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s
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ca
p
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[
1
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–
[
3
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.
R
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[
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[
1
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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R
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f
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&
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b
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Sy
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I
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N:
2089
-
4864
Op
timiz
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K
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filt
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in
d
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a
mica
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viro
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men
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fo
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t m
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…
(
Teg
u
h
Herla
mb
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513
An
alter
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Kal
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3
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1
4
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d
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Kal
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1
5
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[
1
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tech
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h
p
r
ec
is
e
ca
lc
u
latio
n
s
a
n
d
s
i
m
u
lati
o
n
s
,
r
esear
ch
er
s
ca
n
g
ain
v
al
u
ab
le
in
s
i
g
h
ts
i
n
to
th
e
m
o
v
e
m
en
t
li
m
ita
tio
n
s
an
d
d
ev
is
e
m
o
r
e
ef
f
ec
ti
v
e
r
eh
ab
ili
tatio
n
s
tr
ate
g
ies
f
o
r
in
d
iv
id
u
als
s
u
f
f
er
in
g
f
r
o
m
s
tr
o
k
e
-
in
d
u
ce
d
h
e
m
ip
ar
esis
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
T
hu
m
b
r
o
bo
t
T
h
e
d
ep
ictio
n
o
f
th
e
t
h
u
m
b
r
o
b
o
t'
s
m
o
t
io
n
t
h
r
o
u
g
h
m
at
h
e
m
atica
l
m
o
d
elin
g
,
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
,
en
co
m
p
as
s
es
s
tat
ic
eq
u
atio
n
s
f
r
o
m
(
1
)
to
(
7
)
,
w
h
ich
d
elin
ea
te
th
e
s
i
m
u
lat
io
n
s
y
s
te
m
f
o
r
th
e
r
o
b
o
tic
h
an
d
[
1
7
]
–
[
2
0
]
.
T
h
e
s
u
b
s
eq
u
e
n
t sec
tio
n
p
r
esen
t
s
th
e
k
i
n
e
m
a
tic
m
o
tio
n
s
y
s
te
m
m
o
d
el
o
f
t
h
e
t
h
u
m
b
r
o
b
o
t
[
2
1
]
.
(
)
=
1
+
2
+
3
(
1
)
w
it
h
,
1
=
∑
6
=
2
(
(
2
−
1
)
(
2
−
1
)
−
(
21
−
11
)
(
21
−
11
)
)
2
(
2
)
2
=
∑
6
=
2
(
(
2
−
1
)
(
2
−
1
)
−
(
21
−
11
)
(
21
−
11
)
)
2
(
3
)
3
=
∑
6
=
2
(
(
2
−
1
)
(
2
−
1
)
−
(
21
−
11
)
(
21
−
11
)
)
2
(
4
)
w
it
h
,
(
2
−
1
)
(
2
−
1
)
=
(
21
−
11
)
(
21
−
11
)
(
5
)
(
2
−
1
)
(
2
−
1
)
=
(
21
−
11
)
(
21
−
11
)
(
6
)
(
2
−
1
)
(
2
−
1
)
=
(
21
−
11
)
(
21
−
11
)
(
7
)
2
.
2
.
Alg
o
rit
h
m
o
f
H
-
I
nfinit
y
T
h
e
H
-
I
n
f
i
n
it
y
m
et
h
o
d
s
ta
n
d
s
as
an
ad
v
a
n
ce
d
co
n
tr
o
l
t
h
eo
r
y
m
eth
o
d
o
lo
g
y
u
ti
lized
in
e
n
g
in
ee
r
i
n
g
,
p
ar
ticu
lar
l
y
f
o
c
u
s
i
n
g
o
n
co
n
tr
o
ller
d
esig
n
f
o
r
s
y
s
te
m
s
en
co
u
n
ter
in
g
u
n
ce
r
tai
n
ties
a
n
d
d
is
tu
r
b
an
ce
s
.
I
llu
s
tr
ated
in
Fi
g
u
r
e
2
is
th
e
o
p
er
atio
n
al
f
l
o
w
o
f
t
h
e
H
-
I
n
f
i
n
it
y
m
et
h
o
d
.
I
t
co
m
m
e
n
ce
s
w
it
h
s
y
s
te
m
m
o
d
eli
n
g
an
d
p
er
f
o
r
m
an
ce
s
p
ec
if
icat
io
n
,
ai
m
i
n
g
to
m
i
n
i
m
ize
t
h
e
ef
f
ec
ts
o
f
u
n
ce
r
tain
t
ies
w
h
il
e
f
u
l
f
il
lin
g
co
n
tr
o
l
o
b
j
ec
tiv
es
[
2
2
]
–
[
2
4
]
.
T
h
e
H
-
I
n
f
in
i
t
y
m
et
h
o
d
is
u
tili
ze
d
to
o
p
ti
m
ize
co
n
tr
o
ller
d
esig
n
,
w
h
i
ch
is
s
u
b
s
eq
u
e
n
tl
y
s
cr
u
ti
n
ized
f
o
r
s
e
n
s
it
iv
i
t
y
a
n
d
i
m
p
le
m
en
ted
i
n
to
th
e
ac
t
u
al
s
y
s
te
m
.
P
o
s
t
-
i
m
p
le
m
e
n
tatio
n
,
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
clo
s
ed
-
lo
o
p
s
y
s
te
m
i
s
as
s
ess
ed
,
an
d
iter
ativ
e
d
esig
n
iter
atio
n
s
m
a
y
b
e
r
eq
u
ir
ed
to
m
ee
t
th
e
d
esire
d
p
er
f
o
r
m
a
n
ce
an
d
r
o
b
u
s
tn
e
s
s
c
r
iter
ia.
T
h
is
alg
o
r
ith
m
o
f
f
er
s
a
h
ar
m
o
n
io
u
s
b
len
d
o
f
p
er
f
o
r
m
an
ce
o
p
ti
m
izatio
n
an
d
r
o
b
u
s
t
n
ess
,
f
i
n
d
i
n
g
ap
p
li
ca
tio
n
s
i
n
ae
r
o
s
p
ac
e,
a
u
to
m
o
t
iv
e,
r
o
b
o
tics
,
an
d
p
r
o
ce
s
s
co
n
tr
o
l
f
o
r
ac
h
iev
in
g
p
r
ec
is
e
an
d
r
esil
ien
t
co
n
tr
o
l
o
f
in
tr
icate
s
y
s
te
m
s
.
B
elo
w
d
elin
ea
tes
t
h
e
s
tag
e
s
o
f
i
m
p
le
m
e
n
ti
n
g
th
e
en
s
e
m
b
le
Kal
m
a
n
f
ilter
s
q
u
ar
e
r
o
o
t
(
E
n
KF
-
SR
)
al
g
o
r
ith
m
o
n
t
h
e
T
h
u
m
b
r
o
b
o
t
m
o
d
el.
2
.
3
.
E
ns
e
m
ble
K
a
l
m
a
n
f
ilte
r
s
qu
a
re
ro
o
t
m
et
ho
d
T
h
e
E
n
K
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-
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R
m
e
t
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v
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n
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d
a
t
a
a
s
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m
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l
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t
i
o
n
t
e
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h
n
i
q
u
e
u
s
e
d
i
n
v
a
r
i
o
u
s
a
p
p
l
i
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a
t
i
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n
s
s
u
c
h
a
s
w
e
a
t
h
e
r
f
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r
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c
a
s
t
i
n
g
a
n
d
o
c
e
a
n
o
g
r
a
p
h
y
.
F
i
g
u
r
e
3
i
l
l
u
s
t
r
a
t
e
s
t
h
e
w
o
r
k
f
l
o
w
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f
t
h
e
E
n
K
F
-
S
R
.
I
t
s
t
a
r
t
s
w
i
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a
n
e
n
s
em
b
l
e
o
f
s
t
a
t
e
v
e
c
t
o
r
s
,
a
d
v
a
n
c
e
s
t
h
em
i
n
t
im
e
t
h
r
o
u
g
h
a
f
o
r
e
c
a
s
t
s
t
e
p
,
a
n
d
t
h
e
n
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p
p
l
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e
s
s
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o
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l
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d
d
r
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s
s
e
n
s
e
m
b
l
e
u
n
d
e
r
-
d
i
s
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e
r
s
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o
n
.
N
e
x
t
,
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t
i
n
c
o
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p
o
r
a
t
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s
o
b
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a
t
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a
t
a
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y
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o
m
p
a
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t
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r
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c
a
s
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e
d
e
n
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l
e
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d
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w
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'
s
s
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r
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a
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h
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s
p
r
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c
e
s
s
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s
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t
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r
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d
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t
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ak
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p
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u
m
e
r
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c
a
l
m
o
d
e
l
s
[
2
5
]
,
[
2
6
]
.
T
h
e
f
o
l
l
o
w
in
g
a
r
e
t
h
e
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m
p
l
e
m
en
t
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t
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o
n
s
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a
g
e
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o
f
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e
E
n
K
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S
R
o
n
t
h
e
m
o
d
e
l
o
f
T
h
u
m
b
r
o
b
o
t
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
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4864
I
n
t J
R
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o
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20
24
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9
514
Fig
u
r
e
1
.
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e
of
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e
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m
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a
n
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a
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o
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Fig
u
r
e
2
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lo
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i
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et
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Fig
u
r
e
3
.
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h
e
f
lo
w
o
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h
e
E
n
K
F
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SR
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
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Sy
s
t
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N:
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Op
timiz
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K
a
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mica
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men
ts
fo
r
th
u
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o
b
o
t m
o
tio
n
…
(
Teg
u
h
Herla
mb
a
n
g
)
515
3.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
A
cr
itica
l
asp
ec
t
i
n
th
e
ad
v
a
n
ce
m
e
n
t
o
f
t
h
u
m
b
r
o
b
o
ts
lies
in
ac
c
u
r
atel
y
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m
ati
n
g
t
h
eir
m
o
tio
n
,
g
iv
e
n
t
h
e
p
iv
o
tal
r
o
le
o
f
t
h
e
th
u
m
b
a
m
o
n
g
t
h
e
f
i
v
e
f
i
n
g
er
s
.
T
h
is
r
esear
ch
e
m
p
lo
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ed
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e
E
n
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R
an
d
H
-
in
f
in
it
y
m
eth
o
d
s
f
o
r
s
i
m
u
latio
n
p
u
r
p
o
s
es.
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o
t
h
E
n
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S
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a
n
d
H
-
in
f
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it
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e
n
o
w
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ed
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o
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th
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r
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m
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o
s
s
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o
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li
n
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r
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d
li
n
ea
r
m
o
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els.
T
h
e
p
r
i
m
ar
y
a
i
m
o
f
t
h
is
r
esea
r
ch
w
as
to
d
ev
elo
p
m
o
d
el
s
an
d
co
n
d
u
ct
n
u
m
er
ic
al
co
m
p
u
tatio
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s
f
o
r
m
o
tio
n
e
s
ti
m
atio
n
a
n
d
m
o
tio
n
co
n
tr
o
l
s
y
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te
m
s
,
co
v
er
in
g
n
o
n
li
n
ea
r
,
lin
ea
r
,
d
y
n
a
m
ic,
an
d
k
in
e
m
atic
m
o
d
el
s
o
f
t
h
u
m
b
r
o
b
o
ts
.
I
n
th
is
r
esear
ch
,
th
e
r
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ch
co
m
p
ar
ed
th
e
ac
cu
r
ac
y
le
v
els
ac
h
iev
ed
th
r
o
u
g
h
n
u
m
er
ical
s
i
m
u
latio
n
s
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tili
zi
n
g
t
h
e
E
n
KF
-
S
R
a
n
d
H
-
i
n
f
in
i
t
y
.
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h
i
s
co
m
p
ar
is
o
n
in
v
o
l
v
ed
e
v
alu
a
tin
g
t
w
o
s
et
s
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[
1
]
J.
A
.
G
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,
T
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S
.
D
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v
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[
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5
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6
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B
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AUTH
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RS
Te
g
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la
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f
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rm
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ti
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st
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m
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iv
e
rsitas
N
a
h
d
latu
l
U
lam
a
S
u
ra
b
a
y
a
(UN
US
A
)
S
u
ra
b
a
y
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,
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d
o
n
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sia
.
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re
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h
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S
c
.
a
n
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M
.
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c
.
d
e
g
re
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m
De
p
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e
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t
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f
M
a
th
e
m
a
ti
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s
a
t
In
stit
u
te
o
f
T
e
c
h
n
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lo
g
y
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u
l
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h
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o
p
e
m
b
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r
(IT
S
)
in
2
0
1
0
a
n
d
2
0
1
2
.
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re
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h
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h
.
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.
d
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re
e
f
ro
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g
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S
).
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is
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rre
n
tl
y
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a
h
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a
d
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f
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se
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rc
h
De
p
a
rtm
e
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o
f
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EBT
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UN
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,
a
lso
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d
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s
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rc
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Ce
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ter
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In
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strial
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ti
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)
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m
e
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ristek
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a
re
a
o
f
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d
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ll
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a
v
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d
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e
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m
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m
.
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e
c
a
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c
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t
a
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a
t
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:
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sa
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c
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ste
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in
f
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p
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rt
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f
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p
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l
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p
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m
b
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),
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ra
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d
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n
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lec
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m
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ti
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h
d
latu
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Ula
m
a
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ra
b
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y
a
(UN
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).
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re
s
e
a
rc
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in
tere
sts
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in
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rm
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ti
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d
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mp
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P
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).
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c
a
n
b
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c
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n
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ted
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t
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m
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f
a
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c
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id
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k
b
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r
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r
d
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u
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re
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m
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ste
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g
in
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th
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De
p
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m
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tri
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g
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ra
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,
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,
in
2
0
1
5
.
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is
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rre
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tl
y
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p
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En
g
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,
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iv
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irl
a
n
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g
a
.
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re
se
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tere
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in
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lu
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p
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s
y
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s
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m
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latio
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p
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telli
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c
a
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c
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tac
ted
a
t
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m
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:
a
a
.
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a
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s@
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k
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a
c
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id
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ic
k
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d
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K
u
s
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m
a
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o
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I
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d
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.
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in
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d
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in
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a
n
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m
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In
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k
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Ka
li
m
a
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i
n
I
n
d
o
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sia
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
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m
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il
:
v
ick
y
a
n
d
ria@le
c
tu
re
r.
it
k
.
a
c
.
id
.
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
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Sy
s
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I
SS
N:
2089
-
4864
Op
timiz
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K
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filt
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In
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sp
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c
a
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:
s.s.su
p
ra
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it
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c
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id
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r
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t
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p
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rtm
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n
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a
lt
h
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a
c
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lt
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o
c
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ti
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l
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tu
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ies
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irl
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Un
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d
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irl
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g
g
a
in
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in
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tere
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in
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d
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m
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ti
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re
so
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n
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tec
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y
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c
a
n
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tac
ted
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m
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:
m
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h
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m
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a
ir.
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c
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id
.
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m
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p
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th
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la
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sia
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h
is
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h
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D.
a
t
Un
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rsity
o
f
W
a
l
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s
in
1
9
9
7
.
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is
i
n
tere
ste
d
i
n
sig
n
a
l
p
ro
c
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ss
in
g
,
p
h
o
t
o
n
ics
,
a
n
d
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c
o
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o
m
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tri
c
s.
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c
a
n
b
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c
o
n
tac
ted
a
t
e
m
a
il
:
a
h
a
m
z
a
h
@u
m
.
e
d
u
.
m
y
.
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