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is
h
ier
ar
c
h
ical
an
d
cl
u
s
ter
-
b
as
ed
.
E
ac
h
clu
s
ter
co
n
tain
s
o
n
e
C
H
n
o
d
e
an
d
t
h
e
C
H
n
o
d
e
as
s
is
ted
b
y
t
w
o
D
C
H
n
o
d
es,
w
h
ic
h
ar
e
also
ca
lled
clu
s
ter
m
an
a
g
e
m
en
t n
o
d
es.
2.
DE
SCR
I
P
T
I
O
N
O
F
T
H
E
P
B
F
B
AND
VP
N
AL
G
O
RI
T
H
M
S
T
h
is
s
ec
tio
n
d
escr
ib
es t
h
e
P
B
FB
an
d
VP
N
alg
o
r
ith
m
s
.
A
d
d
it
io
n
al
d
etails ca
n
b
e
f
o
u
n
d
in
[
9
]
,
[
1
0
]
.
2
.
1
.
P
B
F
B
Alg
o
rit
h
m
A
b
e
h
av
io
u
r
al
f
r
a
m
e
w
o
r
k
co
m
p
r
i
s
es
o
f
a
li
m
ited
ar
r
an
g
e
m
en
t
o
f
p
ar
allel
r
u
n
n
in
g
p
r
ac
tices,
an
d
a
ch
ar
g
e
co
m
b
i
n
at
io
n
u
n
it.
He
u
r
is
tic
A
p
p
r
o
ac
h
to
Su
p
er
v
is
ed
L
ea
r
n
i
n
g
f
o
r
I
n
tr
u
s
io
n
Dete
c
tio
n
[
1
0
]
p
r
esen
ted
th
e
ed
u
ca
tio
n
s
y
s
te
m
.
An
ar
r
an
g
e
m
e
n
t
o
f
o
p
tio
n
co
n
tr
o
l
ch
a
r
g
es
is
k
ep
t
b
y
th
i
s
o
r
d
er
co
m
b
in
atio
n
u
n
i
t
an
d
is
lik
e
w
i
s
e
k
n
o
w
n
b
y
ev
er
y
co
n
d
u
ct.
I
n
an
in
cli
n
atio
n
b
ased
b
eh
av
io
u
r
al
f
r
a
m
e
w
o
r
k
,
th
e
p
r
ac
tices
r
ea
ct
to
th
eir
p
ar
ticu
lar
b
o
o
s
ts
b
y
co
m
m
u
n
i
ca
tin
g
t
h
eir
p
r
ef
er
e
n
ce
le
v
el
t
o
ea
ch
o
f
t
h
e
s
u
m
m
o
n
c
h
o
ice
s
.
T
h
e
in
cl
in
at
io
n
s
m
eld
ed
b
y
t
h
e
s
u
m
m
o
n
co
m
b
in
atio
n
u
n
it
to
ac
q
u
ir
e
t
h
e
c
o
u
r
s
e
o
f
m
o
v
e
m
e
n
t
th
a
t
b
est
f
u
lf
i
ls
th
e
d
i
f
f
er
en
t
p
r
ac
tices.
As
s
h
o
w
n
i
n
Fi
g
u
r
e
1
th
e
m
et
h
o
d
s
u
ti
lis
ed
a
s
a
p
ar
t
o
f
t
h
e
P
B
FB
ca
lcu
la
tio
n
ar
e
f
r
o
n
t
s
n
a
g
s
h
ir
k
i
n
g
,
le
f
t
o
b
s
tr
u
ct
io
n
e
v
as
io
n
,
r
ig
h
t
d
eter
r
en
t
s
h
ir
k
in
g
,
an
d
o
b
j
ec
tiv
e
ch
asi
n
g
.
T
h
e
s
u
m
m
o
n
ch
o
ice
s
ar
e
lar
g
e
lef
t
t
u
r
n
,
s
li
g
h
t
lef
t
tu
r
n
,
n
o
tu
r
n
,
s
lig
h
t
r
ig
h
t
t
u
r
n
,
an
d
h
ig
h
r
ig
h
t
tu
r
n
.
E
v
er
y
co
n
d
u
ct
is
a
f
l
u
f
f
y
f
r
a
m
e
w
o
r
k
,
an
d
t
h
e
in
c
lin
a
tio
n
s
co
m
m
u
n
icate
d
as
f
u
zz
y
s
et
s
.
An
i
n
h
er
en
t
d
is
ad
v
an
tag
e
o
f
cu
r
r
e
n
t
b
eh
a
v
io
u
r
s
tr
u
ct
u
r
es
is
th
e
ab
s
e
n
ce
o
f
c
o
h
er
en
ce
i
n
th
e
c
h
ar
g
es,
i.e
.
,
ea
ch
o
r
d
er
is
p
er
m
i
tted
j
u
s
t
to
h
a
v
e
a
d
is
cr
et
e
estee
m
an
d
m
id
d
le
o
f
t
h
e
r
o
a
d
r
eg
ar
d
s
r
ej
ec
ted
.
Flu
f
f
y
p
r
a
ctice
s
i
n
alie
n
ab
l
y
w
ip
e
o
u
t
t
h
is
is
s
u
e.
T
h
e
y
ield
b
ea
r
in
g
ca
n
b
e
an
y
p
o
in
t i
n
s
id
e
1
8
0
0
,
w
h
ic
h
g
iv
e
s
s
m
o
o
t
h
m
o
v
e
m
e
n
t.
Fig
u
r
e
1.
Def
i
n
ite
p
r
ef
er
en
ce
b
ased
B
eh
av
io
u
r
co
n
tr
o
l s
y
s
te
m
An
i
n
d
iv
id
u
al
e
le
m
e
n
t
o
f
t
h
e
P
B
FB
ca
lcu
latio
n
i
s
t
h
e
s
e
n
s
o
r
d
esig
n
.
As
ap
p
ea
r
ed
in
Fi
g
u
r
e
2
,
t
h
e
s
en
s
o
r
r
ea
d
in
g
s
ar
e
g
ath
er
ed
i
n
to
n
i
n
e
p
ar
ts
,
m
ar
k
ed
C
1
,
C
2
,
C
9
.
T
h
e
s
m
all
s
e
n
s
o
r
r
ea
d
in
g
s
i
n
ev
er
y
s
e
g
m
en
t
ar
e
n
e
w
co
n
tr
ib
u
t
io
n
s
to
th
e
f
l
u
f
f
y
f
r
a
m
e
w
o
r
k
f
o
r
ev
er
y
c
o
n
d
u
ct:
C
1
to
C
3
f
o
r
th
e
le
f
t
d
iv
id
er
f
o
llo
w
in
g
co
n
d
u
c
t,
C
4
to
C
6
f
o
r
t
h
e
i
m
p
ed
i
m
en
t
s
h
ir
k
in
g
b
e
h
av
io
u
r
,
a
n
d
C
7
to
C
9
f
o
r
t
h
e
co
r
r
ec
t
d
i
v
id
er
th
e
f
o
llo
w
in
g
m
an
n
er
.
A
u
n
iq
u
e
f
a
v
o
u
r
ab
le
p
o
s
itio
n
o
f
th
is
s
en
s
o
r
s
et
u
p
is
t
h
at
t
h
e
r
o
b
o
t
ca
n
m
a
k
e
f
u
l
l
u
ti
lis
atio
n
o
f
th
e
s
en
s
o
r
ex
a
m
in
i
n
g
i
n
f
o
r
m
atio
n
w
it
h
o
u
t
e
x
p
an
d
i
n
g
th
e
co
n
t
r
ib
u
tio
n
s
to
th
e
f
l
u
f
f
y
f
r
a
m
e
w
o
r
k
s
,
w
h
ich
co
u
ld
s
ig
n
i
f
ica
n
tl
y
b
u
ild
th
e
co
m
p
u
t
atio
n
al
co
s
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
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n
d
o
n
esia
n
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4752
Mo
b
ile
-
R
o
b
o
t Na
vig
a
tio
n
th
r
o
u
g
h
F
u
z
z
y
B
eh
a
vio
r
a
l A
lg
o
r
it
h
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A
la
u
d
ee
n
B
a
s
h
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)
567
Fig
u
r
e
2.
Sen
s
o
r
C
o
n
f
i
g
u
r
atio
n
o
f
P
B
FB
A
lg
o
r
it
h
m
2
.
2
.
VP
H
Alg
o
rit
h
m
T
h
e
p
o
s
s
ib
ilit
y
o
f
th
e
VP
H
ca
lcu
latio
n
is
lik
e
t
h
e
f
ir
s
t
VF
H
ca
lcu
latio
n
as
id
e
f
r
o
m
th
at
th
e
VP
H
ca
lcu
latio
n
u
tili
s
es
a
la
s
er
a
s
t
h
e
r
a
n
g
e
s
e
n
s
o
r
r
at
h
er
t
h
an
s
o
n
ar
.
As
ap
p
ea
r
ed
in
Fi
g
u
r
e
3
,
th
e
s
e
n
s
o
r
in
f
o
r
m
atio
n
m
ap
p
ed
i
n
to
a
p
o
lar
s
ep
ar
atio
n
d
is
s
e
m
i
n
atio
n
,
w
h
er
e
r
is
th
e
s
ep
ar
atio
n
o
f
t
h
e
r
o
b
o
t
to
th
e
d
eter
r
en
t
at
th
e
ex
a
m
i
n
i
n
g
ed
g
e
φ.
T
h
is
h
i
n
d
r
an
ce
ap
p
r
o
p
r
i
atio
n
is
ad
d
itio
n
all
y
c
h
an
g
ed
in
to
a
p
o
lar
v
ec
to
r
h
is
to
g
r
a
m
a
s
ap
p
ea
r
ed
in
Fi
g
u
r
e
4
,
w
h
er
e
t
h
e
y
p
iv
o
t
s
p
ea
k
s
to
t
h
e
s
ep
ar
atio
n
,
th
e
x
h
u
b
is
th
e
co
m
p
ar
in
g
ed
g
e,
an
d
T
is
th
e
ed
g
e.
T
h
e
co
m
p
eti
to
r
s
f
o
u
n
d
b
y
ap
p
l
y
i
n
g
th
e
ed
g
e
T
to
t
h
e
p
o
lar
v
ec
to
r
h
is
to
g
r
a
m
.
F
in
al
l
y
,
a
p
r
ec
is
el
y
p
ick
ed
co
s
t
w
o
r
k
ass
es
s
es
th
e
h
o
p
ef
u
l
s
k
ee
p
in
g
in
m
in
d
t
h
e
e
n
d
g
o
al
to
g
et
th
e
m
o
s
t
attr
ac
ti
v
e
g
u
id
i
n
g
h
ea
d
i
n
g
.
Fi
g
u
r
e
5
d
em
o
n
s
tr
ates t
h
e
s
c
h
e
m
a
tic
g
r
ap
h
f
o
r
th
e
VP
H
ca
lc
u
latio
n
.
Fig
u
r
e
3.
Ob
s
tacle
p
o
la
r
d
is
tu
r
b
an
ce
d
is
tr
ib
u
tio
n
Fig
u
r
e
4
.
Vec
to
r
Po
lar
His
to
g
r
a
m
3.
CO
M
P
ARIS
O
N
O
F
T
H
E
P
B
F
B
AND
VP
H
AL
G
O
RI
T
H
M
S
T
h
is
s
ec
tio
n
p
r
o
v
id
es
a
co
m
p
ar
is
o
n
o
f
th
e
P
B
FB
an
d
VP
H
alg
o
r
ith
m
s
b
ased
o
n
t
h
eir
f
ir
s
t
s
tr
u
ct
u
r
e
ea
s
e
o
f
p
r
o
g
r
a
m
m
in
g
a
n
d
tu
n
i
n
g
a
n
d
ex
p
er
i
m
e
n
tal
p
er
f
o
r
m
a
n
ce
.
3
.
1
.
F
un
da
m
ent
a
l St
ruct
ure
B
o
th
th
e
P
B
FB
an
d
VP
H
ca
lc
u
latio
n
s
ar
e
r
esp
o
n
s
i
v
e.
Su
b
s
e
q
u
en
tl
y
,
j
u
s
t
n
ea
r
b
y
g
u
id
e
d
at
a
u
ti
lis
ed
as
a
p
ar
t
o
f
th
e
ca
lcu
latio
n
.
T
h
er
ef
o
r
e,
th
e
cr
ea
ted
w
a
y
h
a
s
n
o
ass
u
r
a
n
ce
s
o
f
g
lo
b
al
o
p
tim
alit
y
an
d
b
r
ea
k
i
n
g
p
o
in
t
c
y
cle
co
n
d
u
ct
ca
n
h
ap
p
en
w
it
h
ei
th
er
m
at
h
.
B
y
a
n
d
b
y
,
t
h
ese
ca
lc
u
latio
n
s
h
a
v
e
b
ee
n
e
x
h
ib
ited
to
g
i
v
e
i
m
p
o
r
tan
t
r
o
u
te
i
n
co
m
p
lex
an
d
u
n
s
tr
u
c
tu
r
ed
co
n
d
itio
n
s
r
eg
u
lar
l
y
.
C
o
n
f
i
n
e
c
y
c
l
e,
o
r
n
ea
r
b
y
m
in
i
m
a
ca
n
ab
s
tain
f
r
o
m
u
til
is
i
n
g
an
a
s
s
o
r
t
m
en
t
o
f
m
et
h
o
d
o
lo
g
ies.
T
h
e
P
B
FB
ca
lcu
latio
n
,
h
a
s
a
p
ar
allel
s
tr
u
ctu
r
e
t
h
a
t
en
ab
les
ea
c
h
b
eh
a
v
io
u
r
al
s
u
b
-
f
r
a
m
e
w
o
r
k
to
at
t
h
e
s
a
m
e
ti
m
e
f
i
g
u
r
e;
t
h
i
s
e
m
p
o
w
er
s
t
h
e
u
t
ilis
atio
n
o
f
v
ar
io
u
s
p
r
o
ce
s
s
o
r
s
to
ac
c
o
m
p
lis
h
co
m
p
u
tatio
n
al
p
r
o
d
u
ctiv
it
y
.
T
h
e
VP
H
ca
lcu
latio
n
u
til
is
es
s
er
ia
l
p
r
o
ce
s
s
in
g
;
in
a
n
y
ca
s
e,
th
e
ca
lcu
latio
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u
r
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ai
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ter
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n
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l
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th
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atio
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ase
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u
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5.
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m
atic
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3
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2
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a
s
e
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ra
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I
n
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e
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et
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e
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ter
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ticip
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[
1
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7
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tack
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ased
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ig
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n
g
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d
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zz
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.
4.
E
XP
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R
I
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As
a
m
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r
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tio
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ed
tech
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e,
th
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tr
ial
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m
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ab
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t
ac
q
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ir
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u
tili
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i
n
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th
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,
an
d
VP
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lc
u
latio
n
s
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.
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h
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ac
co
m
p
a
n
y
i
n
g
te
n
test
s
u
s
ed
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r
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a
m
i
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n
th
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tr
ials
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P
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as
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s
.
Fig
u
r
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6
g
iv
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e
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Fig
u
r
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6.
R
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t N
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ir
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ick
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RE
F
E
R
E
NC
E
[1
]
P
a
y
to
n
D
W
,
Ro
se
n
b
latt
J
K,
Ke
irse
y
D
M
.
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n
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re
a
c
ti
o
n
.
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T
ra
n
s
a
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ti
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s
o
n
S
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st
e
ms
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a
n
,
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n
d
Cy
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e
rn
e
ti
c
s.
1
9
9
0
;
20
(6
);
1
3
7
0
-
1
3
8
2
.
[2
]
Ye
n
J,
P
f
lu
g
e
r
N.
A
f
u
z
z
y
lo
g
ic
b
a
se
d
e
x
ten
sio
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to
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latt'
s
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th
o
d
f
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o
t
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v
ig
a
ti
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n
.
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s.
1
9
9
5
;
25
(
6
);
9
7
1
-
9
7
8
.
[3
]
S
a
ff
io
tt
i
A
,
Ru
sp
in
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H,
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n
o
li
g
e
K.
Bl
e
n
d
in
g
re
a
c
ti
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it
y
a
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o
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l
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ire
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ted
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fu
zz
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o
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t
ro
ll
e
r.
In
F
u
z
z
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m
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o
n
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ter
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ti
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l
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f
e
re
n
c
e
.
1
9
9
3
;
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3
4
-
1
3
9
.
[4
]
S
a
ff
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tt
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A
,
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E
H.
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ia
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telli
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.
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9
9
5
;
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);
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-
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2
6
.
[5
]
S
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,
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p
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9
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Du
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D
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Imp
lem
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t
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v
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2
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.
[7
]
S
a
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A
.
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ro
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s: b
e
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In
Fu
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7
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ter
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9
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;
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.
[8
]
W
a
tan
a
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e
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m
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a
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f
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sin
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p
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s.
J
o
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a
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o
f
I
n
telli
g
e
n
t
&
Ro
b
o
ti
c
S
y
ste
ms
.
2
0
0
5
;
42
(
1
);
2
7
-
4
9
.
[9
]
El
a
v
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lag
a
n
V
A
.
Ef
fec
t
o
f
L
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it
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Fl
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Co
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it
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o
n
C
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a
b
le
S
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[1
0
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S
h
a
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De
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In
d
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T
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6
);
1
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14.
[1
1
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T
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a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
t
e
r E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
V
o
l
6
,
No
6
,
De
c
e
m
b
e
r
2
0
1
6
,
p
p
.
2
8
6
3
-
2
8
6
9
.
[1
2
]
Bo
u
z
id
M
o
h
a
m
e
d
Am
in
e
,
Zi
n
e
S
o
u
h
il
a
,
A
ll
a
o
u
i
T
a
y
e
b
a
n
d
M
a
ss
o
u
m
A
h
m
e
d
.
A
d
a
p
ti
v
e
F
u
z
z
y
Lo
g
ic
Co
n
tr
o
l
o
f
W
in
d
T
u
rb
in
e
Em
u
lato
r
,
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
El
e
c
tro
n
ics
a
n
d
Dr
ive
S
y
ste
ms
(
IJ
PE
DS
)
,
Vo
l
4
,
No
2
,
Ju
n
e
2
0
1
4
,
p
p
.
2
4
1
-
2
5
5
.
[1
3
]
F
e
n
g
lan
Jia
,
L
i
Ho
u
,
Y
o
n
g
q
ia
o
W
e
i,
Yu
n
x
ia
Yo
u
a
n
d
L
il
i
Ya
n
,
A
d
a
p
ti
v
e
F
u
z
z
y
S
li
d
in
g
M
o
d
e
Co
n
tro
l
f
o
r
Hy
d
ra
u
li
c
S
e
rv
o
S
y
ste
m
o
f
P
a
ra
ll
e
l
Ro
b
o
t
,
I
n
d
o
n
e
sia
n
J
o
u
rn
a
l
o
f
El
e
c
trica
l
E
n
g
i
n
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
,
Vo
l
1
2
,
N
o
6
,
Ju
n
e
2
0
1
4
,
p
p
.
4
1
2
5
-
4
1
3
3
.
[1
4
]
Ra
jes
h
.
D,
M
.
F
ir
o
ja
Ba
n
u
,
D.
S
t
e
ll
a
a
n
d
A
n
sila.
P
.
G
ra
c
e
.
CH
P
a
n
e
l
Ba
se
d
Ro
u
ti
n
g
S
c
h
e
m
e
f
o
r
M
o
b
i
le
W
irele
s
s
S
e
n
so
r
Ne
tw
o
rk
,
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
M
C
S
q
u
a
re
S
c
ien
ti
fi
c
Re
se
a
rc
h
(
IJ
M
S
R),
V
o
l
8
,
No
1,
2
0
1
6
,
p
p
.
1
8
3
-
1
9
8
.
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