
r
P
ro
p
a
g
a
ti
o
n
in
R
o
b
o
ti
c
W
e
ld
in
g
S
y
ste
m
s
,
”
IEE
E/
A
S
M
E
T
ra
n
sa
c
ti
o
n
o
n
M
e
c
h
a
tro
n
ics
,
v
o
l
.
2
3
,
n
o
.
4
,
p
p
.
1
-
1
1
,
2
0
1
8
.
[1
8
]
Ty
ler
D.
W
o
rt
m
a
n
∗
,
Ja
c
k
M
.
M
o
n
d
ry
,
S
h
a
n
e
M
.
F
a
rrit
o
r,
a
n
d
D
m
it
r
y
Ole
y
n
i
k
o
v
,
“
S
in
g
le
-
S
it
e
Co
lec
to
m
y
w
it
h
M
in
iatu
re
In
Vi
v
o
R
o
b
o
ti
c
P
latf
o
rm
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
Bi
o
m
e
d
ica
l
E
n
g
i
n
e
e
rin
g
,
v
o
l.
6
0
,
n
o
.
4
,
p
p
.
9
2
6
-
9
2
9
,
2
0
1
3
.
[1
9
]
D.
Jo
h
a
n
se
n
,
C.
Cip
rian
i
,
D.B.
P
o
p
o
v
ić,
a
n
d
L
.
N.S
.
A
.
S
tru
ij
k
,
“
Co
n
tro
l
o
f
a
Ro
b
o
ti
c
Ha
n
d
Us
i
n
g
a
T
o
n
g
u
e
Co
n
tro
l
S
y
st
e
m
-
a
P
ro
sth
e
sis A
p
p
li
c
a
ti
o
n
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
Bi
o
me
d
ica
l
E
n
g
i
n
e
e
rin
g
,
v
o
l.
6
3
,
n
o
.
7
,
p
p
.
1
-
9
,
2
0
1
5
.
[2
0
]
T
h
o
m
a
s
Nie
rh
o
ff
,
Ko
n
ra
d
L
e
ib
ra
n
d
t,
T
a
m
a
ra
L
o
re
n
z
,
a
n
d
S
a
n
d
ra
Hirc
h
e
,
“
Ro
b
o
ti
c
Bil
li
a
r
d
s:
Un
d
e
rsta
n
d
i
n
g
Hu
m
a
n
s in
Ord
e
r
to
C
o
u
n
ter T
h
e
m
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Cy
b
e
rn
e
ti
c
s,
v
o
l.
4
6
,
n
o
.
8
,
p
p
.
1
-
1
1
,
2
0
1
6
.
[2
1
]
Nic
h
o
las
M
.
DiF
il
i
p
p
o
a
n
d
M
u
s
a
K.
Jo
u
a
n
e
h
,
“
A
S
y
ste
m
Co
m
b
in
in
g
F
o
rc
e
a
n
d
V
isi
o
n
S
e
n
si
n
g
f
o
r
A
u
to
m
a
ted
S
c
re
w
Re
m
o
v
a
l
o
n
L
a
p
to
p
s,”
IE
EE
T
ra
n
sa
c
ti
o
n
s
o
n
A
u
to
m
a
ti
o
n
sc
ien
c
e
a
n
d
e
n
g
in
e
e
rin
g
,
v
o
l
.
1
5
,
n
o
.
2
,
p
p
.
1
-
9
,
2
0
1
8
.
[2
2
]
Jin
g
Xu
,
Z
h
im
in
Ho
u
,
W
e
i
W
a
n
g
,
Bo
h
a
o
Xu
,
K
u
a
n
g
e
n
Z
h
a
n
g
a
n
d
Ke
n
Ch
e
n
,
“
F
e
e
d
b
a
c
k
De
e
p
De
ter
m
in
isti
c
P
o
li
c
y
G
ra
d
ien
t
w
it
h
F
u
z
z
y
Re
wa
rd
f
o
r
Ro
b
o
ti
c
M
u
lt
i
p
le
P
e
g
-
in
-
h
o
le
A
ss
e
m
b
l
y
T
a
sk
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
i
n
d
u
stria
l
in
fo
rm
a
ti
c
s,
v
o
l.
1
5
,
n
o
.
3
,
p
p
.
1
-
1
0
,
2
0
1
9
.
[2
3
]
G
re
g
o
r
y
A
.
F
o
rm
o
sa
,
J.
M
ica
h
P
re
n
d
e
rg
a
st,
S
tev
e
n
A
.
Ed
m
u
n
d
o
w
icz
,
a
n
d
M
a
rk
E.
Re
n
tsc
h
ler,
“
No
v
e
l
Op
ti
m
iza
ti
o
n
-
Ba
se
d
De
sig
n
a
n
d
S
u
rg
ica
l
Ev
a
lu
a
ti
o
n
o
f
a
Trea
d
e
d
Ro
b
o
ti
c
Ca
p
s
u
le
Co
l
o
n
o
sc
o
p
e
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
R
o
b
o
ti
s,
v
o
l
.
3
6
,
no.
2,
2
0
2
0
.
[2
4
]
Ja
y
d
e
v
P
.
De
sa
i,
Ju
n
S
h
e
n
g
,
S
h
i
n
g
S
h
in
C
h
e
n
g
,
X
u
e
f
e
n
g
W
a
n
g
,
N
a
n
c
y
J.
De
a
to
n
,
a
n
d
Na
h
ian
Ra
h
m
a
n
,
“
T
o
wa
rd
s
P
a
ti
e
n
t
-
S
p
e
c
if
ic
3
D
-
P
r
in
ted
R
o
b
o
ti
c
S
y
ste
m
s
f
o
r
S
u
rg
ica
l
In
terv
e
n
ti
o
n
s,”
IEE
E
T
ra
n
sa
c
ti
o
n
o
n
me
d
ica
l
Ro
b
o
ti
c
s
a
n
d
Bi
o
n
ics
,
v
o
l
.
1
,
n
o
.
2
.
p
p
.
1
-
1
1
,
2
0
1
9
.
[2
5
]
F
u
lo
n
g
Ho
u
,
M
e
izh
u
L
u
o
,
a
n
d
Zi
ji
a
o
Z
h
a
n
g
,
“
A
n
In
v
e
rse
Kin
e
m
a
ti
c
A
n
a
l
y
sis
M
o
d
e
li
n
g
o
n
a
6
-
P
S
S
Co
m
p
li
a
n
t
P
a
ra
ll
e
l
P
latf
o
rm
f
o
r
Op
tp
e
lec
tro
n
ic
P
a
c
k
a
g
in
g
,
”
CES
T
ra
n
sa
c
ti
o
n
s
o
n
El
e
c
trica
l
a
n
d
S
y
ste
m,
v
o
l.
3
,
n
o
.
1
,
p
p
.
8
1
-
8
7
,
2
0
1
9
.
B
I
O
G
RAP
H
Y
O
F
AUTHO
R
La
fta
E.
J
u
m
a
a
Al
k
u
r
a
w
y
re
c
e
iv
e
d
th
e
B.
S
.
,
a
n
d
M
.
S
.
d
e
g
re
e
in
Co
n
tr
o
l
a
n
d
sy
ste
m
s
f
ro
m
T
e
c
h
n
o
lo
g
y
Un
iv
e
rsit
y
,
Ba
g
h
d
a
d
,
Ira
q
,
in
1
9
9
0
a
n
d
2
0
0
3
re
sp
e
c
ti
v
e
l
y
.
H
e
re
c
e
iv
e
d
th
e
P
h
.
D
.
d
e
g
re
e
in
El
e
c
tri
c
a
l
a
n
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