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m
e
t
h
e
cu
r
s
e
o
f
d
im
e
n
s
io
n
alit
y
p
r
o
b
lem
t
h
at
o
cc
u
r
s
w
h
en
t
h
e
n
u
m
b
er
o
f
d
ata
d
i
m
e
n
s
io
n
s
is
lar
g
e
en
o
u
g
h
co
m
p
ar
ed
to
th
e
s
a
m
p
le
s
ize.
B
esid
es
b
ein
g
u
s
ed
f
o
r
d
ata
d
i
m
en
s
io
n
r
ed
u
c
tio
n
,
P
C
A
i
s
also
o
f
te
n
u
s
ed
as
a
p
r
e
-
p
r
o
ce
s
s
i
n
g
tech
n
iq
u
e
b
e
f
o
r
e
p
er
f
o
r
m
i
n
g
o
t
h
er
s
tat
is
tical
an
al
y
s
es
s
u
c
h
as
clas
s
i
f
ic
atio
n
o
r
r
eg
r
ess
io
n
[
1
6
]
.
P
C
A
ca
n
a
ls
o
b
e
u
s
ed
to
p
er
f
o
r
m
d
ata
co
m
p
r
e
s
s
io
n
o
n
d
ata
s
to
r
ag
e
an
d
tr
an
s
f
er
[
1
7
]
.
W
i
th
t
h
e
n
ee
d
f
o
r
a
w
ea
r
ab
le
s
y
s
te
m
t
h
at
is
b
ased
o
n
m
icr
o
co
n
tr
o
ller
s
an
d
h
a
s
r
eso
u
r
ce
co
n
s
tr
ain
t
s
,
th
is
s
t
u
d
y
co
m
p
ar
es
t
h
e
u
s
e
o
f
b
o
th
f
ea
tu
r
es
an
d
an
al
y
ze
s
th
e
ap
p
licatio
n
o
f
th
e
P
C
A
alg
o
r
ith
m
a
n
d
its
i
m
p
ac
t o
n
th
e
ac
cu
r
ac
y
an
d
u
s
e
o
f
m
icr
o
co
n
tr
o
ller
m
e
m
o
r
y
.
T
h
e
m
a
in
o
b
j
ec
tiv
e
o
f
t
h
is
p
ap
er
is
to
co
m
p
ar
e
th
e
u
s
e
o
f
E
u
ler
an
d
q
u
ater
n
io
n
-
b
ased
o
r
ien
tatio
n
d
ata
as
in
p
u
t
f
ea
tu
r
e
s
o
f
r
ec
o
g
n
iz
in
g
h
an
d
g
est
u
r
e
u
s
i
n
g
d
ata
o
b
tain
ed
b
y
t
h
e
I
MU
s
e
n
s
o
r
em
b
ed
d
ed
in
t
h
e
w
ea
r
ab
le
g
lo
v
e
.
A
s
ad
d
itio
n
al
co
m
p
ar
is
o
n
,
d
i
m
e
n
s
io
n
r
ed
u
ctio
n
w
a
s
also
ca
r
r
ied
o
u
t
u
s
in
g
th
e
P
C
A
m
e
th
o
d
.
T
o
p
r
o
v
id
e
s
tr
u
ctu
r
ed
ex
p
lan
a
tio
n
,
th
e
r
es
t
o
f
t
h
e
ar
ticle
is
f
o
r
m
atted
as
f
o
llo
w
s
:
ch
ap
ter
2
p
r
o
v
id
es
r
elate
d
r
esear
ch
an
d
liter
atu
r
e,
ch
ap
t
er
3
d
escr
ib
es
th
e
m
et
h
o
d
o
lo
g
y
u
s
ed
in
t
h
e
r
esear
ch
,
ch
a
p
t
er
4
ex
p
lain
s
th
e
ex
p
er
i
m
e
n
tal
tes
tin
g
r
es
u
lt a
n
d
th
e
d
is
cu
s
s
io
n
,
a
n
d
f
i
n
all
y
cl
o
s
ed
b
y
ch
ap
ter
5
co
n
clu
s
io
n
s
.
2.
RE
L
AT
E
D
L
I
T
E
RA
T
UR
E
2
.
1
.
Rela
t
ed
re
s
ea
rc
h
R
esear
ch
p
r
o
p
o
s
ed
b
y
J
ain
et
al
.
[
1
8
]
in
2
0
1
9
p
r
esen
t
in
g
g
e
s
tu
r
e
co
n
tr
o
l
o
f
f
o
u
r
-
w
h
ee
l
m
o
b
ile
r
o
b
o
t.
A
cc
eler
o
m
eter
w
a
s
u
s
ed
to
o
b
tain
an
d
co
n
tr
o
l
th
e
ar
m
o
f
r
o
b
o
t
b
y
u
s
in
g
h
u
m
an
h
an
d
.
T
h
e
g
estu
r
e
co
n
tr
o
l
w
a
s
o
n
l
y
u
s
ed
to
p
ic
k
a
n
d
p
lace
o
f
s
i
n
g
le
o
b
j
ec
t
.
I
n
2
0
1
8
,
a
n
o
th
er
r
esear
c
h
r
elate
d
to
h
an
d
g
est
u
r
es
to
c
o
n
tr
o
l
h
o
m
e
ap
p
lian
ce
s
w
as
p
r
o
p
o
s
ed
b
y
Ver
d
ad
er
o
et
al
.
[
1
9
]
.
T
h
e
au
th
o
r
u
s
ed
an
d
r
o
id
b
ased
h
an
d
g
est
u
r
e
in
ter
f
ac
e
s
y
s
te
m
a
n
d
m
a
in
l
y
u
s
ed
its
ca
m
er
a
to
d
etec
t
s
tatic
h
an
d
g
e
s
t
u
r
e
to
b
e
p
r
o
ce
s
s
ed
.
L
ater
,
th
e
d
etec
ted
g
est
u
r
e
w
il
l
b
e
s
e
n
t
u
s
i
n
g
i
n
f
r
ar
ed
to
th
e
co
n
tr
o
lled
ap
p
lian
ce
s
.
T
h
e
m
ai
n
li
m
i
tatio
n
o
f
t
h
e
s
y
s
te
m
is
t
h
at
it
r
eq
u
ir
es
co
r
r
ec
t
s
tatic
g
es
tu
r
e
w
ith
p
r
o
p
er
lig
h
t
ill
u
m
in
a
n
c
e
f
o
r
ac
cu
r
ate
r
ec
o
g
n
it
io
n
.
Sc
h
ad
e
et
al
.
[
2
0
]
in
2
0
2
3
p
r
o
p
o
s
ed
h
an
d
g
est
u
r
e
r
ec
o
g
n
itio
n
s
y
s
te
m
u
s
in
g
g
lo
v
es
f
o
r
g
a
m
i
n
g
p
u
r
p
o
s
es.
T
h
e
au
t
h
o
r
u
s
ed
g
lo
v
e
s
w
it
h
3
-
a
x
is
9
DOF
I
MU
s
en
s
o
r
s
o
n
th
e
p
alm
a
n
d
ea
ch
f
in
g
er
.
T
o
co
m
p
ac
t
th
e
o
r
ien
tatio
n
r
ep
r
esen
tatio
n
,
th
e
au
th
o
r
al
s
o
u
s
ed
q
u
ater
n
io
n
t
h
at
co
n
s
i
s
t
o
f
4
n
u
m
b
er
s
,
th
u
s
ea
ch
s
e
n
s
o
r
p
r
o
v
id
es
1
3
v
al
u
e
s
.
T
o
co
llect
s
en
s
o
r
d
ata
f
r
o
m
t
h
e
g
lo
v
e
s
,
th
e
y
u
s
ed
m
icr
o
co
n
tr
o
ller
u
n
it
b
u
t
th
en
th
e
d
ata
w
er
e
s
e
n
t
to
P
C
w
ir
ele
s
s
l
y
f
o
r
p
r
o
ce
s
s
in
g
a
n
d
class
if
ica
tio
n
.
An
o
th
er
r
esear
ch
b
y
T
s
ai
et
al
.
[
2
1
]
in
2
0
1
8
p
r
o
p
o
s
ed
th
e
u
s
e
o
f
FP
GA
to
p
r
o
ce
s
s
h
a
n
d
g
est
u
r
e
r
ec
o
g
n
itio
n
s
y
s
te
m
b
a
s
ed
o
n
d
u
al
ca
m
er
a
w
it
h
d
ep
th
-
m
ap
.
T
h
e
m
ai
n
r
ea
s
o
n
o
f
u
s
i
n
g
FP
G
A
is
t
h
at
b
ec
a
u
s
e
o
f
th
e
co
m
p
le
x
it
y
a
n
d
h
i
g
h
co
m
p
u
tatio
n
al
ti
m
e
o
f
r
u
n
n
i
n
g
d
u
al
-
ca
m
er
a
b
ased
r
ec
o
g
n
itio
n
alg
o
r
ith
m
.
I
n
2
0
1
9
Sab
u
j
et
al
.
[
2
2
]
p
r
o
p
o
s
ed
an
o
th
er
s
i
m
p
le
ap
p
r
o
ac
h
f
o
r
h
an
d
g
estu
r
e
-
b
ased
r
o
b
o
t
c
o
n
tr
o
l
f
o
r
ass
is
tin
g
p
eo
p
le
w
it
h
p
ar
al
y
s
i
s
d
is
ab
ilit
y
.
I
n
s
te
ad
o
f
u
s
in
g
o
r
ien
tatio
n
-
b
ased
s
en
s
o
r
s
,
th
e
y
u
s
ed
4
in
f
r
ar
ed
s
en
s
o
r
s
m
o
u
n
ted
o
n
g
lo
v
e.
T
h
e
co
m
b
in
a
tio
n
o
f
to
u
ch
i
n
g
o
n
th
e
s
en
s
o
r
s
d
eter
m
in
es
t
h
e
m
o
v
e
m
e
n
t
o
f
th
e
r
o
b
o
t.
B
ased
o
n
th
at
ap
p
r
o
ac
h
,
th
ey
li
m
it
u
p
to
4
d
ir
ec
tio
n
al
m
o
v
e
m
e
n
ts
ad
d
ed
w
it
h
o
n
e
id
le
.
E
v
en
th
o
u
g
h
i
t
p
r
o
v
id
es
v
er
y
f
ast
d
ir
ec
tio
n
al
d
eter
m
i
n
atio
n
,
t
h
e
n
u
m
b
er
o
f
g
est
u
r
es
i
s
tied
t
o
th
e
p
h
y
s
ical
n
u
m
b
er
o
f
s
e
n
s
o
r
s
u
s
ed
an
d
i
ts
co
m
b
i
n
atio
n
.
2
.
2
.
E
uler
a
nd
qu
a
t
er
nio
n o
rient
a
t
io
n sy
s
t
e
m
E
u
ler
r
o
tatio
n
r
ef
er
s
to
th
e
u
s
e
o
f
th
r
ee
r
o
tatio
n
an
g
les
to
r
ep
r
esen
t
r
o
tatio
n
(
co
m
m
o
n
l
y
k
n
o
w
n
a
s
r
o
ll,
p
itch
,
an
d
y
a
w
)
.
T
h
ese
th
r
ee
an
g
les
m
ea
s
u
r
e
r
o
tatio
n
o
n
th
r
ee
o
r
th
o
g
o
n
al
ax
e
s
(
e.
g
.
,
X,
Y,
an
d
Z
ax
es).
A
lt
h
o
u
g
h
s
i
m
p
le,
E
u
ler
's
r
o
tatio
n
ca
n
h
av
e
p
r
o
b
le
m
s
s
u
c
h
as
g
i
m
b
al
lo
c
k
[
2
3
]
,
in
w
h
ich
s
o
m
e
a
n
g
u
lar
co
n
f
i
g
u
r
atio
n
s
r
es
u
lt i
n
a
lo
s
s
o
f
r
o
tatio
n
al
f
r
ee
d
o
m
.
Q
u
ater
n
io
n
is
a
m
o
r
e
co
m
p
le
x
m
at
h
e
m
atica
l
r
ep
r
esen
ta
tio
n
f
o
r
r
o
tatio
n
th
an
E
u
ler
.
T
h
e
q
u
ater
n
io
n
u
s
e
s
f
o
u
r
n
u
m
b
er
s
(
x
,
y
,
z,
w
)
f
o
r
th
e
r
ep
r
esen
tatio
n
o
f
r
o
tatio
n
.
So
m
e
o
f
th
e
ad
v
a
n
ta
g
es
o
f
q
u
ater
n
io
n
ar
e
th
e
ab
s
en
ce
o
f
g
i
m
b
al
lo
ck
p
r
o
b
le
m
s
;
ca
n
b
e
u
s
ed
o
n
s
m
o
o
t
h
r
o
tatio
n
al
in
ter
p
o
latio
n
;
a
n
d
ar
e
g
en
er
all
y
s
u
itab
le
f
o
r
u
s
e
i
n
p
h
y
s
ic
s
ca
lcu
la
tio
n
s
,
co
m
p
u
ter
g
r
ap
h
ic
s
,
an
d
r
o
b
o
t
ics.
2
.
3
.
Ra
nd
o
m
f
o
re
s
t
R
an
d
o
m
f
o
r
e
s
t
is
o
n
e
o
f
th
e
p
o
p
u
lar
alg
o
r
ith
m
s
i
n
m
ac
h
in
e
lear
n
in
g
f
o
r
clas
s
i
f
y
i
n
g
,
r
eg
r
e
s
s
io
n
,
a
n
d
p
r
ed
ictio
n
.
R
an
d
o
m
f
o
r
es
t
i
s
an
en
s
e
m
b
le
f
o
r
m
,
w
h
ich
m
e
an
s
i
t
co
m
b
i
n
es
p
r
ed
ictio
n
s
f
r
o
m
s
ev
er
al
b
a
s
ic
m
o
d
el
s
to
ac
h
ie
v
e
b
etter
r
es
u
lts
t
h
an
i
n
d
i
v
id
u
al
m
o
d
els
[
2
4
]
.
R
an
d
o
m
f
o
r
est
is
b
ased
o
n
t
h
e
co
n
ce
p
t
o
f
a
d
ec
is
io
n
tr
ee
i
n
t
h
e
f
o
r
m
o
f
a
h
ier
ar
ch
ical
s
tr
u
c
tu
r
e
t
h
at
m
ak
e
s
d
ec
is
io
n
s
u
s
in
g
a
s
er
i
es
o
f
q
u
e
s
tio
n
s
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4864
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
,
Vo
l.
13
,
No
.
3
,
No
v
e
m
b
er
20
24
:
542
-
551
544
co
n
d
itio
n
s
.
R
a
n
d
o
m
f
o
r
est
w
o
r
k
s
b
y
cr
ea
tin
g
m
u
ltip
le
d
ec
is
i
o
n
tr
ee
s
w
h
er
e
ea
ch
tr
ee
is
tr
a
in
ed
o
n
a
s
u
b
s
e
t
o
f
tr
ain
i
n
g
d
ata
th
at
i
s
r
an
d
o
m
l
y
r
etr
iev
ed
b
y
b
o
o
ts
tr
ap
s
a
m
p
li
n
g
.
T
h
e
ad
v
an
tag
e
o
f
t
h
e
r
an
d
o
m
f
o
r
est
al
g
o
r
ith
m
is
th
at
it
ca
n
h
a
n
d
le
lar
g
e
d
ata
s
ets
w
it
h
m
an
y
f
ea
tu
r
es
;
an
d
c
an
b
e
u
s
ed
to
ass
es
s
th
e
i
m
p
o
r
tan
ce
o
f
f
ea
tu
r
e
s
in
th
e
m
o
d
el.
Ho
w
e
v
er
,
t
u
n
i
n
g
h
y
p
er
p
ar
a
m
eter
s
is
cr
u
cial
to
g
et
t
h
e
b
est
p
er
f
o
r
m
an
ce
f
r
o
m
t
h
e
r
an
d
o
m
f
o
r
est
an
d
av
o
id
o
v
er
f
itt
in
g
[
2
5
]
.
So
m
e
o
f
t
h
e
m
ai
n
h
y
p
er
p
ar
a
m
eter
s
to
n
o
te
in
cl
u
d
e
th
e
n
u
m
b
er
o
f
tr
ee
s
(
n
_
esti
ma
to
r
s
)
,
th
e
n
u
m
b
er
o
f
f
ea
t
u
r
es
ca
p
tu
r
ed
in
ea
c
h
s
p
l
it
(
ma
x_
fea
tu
r
es
)
,
th
e
m
a
x
i
m
u
m
d
ep
t
h
o
f
tr
ee
s
(
ma
x_
d
ep
th
)
,
th
e
m
i
n
i
m
u
m
n
u
m
b
er
o
f
s
a
m
p
les
r
eq
u
ir
ed
to
d
iv
id
e
th
e
n
o
d
es
(
min
_
s
a
mp
les_
s
p
lit
)
.
I
n
ad
d
itio
n
,
cr
o
s
s
-
v
ali
d
atio
n
m
et
h
o
d
s
to
e
v
alu
a
te
m
o
d
el
p
er
f
o
r
m
an
ce
w
it
h
v
ar
io
u
s
co
m
b
i
n
atio
n
s
o
f
h
y
p
er
p
ar
a
m
eter
s
s
h
o
u
ld
b
e
u
s
ed
.
T
h
er
e
ar
e
t
w
o
g
en
er
al
m
et
h
o
d
s
f
o
r
f
in
d
i
n
g
t
h
e
o
p
ti
m
al
co
m
b
in
at
io
n
o
f
h
y
p
er
p
ar
am
eter
s
:
g
r
id
s
ea
r
ch
a
n
d
r
an
d
o
m
s
ea
r
ch
.
I
n
r
an
d
o
m
s
ea
r
ch
,
r
an
d
o
m
v
al
u
es
ar
e
s
elec
ted
f
r
o
m
a
p
r
ed
eter
m
in
ed
r
an
g
e.
W
h
en
r
an
d
o
m
s
ea
r
ch
is
co
m
p
lete,
an
ev
alu
a
tio
n
o
f
m
o
d
el
p
er
f
o
r
m
a
n
ce
w
it
h
r
elev
a
n
t
m
etr
ic
s
s
u
c
h
as
ac
c
u
r
ac
y
,
i
s
p
er
f
o
r
m
ed
i
n
ea
ch
co
m
b
in
at
io
n
o
f
h
y
p
er
p
ar
a
m
eter
s
an
d
th
e
co
m
b
in
at
io
n
t
h
at
g
i
v
e
s
th
e
b
est r
esu
lt
s
is
s
elec
ted
.
2
.
4
.
P
rincipa
l
co
m
po
nent
a
n
a
ly
s
is
P
C
A
is
a
m
u
lti
v
ar
iate
s
tati
s
tic
al
tech
n
iq
u
e
u
s
ed
to
r
ed
u
ce
th
e
d
im
e
n
s
io
n
s
o
f
a
d
ata
s
et
b
y
p
r
eser
v
in
g
m
o
s
t
o
f
th
e
i
n
f
o
r
m
atio
n
co
n
tai
n
ed
in
it
[
2
6
]
.
P
C
A
is
u
s
ed
to
f
i
n
d
p
atter
n
s
an
d
s
tr
u
ct
u
r
es
i
n
d
ata
b
y
id
en
ti
f
y
in
g
th
e
m
o
s
t
co
r
r
elate
d
v
ar
iab
les
an
d
s
u
b
tr
ac
ti
n
g
t
h
e
d
i
m
e
n
s
i
o
n
s
o
f
t
h
o
s
e
v
ar
iab
les.
P
C
A
is
u
s
ed
to
r
ed
u
ce
d
i
m
en
s
io
n
al
it
y
f
r
o
m
d
ata
b
y
eli
m
i
n
ati
n
g
less
s
i
g
n
i
f
ica
n
t
v
ar
iab
les
an
d
k
ee
p
in
g
m
o
r
e
im
p
o
r
ta
n
t
v
ar
iab
les.
P
C
A
ca
n
also
b
e
u
s
ed
to
co
m
p
r
ess
d
ata
b
y
r
ed
u
ci
n
g
d
i
m
e
n
s
i
o
n
s
,
m
a
k
i
n
g
i
t e
asier
to
s
to
r
e
an
d
tr
an
s
m
it d
ata.
T
h
e
eig
en
v
al
u
e
is
a
m
ea
s
u
r
e
o
f
h
o
w
m
u
ch
v
ar
ia
n
ce
is
d
escr
ib
ed
b
y
a
co
m
p
o
n
e
n
t
(
p
r
in
cip
al
co
m
p
o
n
e
n
t)
in
th
e
d
ata.
E
ac
h
co
m
p
o
n
en
t
h
a
s
a
d
if
f
er
en
t
eig
en
v
al
u
e,
an
d
th
e
co
m
p
o
n
e
n
t
w
ith
t
h
e
h
ig
h
e
s
t
eig
en
v
al
u
e
i
s
th
e
m
o
s
t
s
i
g
n
if
ican
t
m
aj
o
r
co
m
p
o
n
e
n
t
i
n
th
e
d
ata.
T
h
er
ef
o
r
e,
P
C
A
i
s
d
o
n
e
b
y
s
e
lecti
n
g
t
h
e
co
m
p
o
n
e
n
t
s
w
it
h
t
h
e
h
i
g
h
est
eig
en
v
al
u
es
a
n
d
ig
n
o
r
in
g
t
h
o
s
e
co
m
p
o
n
e
n
t
s
w
it
h
lo
w
er
eig
en
v
al
u
e
s
.
T
h
e
P
C
A
p
r
o
ce
s
s
in
v
o
l
v
es
tr
an
s
f
o
r
m
in
g
d
ata
in
t
o
a
n
e
w
s
p
ac
e
co
n
s
i
s
t
in
g
o
f
m
aj
o
r
co
m
p
o
n
en
ts
s
o
r
t
ed
b
y
ei
g
en
v
al
u
es.
B
y
s
o
r
ti
n
g
co
m
p
o
n
e
n
ts
b
y
eig
en
v
al
u
e,
P
C
A
m
ak
e
s
it
p
o
s
s
ib
le
to
id
en
tify
th
e
m
o
s
t
s
ig
n
if
ican
t
m
aj
o
r
co
m
p
o
n
e
n
t
s
in
t
h
e
d
ata
an
d
eli
m
i
n
ate
t
h
e
less
s
i
g
n
i
f
ica
n
t
co
m
p
o
n
e
n
ts
.
I
n
th
i
s
n
e
w
s
p
ac
e,
d
ata
ca
n
b
e
r
ep
r
esen
ted
u
s
i
n
g
a
s
m
a
ller
n
u
m
b
er
o
f
co
m
p
o
n
en
ts
,
m
ak
i
n
g
i
t e
asier
to
an
al
y
ze
a
n
d
in
ter
p
r
et
d
ata.
3.
RE
S
E
ARCH
M
E
T
H
O
D
3
.
1
.
Sy
s
t
em
de
s
ig
n
I
n
g
e
n
er
al,
th
e
s
y
s
te
m
b
lo
ck
d
iag
r
a
m
co
n
s
is
ts
o
f
t
w
o
p
ar
ts
,
th
e
w
ea
r
ab
le
g
lo
v
e
s
u
b
s
y
s
te
m
,
an
d
t
h
e
o
m
n
id
ir
ec
ti
o
n
al
r
o
b
o
t
s
u
b
s
y
s
t
e
m
.
T
h
e
b
lo
ck
d
iag
r
a
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
I
n
th
e
w
ea
r
ab
le
g
lo
v
e
s
u
b
-
s
y
s
te
m
,
w
e
u
s
e
o
n
e
m
icr
o
co
n
tr
o
ller
u
n
it,
1
I
MU
s
en
s
o
r
u
n
it,
an
d
is
eq
u
ip
p
ed
w
ith
a
b
atter
y
e
m
b
ed
d
ed
in
a
g
lo
v
e
w
h
ic
h
is
d
esig
n
ed
to
b
e
w
o
r
n
o
n
th
e
r
ig
h
t
w
r
is
t.
F
u
r
th
er
m
o
r
e,
th
e
r
o
b
o
t
p
ilo
t
ca
n
m
a
k
e
s
ev
er
al
g
est
u
r
es
to
b
e
r
ec
o
g
n
ized
an
d
s
en
t
to
t
h
e
o
m
n
i
-
w
h
ee
l
r
o
b
o
t
s
u
b
-
s
y
s
te
m
.
T
h
e
m
icr
o
co
n
tr
o
ller
u
s
ed
is
E
SP
3
2
w
h
ic
h
i
s
eq
u
ip
p
ed
w
it
h
class
ic
B
lu
eto
o
th
co
n
n
ec
ti
v
it
y
.
T
h
e
I
MU
s
en
s
o
r
u
s
ed
is
th
e
I
MU
9
DOF
t
y
p
e
w
it
h
th
e
B
NO0
5
5
ty
p
e.
Af
ter
t
h
e
r
o
b
o
t
p
ilo
t
p
er
f
o
r
m
s
a
g
e
s
t
u
r
e,
th
e
I
MU
s
en
s
o
r
ac
q
u
ir
es
o
r
ien
tati
o
n
d
ata
in
t
h
e
f
o
r
m
o
f
3
-
d
i
m
en
s
io
n
a
l E
u
ler
d
ata
a
n
d
4
-
d
i
m
en
s
io
n
al
q
u
ater
n
io
n
d
ata.
Fo
llo
w
in
g
t
h
at,
t
h
e
m
icr
o
co
n
tr
o
ller
p
r
o
ce
s
s
es
th
e
d
ata
u
s
i
n
g
a
r
an
d
o
m
f
o
r
est
alg
o
r
ith
m
an
d
s
e
n
d
s
t
h
e
r
es
u
lts
to
t
h
e
m
o
b
ile
r
o
b
o
t
s
u
b
-
s
y
s
te
m
v
ia
a
class
i
c
B
lu
eto
o
th
co
n
n
ec
tio
n
.
I
n
th
is
s
tu
d
y
w
ill
al
s
o
m
a
k
e
co
m
p
ar
i
s
o
n
s
w
it
h
t
h
e
ap
p
licatio
n
o
f
th
e
P
C
A
al
g
o
r
ith
m
to
r
ed
u
ce
f
ea
tu
r
e
s
w
h
i
le
m
ai
n
tai
n
in
g
t
h
e
h
i
g
h
est p
o
s
s
ib
le
v
ar
ia
n
ce
.
Fig
u
r
e
1
.
Har
d
w
ar
e
b
lo
ck
d
iag
r
a
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
R
ec
o
n
f
i
g
u
r
ab
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4864
C
o
mp
a
r
in
g
fea
tu
r
e
u
s
a
g
e
in
I
MU
-
b
a
s
ed
g
estu
r
e
co
n
tr
o
l fo
r
o
mn
id
ir
ec
tio
n
a
l ro
b
o
t
… (
Da
h
n
ia
l S
ya
u
q
y
)
545
I
n
th
e
o
m
n
i
-
w
h
ee
l
m
o
b
ile
r
o
b
o
t
s
u
b
-
s
y
s
te
m
,
t
h
er
e
is
a
m
icr
o
co
n
tr
o
ller
(
A
r
d
u
in
o
UNO)
as
w
ell
as
a
r
ec
eiv
er
f
o
r
s
en
d
i
n
g
d
ata
(
B
lu
eto
o
th
m
o
d
u
le)
,
3
u
n
its
o
f
o
m
n
i
-
w
h
ee
led
w
h
ee
l
s
alo
n
g
with
t
h
eir
r
esp
ec
ti
v
e
m
o
to
r
s
an
d
d
r
i
v
er
s
.
C
o
n
ti
n
u
o
u
s
l
y
,
th
e
m
o
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ile
r
o
b
o
t
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te
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s
to
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ata
tr
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s
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i
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o
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m
o
f
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tr
u
ctio
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s
f
o
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th
e
r
o
b
o
t'
s
d
ir
ec
tio
n
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f
m
o
ti
o
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,
as
w
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ll
as
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ec
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ti
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o
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e
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Ty
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tallatio
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th
e
w
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g
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ill
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s
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Fig
u
r
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u
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2
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Har
d
w
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3
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Da
t
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s
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it
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ased
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th
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.
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in
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lta
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cr
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to
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els i
n
to
C
m
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f
o
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m
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[
2
7
]
.
P
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r
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i
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4
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u
m
b
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test
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n
l
y
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m
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t
ef
f
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ma
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to
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ter
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ize.
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h
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3
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.
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4.
RE
SU
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AND
DI
SCUS
SI
O
N
4
.
1
.
T
esting
o
f
m
a
x
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d
ep
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a
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m
a
to
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ra
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et
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s
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lect
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n
th
is
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t,
all
I
MU
s
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s
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r
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ad
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in
p
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7
d
i
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s
:
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ler
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ata
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ater
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ata)
.
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e
v
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ith
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.
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g
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,
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f
1
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;
1
to
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;
6
t
o
1
0
;
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d
1
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to
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0
.
T
h
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I
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I
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RE
F
E
R
E
NC
E
S
[
1
]
M
.
J.
A
.
S
a
f
a
r
,
“
H
o
l
o
n
o
mi
c
a
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o
mn
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s:
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.
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:
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/
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.
v
7
7
.
6
7
9
9
.
[
2
]
R
.
T
.
Y
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D
.
A
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.
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c
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s,
”
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o
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rn
a
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f
R
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b
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t
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c
s
a
n
d
C
o
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t
ro
l
(
J
RC
)
,
v
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.
2
,
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.
2
,
2
0
2
1
,
d
o
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:
1
0
.
1
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1
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6
/
j
r
c
.
2
2
5
4
.
[
3
]
M
.
W
a
d
a
,
“
O
m
n
i
d
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r
e
c
t
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n
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t
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f
4
w
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b
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t
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c
b
a
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,
”
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n
2
0
0
6
S
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-
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t
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rn
re
c
o
g
n
it
i
o
n
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a
n
d
sig
n
a
l
p
r
o
c
e
ss
in
g
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
d
a
h
n
ial
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7
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b
.
a
c
.
i
d
.
E
k
o
S
e
tia
w
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n
g
ra
d
u
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ted
f
ro
m
Un
iv
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rsitas
Bra
w
ij
a
y
a
,
In
d
o
n
e
sia
,
in
2
0
0
8
.
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d
th
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M
.
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g
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d
e
g
re
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f
ro
m
Un
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o
f
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z
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k
i,
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p
a
n
in
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0
1
2
a
n
d
f
ro
m
Un
iv
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Bra
w
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a
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d
o
n
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0
1
3
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re
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th
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D.
d
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g
re
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m
Un
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o
f
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iy
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z
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k
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i
n
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.
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w
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rk
e
d
a
s
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ll
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ti
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tu
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r
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th
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e
rsitas
Bra
w
ij
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y
a
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d
o
n
e
sia
in
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a
c
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lt
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f
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m
p
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ter
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c
ien
c
e
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wa
s
a
sta
ff
m
e
m
b
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t
h
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q
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a
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ss
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ra
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c
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it
in
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w
ij
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a
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lso
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ti
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n
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n
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ti
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n
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l
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u
r
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l
JT
IIK.
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re
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v
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d
re
se
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rc
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ra
n
t
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m
A
S
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A
N
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I
V
O.
His
c
u
rre
n
t
re
se
a
rc
h
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tere
sts
in
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lu
d
e
e
m
b
e
d
d
e
d
sy
ste
m
,
ro
b
o
t
ics
,
a
n
d
c
o
n
tr
o
l
sy
ste
m
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
e
k
o
se
ti
a
w
a
n
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b
.
a
c
.
id
.
Ed
ita
Ro
s
a
n
a
W
id
a
sa
r
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c
o
m
p
lete
d
h
e
r
d
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c
to
ra
l
st
u
d
ies
a
t
th
e
Un
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e
rsity
o
f
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iy
a
z
a
k
i
(Uo
M
)
in
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p
a
n
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n
d
w
a
s
h
o
n
o
re
d
w
it
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th
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le
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se
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r
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c
o
u
ra
g
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m
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t
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rd
f
ro
m
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M
in
2
0
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1
.
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h
e
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lso
g
ra
d
u
a
ted
w
it
h
a
m
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st
e
r'
s
d
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g
re
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th
ro
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g
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d
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d
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re
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ro
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ra
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b
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t
w
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th
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p
a
rtme
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t
o
f
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tri
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l
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g
in
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ri
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g
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t
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w
ij
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y
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a
n
d
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p
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n
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tain
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d
h
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re
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ro
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th
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p
a
rtme
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t
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tri
c
a
l
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g
in
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rin
g
a
t
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rsitas
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wijay
a
.
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h
e
h
a
s
b
e
e
n
se
rv
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g
a
s
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lec
tu
re
r
in
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p
a
rtm
e
n
t
o
f
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f
o
rm
a
ti
c
s
En
g
in
e
e
rin
g
a
t
U
n
iv
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rsitas
Bra
w
ij
a
y
a
sin
c
e
2
0
1
6
,
tea
c
h
in
g
c
o
u
rse
s
t
h
a
t
in
c
lu
d
e
d
ig
it
a
l
sig
n
a
l
c
o
m
p
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ti
n
g
,
c
o
m
p
u
ter
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b
a
se
d
m
e
d
ica
l
s
y
ste
m
s,
c
o
m
p
u
ter
a
n
d
n
e
tw
o
rk
s
y
ste
m
s
a
n
a
ly
sis,
e
lec
tro
n
ic
c
ircu
it
s,
a
n
d
in
telli
g
e
n
t
sy
ste
m
s.
Be
g
in
n
in
g
in
2
0
2
2
,
sh
e
h
a
s
tak
e
n
o
n
t
h
e
ro
le
o
f
h
e
a
d
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f
th
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b
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t
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a
n
d
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b
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d
d
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d
S
y
ste
m
s
L
a
b
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ra
to
ry
.
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r
r
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se
a
r
c
h
in
tere
sts
p
rim
a
r
il
y
li
e
in
th
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f
ield
o
f
b
io
m
e
d
ica
l
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n
g
in
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e
rin
g
,
w
it
h
a
f
o
c
u
s
o
n
sig
n
a
l
p
ro
c
e
ss
in
g
a
n
d
it
s
a
p
p
li
c
a
ti
o
n
t
o
e
m
b
e
d
d
e
d
sy
ste
m
s.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
e
d
it
a
ro
sa
n
a
w
@u
b
.
a
c
.
id
.
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