I
n
d
on
e
s
ian
Jou
r
n
al
o
f
E
lec
t
r
ica
l
E
n
gin
e
e
r
in
g
a
n
d
Com
p
u
t
e
r
S
c
ience
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
2022
,
pp.
28
1
~
290
I
S
S
N:
2502
-
4752,
DO
I
:
10
.
11591/i
j
e
e
c
s
.
v
25
.i
1
.
pp
281
-
290
281
Jou
r
n
al
h
o
m
e
page
:
ht
tp:
//
ij
e
e
c
s
.
iaes
c
or
e
.
c
om
S
la
n
t
le
t
t
r
an
sf
or
m
u
se
d
f
or
f
au
lts d
ia
g
n
osi
s i
n
r
ob
ot
ar
m
M
u
h
am
ad
Az
h
ar
Abd
il
at
e
f
Al
ob
aid
y
1
,
2
,
Jas
s
im
M
oh
am
m
e
d
Abd
u
l
-
Jab
b
ar
1
,
S
aad
Z
agh
l
u
l
Al
-
k
h
ayyt
2
1
D
e
pa
r
tm
e
nt
of
C
o
m
p
u
te
r
E
ngi
n
e
e
r
in
g, C
o
ll
e
g
e
of
E
ngi
n
e
e
r
in
g,
U
ni
ve
r
s
it
y
of
M
o
s
ul
, M
o
s
ul
, I
r
a
q
2
D
e
pa
r
tm
e
nt
of
M
e
c
ha
tr
o
ni
c
s
E
ngi
n
e
e
r
in
g, C
ol
le
g
e
of
E
ngi
n
e
e
r
in
g, U
ni
ve
r
s
it
y
of
M
o
s
ul
, M
o
s
ul
, I
r
a
q
Ar
t
ic
l
e
I
n
f
o
AB
S
T
RA
CT
A
r
ti
c
le
h
is
tor
y
:
R
e
c
e
i
ve
d
A
ug
20
,
2021
R
e
vi
s
e
d
Oc
t
24
,
2021
A
c
c
e
pt
e
d
N
o
v
25
,
2021
T
h
e
ro
b
o
t
arm
s
y
s
t
em
s
are
t
h
e
mo
s
t
t
arg
e
t
s
y
s
t
em
s
i
n
t
h
e
fi
e
l
d
s
o
f
fau
l
t
s
d
e
t
ec
t
i
o
n
an
d
d
i
ag
n
o
s
i
s
w
h
i
c
h
ar
e
e
l
ec
t
ri
c
a
l
an
d
t
h
e
mec
h
a
n
i
c
a
l
s
y
s
t
em
s
i
n
m
an
y
fi
el
d
s
.
Fau
l
t
d
e
t
ec
t
i
o
n
an
d
d
i
ag
n
o
s
i
s
s
t
u
d
y
i
s
p
re
s
e
n
t
ed
fo
r
t
w
o
ro
b
o
t
arm
s
.
T
h
e
d
i
s
t
u
rb
an
ce
d
u
e
t
o
t
h
e
fau
l
t
s
at
ro
b
o
t
's
j
o
i
n
t
s
c
au
s
e
s
o
s
ci
l
l
at
i
o
n
s
at
t
h
e
t
i
p
o
f
t
h
e
ro
b
o
t
ar
m
.
T
h
e
a
ccel
e
rat
i
o
n
i
n
m
u
l
t
i
-
d
i
r
ec
t
i
o
n
i
s
an
a
l
y
s
e
d
t
o
e
x
t
rac
t
t
h
e
f
e
at
u
r
e
s
o
f
t
h
e
fau
l
t
s
.
Si
mu
l
at
i
o
n
s
fo
r
p
l
an
ar
an
d
s
p
ace
ro
b
o
t
s
are
p
re
s
e
n
t
e
d
.
T
w
o
t
y
p
e
s
o
f
f
e
at
u
r
e
(fau
l
t
s
)
d
e
t
e
c
t
i
o
n
me
t
h
o
d
s
are
u
s
e
d
i
n
t
h
i
s
p
ap
e
r.
T
h
e
fi
rs
t
o
n
e
i
s
t
h
e
d
i
s
c
r
e
t
e
w
a
v
e
l
e
t
t
ran
s
fo
rm,
w
h
i
ch
i
s
ap
p
l
i
ed
i
n
m
an
y
r
e
s
e
ar
c
h
's
w
o
rk
s
b
e
fo
r
e
.
T
h
e
s
eco
n
d
t
y
p
e
,
i
s
t
h
e
Sl
a
n
t
l
e
t
t
ran
s
fo
rm
,
w
h
i
ch
r
e
p
r
e
s
en
t
s
an
i
m
p
ro
v
ed
mo
d
e
l
o
f
t
h
e
d
i
s
c
r
e
t
e
w
a
v
e
l
e
t
t
ran
s
fo
r
m
.
T
h
e
mu
l
t
i
-
l
a
y
er
p
e
r
ce
p
t
ro
n
art
i
fi
c
i
a
l
n
e
u
ra
l
n
e
t
w
o
r
k
i
s
u
s
ed
fo
r
t
h
e
p
u
rp
o
s
e
o
f
fau
l
t
s
al
l
o
c
at
i
o
n
a
n
d
cl
as
s
i
fi
c
at
i
o
n
.
A
cc
o
r
d
i
n
g
t
o
t
h
e
o
b
t
ai
n
ed
r
e
s
u
l
t
s
,
t
h
e
Sl
an
t
l
e
t
t
ran
s
fo
r
m
w
i
t
h
t
h
e
mu
l
t
i
-
l
a
y
e
r
p
e
r
ce
p
t
ro
n
art
i
f
i
ci
al
n
eu
ral
n
e
t
w
o
r
k
ap
p
e
ar
t
o
p
o
s
s
e
s
s
b
e
s
t
p
e
rfo
rm
a
n
ce
(4
.
7
0
8
8
e
-
0
5
),
l
o
w
e
r
co
n
s
u
mi
n
g
t
i
me
(7
1
.
0
1
7
3
0
8
s
e
c
)
an
d
h
i
g
h
e
r
a
ccu
ra
cy
(1
0
0
%
)
t
h
an
t
h
e
r
e
s
u
l
t
s
o
b
t
ai
n
ed
w
h
en
ap
p
l
y
i
n
g
d
i
s
c
r
e
t
e
w
av
el
e
t
t
ran
s
fo
r
m
a
n
d
art
i
f
i
c
i
a
l
n
e
u
ral
n
e
t
w
o
rk
fo
r
t
h
e
s
am
e
p
u
rp
o
s
e
.
K
e
y
w
o
r
d
s
:
A
c
c
ur
a
c
y
DW
T
F
a
u
l
t
s
d
i
a
g
n
o
s
i
s
L
a
b
Vo
l
t
M
L
P
-
A
NN
P
l
a
n
e
r
S
L
T
Th
i
s
i
s
a
n
o
p
en
a
c
ces
s
a
r
t
i
c
l
e
u
n
d
e
r
t
h
e
CC
B
Y
-
SA
l
i
cen
s
e.
C
or
r
e
s
pon
din
g
A
u
th
or
:
M
uha
m
a
d
Az
h
a
r
Ab
d
il
a
t
e
f
Al
o
b
a
i
d
y
De
pa
r
t
m
e
n
t
o
f
M
e
c
h
a
t
r
o
ni
c
s
E
n
g
i
ne
e
r
i
ng,
C
o
l
e
ge
o
f
E
n
g
i
ne
e
r
i
ng
Uni
ve
r
s
i
t
y
o
f
M
o
s
u
l
,
M
o
s
u
l
,
I
r
a
q
E
m
a
i
l
:
m
u
h
a
m
a
d.
a
z
h
a
r
@
u
m
o
s
u
l
.
e
du.
i
q
1.
I
NT
RODU
C
T
I
ON
R
o
b
ot
s
t
h
a
t
b
e
i
ng
de
v
e
l
o
pe
d
i
n
r
e
c
e
n
t
y
e
a
r
s
a
n
d
a
r
e
n
o
w
ut
i
l
i
z
e
d
i
n
n
u
m
be
r
o
f
f
i
e
l
d
s
.
T
h
e
y
ha
v
e
b
e
e
n
u
s
e
d
i
n
i
n
du
s
t
r
i
e
s
,
m
il
i
t
a
r
i
e
s
,
m
e
d
i
c
a
l
e
q
u
i
p
m
e
n
t
,
a
n
d
m
a
ny
o
t
h
e
r
f
i
e
l
d
s
[
1]
.
F
o
r
m
o
s
t
o
f
t
h
e
s
e
a
pp
l
i
c
a
t
i
o
ns
,
i
t
i
s
r
e
c
o
m
m
e
nde
d
t
h
a
t
t
h
e
u
s
e
d
r
o
b
o
t
m
u
s
t
b
e
s
a
f
e
a
n
d
pr
e
c
i
s
e
a
s
m
uc
h
a
s
po
s
s
i
b
l
e
.
T
h
a
t
b
e
c
a
us
e
a
ny
f
a
il
ur
e
i
n
a
r
o
b
o
t
c
a
n
h
a
v
e
a
s
i
g
ni
f
ica
n
t
i
m
p
a
c
t
o
n
t
h
e
pe
r
f
o
r
m
a
n
c
e
dur
i
ng
wo
r
k,
r
e
s
u
l
t
i
n
g
in
poo
r
r
e
s
ul
t
s
[
1]
–
[
4]
.
C
o
n
d
i
t
i
o
n
m
o
ni
t
o
r
i
n
g
f
o
r
r
o
b
ot
s
d
i
f
f
e
r
s
f
r
o
m
t
h
a
t
s
im
p
l
e
r
o
t
a
t
i
n
g
ge
a
r
due
to
t
h
e
i
r
e
x
t
r
e
m
e
ly
s
o
phi
s
t
i
c
a
t
e
d
m
e
c
ha
ni
c
s
.
T
o
f
u
l
f
il
a
ny
g
i
ve
n
s
c
e
na
r
i
o
f
o
r
a
r
o
b
ot,
e
a
c
h
j
o
i
n
t
i
n
t
h
e
r
o
b
ot
'
s
bo
dy
w
i
ll
m
o
v
e
a
t
di
f
f
e
r
e
n
t
a
n
gu
l
a
r
s
pe
e
ds
(
a
n
d
a
c
c
e
l
e
r
a
t
i
o
ns
)
,
de
m
a
n
d
d
i
f
f
e
r
e
n
t
tor
que
s
,
a
n
d
r
ot
a
t
e
a
t
di
f
f
e
r
e
nt
a
n
g
l
e
s
.
T
h
e
m
e
c
ha
ni
c
a
l
o
r
e
l
e
c
t
r
i
c
a
l
im
pu
l
s
e
s
s
e
n
t
by
t
h
e
r
o
b
ot
wi
ll
be
t
r
a
n
s
i
t
o
r
y
,
l
a
s
t
i
n
g
o
nly
a
f
e
w
s
e
c
o
n
ds
.
T
h
e
s
i
g
na
l
s
ge
n
e
r
a
t
e
d
by
m
a
l
f
u
n
c
t
i
o
ni
ng
pa
r
t
s
a
r
e
no
n
-
s
t
a
t
i
o
n
a
r
y
[
5]
.
T
h
e
f
a
u
l
t
d
i
a
g
n
o
s
i
s
m
e
t
h
o
d
no
r
m
a
ll
y
c
o
n
s
i
s
t
s
o
f
t
h
r
e
e
s
t
e
ps
:
f
a
u
l
t
i
de
n
t
i
f
i
c
a
t
i
o
n
,
w
hi
c
h
m
a
y
i
nd
i
c
a
t
e
t
h
e
pr
e
s
e
n
c
e
o
f
i
r
r
e
gu
l
a
r
be
h
a
vi
o
ur
s
,
f
a
u
l
t
i
s
o
l
a
t
i
o
n
,
w
hi
c
h
de
t
e
r
m
i
ne
s
t
h
e
l
o
c
a
t
i
o
n
a
n
d
f
o
r
m
o
f
t
h
e
f
a
il
ur
e
t
h
a
t
o
c
c
ur
s
,
a
n
d
f
i
na
ll
y
f
a
u
l
t
a
n
a
ly
s
is
,
whi
c
h
r
e
v
e
a
l
s
t
h
e
r
e
l
a
t
i
o
ns
hi
p
b
e
t
we
e
n
f
a
il
ur
e
c
a
us
e
s
a
n
d
s
y
m
pt
o
m
s
[
6]
,
[
7
]
I
n
2011,
E
s
k
i
e
t
al
.
[
8]
publi
s
he
d
a
s
t
ud
y
t
h
a
t
de
s
c
r
i
b
e
d
a
n
e
x
p
e
r
i
m
e
n
t
a
l
i
nve
s
t
i
ga
t
i
o
n
o
n
a
r
o
b
ot
m
a
ni
pu
l
a
t
o
r
by
us
i
ng
a
n
e
ur
a
l
ne
t
wor
k
to
a
n
a
l
y
s
e
t
h
e
vi
br
a
t
i
o
n
c
o
n
d
i
t
i
o
n
o
n
j
o
i
n
t
s
.
E
a
c
h
j
o
i
n
t
's
no
i
s
e
a
n
d
vi
br
a
t
i
o
n
we
r
e
c
a
l
c
u
l
a
t
e
d.
T
h
e
n
,
t
o
pr
e
di
c
t
t
h
e
s
e
r
vi
c
i
ng
t
i
m
e
,
t
h
e
r
e
l
e
v
a
n
t
pa
r
a
m
e
t
e
r
s
a
r
e
c
h
e
c
ke
d
w
i
t
h
a
n
e
ur
a
l
ne
t
wor
k
pr
e
di
c
t
o
r
.
T
wo
t
y
pe
s
o
f
n
e
ur
a
l
pr
e
d
i
c
t
or
s
a
r
e
u
s
e
d
t
o
f
i
nd
a
s
t
a
bl
e
a
n
d
a
d
a
pt
i
ve
n
e
ur
a
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
20
22
:
281
-
290
282
n
e
t
wo
r
k
s
t
r
uc
t
ur
e
.
T
h
e
s
e
t
wo
m
e
t
h
o
ds
e
nh
a
n
c
e
d
pe
r
f
o
r
m
a
n
c
e
,
a
l
l
o
w
i
n
g
f
o
r
t
h
e
a
do
pt
i
o
n
o
f
a
r
o
t
a
ted
bi
na
r
y
n
e
ur
a
l
n
e
t
wo
r
k
(
R
B
NN
)
f
o
r
m
to
f
o
r
e
c
a
s
t
vi
b
r
a
t
i
o
n
s
o
n
i
n
dus
t
r
i
a
l
r
o
b
ot
s
.
I
n
2016,
J
a
b
e
r
a
n
d
B
icke
r
[
9]
de
v
e
l
o
pe
d
a
n
i
n
t
e
l
li
ge
n
t
c
o
n
d
i
t
i
o
n
m
o
ni
t
o
r
i
n
g
s
y
s
t
e
m
f
o
r
i
n
dus
t
r
i
a
l
r
o
b
ot
j
o
i
n
t
s
to
de
t
e
c
t
t
h
e
m
o
s
t
c
o
m
m
o
n
b
e
a
r
i
ng
f
a
il
ur
e
s
,
s
uc
h
a
s
i
nne
r
/o
ut
e
r
r
a
c
e
b
e
a
r
i
n
g
f
a
u
l
t
s
.
F
o
r
pr
e
c
i
s
e
d
e
f
e
c
t
d
i
a
g
n
o
s
i
s
,
t
h
e
d
i
s
c
r
e
t
e
wa
ve
l
e
t
t
r
a
n
s
f
o
r
m
(
D
W
T
)
wa
s
ut
i
li
z
e
d
t
o
pe
r
f
o
r
m
t
i
m
e
-
f
r
e
qu
e
n
c
y
s
i
g
n
a
l
a
n
a
ly
s
i
s
.
Af
t
e
r
t
h
a
t
,
a
n
a
r
t
i
f
i
c
ia
l
n
e
ur
a
l
n
e
t
wo
r
k
(
A
NN
)
wa
s
a
pp
l
i
e
d
to
c
l
a
s
s
if
y
t
h
e
f
a
u
l
t
s
.
Us
i
n
g
t
h
e
P
UM
A
560
r
o
b
ot
,
a
n
e
x
pe
r
i
m
e
n
t
a
l
i
nve
s
t
i
ga
t
i
o
n
s
e
t
up
wa
s
c
a
r
r
i
e
d
o
ut.
T
h
e
s
t
a
n
da
r
d
de
vi
a
t
i
o
n
f
e
a
t
ur
e
s
we
r
e
c
o
m
put
e
d
f
o
r
m
u
l
t
i
-
ba
n
d
f
r
e
que
n
c
y
l
e
v
e
l
s
a
n
d
us
e
d
t
o
de
s
i
g
n
,
t
r
a
i
n
,
a
n
d
t
e
s
t
t
h
e
pr
o
p
o
s
e
d
n
e
ur
a
l
n
e
t
wo
r
k.
T
h
e
c
r
e
a
t
e
d
a
ppr
o
a
c
h
wa
s
e
x
t
r
e
m
e
ly
a
c
c
ur
a
t
e
in
d
i
a
g
n
o
s
i
n
g
a
v
a
r
i
e
t
y
o
f
s
e
e
de
d
r
o
b
ot
de
f
e
c
t
s
.
L
i
n
a
n
d
B
o
l
d
ba
a
t
a
r
[
10]
pr
o
p
o
s
e
d
a
m
o
de
l
-
b
a
s
e
d
f
a
u
l
t
a
c
c
o
m
m
o
d
a
t
i
o
n
c
o
n
t
r
o
l
t
e
c
hni
que
f
o
r
bi
pe
d
r
o
b
o
t
l
o
c
o
m
o
t
i
o
n
w
i
t
h
u
n
k
n
o
wn
u
n
c
e
r
t
a
i
n
t
i
e
s
a
n
d
f
a
u
l
t
s
,
whi
c
h
r
e
l
i
e
d
o
n
a
r
e
c
ur
r
e
n
t
wa
v
e
l
e
t
e
l
m
a
n
n
e
ur
a
l
n
e
t
wor
k
(
R
W
E
NN
)
to
a
c
hi
e
ve
a
ppr
o
pr
i
a
t
e
c
o
n
t
r
o
l
w
i
t
h
mi
n
im
a
l
o
u
t
pu
t
de
gr
a
da
t
i
o
n
.
T
h
e
a
d
a
pt
i
ve
l
a
ws
o
f
t
h
e
R
W
E
NN
-
b
a
s
e
d
f
a
u
l
t
a
c
c
o
m
m
o
da
t
i
o
n
r
e
gu
l
a
t
i
o
n
a
r
e
de
r
i
v
e
d
us
i
n
g
t
h
e
L
y
a
pu
n
o
v
t
h
e
o
r
e
m
,
e
ns
ur
i
n
g
t
h
e
s
y
s
t
e
m
's
s
t
a
bil
i
t
y
;
a
n
u
m
e
r
i
c
a
l
c
o
m
pa
r
i
s
o
n
w
i
t
h
o
t
h
e
r
n
e
ur
a
l
-
n
e
t
wo
r
k
-
b
a
s
e
d
c
o
n
t
r
o
l
m
e
t
h
o
ds
wa
s
ut
i
li
z
e
d
t
o
i
ll
us
t
r
a
t
e
i
t
s
s
upe
r
i
o
r
i
t
y
.
I
n
2019
C
h
o
e
t
al
.
[
11
]
,
pr
e
s
e
n
t
e
d
a
m
e
t
h
o
d
o
f
f
a
u
l
t
d
e
t
e
c
t
i
o
n
u
s
i
n
g
a
s
pe
c
i
a
l
a
l
go
r
i
t
hm
u
s
i
ng
n
e
ur
a
l
ne
t
wor
k
f
o
r
r
o
b
ot
m
a
ni
pu
l
a
t
o
r
s
.
T
h
e
s
t
ud
y
pr
o
p
o
s
e
s
a
n
e
ur
a
l
n
e
t
wo
r
k
-
b
a
s
e
d
f
a
u
l
t
de
t
e
c
t
i
o
n
a
ppr
o
a
c
h
t
h
a
t
d
o
e
s
n
o
t
r
e
qui
r
e
t
h
e
us
e
o
f
a
phy
s
i
c
a
l
r
o
b
ot
m
o
de
l
o
r
a
c
c
e
l
e
r
a
t
i
o
n
.
A
ne
ur
a
l
n
e
t
wo
r
k
c
a
n
b
e
us
e
d
t
o
c
a
l
c
u
l
a
t
e
t
h
e
f
a
u
l
t
t
o
r
que
,
a
l
l
o
w
i
ng
f
o
r
s
uc
c
e
s
s
f
u
l
de
f
e
c
t
i
de
n
t
i
f
i
c
a
t
i
o
n
a
n
d
d
i
a
g
n
o
s
i
s
.
A
c
c
o
r
d
i
n
g
t
o
t
h
e
o
b
t
a
i
n
e
d
r
e
s
u
l
t
s
i
n
t
h
e
pr
e
-
m
e
n
t
i
o
n
e
d
s
t
udi
e
s
,
t
h
e
r
e
i
s
n
o
s
i
n
g
l
e
s
im
u
l
a
t
i
o
n
s
t
ud
y
a
pp
l
yi
ng
m
o
r
e
t
h
a
n
o
ne
t
e
c
hni
que
f
o
r
t
h
e
pur
po
s
e
o
f
f
a
u
l
t
s
de
t
e
c
t
i
o
n
a
n
d
d
i
a
g
n
o
s
i
s
.
Due
t
o
t
h
a
t
,
n
o
c
o
m
pa
r
i
s
o
ns
h
a
v
e
b
e
e
n
do
n
e
b
e
t
we
e
n
d
if
f
e
r
e
n
t
tec
hni
que
s
.
M
o
r
e
o
v
e
r
,
i
n
t
h
e
m
e
n
t
i
o
n
e
d
s
t
udi
e
s
,
o
nl
y
o
n
e
t
y
pe
o
f
f
a
u
l
t
i
n
o
n
e
l
o
c
a
t
i
o
n
a
t
a
t
i
m
e
i
s
t
e
s
t
e
d;
t
h
e
r
e
a
r
e
n
o
e
x
pe
c
t
a
t
i
o
ns
f
o
r
m
o
r
e
t
y
pe
s
o
f
f
a
u
l
t
s
o
n
d
i
f
f
e
r
e
n
t
l
o
c
a
t
i
o
ns
.
T
h
e
pr
e
-
m
e
n
t
i
o
n
e
d
s
t
ud
i
e
s
a
l
s
o
g
i
ve
no
f
o
c
us
o
n
t
h
e
c
o
ns
u
mi
ng
t
i
m
e
.
I
n
a
dd
i
t
i
o
n
,
t
h
e
S
l
a
n
t
l
e
t
t
r
a
n
s
f
o
r
m
(
S
L
T
)
[
12]
–
[
15]
,
i
s
n
o
t
us
e
d
y
e
t
f
o
r
t
h
e
f
a
u
l
t
s
d
i
a
g
n
o
s
i
s
i
n
r
o
b
o
t
a
r
m
s
.
I
n
t
hi
s
p
a
pe
r
,
t
w
o
t
y
pe
s
o
f
f
e
a
t
ur
e
s
(
f
a
u
l
t
s
)
de
t
e
c
t
i
o
n
m
e
t
h
o
ds
a
r
e
us
e
d
f
o
r
m
a
ny
f
a
u
l
t
s
i
n
m
a
ny
l
o
c
a
t
i
o
ns
a
t
a
t
i
m
e
,
t
h
e
us
e
d
m
e
t
h
o
ds
a
r
e
t
h
e
D
W
T
a
n
d
t
he
S
L
T
.
I
n
t
h
e
f
o
ll
o
w
i
ng
s
e
c
t
i
o
n
s
,
t
h
e
r
o
b
o
t
a
r
m
s
i
m
u
l
a
t
i
o
n
,
D
W
T
,
S
L
T
,
a
n
d
a
l
s
o
th
e
f
a
u
l
t
s
c
l
a
s
s
if
i
c
a
t
i
o
n
a
r
e
e
x
p
l
a
i
ne
d
de
e
p
ly
;
a
l
s
o
t
h
e
r
e
s
u
l
t
s
a
n
d
d
i
s
c
us
s
i
o
n
,
c
o
n
c
l
us
i
o
n
a
n
d
f
ut
ur
e
w
o
r
ks
a
r
e
i
nc
l
ude
d.
2.
ROB
OT
AR
M
S
I
M
UL
AT
I
ON
A
r
o
b
ot
i
s
a
r
e
pr
o
g
r
a
m
m
a
bl
e
m
u
l
t
if
u
n
c
t
i
o
n
a
l
m
a
ni
pu
l
a
t
o
r
t
h
a
t
i
s
pr
o
gr
a
m
m
e
d
to
m
o
v
e
(
m
a
t
e
r
i
a
l
s
,
c
o
m
p
o
n
e
n
t
s
,
a
n
d
t
oo
l
s
)
.
T
h
e
r
o
b
ot
a
r
m
s
y
s
t
e
m
c
a
n
b
e
e
x
po
s
e
d
to
m
a
ny
pr
o
bl
e
m
s
,
w
hi
c
h
c
a
n
l
e
a
d
t
o
f
a
i
l
ur
e
s
o
r
s
y
s
t
e
m
f
a
u
l
t
s
[
16]
.
R
o
b
ot
s
c
a
n
m
a
lf
u
n
c
t
i
o
n
due
to
h
u
m
a
n
m
i
s
t
a
ke
,
c
o
n
t
r
o
l
pa
ne
l
i
s
s
ue
s
,
m
e
c
ha
ni
c
a
l
f
a
u
l
t
s
,
po
we
r
o
u
t
a
ge
s
,
a
n
d
e
nvi
r
o
nm
e
n
t
a
l
v
a
r
i
a
bl
e
s
.
T
h
e
m
a
i
n
r
e
a
s
o
n
f
o
r
pr
e
v
e
n
t
i
n
g
s
uc
h
f
a
il
ur
e
s
i
s
t
h
a
t
t
h
e
y
mi
g
h
t
r
e
s
u
l
t
i
n
h
u
m
a
n
i
n
j
ur
y
o
r
de
a
t
h
,
a
s
we
ll
a
s
c
o
s
t
l
y
do
wn
t
i
m
e
.
P
o
s
i
t
i
o
na
l
e
r
r
o
r
i
s
r
e
s
po
ns
i
bl
e
f
o
r
ha
l
f
o
f
a
l
l
r
o
b
ot
f
a
il
ur
e
s
[
17]
.
T
h
e
m
o
t
i
o
n
o
f
a
ny
r
o
b
ot
a
r
m
i
s
us
ua
ll
y
de
pe
n
ds
o
n
t
h
e
n
u
m
be
r
o
f
j
o
i
n
t
s
a
n
d
t
h
e
i
r
pr
o
pe
r
t
i
e
s
.
T
h
us
,
t
h
e
r
e
i
s
a
d
if
f
e
r
e
n
c
e
b
e
t
we
e
n
t
h
e
t
w
o
a
n
d
t
h
e
t
h
r
e
e
j
o
i
n
t
s
r
o
b
ot
a
r
m
s
.
A
dd
i
t
i
o
n
a
l
z
d
i
m
e
n
s
i
o
n
,
w
hi
c
h
c
o
m
e
s
f
r
o
m
t
h
e
t
hi
r
d
j
o
i
n
t
i
s
a
d
de
d,
m
a
ke
s
t
h
e
r
o
b
o
t
a
r
m
's
m
o
t
i
o
n
m
o
r
e
f
l
e
xi
b
l
e
,
b
ut
w
i
t
h
s
o
m
e
c
o
m
p
l
e
xi
t
y
i
n
de
s
i
g
n
,
wo
r
ks
a
n
d
r
o
b
ot
a
r
m
's
k
i
n
e
m
a
t
i
c
s
e
qua
t
i
o
ns
.
I
n
t
hi
s
pa
pe
r
,
t
w
o
r
o
b
ot
a
r
m
s
a
r
e
pr
e
s
e
n
t
e
d
us
i
ng
M
a
t
l
a
b
S
i
m
u
li
nk,
t
o
s
i
m
u
l
a
t
e
r
e
a
l
m
o
de
l
s
.
T
h
e
f
i
r
s
t
m
o
de
l
i
s
de
s
i
g
n
e
d
t
o
s
i
m
u
l
a
t
e
t
he
p
l
a
n
a
r
r
o
b
ot
a
r
m
(
t
wo
j
o
i
n
t
s
r
o
b
o
t
a
r
m
)
,
F
ig
ur
e
1.
T
h
e
s
e
c
o
n
d
m
o
de
l
i
s
de
s
i
g
n
e
d
t
o
s
i
m
u
l
a
t
e
L
a
b
V
o
l
t
51
50
r
o
b
ot
a
r
m
F
i
gur
e
2
a
n
d
F
i
gur
e
3.
F
i
gur
e
1.
T
w
o
j
o
i
n
t
s
r
o
b
ot
a
r
m
s
i
m
u
l
a
t
i
o
n
m
o
de
l
(
p
l
a
n
e
r
r
o
b
ot
a
r
m
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
I
S
S
N:
2502
-
4752
Slant
let
tr
ans
f
or
m
us
e
d
f
or
f
ault
s
diagnos
is
in
r
obot
ar
m
(
M
uhamad
A
z
har
A
bdil
ate
f
A
loba
idy)
283
F
i
gur
e
2.
L
a
b
Vo
l
t
5150
r
o
b
ot
a
r
m
F
i
gur
e
3.
L
a
b
Vo
l
t
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
I
n
t
h
e
t
wo
s
i
m
u
l
a
t
i
o
ns
,
a
c
u
bi
c
t
r
a
j
e
c
t
o
r
y
ge
n
e
r
a
t
i
o
n
bl
o
c
k
F
i
gur
e
4
i
s
us
e
d
r
e
pr
e
s
e
n
t
i
n
g
t
h
e
t
y
p
i
c
a
l
im
p
l
e
m
e
n
t
a
t
i
o
n
c
a
s
e
.
A
s
t
a
n
da
r
d
s
c
o
pe
i
s
c
o
nn
e
c
t
e
d
to
t
r
a
c
k
t
h
e
o
u
t
pu
t
s
i
g
n
a
l
.
T
h
e
o
r
i
g
i
na
l
s
i
g
n
a
ls
i
n
t
h
e
j
o
i
n
t
s
r
e
pr
e
s
e
n
t
t
h
e
j
o
i
n
t
s
po
s
i
t
i
o
n
s
.
T
h
e
s
u
i
t
a
bl
e
c
ubi
c
po
l
y
n
o
mi
a
l
h
a
s
t
h
e
f
o
r
m
[
18]
:
(
)
=
0
+
(
3
/
2
)
(
−
0
)
2
−
(
2
/
3
)
(
−
0
)
3
(
1)
w
h
e
r
e
;
0
:
i
ni
t
i
a
l
po
s
i
t
i
o
n
:
f
i
na
l
po
s
i
t
i
o
n
:t
i
m
e
dur
a
t
i
o
n
f
o
r
m
o
t
i
o
n
T
h
e
s
i
g
na
l
s
a
r
e
t
h
e
n
m
e
r
ge
d
w
i
t
h
a
n
e
x
t
e
r
n
a
l
s
i
gn
a
l
a
s
a
d
i
s
t
ur
b
a
n
c
e
m
o
de
l
,
w
hi
c
h
c
o
n
s
i
s
t
s
o
f
a
r
e
pe
a
t
e
d
s
t
a
i
r
s
e
que
n
c
e
w
i
t
h
a
ga
i
n
.
T
h
e
p
u
r
po
s
e
o
f
us
i
ng
t
h
e
d
i
s
t
ur
b
a
n
c
e
m
o
de
l
i
s
t
o
us
e
d
t
h
e
r
o
b
o
t
s
i
g
n
a
l
s
f
a
u
l
t
y
.
T
h
e
s
i
g
n
a
l
a
t
e
a
c
h
j
o
i
n
t
o
f
t
h
e
r
o
b
o
t
a
r
m
i
s
t
o
b
e
c
o
nv
e
r
t
e
d
i
n
t
o
C
a
r
t
e
s
i
a
n
c
o
o
r
di
n
a
t
e
s
u
s
i
n
g
t
h
e
f
o
r
wa
r
d
k
i
n
e
m
a
t
i
c
s
e
qua
t
i
o
n
s
.
T
h
e
f
o
r
wa
r
d
ki
ne
m
a
t
i
c
s
e
qua
t
i
o
ns
f
o
r
t
h
e
p
l
a
nn
e
r
a
r
e
:
=
1
+
2
(
1
+
2
)
(
2)
=
1
+
2
(
1
+
2
)
(
3)
W
hil
e
,
t
h
e
f
o
r
wa
r
d
ki
ne
m
a
t
i
c
s
f
o
r
L
a
b
Vo
l
t
5
r
o
b
ot
a
r
m
a
r
e
:
=
1
[
1
2
+
2
(
1
+
2
)
]
(
4)
=
1
2
+
2
(
2
+
3
)
(
5)
=
1
[
1
2
+
2
(
2
+
3
)
]
(
6)
W
h
e
r
e
;
L
1
a
n
d
L
2
a
r
e
t
h
e
l
e
n
gt
h
s
o
f
l
i
nk1
a
n
d
l
i
nk
2;
r
e
s
pe
c
t
i
v
e
ly
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
20
22
:
281
-
290
284
F
o
r
n
o
i
s
y
o
r
f
a
u
l
t
y
s
i
g
na
l
s
,
i
t
i
s
pr
e
f
e
r
r
e
d
t
o
d
e
a
l
w
i
t
h
t
h
e
a
c
c
e
l
e
r
a
t
i
o
n
s
i
g
n
a
l
s
(
t
h
e
2
nd
o
r
de
r
de
r
i
v
a
t
i
o
n
o
f
po
s
i
t
i
o
ns
)
be
c
a
u
s
e
t
h
e
y
a
r
e
m
o
r
e
s
e
n
s
i
t
i
ve
t
o
b
ot
h
t
i
m
e
-
a
n
d
f
r
e
que
n
c
y
-
c
ha
n
ge
s
.
I
n
t
hi
s
pa
p
e
r
,
t
h
e
de
t
e
c
t
e
d
a
c
c
e
l
e
r
a
t
i
o
n
s
i
g
na
l
s
a
r
e
to
b
e
r
e
gi
s
t
e
r
e
d
a
n
d
d
i
a
g
n
o
s
e
d
w
i
t
h
t
h
e
wa
ve
l
e
t
t
r
a
n
s
f
o
r
m
,
a
n
d
t
h
e
pr
o
c
e
s
s
i
s
r
e
pe
a
t
e
d
w
i
t
h
S
L
T
.
A
NN
i
s
t
h
e
n
us
e
d
to
c
l
a
s
s
if
y
t
h
e
de
f
e
c
t
i
v
e
s
i
g
na
l
s
.
T
h
e
m
o
s
t
de
t
e
c
t
e
d
f
a
u
l
t
y
s
i
g
na
l
s
o
c
c
ur
b
e
c
a
us
e
o
f
t
h
e
uns
t
a
bl
e
t
or
que
o
r
f
o
r
c
e
a
ppl
i
e
d
to
t
h
e
j
o
i
n
t
s
or
b
e
c
a
us
e
o
f
hi
g
h
l
o
a
d
s
,
whi
c
h
l
e
a
d
t
o
a
ddi
t
i
o
n
a
l
n
o
i
s
y
s
i
g
n
a
l
s
,
a
ppe
a
r
a
s
o
s
c
i
ll
a
t
i
o
n
s
[
17]
,
[
19]
.
T
h
e
a
c
c
e
l
e
r
a
t
i
o
n
i
s
e
x
pe
c
t
e
d
to
b
e
e
a
s
il
y
r
e
a
d
s
i
nc
e
a
c
c
e
l
e
r
o
m
e
t
e
r
s
e
ns
o
r
s
a
r
e
us
e
d
i
n
t
h
e
m
a
j
o
r
i
t
y
o
f
r
e
a
l
-
wo
r
l
d
r
e
c
e
n
t
wo
r
ks
[
4]
.
A
n
o
i
s
y
s
i
g
na
l
is
pr
o
duc
e
d
i
n
t
hi
s
s
im
u
l
a
t
i
o
n
by
a
dd
i
ng
a
d
i
s
t
ur
b
a
n
c
e
s
i
g
na
l
a
t
j
o
i
n
t
s
.
T
hi
s
c
o
n
d
i
t
i
o
n
c
a
u
s
e
s
t
h
e
o
r
i
g
i
na
l
s
i
g
n
a
ls
to
b
e
d
i
s
r
upt
e
d,
r
e
s
ul
t
i
n
g
i
n
t
h
e
o
ut
pu
t
o
f
a
de
f
e
c
t
i
v
e
s
i
g
na
l
.
T
he
A
NN
i
s
t
h
e
n
a
pp
li
e
d
f
o
r
t
h
e
pur
po
s
e
o
f
f
a
u
l
t
'
s
c
l
a
s
s
i
f
i
c
a
t
i
o
n
.
3.
DI
S
CR
E
T
E
WAV
E
L
E
T
T
RA
NSF
ORM
T
h
e
wa
v
e
l
e
t
i
s
c
o
n
s
i
de
r
e
d
a
s
o
n
e
o
f
t
h
e
r
e
c
e
n
t
a
ppr
o
a
c
h
e
s
f
o
r
s
i
g
na
l
t
r
a
n
s
f
o
r
m
a
t
i
o
n
,
t
h
a
t
h
a
s
a
w
i
d
e
r
a
n
ge
o
f
a
pp
li
c
a
t
i
o
ns
[
20]
.
T
h
e
wa
v
e
l
e
t
tr
a
n
s
f
o
r
m
i
s
vi
e
we
d
a
s
a
s
o
l
ut
i
o
n
t
o
t
h
e
s
h
o
r
t
e
s
t
t
i
m
e
f
o
ur
i
e
r
t
r
a
n
s
f
o
r
m
(
S
T
F
T
)
's
pr
o
bl
e
m
s
.
A
s
s
h
o
wn
i
n
F
i
g
ur
e
4,
i
t
c
o
n
s
i
de
r
s
a
va
r
i
e
t
y
o
f
w
i
ndo
ws
w
i
t
h
v
a
r
yin
g
s
c
a
l
e
s
a
n
d
w
i
dt
h
s
(
7)
.
I
n
t
hi
s
wa
y
,
t
h
e
wa
ve
l
e
t
t
r
a
n
s
f
o
r
m
w
i
ll
d
i
v
i
de
da
t
a
i
n
t
o
s
e
v
e
r
a
l
f
r
e
que
nc
y
c
o
m
po
n
e
n
t
s
a
n
d
i
nve
s
t
i
g
a
t
e
e
a
c
h
o
n
e
s
e
pa
r
a
t
e
l
y
[
16]
,
[
20]
.
F
i
gur
e
4.
W
a
ve
l
e
t
t
i
m
e
-
s
c
a
l
e
r
e
pr
e
s
e
n
t
a
t
i
o
n
[
16]
/
,
(
)
=
1
√
(
−
)
(
7)
T
h
e
wa
v
e
l
e
t
tr
a
n
s
f
o
r
m
i
s
us
e
d
to
de
c
o
m
po
s
e
n
o
n
-
s
t
a
t
i
o
n
a
r
y
t
i
m
e
s
e
r
i
e
s
do
m
a
i
ns
i
n
t
o
f
r
e
que
n
c
y
–
t
i
m
e
do
m
a
i
ns
i
n
a
v
a
r
i
e
t
y
o
f
f
i
e
l
ds
[
21]
.
T
hi
s
c
o
n
c
e
pt
'
s
m
e
a
n
i
s
a
li
t
t
l
e
wa
v
e
,
whi
c
h
i
s
a
n
o
s
c
i
ll
a
t
o
r
y
f
u
n
c
t
i
o
n
f
o
r
a
z
e
r
o
a
v
e
r
a
ge
t
h
a
t
i
s
l
o
c
a
li
z
e
d
i
n
a
mi
n
o
r
s
p
a
n
.
W
a
ve
l
e
t
c
o
e
f
f
i
c
i
e
n
t
s
c
a
n
b
e
m
a
ni
pu
l
a
t
e
d
i
n
a
f
r
e
que
nc
y
-
b
a
s
e
d
m
a
nn
e
r
,
t
h
e
n
,
i
nv
e
r
t
e
d
to
a
t
i
m
e
-
b
a
s
e
d
r
e
pr
e
s
e
n
t
a
t
i
o
n
.
T
h
e
m
o
t
h
e
r
wa
v
e
l
e
t
f
u
n
c
t
i
o
n
c
a
n
b
e
m
o
d
i
f
i
e
d
to
ge
n
e
r
a
t
e
o
t
h
e
r
da
ugh
t
e
r
wa
ve
l
e
t
f
u
n
c
t
i
o
n
s
,
f
o
r
mi
ng
t
h
e
wa
v
e
l
e
t
f
a
mi
ly
gr
o
up.
E
a
c
h
da
ug
h
t
e
r
wa
v
e
l
e
t
f
u
n
c
t
i
o
n
i
s
a
m
o
ve
d
-
e
x
t
e
n
de
d,
o
r
a
m
o
ve
d
-
c
o
m
pr
e
s
s
e
d
ve
r
s
i
o
n
o
f
t
h
e
m
o
t
h
e
r
wa
v
e
l
e
t
[
21]
.
T
h
e
wa
v
e
l
e
t
t
r
a
n
s
f
o
r
m
i
s
d
i
v
i
de
d
i
n
t
o
t
w
o
t
y
p
e
s
:
c
o
n
t
i
n
uo
us
a
nd
d
i
s
c
r
e
t
e
.
Ha
a
r
a
n
d
Da
u
b
e
c
hi
e
s
a
r
e
us
ua
l
f
o
r
m
s
o
f
d
i
s
c
r
e
t
e
wa
v
e
l
e
t
t
h
a
t
a
r
e
d
i
s
c
o
n
t
i
n
ue
s
i
n
t
i
m
e
,
po
s
s
e
s
s
i
ng
S
h
a
nn
o
n
d
i
s
c
o
n
t
i
n
ue
s
i
n
f
r
e
que
n
c
y
[
22]
.
A
c
c
o
r
d
i
n
g
t
o
t
h
e
a
pp
l
i
c
a
t
i
o
ns
'
pur
po
s
e
s
,
di
s
c
r
e
t
e
wa
v
e
l
e
t
t
r
a
n
s
f
o
r
m
s
i
s
u
s
e
d.
T
h
e
i
m
pr
a
c
t
i
c
a
li
t
y
a
n
d
r
e
dun
da
nc
y
o
f
c
o
n
t
i
n
ue
s
wa
v
e
l
e
t
t
r
a
n
s
f
o
r
m
(
C
W
T
)
a
r
e
b
o
t
h
f
a
mi
li
a
r
pr
o
bl
e
m
s
;
t
h
e
f
i
r
s
t
i
s
b
e
c
a
us
e
b
o
t
h
pa
r
a
m
e
t
e
r
s
a
r
e
c
o
n
s
t
a
n
t
,
whil
e
t
h
e
s
e
c
o
n
d
i
s
due
to
t
h
e
wa
ve
l
e
t
'
s
e
xi
s
t
e
n
c
e
.
Dur
in
g
t
h
e
wa
v
e
l
e
t
c
a
l
c
u
l
a
t
i
o
n
,
w
h
e
n
t
h
e
c
o
n
t
i
n
uo
us
ly
-
s
c
a
l
a
bl
e
f
u
n
c
t
i
o
n
i
s
c
o
n
t
i
n
uo
us
l
y
s
hi
f
t
e
d
t
h
e
o
v
e
r
t
h
e
s
i
g
n
a
l
t
o
de
t
e
r
m
i
ne
t
h
e
c
o
r
r
e
l
a
t
i
o
n
b
e
t
we
e
n
t
h
e
m
,
t
h
e
s
t
a
t
e
d
r
e
dun
da
n
c
y
pr
o
bl
e
m
o
c
c
ur
s
.
As
a
r
e
s
u
l
t
,
t
h
e
wa
v
e
l
e
t
c
o
e
f
f
i
c
i
e
n
t
s
m
us
t
b
e
e
x
t
r
e
m
e
ly
r
e
du
n
d
a
n
t
[
23]
.
T
h
e
DW
T
i
s
a
t
y
pe
o
f
wa
v
e
l
e
t
t
h
a
t
i
s
d
e
v
e
l
o
pe
d
by
s
a
m
p
li
ng
t
h
e
w
a
v
e
l
e
t
c
o
e
f
f
i
c
i
e
n
t
s
t
o
o
v
e
r
c
o
m
e
t
hi
s
pr
o
bl
e
m
.
T
h
e
d
i
s
c
r
e
t
e
wa
v
e
l
e
t
i
s
n
o
t
c
o
n
t
i
n
uo
us
l
y
s
c
a
l
a
bl
e
o
r
t
r
a
n
s
l
a
t
a
bl
e
,
b
ut
i
t
c
a
n
be
s
c
a
l
e
d
a
n
d
t
r
a
n
s
l
a
t
e
d
i
n
di
s
c
r
e
t
e
s
t
e
ps
.
T
o
a
c
c
o
m
p
l
i
s
h
t
hi
s
,
t
h
e
wa
ve
l
e
t
e
qua
t
i
o
n
i
s
m
o
d
i
f
i
e
d
a
s
s
h
o
wn
i
n
(
8)
.
′
(
)
=
1
√
0
(
−
Ʈ
0
0
0
)
(
8)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
I
S
S
N:
2502
-
4752
Slant
let
tr
ans
f
or
m
us
e
d
f
or
f
ault
s
diagnos
is
in
r
obot
ar
m
(
M
uhamad
A
z
har
A
bdil
ate
f
A
loba
idy)
285
W
h
e
r
e
;
(
j
,
k)
a
r
e
i
n
t
e
ge
r
s
,
a
n
d
(
s
0
>
1)
i
s
a
c
o
ns
t
a
n
t
d
i
l
a
t
i
o
n
p
h
a
s
e
.
T
h
e
d
i
l
a
t
i
o
n
p
ha
s
e
de
t
e
r
m
i
ne
s
t
h
e
t
r
a
n
s
l
a
t
i
o
n
f
a
c
t
o
r
S
0
i
n
(
8)
.
S
0
i
s
us
u
a
l
ly
s
e
t
to
two
s
uc
h
t
h
a
t
t
h
e
f
r
e
que
n
c
y
a
xi
s
s
a
m
p
li
ng
l
e
a
d
s
t
o
dy
a
d
i
c
s
a
m
p
l
i
ng
.
T
h
e
t
r
a
ns
l
a
t
i
o
n
f
a
c
t
o
r
i
s
n
o
r
m
a
ll
y
s
e
t
to
o
n
e
;
t
hi
s
r
e
s
u
l
t
s
i
n
a
d
y
a
d
i
c
s
a
m
p
li
ng
o
f
t
h
e
t
i
m
e
a
xi
s
.
S
=
2
j
,
t
=
k*
2
j
.
I
n
t
hi
s
pa
pe
r
,
Da
u
b
e
c
hi
e
s
f
o
ur
(
DB
4)
,
w
hi
c
h
i
s
a
t
y
pe
o
f
D
W
T
,
i
s
u
s
e
d
f
o
r
t
h
e
pur
p
o
s
e
o
f
f
a
u
l
t
de
t
e
c
t
i
o
n
i
n
r
o
b
o
t
a
r
m
s
i
g
n
a
l
s
(
t
r
a
j
e
c
t
o
r
y
)
.
T
hi
s
t
y
pe
i
s
pr
o
po
s
e
d
to
b
e
us
e
d
b
e
c
a
u
s
e
o
f
t
h
e
l
im
i
t
e
d
p
e
r
i
o
d
o
f
t
i
m
e
us
e
d
t
o
c
o
m
p
l
e
t
e
t
h
e
t
r
a
j
e
c
t
o
r
y
(
pa
t
h
)
o
f
t
h
e
us
e
d
s
im
u
l
a
t
e
d
r
o
b
ot
a
r
m
.
F
i
v
e
l
e
v
e
l
s
a
r
e
a
na
l
y
z
e
d
to
r
e
a
c
h
t
h
e
s
u
i
t
a
bl
e
b
a
n
ks
'
f
il
t
e
r
s
f
o
r
t
h
e
pur
p
o
s
e
o
f
f
e
a
t
ur
e
s
e
x
t
r
a
c
t
i
o
n
.
F
i
gur
e
5,
D0
-
D4
r
e
pr
e
s
e
n
t
t
h
e
f
e
a
t
ur
e
s
f
o
r
f
a
u
l
t
s
d
i
a
g
n
o
s
i
s
,
t
h
e
hi
g
h
f
r
e
que
n
c
i
e
s
,
w
hi
c
h
r
e
pr
e
s
e
n
t
t
h
e
hi
g
h
p
a
s
s
f
il
t
e
r
s
'
(
HPF
s
)
o
ut
pu
t
s
,
a
r
e
de
pe
n
de
d.
W
hil
e
t
h
e
l
o
w
f
r
e
que
nc
i
e
s
f
r
o
m
t
h
e
l
o
w
pa
s
s
f
i
l
t
e
r
s
(
L
P
F
s
)
a
r
e
n
o
t
us
e
d.
F
i
gur
e
5.
W
a
ve
l
e
t
f
i
ve
l
e
ve
l
o
pe
n
e
d
d
i
a
gr
a
m
4.
S
L
AN
T
L
E
T
T
RA
NSF
ORM
T
h
e
D
W
T
i
s
a
t
e
qni
c
h
e
u
s
e
d
e
s
p
e
c
i
a
ll
y
f
o
r
m
u
l
t
i
-
r
e
s
o
l
ut
i
o
n
a
n
a
ly
t
i
c
a
pp
li
c
a
t
i
o
ns
.
I
t
h
a
s
c
ha
n
ge
a
bl
e
w
i
n
do
ws
t
h
a
t
a
r
e
s
h
o
r
t
a
t
hi
g
h
f
r
e
que
n
c
i
e
s
a
n
d
l
o
n
g
a
t
l
o
w
f
r
e
que
n
c
i
e
s
[
24]
.
T
o
s
o
l
v
e
o
n
e
o
f
DW
T
'
s
we
a
kne
s
s
e
s
,
t
h
e
i
na
bil
i
t
y
t
o
c
o
n
s
t
r
uc
t
a
n
i
de
a
l
d
i
s
c
r
e
t
e
t
i
m
e
b
a
s
i
s
f
o
r
a
f
i
n
i
t
e
n
u
m
be
r
o
f
z
e
r
o
m
o
m
e
n
t
s
,
S
e
l
e
s
ni
c
k
i
nve
n
t
e
d
t
h
e
S
L
T
i
n
1999,
a
t
y
pe
o
f
f
i
l
t
e
r
c
o
m
pa
r
a
bl
e
t
o
DW
T
t
h
a
t
o
u
t
pe
r
f
o
r
m
s
D
W
T
b
y
i
nc
r
e
a
s
i
n
g
t
i
m
e
l
o
c
a
l
i
z
a
t
i
o
n
qua
l
i
t
i
e
s
[
12]
.
S
L
T
i
s
a
hi
g
h
-
r
e
s
o
l
ut
i
o
n
m
u
l
t
i
-
r
e
s
o
l
ut
i
o
n
a
ppr
o
a
c
h
t
h
a
t
us
e
s
p
i
e
c
e
w
i
s
e
li
ne
a
r
da
t
a
.
S
L
T
,
i
s
li
ke
D
W
T
,
i
n
o
r
t
h
o
g
o
n
a
l
i
t
y
a
n
d
c
a
pa
b
i
li
t
y
o
f
de
c
o
m
po
s
i
t
i
o
n
a
t
s
e
v
e
r
a
l
r
e
s
o
l
ut
i
o
n
s
.
S
L
T
f
il
t
e
r
s
a
r
e
c
o
m
m
o
nl
y
i
m
p
l
e
m
e
n
t
e
d
a
s
a
t
r
e
e
s
t
r
uc
t
ur
e
wi
t
h
f
il
t
e
r
b
a
n
k
i
t
e
r
a
t
i
o
n
,
wh
e
r
e
a
s
DW
T
f
il
t
e
r
s
a
r
e
t
y
p
i
c
a
ll
y
b
u
il
t
a
s
a
t
r
e
e
s
t
r
uc
t
u
r
e
w
i
t
h
o
ut
f
i
l
t
e
r
ba
n
k
i
t
e
r
a
t
i
o
n
[
25]
,
[
26]
.
S
L
T
i
s
j
u
s
t
a
s
e
r
i
e
s
o
f
pa
r
a
l
l
e
l
f
il
t
e
r
s
b
u
il
t
f
r
o
m
a
n
o
r
t
h
o
g
o
n
a
l
D
W
T
w
i
t
h
a
t
i
m
e
-
l
o
c
a
l
i
z
a
t
i
o
n
i
m
pr
o
v
e
m
e
n
t
[
24]
,
a
s
s
h
o
wn
in
F
i
gur
e
6.
I
n
[
27]
,
t
h
e
s
e
c
o
n
d
s
c
a
l
e
'
s
c
o
e
f
f
i
c
i
e
n
t
s
o
f
S
L
T
f
il
t
e
r
b
a
n
k
we
r
e
c
a
l
c
u
l
a
t
e
d
w
i
t
h
t
h
e
i
r
.
S
u
m
-
of
-
po
we
r
s
-
of
-
t
w
o
(
S
OPOT
)
r
e
pr
e
s
e
n
t
a
t
i
o
n
s
,
w
hil
e
t
he
t
hi
r
d
s
c
a
l
e
c
o
e
f
f
i
c
i
e
n
t
s
o
f
S
L
T
f
il
t
e
r
b
a
n
k
we
r
e
c
a
l
c
u
l
a
t
e
d
i
n
(
9
)
a
n
d
(
10)
[
28]
.
I
n
s
uc
h
wo
r
k,
t
h
e
s
a
m
e
c
o
e
f
f
i
c
i
e
n
t
s
f
o
r
s
e
c
o
n
d
s
c
a
l
e
s
we
r
e
o
b
t
a
i
ne
d.
T
h
o
s
e
c
o
e
f
f
i
c
i
e
n
t
s
o
f
t
h
e
S
L
T
f
il
t
e
r
s
'
b
a
n
k
(
F
2
(
z
)
,
G
2
(
z
)
,
a
n
d
z
-
3
G
1
(
1/z
)
a
r
e
us
e
d
i
n
t
hi
s
pa
pe
r
f
o
r
t
h
e
pur
po
s
e
o
f
f
e
a
t
ur
e
de
t
e
c
t
i
o
n
(
f
a
u
l
t
d
i
a
g
n
o
s
i
s
)
,
whi
l
e
H
2
(
z
)
f
il
t
e
r
whi
c
h
r
e
pr
e
s
e
n
t
s
t
h
e
L
P
F
i
s
n
o
t
us
e
d,
b
e
c
a
us
e
o
f
i
t
s
i
ne
f
f
i
c
i
e
n
t
c
o
e
f
f
i
c
i
e
n
t
s
.
T
h
e
s
e
m
e
a
s
ur
e
d
a
n
d
us
e
d
c
o
e
f
f
i
c
i
e
n
t
s
we
r
e
r
e
l
i
e
d
o
n
a
n
d
us
e
d.
T
he
c
o
e
f
f
i
c
i
e
n
t
s
o
f
t
h
e
u
s
e
d
f
i
l
t
e
r
s
a
r
e
c
o
n
v
o
l
ut
e
d
w
i
t
h
t
h
e
r
o
b
ot
a
r
m
'
s
o
ut
pu
t
a
c
c
e
l
e
r
a
t
i
o
n
s
i
g
n
a
l
s
o
f
e
a
c
h
j
o
i
n
t
to
e
x
t
r
a
c
t
t
h
e
r
e
qu
i
r
e
d
f
e
a
t
ur
e
s
f
o
r
f
a
u
l
t
d
i
a
g
n
o
s
i
s
.
T
h
e
s
e
d
i
a
g
n
o
s
e
d
f
e
a
t
ur
e
s
a
r
e
t
h
e
n
us
e
d
a
s
i
nput
s
f
o
r
a
n
A
NN
t
o
i
de
n
t
i
f
y
t
h
e
f
a
u
l
t
s
a
c
c
o
r
d
i
n
g
t
o
t
h
e
i
r
t
y
pe
s
a
n
d
l
o
c
a
t
i
o
ns
.
T
he
c
o
e
f
f
i
c
i
e
n
t
s
o
f
t
h
e
2
nd
s
c
a
l
e
S
L
T
's
f
il
t
e
r
b
a
n
k
a
r
e
s
h
o
wn
in
T
a
bl
e
s
1
-
4.
g
i
(
x
)
=
{
a
0
′
0
+
a
1
′
0
fo
r
n
=
0
…
.
2
j
a
1
′
0
+
a
1
′
1
∗
(
n
−
2
j
)
fo
r
n
=
2
j
…
2
j
+
1
−
1
m
=
2
j
S
1
=
6*
√
(
m
)
/
(
(
m
^
2
)
−
1
)
(
4m
^
2
−
1
)
)
t
1
=
2*
√
3
/
(
m
(
m
2
−
1
)
S
0
=
-
S
1
*
(
m
−
1
)/
(
9)
t
0
=
(
(
m
+
1)
(
s
1/3)
-
mt
1
)
(
(
m
-
1)
/2
m
)
a
0
′
0
=
(
s
0
+
t
0
)
/
2
a
1
′
0
=
(
s
0
−
t
0
)
/
2
a
0
′
1
=
(
s
1
+
t
1
)
/
2
a
1
′
1
=
(
s
1
−
t
1
)
/
2
(
10)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
20
22
:
281
-
290
286
F
i
gur
e
6.
S
e
c
o
n
d
s
c
a
l
e
S
L
T
f
il
t
e
r
b
a
n
k
s
t
r
uc
t
ur
e
T
a
bl
e
1
.
S
L
T
s
e
c
o
n
d
s
c
a
l
e
H
2
(
z
)
f
i
l
t
e
r
'
s
i
n
i
t
i
a
l
c
o
e
f
f
i
c
i
e
n
t
s
S
L
T
F
i
lt
e
r
s
h(
0)
h
(
1)
h(
2)
h(
3)
h(
4)
h
(
5)
h(
6)
h
(
7)
C
o
e
f
f
i
c
i
e
nt
s
0.2698
0.3948
0.5198
0.6448
0.2302
0.1052
−
0.0198
−
0.1448
T
a
bl
e
2
.
S
L
T
s
e
c
o
n
d
s
c
a
l
e
F
2
(
z
)
f
il
t
e
r
'
s
i
n
i
t
i
a
l
c
o
e
f
f
i
c
i
e
n
t
s
S
L
T
F
i
lt
e
r
s
h(
0)
h
(
1)
h(
2)
h(
3)
h(
4)
h
(
5)
h(
6)
h
(
7)
C
o
e
f
f
i
c
i
e
nt
s
−
0.0825
−
0.1207
−
0.1589
−
0.1971
0.7533
0.3443
−
0.0648
−
0.4738
T
a
bl
e
3
.
S
L
T
s
e
c
o
n
d
s
c
a
l
e
I
ni
t
i
a
l
c
o
e
f
f
i
c
i
e
n
t
s
o
f
G1(
)
f
i
l
t
e
r
S
L
T
F
i
lt
e
r
h(
0)
h
(
1)
h(
2)
h
(
3)
C
o
e
f
f
i
c
i
e
nt
s
−
0.5117
0.8279
−
0.1208
−
0.1954
T
a
bl
e
4
.
S
L
T
s
e
c
o
n
d
s
c
a
l
e
i
ni
t
i
a
l
c
o
e
f
f
i
c
i
e
n
t
s
o
f
G
1(
)
f
i
l
t
e
r
(
−
(
/
))
S
L
T
F
i
lt
e
r
h(
0)
h
(
1)
h(
2)
h
(
3)
C
o
e
f
f
i
c
i
e
nt
s
−
0.1954
−
0.1208
0.8279
−
0.5117
5.
F
AU
L
T
S
CL
ASS
I
F
I
CA
T
I
ON
T
h
e
m
o
s
t
l
y
u
s
e
d
pr
o
c
e
s
s
f
o
r
t
h
e
pur
p
o
s
e
o
f
s
e
pa
r
a
t
i
o
n
a
n
d
c
l
a
s
s
if
i
c
a
t
i
o
n
i
n
r
e
c
e
n
t
s
t
udi
e
s
,
i
s
t
h
e
A
NN
.
J
a
be
r
[
4]
,
[
5]
t
h
e
m
u
l
t
i
-
l
a
y
e
r
pe
r
c
e
pt
r
o
n
(
M
L
P
)
w
i
t
h
o
n
e
hi
dde
n
l
a
y
e
r
i
s
us
e
d,
r
e
f
e
r
e
e
i
ng
to
t
h
a
t
a
n
d
a
c
c
o
r
di
n
g
t
o
t
h
e
i
r
a
c
c
ur
a
t
e
r
e
s
u
l
t
s
o
b
t
a
i
n
e
d
b
e
s
i
de
o
f
i
t
s
s
im
il
a
r
i
t
y
o
f
t
hi
s
wo
r
ks
,
t
h
e
s
a
m
e
AN
N
w
it
h
s
o
m
e
m
o
d
i
f
i
c
a
t
i
o
ns
,
i
s
us
e
d
h
e
r
e
.
I
n
t
hi
s
wo
r
k,
t
w
o
s
i
m
u
l
a
t
i
o
n
s
a
r
e
de
s
i
g
n
e
d
a
n
d
t
e
s
t
e
d,
t
h
e
f
i
r
s
t
o
n
e
i
s
a
p
l
a
n
e
r
r
o
b
ot
a
r
m
t
h
a
t
h
a
s
t
wo
j
o
i
n
t
s
,
w
hi
l
e
t
h
e
s
e
c
o
n
d
s
im
u
l
a
t
i
o
n
i
s
a
l
s
o
a
r
o
b
o
t
a
r
m
b
ut
w
i
t
h
t
h
r
e
e
j
o
i
n
t
s
.
T
h
e
f
a
u
l
t
s
a
r
e
s
uppo
s
e
d
t
o
b
e
h
a
ppe
ne
d
i
n
j
o
i
n
t
s
,
e
a
c
h
j
o
i
n
t
c
a
n
b
e
e
x
po
s
e
d
t
o
pr
o
bl
e
m
s
,
w
hi
c
h
us
ua
ll
y
l
e
a
d
t
o
f
a
u
l
t
s
,
c
a
us
i
ng
a
m
o
t
i
o
n's
f
a
il
ur
e
i
n
r
o
b
ot
.
T
e
n
i
n
put
s
/
f
o
ur
o
u
t
pu
t
s
M
L
P
i
s
de
s
i
g
n
e
d
f
o
r
t
h
e
p
l
a
n
e
r
r
o
b
o
t
a
r
m
,
a
n
d
f
i
f
t
e
e
n
i
nput
s
/e
i
g
h
t
o
u
t
pu
t
s
i
s
de
s
i
g
n
e
d
f
o
r
t
h
e
L
a
b
Vo
l
t
(
t
h
r
e
e
j
o
i
n
t
s
e
x
a
m
p
l
e
)
r
o
b
ot
a
r
m
m
a
ni
pu
l
a
t
o
r
,
T
a
bl
e
5.
T
h
e
da
t
a
i
s
d
i
vi
d
e
d
a
c
c
o
r
di
n
g
to
t
h
a
t
7
0%
f
o
r
tr
a
i
ni
ng,
15%
f
o
r
v
a
li
da
t
i
o
n
a
n
d
15%
f
o
r
t
e
s
t
i
ng
pr
o
c
e
s
s
.
T
h
e
c
o
nf
us
i
o
n
m
a
t
r
i
x
,
w
hi
c
h
i
s
c
a
l
c
u
l
a
t
e
d
to
s
h
o
w
t
h
e
a
d
j
a
c
e
n
c
y
b
e
t
we
e
n
t
h
e
o
ut
pu
t
a
n
d
tar
ge
t
s
i
n
a
dd
i
t
i
o
n
to
t
h
e
s
y
s
t
e
m
a
c
c
ur
a
c
y
.
T
a
bl
e
5
.
M
L
P
-
A
NN
c
h
a
r
a
c
t
e
r
i
s
t
i
c
s
C
ha
r
a
c
te
r
is
ti
c
s
P
la
nne
r
r
o
b
o
t
a
r
m
L
a
bV
o
lt
r
o
b
o
t
a
r
m
1
N
umbe
r
of
in
put
l
a
y
e
r
ne
u
r
o
ns
10
15
2
N
umbe
r
of
h
id
de
n l
a
y
e
r
n
e
ur
o
ns
1
1
3
N
umbe
r
of
o
u
tp
ut
l
a
y
e
r
ne
u
r
o
ns
4
8
5
H
id
d
e
n l
a
y
e
r
a
c
ti
v
a
ti
o
n
f
unc
ti
o
n
B
a
y
e
s
ia
n R
e
gul
a
r
i
z
a
ti
o
n
B
a
y
e
s
ia
n R
e
gul
a
r
i
z
a
ti
o
n
6
O
ut
put
l
a
y
e
r
a
c
ti
v
a
ti
o
n
f
un
c
ti
o
n
L
in
e
a
r
L
in
e
a
r
7
L
e
a
r
ni
ng
r
a
te
0,05
0,05
8
M
in
im
um pe
r
f
or
ma
nc
e
gr
a
di
e
nt
1.00e
-
07
1.00e
-
07
9
M
a
x
im
um num
b
e
r
of
e
p
oc
h
5000
5000
6.
RE
S
UL
T
S
AN
D
DE
S
CU
T
I
ON
I
n
t
hi
s
s
e
c
t
i
o
n
,
a
f
a
u
l
t
s
d
i
a
g
n
o
s
i
s
s
t
ud
y
i
s
pr
e
s
e
n
t
e
d;
t
wo
m
e
t
h
o
ds
o
f
f
a
u
l
t
de
t
e
c
t
i
o
n
a
n
d
d
i
a
g
n
o
s
i
s
(
DW
T
a
n
d
S
L
T
)
a
r
e
a
pp
li
e
d
f
o
r
t
h
e
a
c
c
e
l
e
r
a
t
i
o
n
o
u
t
pu
t
s
i
g
na
l
s
o
f
t
wo
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
s
(
P
l
a
n
e
r
a
nd
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
I
S
S
N:
2502
-
4752
Slant
let
tr
ans
f
or
m
us
e
d
f
or
f
ault
s
diagnos
is
in
r
obot
ar
m
(
M
uhamad
A
z
har
A
bdil
ate
f
A
loba
idy)
287
L
a
b
Vo
l
t
)
,
F
i
g
ur
e
7.
B
ot
h
o
f
r
o
b
o
t
a
r
m
m
o
de
l
s
a
r
e
b
u
i
l
t
us
i
ng
M
a
t
l
a
b
S
im
u
l
i
nk.
As
m
e
n
t
i
o
ne
d
b
e
f
o
r
e
,
d
i
s
t
ur
b
a
n
c
e
s
i
g
n
a
l
i
s
a
dde
d
t
o
t
h
e
j
o
i
n
t
s
o
f
t
h
e
r
o
bot
a
r
m
s
j
o
i
n
t
s
.
M
a
ny
c
a
s
e
s
a
r
e
s
uppo
s
e
d
t
o
b
e
h
a
p
pe
n
e
d
;
i
n
t
h
e
pl
a
n
e
r
s
i
m
u
l
a
t
i
o
n
f
o
ur
c
a
s
e
s
a
r
e
e
x
pe
c
t
e
d
to
b
e
h
a
ppe
ne
d
a
c
c
o
r
di
n
g
t
o
t
h
e
f
o
l
l
o
w
i
ng
s
c
e
na
r
i
o
:
On
e
o
f
t
h
e
t
wo
j
o
i
n
t
s
a
r
e
di
s
t
ur
b
e
d
(
t
w
o
c
a
s
e
s
)
B
ot
h
o
f
t
h
e
j
o
i
n
t
s
d
i
s
t
ur
b
e
d
(
o
n
e
c
a
s
e
)
B
ot
h
o
f
t
h
e
j
o
i
n
t
s
a
r
e
h
e
a
l
t
hy
(
o
n
e
c
a
s
e
)
I
n
t
h
e
s
e
c
o
n
d
de
s
i
g
n
e
d
s
im
u
l
a
t
i
o
n
,
w
hi
c
h
r
e
pr
e
s
e
n
t
L
a
b
Vo
l
t
i
n
du
s
t
r
i
a
l
r
o
b
o
t
a
r
m
(
t
h
r
e
e
j
o
i
n
t
s
r
o
b
ot
a
r
m
)
,
e
i
g
h
t
c
a
s
e
s
c
a
n
b
e
e
x
pe
c
t
e
d
to
b
e
h
a
ppe
n
e
d
wh
e
n
d
i
s
t
ur
b
a
n
c
e
s
i
g
n
a
l
s
ha
v
e
t
o
b
e
a
dde
d
a
c
c
o
r
di
n
g
t
o
t
h
e
f
o
l
l
o
w
i
n
g
s
c
e
n
a
r
i
o
:
On
e
j
o
i
n
t
d
i
s
t
ur
b
e
d
s
i
g
n
a
l
(
t
h
r
e
e
c
a
s
e
s
)
T
wo
j
o
i
n
t
s
a
r
e
di
s
t
ur
b
e
d
(
t
h
r
e
e
c
a
s
e
s
)
All
s
i
g
n
a
l
s
'
j
o
i
n
t
s
a
r
e
h
e
a
l
t
hy
(
o
n
e
c
a
s
e
)
All
s
i
g
n
a
l
s
'
j
o
i
n
t
s
a
r
e
d
i
s
t
ur
b
e
d
(
o
n
e
c
a
s
e
)
E
a
c
h
o
f
t
h
e
s
e
c
a
s
e
s
,
f
o
r
t
h
e
b
o
t
h
s
i
m
u
l
a
t
i
o
ns
,
i
s
r
e
f
e
r
r
e
d
t
o
a
m
o
t
i
o
n
s
i
t
ua
t
i
o
n
w
hi
c
h
r
e
pr
e
s
e
n
t
s
s
i
g
na
l
s
o
f
a
c
c
e
l
e
r
a
t
i
o
n
i
n
(
x
,
y
)
d
i
r
e
c
t
i
o
n
s
f
o
r
t
h
e
p
l
a
nn
e
r
,
a
n
d
i
n
(
x
,
y
,
z
)
d
i
r
e
c
t
i
o
n
s
f
o
r
t
h
e
L
a
b
V
o
l
t
r
o
b
ot
a
r
m
.
T
h
e
s
e
c
a
s
e
s
c
a
n
i
n
d
i
c
a
t
e
i
f
t
h
e
m
o
t
i
o
n
i
s
n
o
i
s
y
(
d
i
s
t
o
r
t
e
d
s
i
g
n
a
l
)
o
r
n
o
t,
s
pe
c
i
f
yi
ng
t
h
e
l
o
c
a
t
i
o
n
o
f
d
i
s
t
ur
b
a
n
c
e
if
e
xi
s
t
s
.
T
h
e
r
e
c
o
r
de
d
i
ni
t
i
a
l
a
n
d
f
i
na
l
po
s
i
t
i
o
n
s
f
o
r
pl
a
n
e
r
a
r
e
[
-
15
o
,
15
o
]
a
n
d
[
60
o
,
75
o
]
;
r
e
s
pe
c
t
i
ve
ly
,
w
hil
e
f
o
r
L
a
bVo
l
t
r
o
b
ot
a
r
m
a
r
e
[
-
15
o
,
-
15
o
,
15
o
]
a
n
d
[
60
o
,
60
o
,
75
o
]
;
r
e
s
pe
c
t
i
v
e
ly.
A
t
t
h
e
b
e
g
i
nn
i
ng,
t
h
e
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
i
s
r
un
,
f
o
r
a
dur
a
t
i
o
n
t
i
m
e
,
t
h
e
a
c
c
e
l
e
r
a
t
i
o
n
s
i
g
na
l
s
a
r
e
r
e
c
o
r
d
e
d
us
i
n
g
0.
001
s
e
c
.
a
s
a
s
im
u
l
a
t
i
o
n
t
i
m
e
pe
r
wa
ll
c
l
o
c
k
a
n
d
3.
973
s
e
c
.
f
o
r
a
l
l
[
1]
,
[
5]
.
E
a
c
h
r
e
c
o
r
de
d
s
i
g
na
l
c
o
n
s
i
s
t
s
o
f
(
3973)
s
a
m
p
l
e
s
i
n
a
r
a
w,
r
e
pr
e
s
e
n
t
i
n
g
t
h
e
t
h
r
e
e
-
d
ir
e
c
t
i
o
n
s
a
c
c
e
l
e
r
a
t
i
o
ns
(
Ax
,
Ay
,
Az
)
.
Af
t
e
r
t
h
e
c
o
m
p
l
e
t
i
o
n
o
f
da
t
a
r
e
c
o
r
di
n
g,
t
h
e
f
e
a
t
ur
e
s
de
t
e
c
t
i
o
n
pr
o
c
e
s
s
i
s
t
a
ke
n
a
p
l
a
c
e
.
A
f
i
ve
-
l
e
v
e
l
d
e
c
o
m
po
s
i
t
i
o
n
w
i
t
h
DB
4
f
il
t
e
r
s
i
s
a
pp
l
i
e
d
f
o
r
t
h
e
da
t
a
,
i
t
ga
v
e
b
e
t
t
e
r
a
n
d
s
t
a
bl
e
r
e
s
u
l
t
s
w
i
t
h
m
o
r
e
a
c
c
ur
a
c
y
t
ha
n
o
t
h
e
r
s
(
DW
T
w
i
t
h
l
e
s
s
t
h
a
n
f
i
ve
n
u
m
be
r
o
f
l
e
v
e
l
d
e
c
o
m
po
s
i
t
i
o
n
)
.
T
h
us
by
us
in
g
w
a
v
e
l
e
t
f
o
r
t
h
e
p
l
a
n
e
r
r
o
b
o
t
a
r
m
(
x
,
a
n
d
y
)
,
t
e
n
o
ut
pu
t
c
o
e
f
f
i
c
i
e
n
t
s
a
r
e
r
e
s
u
l
t
e
d,
whil
e
f
if
t
e
e
n
c
o
e
f
f
i
c
i
e
n
t
s
a
r
e
pr
o
duc
e
d
f
o
r
t
h
e
L
a
b
Vo
l
t
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
(
x
,
y
,
a
n
d
z
)
.
E
a
c
h
o
f
t
h
e
r
e
s
u
l
t
i
n
g
wa
ve
l
e
t
c
o
e
f
f
i
c
i
e
n
t
c
o
n
s
i
s
t
s
o
f
(
1
x
1990)
s
a
m
p
l
e
s
.
A
s
m
e
n
t
i
o
n
e
d
be
f
o
r
e
,
f
o
ur
c
a
s
e
s
a
r
e
e
x
pe
c
t
e
d
to
b
e
h
a
ppe
n
e
d
due
t
o
t
h
e
f
a
u
l
t
s
w
i
t
h
t
h
e
i
r
l
o
c
a
t
i
o
n
s
.
Ac
c
o
r
di
n
g
t
o
t
h
a
t
,
e
a
c
h
o
n
e
of
t
h
e
t
e
n
c
o
e
f
f
i
c
i
e
n
t
s
(
D
0
–
D
10
)
,
w
i
l
l
be
pr
o
duc
e
d
f
o
ur
t
i
m
e
s
(
f
o
ur
c
a
s
e
s
)
.
T
h
e
s
e
c
o
e
f
f
i
c
i
e
n
t
s
a
r
e
t
h
e
n
c
o
n
c
a
t
e
n
a
t
e
d
a
s
s
h
o
w
n
i
n
F
i
gur
e
7.
Af
t
e
r
c
o
nc
a
t
e
n
a
t
i
o
n
,
t
e
n
i
nput
s
o
f
1
x
7960
s
a
m
p
l
e
s
(
4
x
1990)
w
il
l
be
a
pp
li
e
d
a
s
a
n
i
n
put
to
t
h
e
A
N
N
f
o
r
t
h
e
pur
po
s
e
o
f
f
a
u
l
t
s
c
l
a
s
s
if
i
c
a
t
i
o
n
a
c
c
o
r
di
n
g
t
o
t
h
e
i
r
l
o
c
a
t
i
o
ns
.
T
h
e
M
L
P
i
s
us
e
d
f
o
r
t
h
i
s
pur
po
s
e
(
a
s
i
n
s
e
c
t
i
o
n
5,
T
a
bl
e
5)
.
T
h
e
s
a
m
e
pr
o
c
e
dur
e
i
s
r
e
p
e
a
t
e
d
f
o
r
t
h
e
L
a
b
Vo
l
t
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
,
b
ut
w
i
t
h
t
h
r
e
e
s
i
g
n
a
l
s
i
n
t
h
e
(
x
,
y
,
a
n
d
z
)
d
i
r
e
c
t
i
o
n
s
.
T
he
r
e
s
u
l
t
s
o
f
t
h
e
s
e
e
x
p
e
r
i
m
e
n
t
s
a
r
e
r
e
c
or
de
d
i
n
T
a
ble
6.
F
i
gur
e
7
.
P
l
a
nn
e
r
r
o
b
ot
a
r
m
's
f
a
u
l
t
s
d
i
a
g
n
o
s
i
s
pr
o
c
e
s
s
As
s
h
o
wn
i
n
F
i
gur
e
7,
f
o
ur
o
u
t
pu
t
s
f
r
o
m
t
h
e
A
NN
w
i
ll
r
e
pr
e
s
e
n
t
f
o
ur
c
l
a
s
s
e
s
.
w
h
e
n
t
he
i
nput
s
to
t
h
e
A
NN
a
r
e
r
e
l
a
t
e
d
to
da
t
a
i
n
c
a
s
e
1,
t
h
e
n
t
h
e
A
NN
o
ut
pu
t
wi
l
l
b
e
[
1
0
0
0]
,
whi
l
e
w
h
e
n
t
h
e
y
a
r
e
r
e
l
a
t
e
d
to
c
a
s
e
s
t
w
o
,
t
h
e
e
a
n
d
f
o
ur
,
A
NN
o
u
t
pu
t
wi
ll
b
e
[
0
1
0
0]
,
[
0
0
1
0
]
,
a
n
d
[
0
0
0
1]
r
e
s
pe
c
t
i
v
e
ly
a
s
g
i
ve
n
i
n
T
a
ble
6.
T
h
e
s
a
m
e
pr
o
c
e
dur
e
i
s
us
e
d
f
o
r
t
h
e
L
a
b
Vo
l
t
(
t
h
r
e
e
j
o
i
n
t
s
)
r
o
b
ot
a
r
m
s
im
u
l
a
t
i
o
n
,
b
ut
w
i
t
h
d
i
f
f
e
r
e
n
c
e
s
of
f
if
t
e
e
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
20
22
:
281
-
290
288
i
nput
s
a
n
d
e
i
g
h
t
c
l
a
s
s
e
s
(
A
NN
o
ut
pu
t
s
)
,
T
a
bl
e
7.
As
m
e
n
t
i
o
n
e
d
i
n
s
e
c
t
i
o
n
5,
t
h
e
M
L
P
-
A
NN
i
s
u
s
e
d
f
o
r
t
h
e
pur
po
s
e
o
f
f
e
a
t
ur
e
s
(
f
a
u
l
t
s
)
c
l
a
s
s
if
i
c
a
t
i
o
n
.
T
h
e
B
a
y
e
s
i
a
n
r
e
g
u
l
a
r
i
z
a
t
i
o
n
a
c
t
i
va
t
i
o
n
f
u
n
c
t
i
o
n
i
s
u
s
e
d
f
o
r
t
h
e
hi
dde
n
l
a
y
e
r
t
h
a
t
h
a
s
18
n
e
ur
o
ns
(
t
h
e
b
e
s
t
-
e
x
pe
r
i
m
e
n
t
e
d
c
a
s
e
)
,
a
n
d
t
h
e
li
ne
a
r
a
c
t
i
v
a
t
i
o
n
f
u
n
c
t
i
o
n
i
s
us
e
d
f
o
r
t
h
e
o
u
t
pu
t
l
a
y
e
r
.
T
h
e
a
c
c
ur
a
c
y
o
f
t
h
e
s
y
s
t
e
m
r
e
a
c
he
s
93.
9%
f
o
r
t
h
e
p
l
a
nn
e
r
r
o
b
ot
a
r
m
,
w
hil
e
i
t
r
e
a
c
he
s
88.
6%
f
o
r
t
h
e
L
a
b
Vo
l
t
r
o
b
ot
a
r
m
us
i
ng
D
W
T
.
T
a
bl
e
6
.
M
L
P
-
A
NN
c
l
a
s
s
i
f
i
c
a
t
i
o
n
f
o
r
p
l
a
n
a
r
c
a
s
e
s
C
a
s
e
s
O
ut
put
F
a
ul
t
lo
c
a
ti
o
n
1
[
1 0 0 0]
N
o
f
a
ul
ts
(
H
e
a
lt
h
y
)
2
[
0 1 0 0]
J
o
in
t
1 (
S
h
o
ul
d
e
r
)
3
[
0 0 1 0]
J
o
in
t
2 (
A
r
m
)
7
4
[
0 0 0 1]
J
o
in
t
1 & 2
T
a
bl
e
7
.
M
L
P
-
A
NN
c
l
a
s
s
i
f
i
c
a
t
i
o
n
L
a
b
Vo
l
t
c
a
s
e
s
C
a
s
e
s
O
ut
put
F
a
ul
t
lo
c
a
ti
o
n
1
[
1 0 0 0 0 0 0 0]
N
o
f
a
ul
ts
(
H
e
a
lt
h
y
)
2
[
0 1 0 0 0 0 0 0]
J
o
in
t
1 (
B
a
s
e
)
3
[
0 0 1 0 0 0 0 0]
J
o
in
t
2 (
S
h
o
ul
d
e
r
)
4
[
0 0 0 1 0 0 0 0]
J
o
in
ts
1 & 2
5
[
0 0 0 0 1 0 0 0]
J
o
in
t
3
(
A
r
m
)
6
[
0 0 0 0 0 1 0 0]
J
o
in
t
1 & 3
7
[
0 0 0 0 0 0 1 0]
J
o
in
ts
2 & 3
8
[
0 0 0 0 0 0 0 1]
J
o
in
ts
1, 2, & 3
T
h
e
r
e
s
u
l
t
s
o
f
t
h
e
s
e
e
x
pe
r
i
m
e
n
t
s
a
r
e
r
e
c
o
r
de
d
i
n
T
a
bl
e
8.
I
n
t
h
e
s
e
c
o
n
d
pa
r
t
,
t
h
e
S
L
T
f
il
t
e
r
s
(
F
2
(
z
)
,
(
)
,
a
n
d
(
−
(
/
))
a
r
e
us
e
d
i
n
s
t
e
a
d
o
f
t
h
e
DW
T
f
o
r
t
h
e
pur
po
s
e
o
f
f
e
a
t
ur
e
(
f
a
u
l
t
s
)
de
t
e
c
ti
o
n
.
T
h
e
a
c
c
e
l
e
r
a
t
i
o
n's
s
i
g
n
a
l
s
t
h
o
s
e
c
o
m
e
s
f
r
o
m
c
o
o
r
di
n
a
t
e
s
(
x
,
a
n
d
y
)
i
n
p
l
a
na
r
a
n
d
(
x
,
y
a
n
d
z
)
i
n
L
a
bVo
l
t
a
r
e
c
o
n
v
o
l
ut
e
d
w
i
t
h
t
h
e
c
o
e
f
f
i
c
i
e
n
t
s
of
t
h
e
s
e
b
a
n
k
s
f
il
t
e
r
s
o
f
t
h
e
S
L
T
[
25]
.
T
h
e
r
e
s
u
l
t
e
d
f
e
a
t
ur
e
s
a
r
e
us
e
d
a
s
i
nput
s
f
o
r
t
h
e
M
L
P
-
A
NN
t
o
c
l
a
s
s
i
f
y
t
h
e
f
a
u
l
t
s
a
c
c
o
r
di
n
g
to
t
h
e
i
r
t
y
p
e
s
a
n
d
l
o
c
a
t
i
o
n
s
.
T
h
e
a
c
c
ur
a
c
y
by
us
i
ng
t
h
e
s
e
f
il
t
e
r
s
i
ns
t
e
a
d
o
f
t
h
e
D
W
T
i
s
i
nc
r
e
a
s
e
d
to
b
e
100%
f
o
r
t
h
e
p
l
a
n
a
r
a
n
d
99.
9%
f
o
r
t
h
e
L
a
b
Vo
l
t
r
ob
o
t
a
r
m
,
T
a
bl
e
9.
T
a
bl
e
8
.
DW
T
(
5
l
e
v
e
l
D
b
4)
a
n
d
A
NN
f
o
r
f
a
u
l
t
s
'
d
i
a
g
n
o
s
i
s
i
n
r
o
b
ot
a
r
m
s
R
o
b
o
t
a
r
m
P
e
r
f
or
ma
n
c
e
(
M
S
E
)
T
im
e
of
P
r
oc
e
s
s
(
s
e
c
)
A
c
c
u
r
a
c
y
1
P
la
na
r
0.0259
3
075.551457
93.9%
2
L
a
bV
o
lt
0.0282
16369.924428
88.6%
Ta
bl
e
9
.
S
L
T
2
s
c
a
l
e
a
n
d
AN
N
f
o
r
f
a
u
l
t
s
'
d
i
a
g
n
o
s
i
s
i
n
r
o
b
ot
a
r
m
s
R
o
b
o
t
a
r
m
P
e
r
f
or
ma
n
c
e
(
M
S
E
)
T
im
e
of
P
r
oc
e
s
s
(
s
e
c
)
A
c
c
u
r
a
c
y
1
P
la
na
r
4.7088e
-
05
71.017308
100%
2
L
a
bV
o
lt
8.3969e
-
05
26.460
99.9%
A
c
c
o
r
d
i
n
g
t
o
t
h
e
g
i
v
e
n
r
e
s
u
l
t
s
i
n
T
a
bl
e
s
8
a
n
d
9,
i
t
i
s
c
l
e
a
r
t
o
p
r
oo
f
t
h
a
t
t
h
e
S
L
T
f
il
t
e
r
s
a
r
e
m
uc
h
b
e
t
t
e
r
t
h
a
n
t
h
e
D
W
T
f
o
r
t
h
e
f
a
u
l
t
s
'
d
i
a
g
n
o
s
i
s
i
n
r
o
b
ot
a
r
m
s
,
f
o
r
b
ot
h
p
l
a
n
a
r
a
n
d
t
h
r
e
e
j
o
i
n
t
s
r
o
b
ot
a
r
m
s
.
B
e
s
i
de
s
t
h
e
a
c
c
ur
a
c
y
,
t
h
e
pr
o
c
e
s
s
i
ng
t
i
m
e
ne
e
de
d
f
o
r
t
h
e
S
L
T
i
s
s
m
a
ll
e
r
t
h
a
n
t
h
e
t
i
m
e
n
e
e
d
e
d
f
o
r
t
h
e
D
W
T
,
a
l
s
o
t
h
e
n
u
m
be
r
o
f
i
t
e
r
a
t
i
o
n
s
i
s
r
e
duc
e
d
f
o
r
r
e
a
c
hi
ng
t
h
e
r
e
s
u
l
t
s
w
i
t
h
b
e
tt
e
r
p
e
r
f
o
r
m
a
n
c
e
.
7.
CONC
L
USI
ON
No
wa
da
y
s
,
f
a
u
l
t
s
d
i
a
g
n
o
s
i
s
i
s
a
ve
r
y
i
m
po
r
t
a
n
t
f
ie
l
d
t
o
f
o
c
us
o
n
a
n
d
pe
r
f
o
r
m
m
a
ny
s
t
ud
i
e
s
a
b
o
ut.
T
h
e
s
i
g
n
a
l
o
f
r
o
b
ot
a
r
m
t
i
p
'
s
a
c
c
e
l
e
r
a
t
i
o
n
s
a
l
wa
y
s
g
i
v
e
t
h
e
r
e
qu
i
r
e
d
i
nf
o
r
m
a
t
i
o
n
a
b
o
ut
f
a
u
l
t
s
.
T
h
e
D
W
T
wa
s
us
e
d
i
n
m
a
ny
wo
r
ks
f
o
r
t
h
e
pur
po
s
e
o
f
f
a
u
l
t
s
d
i
a
gn
o
s
i
s
i
n
a
r
o
b
o
t
a
r
m
,
b
ut
o
nl
y
f
o
r
o
n
e
j
o
i
n
t
.
I
n
t
hi
s
pa
pe
r
m
a
ny
f
a
u
l
t
y
j
o
i
n
t
s
ha
v
e
be
e
n
s
t
udi
e
d
a
t
t
h
e
s
a
m
e
t
im
e
.
T
wo
m
e
t
h
o
ds
h
a
ve
b
e
e
n
us
e
d
;
n
a
m
e
ly
,
t
h
e
DW
T
a
n
d
t
h
e
S
L
T
f
il
t
e
r
s
.
T
he
f
e
a
t
ur
e
s
o
f
t
h
e
f
a
u
l
t
s
a
t
j
o
i
n
t
s
ha
v
e
b
e
e
n
e
x
t
r
a
c
t
e
d
c
l
e
a
r
l
y
f
r
o
m
c
o
e
f
f
i
c
i
e
n
t
s
o
f
t
h
e
t
w
o
m
e
t
h
o
ds
.
M
o
r
e
t
h
a
n
o
n
e
f
a
u
l
t
a
t
t
h
e
s
a
m
e
t
i
m
e
i
n
d
if
f
e
r
e
n
t
j
o
i
n
t
s
h
a
v
e
b
e
e
n
de
t
e
c
t
e
d
a
n
d
i
s
o
l
a
t
e
d
i
n
t
he
s
i
m
u
l
a
t
i
o
n
.
T
h
e
s
ugge
s
t
e
d
m
e
t
h
o
ds
h
a
v
e
s
uc
c
e
e
d
e
d
i
n
d
e
t
e
c
t
i
n
g
a
n
d
i
s
o
l
a
t
i
n
g
t
he
f
a
u
l
t
s
i
n
r
o
b
o
t
a
r
m
j
o
i
n
t
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
I
S
S
N:
2502
-
4752
Slant
let
tr
ans
f
or
m
us
e
d
f
or
f
ault
s
diagnos
is
in
r
obot
ar
m
(
M
uhamad
A
z
har
A
bdil
ate
f
A
loba
idy)
289
whi
c
h
a
r
e
m
o
vi
n
g
i
n
s
h
o
r
t
t
i
m
e
dur
a
t
i
o
n
t
a
s
ks
.
T
h
e
r
e
s
u
l
t
s
o
f
S
L
T
h
a
ve
s
h
o
wn
b
e
t
t
e
r
a
c
c
ur
a
c
y
,
s
m
a
ll
e
r
t
i
m
e
o
f
pr
o
c
e
s
s
,
b
e
t
t
e
r
pe
r
f
o
r
m
a
n
c
e
,
a
n
d
l
e
s
s
e
r
c
o
m
p
l
e
xi
t
y
t
h
a
n
t
h
e
D
W
T
.
T
h
u
s
,
t
h
e
m
e
t
h
o
d
o
f
u
s
i
ng
b
o
t
h
(
S
L
T
a
n
d
M
L
P
-
AN
N)
i
s
s
ugge
s
t
e
d
to
b
e
us
e
d
i
n
s
t
e
a
d
of
(
D
W
T
a
n
d
M
L
P
-
A
NN
)
f
o
r
f
a
u
l
t
d
i
a
g
n
o
s
i
s
,
e
s
pe
c
i
a
ll
y
in
r
o
b
ot
i
c
s
s
y
s
t
e
m
s
.
AC
K
NOWL
E
DGE
M
E
NT
S
T
h
e
a
ut
h
o
r
s
wo
ul
d
li
ke
t
o
e
x
pr
e
s
s
t
h
e
i
r
gr
a
t
i
t
ude
to
t
h
e
f
a
c
u
l
t
y
a
n
d
s
t
a
f
f
o
f
t
h
e
U
ni
ve
r
s
i
t
y
o
f
M
o
s
u
l
'
s
C
o
l
l
e
g
e
o
f
E
n
g
i
ne
e
r
i
ng,
e
s
pe
c
i
a
ll
y
t
h
e
de
pa
r
t
m
e
nt
s
o
f
c
o
m
put
e
r
e
n
g
i
n
e
e
r
i
ng
a
n
d
m
e
c
h
a
t
r
o
ni
c
s
e
n
g
i
ne
e
r
i
ng,
f
o
r
t
h
e
i
r
c
o
n
t
r
i
b
ut
i
o
ns
to
t
h
i
s
r
e
s
e
a
r
c
h
.
RE
F
E
R
E
NC
E
S
[
1]
M
.
H
.
T
e
r
r
a
a
nd
R
.
T
in
ós
,
“
F
a
ul
t
d
e
te
c
ti
o
n
a
nd
is
o
la
ti
o
n
in
r
obo
ti
c
ma
ni
pul
a
t
or
s
vi
a
ne
u
r
a
l
n
e
tw
o
r
ks
:
A
c
o
mpa
r
is
o
n
a
m
o
ng
th
r
e
e
a
r
c
hi
t
e
c
tu
r
e
s
f
o
r
r
e
s
id
ua
l
a
na
l
y
s
is
,”
J
our
nal
of
R
obot
ic
Sy
s
te
m
s
,
vo
l.
18, n
o
. 7, pp. 357
–
374, 2001, d
o
i:
10.1002/
r
o
b.1029.
[
2]
J
.
H
a
lm
e
,
“
C
o
ndi
ti
o
n
m
o
ni
t
o
r
in
g
of
a
ma
te
r
ia
l
ha
ndl
in
g
in
dus
tr
ia
l
r
o
b
o
t,
”
in
C
ondi
ti
on
M
oni
to
r
in
g
and
D
ia
gnos
ti
c
E
ngi
ne
e
r
in
g
M
anage
m
e
nt
:
C
O
M
A
D
E
M
2006
,
L
ul
e
å
U
ni
ve
r
s
it
y
of
T
e
c
hn
o
l
og
y
,
pp. 415
–
424
,
2006
.
[
3]
D
. B
a
le
a
nu,
“
W
a
ve
l
e
t
T
r
a
ns
f
or
m a
nd S
o
m
e
of
I
ts
R
e
a
l
-
W
or
ld
A
ppl
ic
a
ti
o
ns
,
”
B
o
D
–
B
oo
ks
, 2015, d
o
i:
10.5772/59743.
[
4]
A
. A
. J
a
be
r
,
"
D
e
s
ig
n
of
a
n i
nt
e
ll
ig
e
nt
e
mb
e
dde
d s
y
s
te
m
f
o
r
c
o
n
di
ti
o
n m
o
n
it
o
r
in
g
of
a
n i
ndus
tr
ia
l
r
o
b
o
t
,
"
.
Spr
in
ge
r
2016.
[
5]
A
.
A
.
J
a
be
r
a
nd
R
.
B
i
c
k
e
r
,
“
I
ndus
tr
ia
l
r
o
b
o
t
f
a
u
lt
d
e
t
e
c
t
i
o
n
ba
s
e
d
o
n
w
a
ve
l
e
t
t
r
a
ns
f
or
m
a
nd
L
a
bV
I
E
W
,”
in
I
E
E
E
F
ir
s
t
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
Sy
s
te
m
s
I
nf
or
m
at
ic
s
,
M
ode
ll
in
g
and
Si
m
ul
at
io
n,
She
f
f
ie
ld
,
U
ni
te
d
K
in
gdom
,
2014,
pp.
21
–
31,
do
i
:
10
.
1109/S
I
M
S
.200
14.27.
[
6]
S
.
H
a
r
a
,
Y
.
K
a
w
a
ha
r
a
,
T
.
W
a
s
hi
o
,
P
.
vo
n
B
üna
u,
T
.
T
o
kuna
ga
,
a
nd
K
.
Y
um
o
t
o
,
“
S
e
pa
r
a
ti
o
n
of
s
ta
ti
o
na
r
y
a
nd
n
o
n
-
s
ta
ti
ona
r
y
s
o
ur
c
e
s
w
it
h a
g
e
ne
r
a
li
z
e
d
e
ig
e
n
v
a
lu
e
p
r
o
bl
e
m,”
N
e
ur
al
N
e
tw
or
k
s
, v
o
l.
33, pp. 7
–
20, 2012, d
o
i:
10.1016/j
.n
e
un
e
t.
2012.04.001.
[
7]
L
.
M
.
C
a
pi
s
a
ni
,
A
.
F
e
r
r
a
r
a
,
A
.
F
.
de
L
oz
a
,
a
nd
L
.
M
.
F
r
id
m
a
n,
“
M
a
ni
pul
a
to
r
F
a
ul
t
D
ia
gno
s
is
v
ia
H
ig
he
r
O
r
de
r
S
li
di
ng
-
M
o
de
O
bs
e
r
v
e
r
s
,”
I
E
E
E
T
r
ans
ac
ti
ons
on I
ndus
tr
ia
l
E
le
c
tr
oni
c
s
, v
ol
.
59, no
. 10, pp. 3979
–
3986, 2012, d
o
i:
10.1109/t
ie
.2012.218953
4.
[
8]
I
. E
s
ki
, S
.
E
r
ka
y
a
,
S
. S
a
v
a
s
, a
nd S
.
Y
il
di
r
im
,
“
F
a
ul
t
d
e
t
e
c
ti
o
n
on r
o
b
o
t
ma
ni
pul
a
t
o
r
s
us
in
g
a
r
ti
f
i
c
ia
l
n
e
ur
a
l
ne
twor
ks
,”
R
obot
ic
s
and
C
om
put
e
r
-
I
nt
e
gr
at
e
d M
anu
f
ac
tu
r
in
g
, v
o
l.
27, n
o
. 1, pp. 115
–
12
3, 2011, do
i:
10.1016/j
.
r
c
im
.2010.06.017.
[
9]
A
.
A
.
J
a
be
r
a
nd
R
.
B
ic
ke
r
,
“
I
ndus
tr
ia
l
r
o
b
o
t
ba
c
kl
a
s
h
f
a
ul
t
d
ia
gno
s
is
ba
s
e
d
o
n
di
s
c
r
e
t
e
w
a
v
e
l
e
t
t
r
a
ns
f
or
m
a
nd
a
r
ti
f
i
c
ia
l
n
e
ur
a
l
ne
tw
o
r
k,”
A
m
e
r
ic
an J
our
nal
of
M
e
c
hani
c
al
E
ngi
ne
e
r
in
g
, v
ol
. 4
, no
. 1, pp. 21
–
31, 2016, d
o
i:
10.12691/ajm
e
-
4
-
1
-
4.
[
10]
C.
-
M
.
L
in
a
nd
E
.
-
A
.
B
o
ld
ba
a
ta
r
,
“
F
a
ul
t
A
c
c
o
mm
o
da
ti
o
n
C
o
n
tr
ol
f
or
a
B
ip
e
d
R
o
b
o
t
U
s
in
g
a
R
e
c
ur
r
e
nt
W
a
ve
l
e
t
E
lm
a
n
N
e
ur
a
l
N
e
tw
o
r
k,”
I
E
E
E
Sy
s
te
m
s
J
our
nal
, v
ol
. 11, n
o
. 4, pp. 2882
–
289
3, 2017, do
i:
10.1109/j
s
y
s
t.
2015.2409888.
[
11]
C
.
N
.
C
ho
,
J
.
T
.
H
o
ng,
a
nd
H
.
J
.
K
im
,
“
N
e
ur
a
l
N
e
tw
o
r
k
B
a
s
e
d
A
da
pt
iv
e
A
c
tu
a
t
o
r
F
a
ul
t
D
e
te
c
ti
o
n
A
lg
o
r
it
hm
f
o
r
R
o
b
o
t
M
a
ni
pul
a
to
r
s
,”
J
our
nal
of
I
nt
e
ll
ig
e
nt
&
R
obot
ic
Sy
s
te
m
s
, v
o
l.
9
5, no
. 1, pp. 137
–
147, J
ul
. 2019, d
o
i:
10.1007/s
10846
-
018
-
0781
-
0.
[
12]
I
.
W
.
S
e
l
e
s
ni
c
k,
“
T
h
e
s
la
nt
le
t
tr
a
ns
f
o
r
m,”
I
E
E
E
T
r
ans
ac
ti
ons
on
Si
gnal
P
r
oc
e
s
s
in
g
,
v
o
l.
47,
n
o
.
5,
pp.
1304
–
1313,
1999,
do
i
:
10.1109/78.757218.
[
13]
G
.
P
a
nda
a
nd
S
.
K
.
M
e
h
e
r
,
“
A
n
E
f
f
i
c
i
e
nt
A
ppr
o
a
c
h
t
o
S
ig
na
l
C
o
mpr
e
s
s
io
n
us
in
g
S
la
nt
l
e
t
T
r
a
ns
f
o
r
m,”
I
E
T
E
J
our
nal
of
R
e
s
e
ar
c
h
,
vo
l.
46, n
o
. 5, pp. 299
–
307, 2000, d
o
i:
10.1080/0
3772063.2000
.11416169.
[
14]
R
.
T
.
M
o
ha
mm
e
d
a
nd
B
.
E
.
K
h
oo
,
“
I
ma
g
e
w
a
t
e
r
ma
r
ki
ng
us
in
g
s
la
nt
le
t
tr
a
ns
f
o
r
m,”
2012
I
E
E
E
Sy
m
pos
iu
m
on
I
ndu
s
tr
ia
l
E
le
c
tr
oni
c
s
and A
ppl
ic
at
io
ns
. I
E
E
E
, 2012, d
o
i:
10.1109/i
s
i
e
a
.2
012.6496644.
[
15]
M
.
M
a
it
r
a
a
nd
A
.
C
ha
tt
e
r
je
e
,
“
A
S
la
n
tl
e
t
tr
a
ns
f
o
r
m
ba
s
e
d
in
t
e
ll
ig
e
nt
s
y
s
t
e
m
f
or
ma
gne
ti
c
r
e
s
o
na
nc
e
br
a
in
im
a
g
e
c
la
s
s
if
i
c
a
t
io
n,”
B
io
m
e
di
c
al
Si
gnal
P
r
oc
e
s
s
in
g and C
ont
r
ol
, v
o
l.
1, n
o
. 4, pp. 29
9
–
306, 2006, do
i:
10.1016/j
.bs
p
c
.2006.12.001.
[
16]
M
.
A
.
A
lo
ba
id
y
,
D
.
J
.
A
bdul
-
J
a
bba
r
,
a
nd
S
.
A
l
-
kha
y
y
t,
“
F
a
ul
ts
D
ia
gno
s
is
in
R
o
bo
t
S
y
s
t
e
ms
:
A
R
e
v
i
e
w
,”
Al
-
R
af
id
ai
n
E
ngi
ne
e
r
in
g
J
our
nal
(
A
R
E
J
)
,
vo
l.
25, n
o
. 2, pp. 166
–
177, 2020, d
o
i:
10.338
99/
r
e
ngj
.2020.127782.1051.
[
17]
S
.
Z
.
S
.
A
l
-
K
ha
yy
t,
“
T
uni
ng
P
I
D
C
o
nt
r
o
ll
e
r
b
y
N
e
u
r
a
l
N
e
t
w
o
r
k
f
or
R
o
b
o
t
M
a
ni
pul
a
to
r
T
r
a
j
e
c
t
o
r
y
T
r
a
c
k
in
g,”
Al
-
K
h
w
a
r
iz
m
i
E
ngi
ne
e
r
in
g J
our
nal
, v
o
l.
9, n
o
. 1,
pp. 19
-
28
, 2013
.
[
18]
P
.
Z
ha
o
,
Y
.
Z
h
o
u,
a
nd
R
.
Z
ho
u,
“
A
N
e
w
T
r
a
j
e
c
t
o
r
y
O
pt
im
i
z
i
ng
M
e
th
o
d
U
s
in
g
I
nput
S
ha
pi
ng
P
r
in
c
ip
l
e
s
,”
Shoc
k
and
V
ib
r
a
ti
on
,
vo
l.
2018, pp. 1
–
11, 2018, d
o
i:
10.1155/2018
/4
173253.
[
19]
Y
.
G
a
o
a
nd
R
.
J
.
P
a
tt
o
n,
“
A
ppl
ic
a
ti
o
n
of
w
a
v
e
l
e
t
a
na
l
y
s
is
f
o
r
pe
r
f
or
ma
nc
e
m
o
ni
t
o
r
in
g
a
nd
di
a
gn
o
s
is
of
a
h
y
dr
a
ul
i
c
pump,”
I
F
A
C
P
r
oc
e
e
di
ngs
V
ol
um
e
s
, vo
l.
36,
n
o
. 5, pp. 333
–
338, 2003, d
o
i:
1
0.1016/s
1474
-
6670(
17)
36513
-
8.
[
20]
M
.
R
hi
f
,
A
.
B
e
n
A
bb
e
s
,
I
.
F
a
r
a
h,
B
.
M
a
r
tí
n
e
z
,
a
nd
Y
.
S
a
ng,
“
W
a
v
e
l
e
t
T
r
a
ns
f
o
r
m
A
ppl
i
c
a
ti
o
n
f
or
/i
n
N
o
n
-
S
ta
ti
o
na
r
y
T
im
e
-
S
e
r
i
e
s
A
na
l
y
s
is
:
A
R
e
vi
e
w
,”
A
ppl
ie
d Sc
ie
nc
e
s
, v
o
l.
9, n
o
. 7, p. 1345, 2
0
19, do
i:
10.3390/app907134
5.
[
21]
A
.
A
s
unc
i
o
n,
“
S
ig
na
l
P
r
oc
e
s
s
in
g
A
ppl
ic
a
ti
o
ns
of
W
a
ve
l
e
ts
,
I
n
f
or
ma
ti
o
n
a
nd
C
o
mput
e
r
S
c
i
e
nc
e
,”
U
ni
v
e
r
s
it
y
of
C
al
if
or
ni
a,
I
r
v
in
e
,
2002.
[
22]
A
. N
. A
ka
ns
u a
nd E
. A
l,
"
M
ul
ti
r
e
s
o
lu
ti
o
n s
ig
na
l
d
e
c
omp
o
s
it
io
n
:
tr
a
ns
f
or
ms
, s
ubba
nds
,
a
nd w
a
v
e
l
e
ts
,"
.
A
c
ade
m
ic
pr
e
s
s
, 2001.
[
23]
E
.
K
ha
la
s
tc
hi
a
nd
M
.
K
a
le
c
h,
“
O
n
F
a
ul
t
D
e
t
e
c
ti
o
n
a
nd
D
ia
gn
o
s
is
in
R
o
b
o
ti
c
S
y
s
t
e
ms
,”
A
C
M
C
om
put
in
g
Sur
v
e
y
s
,
v
ol
.
51,
no
.
1,
pp. 1
–
24, 2018, do
i:
10.1145/3146389.
[
24]
M
.
I
.
G
ur
s
oy
,
A
.
S
.
Y
i
lm
a
z
,
a
nd
S
.
V
.
U
s
tu
n,
“
A
pr
a
c
ti
c
a
l
r
e
a
l
-
ti
me
p
o
w
e
r
qua
li
t
y
e
ve
nt
m
o
ni
t
o
r
in
g
a
ppl
i
c
a
ti
o
ns
us
in
g
di
s
c
r
e
t
e
w
a
v
e
le
t
tr
a
ns
f
o
r
m
a
nd
a
r
ti
f
i
c
ia
l
n
e
ur
a
l
n
e
tw
o
r
k
,”
J
our
nal
of
E
ngi
ne
e
r
in
g
Sc
ie
nc
e
and
T
e
c
hnol
ogy
,
vo
l.
13,
n
o
.
6,
pp.
1764
–
1781,
2018.
[
25]
G
.
P
a
nda
,
P
.
K
.
D
a
s
h,
A
.
K
.
P
r
a
dha
n,
a
nd
S
.
K
.
M
e
h
e
r
,
“
D
a
ta
c
o
mpr
e
s
s
io
n
of
p
o
w
e
r
qua
li
t
y
e
ve
nt
s
us
in
g
th
e
s
la
nt
le
t
tr
a
ns
f
or
m,
”
I
E
E
E
T
r
ans
ac
ti
ons
on P
o
w
e
r
D
e
li
v
e
r
y
, v
o
l.
17, n
o
. 2, pp. 662
–
667, 2002, do
i:
10.1109/61.997957
.
[
26]
T
.
Z
.
I
s
ma
e
e
l,
“
D
e
s
ig
n
&
E
v
a
lu
a
ti
o
n
of
a
S
t
e
ga
n
o
gr
a
ph
y
S
y
s
te
m
f
or
S
p
e
e
c
h
S
ig
na
l
b
y
S
la
nt
l
e
t
T
r
a
ns
f
o
r
m,”
D
iy
al
a
J
our
nal
of
E
ngi
ne
e
r
in
g Sc
ie
nc
e
s
, v
ol
. 5, n
o
. 2, pp. 99
–
113, 2012.
[
27]
A
.
M
. J
a
s
im
,
H
.
M
.
A
bd, a
nd
J
.
M
.
A
bdul
-
J
a
bba
r
, “
C
o
mpl
e
x
it
y
r
e
duc
ti
o
n
of
s
la
nt
l
e
t
tr
a
ns
f
or
m
s
tr
uc
tu
r
e
ba
s
e
d
o
n
th
e
mul
ti
pl
ie
r
le
s
s
r
e
a
li
z
a
ti
o
n
,”
J
our
nal
of
E
ngi
ne
e
r
in
g Sc
i
e
nc
e
and T
e
c
hnol
ogy
, v
o
l.
15, n
o
. 3, pp. 1705
–
1718, 2020.
[
28]
H
.
N
.
A
bdul
la
h
a
nd
S
.
A
.
A
li
,
“
I
mp
le
m
e
nt
a
ti
o
n
of
8
-
p
o
in
t
S
la
nt
le
t
t
r
a
ns
f
or
m
ba
s
e
d
p
o
l
y
n
o
mi
a
l
c
a
nc
e
ll
a
ti
o
n
c
o
di
ng
-
O
F
D
M
s
y
s
te
m
us
in
g
F
P
G
A
,”
2010
7t
h
I
nt
e
r
nat
io
nal
M
ul
ti
-
C
onf
e
r
e
nc
e
on
Sy
s
te
m
s
,
Si
gnal
s
and
D
e
v
ic
e
s
.
I
E
E
E
,
2010,
doi
:
10.1109/s
s
d.2010.5585601.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
2502
-
4752
I
n
do
n
e
s
i
a
n
J
E
l
e
c
E
n
g
&
C
o
m
p
S
c
i
,
Vo
l
.
25
,
N
o
.
1
,
J
a
n
ua
r
y
20
22
:
281
-
290
290
B
I
OG
RA
P
HI
E
S
OF
AU
T
HO
R
S
M
uh
a
m
a
d
A
zh
a
r
A
bdi
l
a
tef
A
l
ob
aid
y
recei
v
ed
t
h
e
B.
S
c.
d
eg
r
ee
i
n
Co
m
p
u
t
e
r
E
n
g
i
n
ee
r
i
n
g
fr
o
m
U
n
i
v
e
rs
i
t
y
o
f
M
o
s
u
l
,
Mo
s
u
l
,
I
raq
,
i
n
2
0
0
6
,
M.
Sc
.
d
e
g
r
ee
fr
o
m
Ca
n
k
a
y
a
U
n
i
v
e
rs
i
t
y
,
T
u
rk
ey
.
P
h
.
D
.
c
a
n
d
i
d
at
e
i
n
Co
m
p
u
t
e
r
e
n
g
i
n
ee
ri
n
g
D
e
p
art
men
t
,
C
o
l
l
e
g
e
o
f
E
n
g
i
n
ee
r
i
n
g
,
U
n
i
v
e
rs
i
t
y
o
f
Mo
s
u
l
.
H
e
i
s
a
l
ec
t
u
r
e
r
at
Mec
h
at
ro
n
i
c
s
E
n
g
i
n
ee
r
i
n
g
D
e
p
art
men
t
,
U
n
i
v
e
rs
i
t
y
o
f
M
o
s
u
l
.
H
e
w
as
t
h
e
h
e
ad
o
f
S
c
i
en
t
i
fi
c
affa
i
rs
d
e
p
art
men
t
at
t
h
e
p
re
s
i
d
en
cy
o
f
t
h
e
U
n
i
v
e
rs
i
t
y
o
f
Mo
s
u
l
.
Cu
rr
e
n
t
l
y
,
h
e
i
s
t
h
e
h
e
a
d
o
f
c
u
l
t
u
r
e
r
el
at
i
o
n
s
h
i
p
s
d
i
v
i
s
i
o
n
,
U
n
i
v
e
rs
i
t
y
o
f
Mo
s
u
l
.
H
e
h
as
m
an
y
p
u
b
l
i
s
h
e
d
p
ap
e
rs
.
H
e
i
s
a
r
ev
i
ew
er
at
ed
as
.
H
e
c
an
b
e
co
n
t
a
c
t
ed
at
em
a
i
l
:
mu
h
a
m
ad
.
azh
ar
@
u
o
m
o
s
u
l
.
e
d
u
.
i
q
.
J
a
s
s
i
m
M
oh
am
m
e
d
A
bd
u
l
-
J
a
bba
r
recei
v
ed
t
h
e
B.
Sc.
an
d
M
.
S
c
.
d
eg
r
ee
s
i
n
E
l
i
c
t
ri
c
a
l
e
n
g
i
n
ee
ri
n
g
fro
m
a
l
Bas
ra
U
n
i
v
e
rs
i
t
y
Bas
ra,
I
raq
.
Ph
.
D
.
d
eg
r
ee
i
n
E
l
ec
t
ri
c
al
e
n
g
i
n
ee
ri
n
g
fr
o
m
Bag
h
d
ad
U
n
i
v
e
rs
i
t
y
,
Bag
h
d
a
d
,
I
raq
.
H
e
h
as
b
ee
n
a
p
ro
f
e
s
s
o
r
o
f
D
i
g
i
t
al
Si
g
n
al
Pro
ce
s
s
i
n
g
i
n
en
g
i
n
ee
r
i
n
g
.
H
e
w
as
t
h
e
H
e
ad
o
f
E
l
ec
t
ri
c
al
E
n
g
i
n
ee
r
i
n
g
D
e
p
art
me
n
t
,
Co
l
l
eg
e
o
f
E
n
g
i
n
ee
r
i
n
g
,
U
n
i
v
e
rs
i
t
y
o
f
Bas
ra,
Bas
ra,
I
raq
.
H
e
w
as
t
h
e
H
e
ad
o
f
C
o
m
p
u
t
e
r
E
n
g
i
n
ee
r
i
n
g
D
e
p
art
me
n
t
,
Co
l
l
eg
e
o
f
E
n
g
i
n
ee
ri
n
g
,
U
n
i
v
e
rs
i
t
y
o
f
Mo
s
u
l
,
M
o
s
u
l
,
I
raq
.
H
e
h
as
m
an
y
p
u
b
l
i
s
h
e
d
p
ap
e
rs
.
H
e
c
a
n
b
e
c
o
n
t
ac
t
ed
at
em
ai
l
:
d
r
j
s
s
m
@
u
o
m
o
s
u
l
.
ed
u
.
i
q
.
Sa
a
d
Z
a
g
h
l
ul
Al
-
kh
a
y
y
t
recei
v
ed
t
h
e
B.
S
c
.
an
d
M.
Sc.
d
e
g
r
ee
s
i
n
M
ec
h
a
n
i
c
a
l
e
n
g
i
n
ee
ri
n
g
fro
m
A
l
-
N
ah
r
een
U
n
i
v
e
rs
i
t
y
,
i
n
1
9
9
2
,
an
d
1
9
9
5
re
s
p
e
c
t
l
y
,
Bag
h
d
a
d
,
I
raq
,
a
n
d
t
h
e
Ph
.
D
.
d
e
g
r
ee
i
n
Mech
an
i
c
al
e
n
g
i
n
ee
ri
n
g
fro
m
Ru
s
s
i
a.
H
e
h
as
b
e
en
an
as
s
i
s
t
an
t
p
ro
fe
s
s
o
r
o
f
Mec
h
at
ro
n
i
c
s
e
n
g
i
n
ee
ri
n
g
i
n
2
0
1
0
.
H
e
i
s
cu
rr
e
n
t
l
y
t
h
e
H
e
ad
o
f
Mech
at
ro
n
i
s
E
n
g
i
n
ee
ri
n
g
D
e
p
art
men
t
,
Co
l
l
eg
e
o
f
E
n
g
i
n
ee
ri
n
g
,
U
n
i
v
e
rs
i
t
y
o
f
M
o
s
u
l
.
H
e
h
as
m
an
y
p
u
b
l
i
s
h
ed
p
ap
e
rs
.
H
e
c
an
b
e
co
n
t
a
c
t
ed
at
em
ai
l
:
Saeed
s
7
0
@
u
o
m
o
s
u
l
.
ed
u
.
i
q
.
Evaluation Warning : The document was created with Spire.PDF for Python.