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Dep
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es
AC
m
o
to
r
t
y
p
es
(
s
in
g
le
a
n
d
m
u
ltip
h
a
s
e
m
o
to
r
s
,
u
n
i
v
er
s
al,
s
er
v
o
m
o
to
r
s
,
in
d
u
ctio
n
,
s
y
n
c
h
r
o
n
o
u
s
,
an
d
g
ea
r
m
o
to
r
)
an
d
DC
m
o
to
r
s
(
b
r
u
s
h
les
s
,
s
er
v
o
m
o
to
r
,
an
d
g
ea
r
m
o
to
r
)
as
w
e
ll a
s
li
n
e
ar
,
s
tep
p
er
an
d
air
m
o
to
r
s
,
an
d
m
o
to
r
co
n
tacto
r
s
an
d
s
tar
ter
s
.
2
.
2
.
3
.
Ult
ra
s
o
nic Sens
o
r
Ultr
a
So
n
ic
Se
n
s
o
r
O
u
r
u
ltra
s
o
n
ic
r
an
g
e
f
i
n
d
er
is
ca
p
ab
le
o
f
al
lo
w
in
g
t
h
e
u
s
er
to
d
eter
m
i
n
e
h
is
o
r
h
er
d
is
tan
ce
f
r
o
m
a
n
o
b
j
ec
t o
r
w
all.
I
t is
u
s
ed
to
id
en
ti
f
y
th
e
o
b
s
tacle
,
n
ea
r
er
to
v
eh
icle
w
h
i
le
d
r
iv
in
g
.
3.
SYST
E
M
SO
F
T
WAR
E
Usi
n
g
M
A
T
L
A
B
’
s
GUI
DE
,
t
h
e
p
r
o
ce
s
s
es
o
f
la
y
i
n
g
o
u
t
a
GUI
(
i.e
.
,
its
b
u
tto
n
s
,
p
o
p
-
u
p
m
en
u
s
,
etc.
)
an
d
p
r
o
g
r
am
m
i
n
g
th
e
o
p
er
atio
n
o
f
th
e
GUI
ar
e
d
iv
id
ed
co
n
v
e
n
ie
n
tl
y
in
to
t
w
o
ea
s
il
y
m
a
n
ag
ed
an
d
r
elati
v
el
y
in
d
ep
en
d
en
t
ta
s
k
s
.
3
.
1
.
Ro
le
o
f
M
a
t
la
b
in
B
CI
T
h
e
MA
T
L
A
B
allo
w
s
i
n
cl
u
d
in
g
th
i
n
k
g
ea
r
.
d
ll.
T
h
is
en
v
i
r
o
n
m
e
n
t
h
as
b
r
o
ad
s
u
p
p
o
r
t
in
to
o
lb
o
x
,
w
h
ic
h
m
a
k
es
it id
ea
l
f
o
r
a
s
cie
n
ti
f
ic
r
esear
c
h
.
T
h
is
p
ap
er
p
r
esen
t
s
h
o
w
r
ec
o
r
d
in
g
an
d
p
r
o
ce
s
s
i
n
g
t
h
e
r
a
w
E
E
G
s
ig
n
al
in
M
A
T
L
A
B
en
v
ir
o
n
m
en
t
u
s
i
n
g
Mi
n
d
W
av
e
s
e
n
s
o
r
.
T
h
e
C
o
m
m
u
n
icat
io
n
P
r
o
to
co
l
s
h
o
w
s
a
s
y
s
te
m
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
9
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4
864
I
J
R
E
S
V
o
l.
6
,
No
.
3
,
N
o
v
e
m
b
er
2
0
1
7
:
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2
7
–
1
3
2
130
d
ig
ital
r
u
les
f
o
r
m
e
s
s
a
g
e
e
x
c
h
an
g
e
b
et
w
ee
n
M
A
T
L
A
B
en
v
ir
o
n
m
en
t
a
n
d
Mi
n
d
W
av
e
MW
0
0
1
d
ev
ice.
T
h
is
s
ec
tio
n
also
p
r
esen
ts
t
h
e
m
a
in
p
ar
am
eter
s
o
f
th
in
k
g
ea
r
lib
r
ar
y
.
T
h
e
C
o
m
m
u
n
icatio
n
P
r
o
to
co
l,
s
h
o
w
s
a
s
y
s
te
m
o
f
d
ig
ital
r
u
les
f
o
r
m
es
s
ag
e
e
x
ch
a
n
g
e
b
et
w
ee
n
MA
T
L
A
B
e
n
v
ir
o
n
m
en
t
an
d
Min
d
W
av
e
MW
0
0
1
d
ev
ice.
T
h
is
s
ec
tio
n
also
p
r
ese
n
t
s
t
h
e
m
ai
n
p
ar
a
m
eter
s
o
f
th
i
n
k
g
ea
r
lib
r
ar
y
.
T
h
e
co
n
n
ec
tio
n
is
e
s
tab
lis
h
ed
th
r
o
u
g
h
co
m
m
an
d
:
ca
ll
lib
(
'
T
h
in
k
g
ea
r
'
,
'T
G_
C
o
n
n
ec
t'
,
I
d
,
C
o
m
P
o
r
tNa
m
e,
T
G_
B
A
UD_
1
1
5
2
0
0
,
T
G_
S
T
R
E
A
M
_
5
VR
A
W
)
.
I
n
t
h
e
n
e
x
t
s
tep
,
w
e
m
u
s
t
atte
m
p
t
to
r
ea
d
a
P
ac
k
et
o
f
d
ata
f
r
o
m
t
h
e
co
n
n
e
ctio
n
.
W
e
u
s
e
t
h
e
T
G_
R
ea
d
P
ac
k
ets
(
)
f
u
n
ctio
n
w
it
h
I
D
p
ar
a
m
eter
a
n
d
n
u
m
b
er
o
f
p
ac
k
et
to
r
ea
d
.
T
h
e
co
m
m
an
d
ca
llli
b
(
'
T
h
in
k
g
ea
r
'
,
'
T
G_
R
ea
d
P
ac
k
ets
'
,
I
d
,
1)
.
Fig
u
r
e
2
s
h
o
w
s
B
r
ian
s
ig
n
al
r
ep
r
esen
tatio
n
i
n
M
A
T
L
A
B
.
Fig
u
r
e
2
.
B
r
ian
s
ig
n
al
r
ep
r
esen
tatio
n
i
n
M
A
T
L
A
B
T
h
e
ab
o
v
e
g
r
ap
h
r
ep
r
esen
tatio
n
i
n
cl
u
d
es t
h
e
atten
tio
n
v
al
u
e
an
d
b
lin
k
s
tr
e
n
g
t
h
.
B
ased
o
n
t
h
is
s
i
g
n
al
s
d
ev
ice
co
n
tr
o
l f
ile
w
i
ll b
e
o
p
e
n
ed
an
d
th
e
d
ev
ice
w
i
ll g
e
t c
o
n
tr
o
lled
b
ased
o
n
th
e
b
r
ain
s
i
g
n
als.
4.
ANAL
Y
SI
S O
F
H
ARD
WA
RE
S
E
CT
I
O
N
AR
M
C
o
n
tr
o
ller
r
ea
d
th
e
v
a
lu
e
o
f
r
a
w
E
E
G
s
ig
n
al
w
i
th
th
e
m
ax
i
m
u
m
f
r
eq
u
en
c
y
o
f
5
1
2
Hz.
Sa
m
p
li
n
g
f
r
eq
u
e
n
c
y
i
s
s
et
o
n
5
1
2
Hz,
an
d
w
e
co
n
tr
o
l
ti
m
e
d
elay
s
i
n
s
a
m
p
l
in
g
.
T
h
e
v
alu
e
o
f
th
e
s
i
g
n
al
an
d
ti
m
e
ar
e
w
r
itte
n
to
th
e
ar
r
a
y
d
ata.
T
h
e
d
ata
w
h
ic
h
ar
e
s
to
r
ed
in
ar
r
ay
w
ill
b
e
co
m
p
ar
ed
w
it
h
t
h
e
th
r
es
h
o
ld
p
o
in
ts
g
i
v
e
n
b
y
t
h
e
u
s
er
.
I
n
th
is
P
ap
er
,
th
e
Ma
tlab
s
ec
tio
n
w
ait
s
f
o
r
th
r
ee
co
n
s
ec
u
ti
v
e
b
lin
k
in
o
r
d
er
to
s
en
d
th
e
h
ar
d
w
ar
e
ac
tiv
atio
n
s
i
g
n
a
l.
T
h
en
b
ased
o
n
th
e
b
lin
k
lev
el
s
i
g
n
a
l,
th
e
cu
r
s
o
r
w
ill
b
e
p
lace
s
u
p
o
n
an
y
s
ec
tio
n
to
g
et
th
e
d
ev
ice
co
n
t
r
o
l.
Fu
r
th
er
th
e
p
er
s
o
n
h
as
to
r
aise
th
e
atten
t
io
n
to
s
w
itc
h
th
e
d
ev
ice.
Fig
u
r
e
3
s
h
o
w
s
B
r
ain
w
a
v
e
s
i
g
n
al
id
en
t
if
icatio
n
in
Ma
t
lab
.
Fig
u
r
e
4
s
h
o
w
s
Dr
o
w
s
i
n
es
s
id
en
ti
f
icat
io
n
th
r
o
u
g
h
Ma
tlab
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
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4864
A
R
M C
o
n
tr
o
ller
a
n
d
E
E
G
B
a
s
ed
Dro
w
s
in
ess
Tr
a
ck
in
g
a
n
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llin
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(
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r
esh
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131
Fig
u
r
e
3
.
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r
ain
w
a
v
e
s
i
g
n
al
id
en
ti
f
icatio
n
in
Ma
tlab
Fig
u
r
e
4
.
Dr
o
w
s
i
n
es
s
id
en
ti
f
ic
atio
n
th
r
o
u
g
h
Ma
tlab
5.
CO
NCLU
SI
O
N
T
h
e
m
a
in
g
o
al
o
f
th
i
s
p
ap
er
is
to
d
esi
g
n
a
n
d
i
m
p
le
m
e
n
t
a
h
u
m
a
n
t
h
o
u
g
h
t
co
n
tr
o
lled
elec
tr
ical
s
w
itc
h
in
g
s
y
s
te
m
u
s
in
g
B
C
I
t
ec
h
n
o
lo
g
y
f
o
r
th
e
p
h
y
s
icall
y
ch
alle
n
g
ed
p
eo
p
le.
No
n
in
v
as
iv
e
B
C
I
m
e
th
o
d
is
u
s
ed
f
o
r
ca
p
tu
r
in
g
t
h
e
b
r
ain
s
ig
n
a
ls
w
i
th
th
e
h
elp
o
f
b
r
ain
w
a
v
e
s
e
n
s
o
r
.
Dif
f
er
en
t
co
g
n
it
iv
e
s
tate
o
f
th
e
u
s
er
lik
e
atte
n
tio
n
le
v
el,
m
ed
ita
tio
n
le
v
el,
an
d
e
y
e
-
b
li
n
k
ca
n
b
e
u
s
ed
to
m
ea
s
u
r
e
th
e
h
u
m
an
t
h
o
u
g
h
t.
T
h
e
s
ig
n
al
s
ar
e
class
if
ied
ac
co
r
d
in
g
t
h
eir
r
esp
ec
tiv
e
f
r
eq
u
e
n
cie
s
r
an
g
i
n
g
f
r
o
m
0
.
5
Hz
to
3
0
Hz.
B
y
s
ettin
g
th
e
t
h
r
es
h
o
ld
v
alu
e
f
o
r
an
e
v
e
n
t,
th
e
in
ter
r
u
p
t
is
g
e
n
er
ated
.
T
h
is
I
n
ter
r
u
p
t
is
s
e
n
t
to
t
h
e
m
icr
o
co
n
tr
o
ller
u
n
it
f
o
r
o
p
er
atin
g
th
e
ap
p
lian
ce
s.
RE
F
E
R
E
NC
E
S
[1
]
Ch
in
-
T
e
n
g
L
in
,
F
u
-
Ch
a
n
g
L
in
,
S
h
i
-
A
n
Ch
e
n
,
S
h
a
o
-
W
e
i
L
u
,
Te
-
Ch
i
Ch
e
n
,
L
i
-
W
e
i
Ko
,
“
EE
G
-
b
a
se
d
Bra
in
-
c
o
m
p
u
ter
In
terf
a
c
e
f
o
r
S
m
a
rt
L
iv
in
g
En
v
iro
n
m
e
n
tal
A
u
to
-
a
d
ju
stm
e
n
t”,
J
o
u
rn
a
l
o
f
M
e
d
ica
l
a
n
d
Bi
o
lo
g
ica
l
E
n
g
in
e
e
rin
g
,
Ye
a
r:
2
0
1
0
,
Vo
l.
3
0
,
P
a
g
e
:
2
3
7
-
2
4
5
.
[2
]
W
o
lp
a
w
,
J.R.
,
”
Bra
in
-
c
o
m
p
u
ter
in
terf
a
c
e
re
s
e
a
rc
h
c
o
m
e
s
o
f
a
g
e
:
t
ra
d
it
io
n
a
l
a
ss
u
m
p
ti
o
n
s
m
e
e
t
e
m
e
rg
in
g
re
a
li
ti
e
s.
”
J
o
u
rn
a
l
o
f
mo
t
o
r b
e
h
a
v
io
r
,
Ye
a
r:
2
0
1
0
,
Vo
l.
4
2
,
P
a
g
e
:
3
5
1
-
3
5
3
.
[3
]
A
n
u
p
a
m
a
.
H.S
,
N.K.Cau
v
e
r
y
,
L
i
n
g
a
ra
ju
.
G
.
M
,
“
Br
a
in
c
o
m
p
u
ter
in
terf
a
c
e
a
n
d
it
s
t
y
p
e
s
-
a
stu
d
y
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
s in
En
g
in
e
e
ri
n
g
&
T
e
c
h
n
o
lo
g
y
,
Ye
a
r:
2
0
1
2
,
V
o
l.
8
,
P
a
g
e
:
1
1
7
-
1
1
9
.
[4
]
T
.
Ka
m
e
s
wa
ra
R
a
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