I
nte
rna
t
io
na
l J
o
urna
l o
f
Rec
o
nfig
ura
ble a
nd
E
m
be
dd
e
d Sy
s
t
e
m
s
(
I
J
R
E
S)
Vo
l.
6
,
No
.
2
,
J
u
l
y
201
7
,
p
p
.
1
1
1
~
1
1
9
I
SS
N:
2
089
-
4
864
,
DOI
: 1
0
.
1
1
5
9
1
/
ij
r
es
.
v
6
.
i2
.
p
p
111
-
1
1
9
111
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e.
co
m/jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JR
E
S
/in
d
ex
Using
F
P
G
A
Desi
g
n and
H
IL
Alg
o
rith
m
Si
m
u
la
tion
to Co
ntrol
Visua
l Servo
ing
L
w
a
y
F
a
is
a
l A
bd
ulra
za
k
1
,
Z
a
id A.
Alj
a
wa
ry
2
1
De
p
a
rtme
n
t
o
f
ECE
,
JCT
Co
ll
e
g
e
o
f
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
T
a
m
il
n
a
d
u
,
In
d
ia
De
p
a
rtm
e
n
t
o
f
Co
m
p
u
ter S
c
ien
c
e
,
Cih
a
n
Un
iv
e
rsit
y
,
S
u
laim
a
n
y
ia,
Ira
q
2
De
p
a
rtme
n
t
o
f
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
,
Hu
m
a
n
De
v
e
lo
p
m
e
n
t
Un
iv
e
rsit
y
,
S
u
laim
a
n
y
i
a
,
Ira
q
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
A
p
r
1
,
2
0
1
7
R
ev
i
s
ed
Ma
y
14
,
2
0
1
7
A
cc
ep
ted
Ma
y
2
1
,
2
0
1
7
T
h
is
is
a
n
o
v
e
l
re
se
a
rc
h
p
a
p
e
r
p
ro
v
id
e
s
a
n
o
p
ti
m
a
l
so
lu
ti
o
n
f
o
r
o
b
jec
t
trac
k
in
g
u
sin
g
v
isu
a
l
se
rv
o
in
g
c
o
n
tro
l
sy
ste
m
w
it
h
p
ro
g
ra
m
m
a
b
le
g
a
te
a
rra
y
tec
h
n
o
l
o
g
y
to
re
a
li
z
e
th
e
v
isu
a
l
c
o
n
tr
o
ll
e
r.
T
h
e
c
o
n
tro
ll
e
r
tak
e
s in
a
c
c
o
u
n
t
th
e
ro
b
o
t
d
y
n
a
m
ic
s
to
g
e
n
e
ra
te
th
e
jo
in
t
t
o
rq
u
e
s
d
irec
tl
y
f
o
r
p
e
rf
o
r
m
in
g
th
e
tas
k
s
re
late
d
to
o
b
jec
t
trac
k
in
g
u
sin
g
v
isu
a
l
se
rv
o
in
g
.
A
lso
,
th
e
n
o
ti
o
n
o
f
d
y
n
a
m
i
c
p
e
rc
e
p
ti
b
il
i
ty
p
ro
v
id
e
s
th
e
c
a
p
a
b
il
it
y
o
f
th
e
d
e
sig
n
e
d
s
y
ste
m
to
tra
c
k
d
e
sire
d
o
b
jec
ts
e
m
p
lo
y
in
g
d
irec
t
v
isu
a
l
s
e
rv
o
in
g
tec
h
n
iq
u
e
.
T
h
is
id
e
a
is
a
ss
i
m
il
a
ted
in
th
e
su
g
g
e
ste
d
c
o
n
tro
ll
e
r
a
n
d
re
a
li
z
e
d
in
th
e
p
ro
g
ra
m
m
a
b
le
g
a
te
a
rra
y
.
A
d
d
it
io
n
a
ll
y
,
th
is
p
a
p
e
r
g
ra
n
ts
a
n
id
e
a
l
c
o
n
tro
l
f
ra
m
e
w
o
rk
f
o
r
d
irec
t
v
isu
a
l
se
rv
o
in
g
ro
b
o
ts
th
a
t
i
n
c
o
rp
o
ra
tes
d
y
n
a
m
ic
p
e
rc
e
p
ti
b
il
it
y
f
e
a
tu
re
s.
W
it
h
th
e
a
im
o
f
e
v
a
lu
a
ti
n
g
th
e
p
ro
p
o
se
d
F
P
G
A
b
a
se
d
a
rc
h
it
e
c
tu
re
,
t
h
e
c
o
n
tr
o
l
a
lg
o
rit
h
m
is
a
p
p
li
e
d
to
Ha
rd
w
a
re
-
in
-
th
e
-
l
o
o
p
sim
u
latio
n
(HIL
)
se
t
u
p
o
f
th
re
e
d
e
g
re
e
s
o
f
f
re
e
d
o
m
rig
id
ro
b
o
ti
c
m
a
n
ip
u
lato
r
w
it
h
th
re
e
li
n
k
s.
F
u
rth
e
rm
o
re
,
d
if
fe
re
n
t
i
n
v
e
stig
a
ti
o
n
s
a
re
p
e
rf
o
rm
e
d
to
d
e
m
o
n
stra
te
th
e
b
e
h
a
v
io
r
o
f
th
e
p
ro
p
o
se
d
sy
ste
m
w
h
e
n
a
traje
c
to
ry
a
d
jac
e
n
t
to
a
sin
g
u
larity
is
a
tt
a
in
e
d
.
K
ey
w
o
r
d
s
:
Har
d
w
ar
e
-
in
-
t
h
e
-
lo
o
p
Ob
j
ec
t tr
ac
k
in
g
R
o
b
o
tic
m
an
ip
u
lato
r
Vis
u
a
l ser
v
o
i
n
g
Co
p
y
rig
h
t
©
2
0
1
7
In
stit
u
te
o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
L
w
a
y
Fai
s
al
A
b
d
u
lr
az
ak
,
Dep
ar
t
m
en
t o
f
C
o
m
p
u
ter
Scie
n
ce
,
C
ih
a
n
U
n
i
v
er
s
it
y
–
Su
lai
m
an
y
i
a
C
a
m
p
u
s
,
S
u
lai
m
an
y
ia,
I
r
aq
.
E
m
ail:
l
w
a
y
f
aisal_
ab
d
u
lr
az
a
k
@
y
a
h
o
o
.
co
m
1.
I
NT
RO
D
UCT
I
O
N
I
n
r
ec
en
t
y
ea
r
s
,
r
o
b
o
tics
r
esear
ch
h
a
s
b
ec
o
m
e
p
r
o
f
icien
t
w
it
h
a
s
ig
n
i
f
ica
n
t
alter
at
io
n
in
t
h
e
au
to
m
at
io
n
s
ec
to
r
,
o
b
j
ec
t
h
an
d
lin
g
a
n
d
tac
k
i
n
g
ap
p
licatio
n
s
.
T
h
e
r
esear
c
h
co
m
f
o
r
ts
ar
e
m
o
v
in
g
f
r
o
m
th
e
d
ev
el
o
p
m
en
t
o
f
r
o
b
o
ts
f
o
r
o
r
g
an
iz
in
g
m
a
n
u
f
ac
t
u
r
in
g
i
n
d
u
s
tr
ies
to
t
h
e
e
x
p
an
s
io
n
o
f
in
d
ep
en
d
en
t
m
o
v
ab
l
e
r
o
b
o
ts
f
u
n
ct
io
n
i
n
g
i
n
u
n
s
tr
u
ctu
r
ed
an
d
n
atu
r
al
e
n
v
ir
o
n
m
e
n
t
s
.
T
h
ese
in
d
ep
en
d
en
t
m
o
b
ile
r
o
b
o
ts
ar
e
ap
p
r
o
p
r
iate
in
h
u
g
e
n
u
m
b
e
r
o
f
co
m
p
le
x
tas
k
s
s
o
lv
i
n
g
s
u
ch
a
s
v
ac
u
u
m
i
n
g
o
f
h
az
ar
d
o
u
s
m
a
ter
ial,
in
v
e
s
ti
g
atio
n
,
lib
er
atio
n
a
n
d
in
v
e
s
ti
g
atio
n
i
n
f
r
ee
s
u
r
r
o
u
n
d
in
g
s
w
h
er
ev
er
h
u
m
a
n
s
ar
e
r
eser
v
ed
f
r
o
m
ea
s
y
ac
ce
s
s
.
S
in
ce
it
i
s
p
r
ed
icted
th
at
th
is
n
o
v
e
l
clas
s
o
f
m
o
v
ab
le
r
o
b
o
ts
w
ill
h
av
e
w
i
d
e
ap
p
licatio
n
s
i
n
ac
co
m
p
li
s
h
m
e
n
t
s
w
h
er
e
h
u
m
an
co
m
p
eten
ce
s
ar
e
n
ee
d
ed
,
th
e
y
h
a
v
e
co
n
ce
r
n
ed
th
e
c
o
n
s
id
er
atio
n
o
f
th
e
in
v
e
s
ti
g
ato
r
s
[
1
]
.
Mo
b
ile
m
an
i
p
u
lato
r
r
o
b
o
t
is
cu
r
r
en
tl
y
a
n
e
x
ten
s
i
v
e
s
h
i
f
t
t
h
at
d
en
o
tes
th
e
r
o
b
o
ts
p
o
is
ed
w
it
h
a
r
o
b
o
tic
a
r
m
s
tr
ad
d
lin
g
o
n
a
m
o
v
ab
le
d
ais.
Su
c
h
s
y
s
te
m
is
u
s
u
all
y
ca
teg
o
r
ized
b
y
a
h
u
g
e
d
eg
r
ee
o
f
r
ed
u
n
d
an
c
y
an
d
it
also
as
s
o
ciate
s
th
e
m
an
ip
u
lab
ilit
y
o
f
a
s
t
atic
b
ase
r
o
b
o
tic
m
an
ip
u
lato
r
w
it
h
t
h
e
m
o
b
ilit
y
o
f
a
m
o
v
ab
le
d
ais.
T
h
ese
k
i
n
d
s
o
f
s
y
s
te
m
s
allo
w
t
h
e
m
o
s
t
n
o
r
m
al
ta
s
k
s
o
f
r
o
b
o
tic
s
y
s
te
m
s
t
h
at
r
eq
u
ir
e
b
o
th
m
an
ip
u
latio
n
tas
k
s
an
d
m
o
v
e
m
en
t.
Su
c
h
s
y
s
te
m
s
p
r
o
m
is
es
to
p
r
o
v
id
e
n
u
m
er
o
u
s
ap
p
licatio
n
s
i
n
d
iv
er
s
e
m
an
u
f
ac
t
u
r
in
g
an
d
i
n
d
u
s
tr
io
u
s
ar
ea
s
as c
o
n
s
tr
u
c
tio
n
a
n
d
m
i
n
in
g
o
r
f
o
r
p
u
b
lic
as
s
is
ta
n
ce
[
2
]
,
[
3
]
.
T
h
e
d
ec
lin
ed
p
r
ice
o
f
t
h
e
Fie
ld
P
r
o
g
r
am
m
ab
le
Gate
A
r
r
a
y
s
(
FP
GAs),
t
h
eir
g
r
o
w
i
n
g
co
m
p
e
ten
ce
s
,
an
d
th
e
li
k
eli
h
o
o
d
to
in
cr
ea
s
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
p
r
o
ce
s
s
i
n
g
an
d
co
m
p
u
tatio
n
o
f
tas
k
s
w
i
t
h
u
n
iq
u
e
h
ar
d
w
ar
e
f
ea
t
u
r
es,
h
a
v
e
i
m
p
r
o
v
ed
th
eir
u
s
a
g
e
in
t
h
e
ap
p
licatio
n
s
ass
o
ciate
d
w
it
h
co
n
tr
o
l
an
d
m
an
y
m
o
r
e.
T
h
e
cu
r
r
en
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
2
,
J
u
l
y
2
0
1
7
:
11
1
–
1
19
112
ab
ilit
ies
o
f
FP
GAs
p
r
o
v
id
e
a
s
p
ec
if
ic
h
ar
d
w
ar
e
tec
h
n
o
lo
g
y
,
w
h
ic
h
ca
n
b
e
e
n
g
a
g
ed
to
i
m
p
le
m
en
t
e
m
b
ed
d
ed
co
n
tr
o
l
s
y
s
te
m
s
[
4
]
.
FP
GA
s
h
av
e
p
r
ev
io
u
s
l
y
b
ee
n
u
s
ed
with
tr
iu
m
p
h
i
n
d
iv
er
s
e
s
y
s
te
m
s
as
th
e
g
r
o
w
th
o
f
ad
v
an
ce
d
d
eg
r
ee
p
o
ly
n
o
m
ia
l
p
r
o
f
ile
g
en
er
ato
r
f
o
r
C
NC
an
d
r
o
b
o
tics
ap
p
licatio
n
s
[
5
]
,
co
n
tr
o
l
o
f
r
o
b
o
tic
m
an
ip
u
lato
r
f
o
r
in
d
u
s
tr
ial
ap
p
licatio
n
s
[
6
]
,
n
e
u
r
al
an
d
f
u
zz
y
b
ased
co
n
tr
o
ller
s
f
o
r
ce
r
tain
cr
i
tical
ap
p
licatio
n
s
[
7
]
,
m
ec
h
atr
o
n
ic
an
d
o
th
er
au
to
m
atio
n
s
y
s
te
m
s
[
8
]
,
etc.
FP
GA
s
a
n
d
th
eir
f
r
ac
tio
n
a
l
r
ec
o
n
f
i
g
u
r
ab
ilit
y
a
f
f
o
r
d
s
u
p
p
le
m
e
n
tar
y
p
o
s
s
es
s
io
n
s
to
co
n
tr
o
l
s
y
s
te
m
s
f
o
r
p
r
o
ce
s
s
i
n
g
,
in
ter
f
ac
e,
te
s
ti
n
g
,
co
n
f
i
g
u
r
atio
n
ca
p
ab
ilit
ies,
et
c.
)
.
I
n
th
is
ar
ticle,
a
v
is
u
al
s
er
v
o
in
g
s
y
s
te
m
b
a
s
ed
FP
GA
is
p
r
o
p
o
s
ed
to
ac
co
m
p
li
s
h
th
e
r
eg
u
latio
n
o
f
r
o
b
o
tic
m
a
n
ip
u
lato
r
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
ap
p
licatio
n
s
u
s
in
g
Ha
r
d
w
ar
e
-
in
-
th
e
-
lo
o
p
s
i
m
u
lat
io
n
(
HI
L
)
tec
h
n
iq
u
e.
W
h
en
h
i
g
h
p
r
ec
is
io
n
a
n
d
p
er
f
o
r
m
an
ce
o
f
p
o
s
itio
n
co
n
tr
o
l
o
f
a
r
o
b
o
tic
m
a
n
ip
u
lato
r
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
i
s
co
n
s
id
er
ed
,
v
is
u
al
f
ee
d
b
ac
k
ca
n
b
e
ex
te
n
s
i
v
el
y
u
s
ed
to
i
m
p
r
o
v
e
t
h
e
ac
cu
r
ac
y
o
f
th
e
en
d
e
f
f
ec
to
r
f
o
r
p
o
s
itio
n
i
n
g
th
e
o
b
j
ec
ts
.
Vi
s
u
al
in
f
o
r
m
atio
n
,
d
is
p
ar
ate
t
h
e
o
r
d
in
ar
y
s
e
n
s
o
r
s
y
ield
a
m
ea
s
u
r
e
m
e
n
t
o
f
t
h
e
tip
p
o
s
itio
n
,
ev
ad
in
g
ap
p
r
o
x
i
m
ati
o
n
er
r
o
r
s
d
u
e
to
a
co
ar
s
e
f
am
i
liar
it
y
o
f
t
h
e
p
h
y
s
ical
co
n
s
tr
ai
n
ts
s
y
m
b
o
lizin
g
t
h
e
m
ec
h
a
n
ical
as
s
e
m
b
l
y
o
f
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
.
Vi
s
u
al
s
er
v
o
in
g
b
ased
co
n
tr
o
l o
f
r
o
b
o
ts
h
as b
ee
n
g
r
o
w
i
n
g
i
n
r
ec
en
t
y
ea
r
s
[
9
]
,
[
1
0
]
.
T
h
e
r
o
b
o
t
m
a
n
ip
u
lato
r
co
n
tr
o
ller
p
o
s
itio
n
in
g
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
ca
n
b
e
h
ar
d
w
ar
e
o
r
s
o
f
t
w
ar
e
o
r
ien
ted
d
ev
ice
t
h
at
co
n
s
ta
n
tl
y
p
r
o
ce
s
s
es
th
e
v
al
u
e
o
f
t
h
e
f
ee
d
b
ac
k
f
r
o
m
th
e
j
o
in
t
s
e
n
s
o
r
s
an
d
t
h
e
n
ac
t
u
ates
th
e
j
o
in
ts
o
f
t
h
e
r
o
b
o
tic
m
a
n
i
p
u
lato
r
to
ex
ac
t
a
n
y
d
ev
iatio
n
f
r
o
m
t
h
e
d
esire
d
v
al
u
e
[
1
1
]
.
T
h
e
j
o
in
t
p
o
s
itio
n
s
an
d
v
elo
cities
ar
e
m
ea
s
u
r
ed
b
y
j
o
in
t
s
e
n
s
o
r
s
s
u
c
h
as
p
o
ten
ti
o
m
e
ter
s
,
tach
o
g
e
n
er
ato
r
s
o
r
d
ig
ital
e
n
co
d
er
s
.
T
h
e
HI
L
b
ased
s
i
m
u
latio
n
m
o
d
el
lin
g
aid
s
,
to
f
a
s
t
p
r
o
to
ty
p
i
n
g
o
f
co
n
tr
o
l
alg
o
r
ith
m
s
,
r
ath
e
r
th
an
r
esear
c
h
er
s
in
v
e
s
ti
n
g
o
n
th
e
ac
t
u
al
r
o
b
o
tic
m
an
ip
u
lato
r
[
1
2
]
,
[
1
3
]
.
I
n
th
i
s
p
r
esen
t
w
o
r
k
,
th
e
co
n
tr
o
l
alg
o
r
ith
m
s
ar
e
i
m
p
le
m
en
ted
o
n
Xil
in
x
V
ir
tex
-
6
FP
GA
b
o
ar
d
.
T
h
e
i
m
p
le
m
en
tatio
n
p
ar
t
is
te
s
ted
w
it
h
th
e
HI
L
s
i
m
u
lated
m
o
d
el
o
f
th
e
t
h
r
ee
li
n
k
s
er
ial
r
o
b
o
tic
m
a
n
ip
u
lato
r
.
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
o
v
er
all
H
I
L
b
lo
ck
d
iag
r
a
m
i
m
p
le
m
en
ta
tio
n
o
f
t
h
e
p
r
o
p
o
s
ed
o
b
j
ec
t tr
ac
k
in
g
co
n
tr
o
ller
.
Fig
u
r
e
1
.
HI
L
b
lo
ck
d
iag
r
a
m
o
f
th
e
o
v
er
all
o
b
j
ec
t tr
ac
k
in
g
co
n
tr
o
ller
2.
D
YNAM
I
C
P
E
RCEP
T
I
B
L
I
T
Y
B
ASE
D
O
B
J
E
CT
T
R
A
CK
I
NG
T
r
ac
k
in
g
o
f
o
b
j
ec
ts
b
ased
o
n
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
is
s
u
p
p
le
m
e
n
ted
b
y
t
h
e
u
s
a
g
e
o
f
ca
m
er
a
m
o
d
el
tr
ac
k
in
g
t
h
e
e
n
d
ef
f
ec
to
r
o
f
t
h
e
HI
L
m
o
d
el
o
f
r
o
b
o
tic
m
a
n
ip
u
lato
r
.
R
ep
r
ese
n
ti
n
g
p
as
t
h
e
p
o
s
e
o
f
ca
m
er
a
m
o
d
el
lo
ca
ted
at
t
h
e
e
n
d
e
f
f
e
cto
r
an
d
tr
ac
k
i
n
g
t
h
e
e
n
d
e
f
f
ec
to
r
o
f
th
e
HI
L
m
o
d
el
o
f
r
o
b
o
tic
m
an
ip
u
lato
r
.
R
ep
r
esen
ti
n
g
p
as
th
e
p
o
s
e
o
f
ca
m
er
a
m
o
d
el
lo
ca
ted
at
th
e
en
d
ef
f
ec
to
r
an
d
e=
[
f
x
,f
y
,f
2x
,
….
,
f
jx
f
gy
]
T
ЄR
2j
as
a
v
ec
to
r
o
f
j
n
u
m
b
er
o
f
ex
tr
ac
t
ed
f
ea
tu
r
e
p
o
in
t
s
o
f
t
h
e
o
b
j
e
ct
d
e
s
ir
ed
to
b
e
tr
ac
k
ed
[
1
4
]
,
[
15]
.
T
h
e
v
elo
cit
y
r
elatio
n
in
t
h
e
ex
tr
ac
ted
f
ea
tu
r
e
p
o
in
ts
is
r
ep
r
esen
ted
b
y
.
.
)
(
p
e
I
e
s
p
(
1
)
W
h
er
e
th
e
i
n
ter
ac
tio
n
m
a
tr
ix
I
s
(
e)
af
f
ec
ts
t
h
e
e
x
tr
ac
ted
f
ea
tu
r
e
p
o
in
t
v
elo
cit
y
ep
b
ased
o
n
t
h
e
c
h
an
g
e
o
n
th
e
p
o
s
e
o
f
t
h
e
ca
m
er
a.
T
h
e
y
ca
n
b
e
r
elate
d
to
th
e
j
o
in
t sp
ac
e
v
elo
cit
y
p
as,
q
q
e
q
I
q
J
e
I
e
j
p
s
p
.
.
.
)
,
(
)
(
)
(
(
2
)
D
y
n
a
m
ic
P
ercip
tabi
li
t
y
Based Obje
ct
Tracking
Contr
o
l La
w t
o
Act
uate
Ro
b
o
tic
M
an
ip
u
lato
r
Cam
era
M
o
d
el
an
d
Ro
b
o
tic
Man
ip
u
la
to
r H
I
L
FPGA Vir
t
ex
6
HI
L
PC
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
Usi
n
g
F
P
GA
Desig
n
a
n
d
HI
L A
lg
o
r
ith
m
S
imu
la
tio
n
to
C
o
n
tr
o
l V
is
u
a
l S
ervo
in
g
(
Lw
a
y
F
a
is
a
l A
b
d
u
lr
a
z
a
k
)
113
W
h
er
e
J
p
(
q
)
is
th
e
J
ac
o
b
in
m
a
tr
ix
o
f
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
an
d
I
j
=
I
j
(
q
,
e)
r
ep
r
esen
ts
t
h
e
J
ac
o
b
in
m
atr
i
x
m
ap
p
in
g
f
r
o
m
j
o
in
t
s
p
ac
e
to
th
e
ex
tr
ac
ted
f
ea
tu
r
e
p
o
in
t
s
p
ac
e.
T
h
e
ac
ce
ler
atio
n
o
f
th
e
ex
tr
ac
ted
f
ea
t
u
r
e
p
o
in
t is g
iv
e
n
b
y
t
h
e
s
e
co
n
d
d
er
iv
ativ
e
o
f
E
q
u
a
tio
n
(
2
)
w
it
h
r
esp
ec
t to
ti
m
e.
q
q
j
j
p
I
I
e
.
.
..
..
(
3
)
B
y
n
eg
lect
in
g
th
e
f
r
ictio
n
co
ef
f
icien
ts
o
f
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
th
e
d
y
n
a
m
ic
m
o
d
e
th
e
s
er
ial
r
ig
id
r
o
b
o
tic
m
an
ip
u
lato
r
o
f
n
l
in
k
c
an
b
e
r
ep
r
esen
ted
as,
)
(
)
,
(
)
(
.
..
q
g
q
C
q
M
q
q
(
4
)
I
n
tr
o
d
u
cin
g
a
s
ca
lar
v
al
u
e
w
f
o
r
d
eter
m
i
n
i
n
g
th
e
ab
ilit
y
o
f
p
o
s
itin
g
o
f
o
b
j
ec
t
b
y
th
er
o
b
o
tic
m
an
ip
u
lato
r
,
it c
an
b
e
d
ef
i
n
ed
as in
E
q
u
atio
n
(
5
)
tak
in
g
i
n
to
ac
co
u
n
t t
h
e
j
o
in
t v
elo
citie
s
in
u
n
i
t f
o
r
m
.
T
r
r
I
I
w
)
d
e
t
(
(
5
)
C
o
n
s
id
er
in
g
t
h
e
d
i
f
f
er
e
n
tial
k
in
e
m
at
ics
I
r
o
f
t
h
e
r
o
b
o
tic
m
an
ip
u
lato
r
a
n
d
r
elati
n
g
it
to
t
h
e
v
elo
cit
y
j
o
in
t v
elo
cities q
an
d
en
d
e
f
f
ec
to
r
v
elo
cit
y
p
w
e
o
b
tain
th
e
u
n
i
t f
o
r
m
ex
p
r
es
s
io
n
a
s
1
)]
[(
.
1
.
r
I
I
P
T
r
r
T
(
6
)
T
h
e
m
a
n
ip
u
lab
ilit
y
s
ca
lar
v
al
u
e
ca
n
b
e
o
b
tain
ed
as
]
)
(
de
t
[
1
T
r
T
r
d
I
M
M
I
W
(
7
)
By
a
s
s
u
m
in
g
t
h
e
j
o
in
t v
elo
citi
es
,
=0
,
th
e
d
y
n
a
m
ic
m
an
ip
u
la
b
ilit
y
ca
n
b
e
g
iv
e
n
b
y
:
0
)
(
..
1
1
1
..
P
I
M
M
I
P
r
T
r
T
(
8
)
I
t is d
er
iv
ed
b
ased
o
n
ig
n
o
r
in
g
th
e
g
r
a
v
it
y
ter
m
s
s
u
c
h
t
h
at
..
q
M
(
9
)
T
h
e
clo
s
en
ess
o
f
t
h
e
ex
tr
ac
ted
f
ea
tu
r
e
p
o
in
ts
m
ea
s
u
r
es
t
h
e
s
i
n
g
u
lar
it
y
o
f
th
e
f
ea
t
u
r
es
b
y
d
ef
i
n
in
g
t
h
e
p
er
ce
p
tib
ilit
y
w
P
as a
s
ca
lar
f
u
n
ctio
n
d
e
f
in
ed
as
)
d
et
[
T
s
s
I
I
Wp
(
1
0
)
I
t
r
ep
r
esen
ts
t
h
e
k
i
n
e
m
atic
e
v
i
d
en
ce
an
d
t
h
e
f
o
llo
w
i
n
g
v
ec
to
r
s
ar
e
d
ef
i
n
ed
to
e
esti
m
ate
t
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
v
al
u
e.
..
~
q
M
g
c
(
1
1
)
.
.
.
.
..
..
~
q
I
q
I
s
g
j
j
(
1
2
)
Fro
m
th
e
eq
u
a
tio
n
s
(
1
1
)
an
d
(
1
2
)
th
e
f
o
llo
w
i
n
g
r
elatio
n
ca
n
b
e
o
b
tain
ed
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
2
,
J
u
l
y
2
0
1
7
:
11
1
–
1
19
114
~
1
~
..
M
I
S
j
(
1
3
)
T
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
wd
p
,
ca
n
b
e
o
b
tain
ed
as
]
)
(
d
et
[
1
1
T
j
dp
M
I
I
j
M
w
(
1
4
)
A
2
j
×2
j
m
atr
ix
r
es
u
lt
s
w
h
ile
m
u
ltip
l
y
in
g
t
h
e
ter
m
I
J
M
−1
(I
J
M
−1
)
T
.
T
h
is
m
atr
i
x
h
o
ld
s
th
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
i
n
f
o
r
m
atio
n
f
o
r
ea
ch
e
x
tr
ac
ted
v
is
u
al
f
ea
tu
r
e
p
o
in
ts
.
I
t
is
f
ea
s
ib
le
to
r
ep
r
esen
t
j
n
u
m
b
er
o
f
ellip
s
es
f
o
r
ea
ch
o
f
th
e
e
x
tr
ac
t
ed
f
ea
tu
r
es.
B
ased
o
n
th
e
m
o
v
e
m
en
t
ca
p
ab
ilit
y
o
f
t
h
e
en
d
e
f
f
ec
to
r
in
d
icate
d
b
y
th
e
ellip
s
e
s
it is
o
f
ten
d
esira
b
l
e
to
m
a
k
e
t
h
e
r
o
b
o
tic
m
a
n
ip
u
l
ato
r
m
o
v
e
f
o
r
w
ar
d
o
r
b
ac
k
w
ar
d
[
1
6
]
.
T
h
e
tr
aj
ec
to
r
y
o
f
t
h
e
e
x
tr
ac
t
ed
f
ea
t
u
r
e
i
s
o
b
tain
ed
b
y
e
x
p
r
ess
in
g
r
e
f
er
en
ce
ac
ce
ler
ati
o
n
o
f
t
h
e
ex
tr
ac
ted
f
ea
t
u
r
es
u
s
in
g
th
e
p
r
o
p
o
r
ti
o
n
al
g
ain
m
atr
i
x
K
p
an
d
d
er
iv
ativ
e
g
ai
n
m
atr
i
x
K
D
.
I
t
ca
n
b
e
ex
p
r
ess
ed
as:
..
.
.
..
)
(
)
(
s
p
s
D
d
d
p
d
D
d
r
r
K
r
k
e
e
e
K
e
e
k
e
e
(
1
5
)
W
h
er
e
,
an
d
ar
e
t
h
e
d
es
ir
ed
p
o
s
itio
n
,
v
e
lo
cit
y
an
d
ac
ce
ler
atio
n
s
o
f
t
h
e
e
x
tr
ac
ted
f
ea
t
u
r
es
o
f
th
e
o
b
j
ec
t.
T
h
e
eq
u
atio
n
(
3
)
an
d
(
1
5
)
ca
n
b
e
r
elate
d
as:
'
'
'
'
..
..
q
I
r
K
r
K
e
q
I
j
s
p
s
D
d
j
(
1
6
)
T
h
e
er
r
o
r
in
th
e
ex
tr
ac
ted
f
ea
t
u
r
e
in
t
h
e
co
n
tr
o
ller
is
r
e
f
o
r
m
ed
to
f
o
r
ce
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
in
th
e
d
ir
ec
tio
n
o
f
lar
g
est ei
g
e
n
v
ec
t
o
r
o
f
ea
ch
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
ellip
s
e
s
.
r
s
=r
s
+
|
|
r
s
|
|
G
U
(
1
7
)
W
h
er
e
||
rs
|
|
r
ep
r
esen
ts
t
h
e
n
o
r
m
o
f
t
h
e
ex
tr
ac
ted
f
ea
tu
r
es
o
f
th
e
o
b
j
ec
t
an
d
G
is
th
e
g
ain
m
a
tr
ix
th
at
co
n
tr
o
ls
th
e
ef
f
ec
t
o
f
t
h
e
p
er
ce
p
tib
ilit
y
o
n
ea
ch
v
i
s
u
al
f
ea
tu
r
e.
U
is
t
h
e
d
iag
o
n
al
m
atr
ix
w
h
er
e
v
al
u
es
o
f
tis
d
iag
o
n
a
l a
r
e
u
n
i
t v
ec
to
r
s
p
o
in
tin
g
t
h
e
d
ir
ec
tio
n
o
f
t
h
e
lar
g
est eig
e
n
v
ec
to
r
[
1
7
,
1
8
]
.
A
p
p
lied
to
r
q
u
es
f
o
r
th
e
j
o
in
t
ac
tu
ato
r
s
o
f
t
h
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
f
o
r
tr
ac
in
g
th
e
o
b
j
ec
ts
ca
n
b
e
d
ef
in
ed
as
))
(
.(
)
(
1
2
/
1
1
2
/
1
g
C
GM
b
W
GM
W
(
1
8
)
W
h
er
e
W
r
ep
r
esen
ts
th
e
ti
m
e
d
ep
en
d
en
t
w
e
ig
h
t
m
atr
i
x
a
n
d
th
e
s
y
m
b
o
l
+
p
o
in
ts
o
u
t
t
h
e
p
s
eu
d
o
in
v
er
s
e
o
f
t
h
e
m
atr
i
x
an
d
t
h
e
c
o
n
s
tr
ain
ts
o
f
t
h
e
p
r
o
p
o
s
ed
task
is
g
i
v
en
b
y
:
)
,
,
(
)
,
,
(
.
..
.
t
q
q
b
q
t
q
q
G
(
1
9
)
W
h
er
e
n
m
R
q
t
q
q
G
..
.
)
,
,
(
an
d
1
..
.
)
,
,
(
m
R
q
t
q
q
b
By
r
ep
r
esen
tin
g
th
e
tas
k
co
n
s
tr
ain
t
o
f
th
e
r
elatio
n
in
eq
u
a
tio
n
(
1
6
)
in
th
e
f
o
r
m
in
eq
u
atio
n
(
1
9
)
w
it
h
G
=I
j
.
..
'
'
q
I
r
k
e
b
j
s
D
d
(
2
0
)
T
h
e
co
n
tr
o
l la
w
co
n
ce
r
n
ed
o
n
th
e
f
ea
tu
r
e
d
escr
ip
tio
n
o
f
t
h
e
t
ask
i
s
s
et
b
y
:
g
c
q
I
r
k
r
k
e
MI
j
s
p
s
D
d
j
)
'
'
'
(
..
(
2
1
)
I
t
i
s
d
er
iv
ed
f
r
o
m
E
q
u
a
tio
n
(
2
0
)
s
u
ch
th
at
r
ep
lacin
g
th
e
v
ar
iab
les
co
n
ce
r
n
ed
o
n
th
e
f
e
atu
r
e
tas
k
d
escr
ip
tio
n
[
1
9
]
-
[
2
2
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
Usi
n
g
F
P
GA
Desig
n
a
n
d
HI
L A
lg
o
r
ith
m
S
imu
la
tio
n
to
C
o
n
tr
o
l V
is
u
a
l S
ervo
in
g
(
Lw
a
y
F
a
is
a
l A
b
d
u
lr
a
z
a
k
)
1
15
3.
I
M
P
L
E
M
E
NT
AT
I
O
N
O
F
T
H
E
O
B
J
E
CT
T
RA
CK
I
N
G
CO
NT
RO
L
L
E
R
WI
T
H
F
P
G
A
T
h
e
v
ital
co
n
s
id
er
atio
n
s
ab
o
u
t
th
e
FP
G
A
i
m
p
le
m
e
n
tatio
n
o
f
t
h
e
o
b
j
ec
t
tr
ac
k
i
n
g
vi
s
u
al
s
e
r
v
o
in
g
ar
e
in
d
icate
d
i
n
E
q
u
atio
n
(
2
1
)
.
T
h
e
p
ip
elin
e
o
f
th
e
i
m
p
le
m
e
n
t
ed
co
n
tr
o
ller
is
s
h
o
w
n
i
n
F
ig
u
r
e
t
h
at
d
ep
icts
t
h
e
p
ar
allel
ar
ch
itect
u
r
e
o
f
t
h
e
o
b
j
ec
t
tr
ac
k
in
g
u
s
i
n
g
s
er
v
o
in
g
a
cc
u
r
atel
y
.
R
esp
o
n
s
e
o
f
t
h
e
co
n
tr
o
ller
co
n
s
tr
ai
n
ed
to
ti
m
e
f
ac
to
r
s
is
m
a
n
a
g
ed
b
y
th
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e.
T
h
e
f
iv
e
s
ta
g
e
m
o
d
u
le
o
f
th
e
v
is
u
al
s
er
v
o
i
n
g
s
y
s
te
m
co
m
p
r
is
es
o
f
p
ip
eli
n
ed
co
n
ce
p
tu
a
lizatio
n
o
f
o
b
s
er
v
in
g
,
r
esizi
n
g
,
th
r
es
h
o
ld
in
g
,
er
o
s
io
n
a
n
d
d
etec
tio
n
o
f
th
e
o
b
j
ec
ts
.
T
h
e
v
is
io
n
a
lg
o
r
ith
m
s
ta
k
e
u
p
th
e
p
ip
elin
e
ex
ec
u
tio
n
s
tag
e
s
in
t
h
e
FP
GA
.
T
h
e
laten
c
y
o
f
th
e
p
r
o
ce
s
s
i
n
g
s
tag
e
s
ar
e
co
n
s
id
er
ab
l
y
r
ed
u
ce
d
th
er
eb
y
r
eso
u
r
ce
s
f
o
r
s
t
o
r
ag
e
an
d
r
o
u
tin
g
o
f
d
ata
tr
af
f
ic
ar
e
m
i
n
i
m
ized
.
T
im
e
c
h
ar
t
o
f
th
e
p
i
p
elin
ed
s
er
v
o
i
n
g
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
f
o
r
th
e
HI
L
m
o
d
el
o
f
t
h
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
is
s
h
o
w
n
i
n
Fig
u
r
e
2
.
T
h
e
s
ch
e
m
e
o
f
f
u
n
ctio
n
in
g
o
f
th
e
i
m
p
le
m
e
n
ted
co
n
tr
o
ller
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
i
s
co
d
ed
in
Har
d
w
ar
e
Descr
ip
t
io
n
L
a
n
g
u
a
g
e
(
HD
L
)
b
y
ta
k
i
n
g
ad
v
an
tag
e
o
f
t
h
e
p
ip
elin
e
s
ta
g
es i
n
FP
G
A
.
Fig
u
r
e
2
.
T
h
e
s
ch
e
m
e
o
f
t
h
e
c
o
n
tr
o
l
m
o
d
u
le
i
m
p
le
m
e
n
ted
in
th
e
Xili
n
x
V
ir
tex
6
FP
G
A
XC
6
VL
X7
6
0
d
ev
ice
B
y
e
x
p
lo
iti
n
g
t
h
ese
ca
p
ab
ilit
ies
th
e
m
atr
ice
s
I
J
,
M
an
d
C
ar
e
co
m
p
u
ted
p
ar
allel
m
a
k
in
g
o
t
h
er
d
ep
en
d
en
t o
n
es to
w
ait
f
o
r
th
e
ir
in
p
u
ts
.
I
t is al
s
o
co
n
s
id
er
ed
b
y
s
h
ar
i
n
g
th
e
co
n
e
s
b
y
o
p
ti
m
izatio
n
s
tr
ate
g
ies.
I
n
th
e
p
r
o
p
o
s
ed
HI
L
s
i
m
u
late
d
m
o
d
el
th
at
r
u
n
s
o
n
t
h
e
M
AT
L
A
B
s
i
m
u
li
n
k
en
v
ir
o
n
m
e
n
t
is
tr
i
g
g
er
ed
b
y
t
h
e
co
n
tr
o
l
i
n
p
u
t
s
f
r
o
m
t
h
e
FP
GA
.
T
h
e
j
o
in
ts
o
f
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
an
d
t
h
eir
to
r
q
u
e
r
eq
u
ir
e
m
en
t
b
ased
o
n
o
b
j
ec
t
lo
ca
tio
n
ar
e
f
ed
f
r
o
m
th
e
FP
GA
to
th
e
s
i
m
u
lin
k
m
o
d
el.
T
h
er
eb
y
t
h
e
p
o
s
itio
n
o
f
th
e
e
n
d
-
ef
f
ec
to
r
is
tr
ac
k
ed
u
s
in
g
v
is
u
al
s
er
v
o
m
o
d
eli
n
g
o
f
t
h
e
v
is
i
o
n
s
y
s
te
m
m
a
k
i
n
g
th
e
co
o
r
d
in
ates
o
f
th
e
o
b
j
ec
t
u
n
d
er
test
.
T
h
e
m
o
m
en
t
o
f
t
h
e
o
b
j
ec
t
h
o
ld
ed
in
th
e
en
d
-
ef
f
ec
to
r
is
co
n
ti
n
u
o
u
s
l
y
tr
ac
k
ed
b
y
t
h
e
v
is
io
n
alg
o
r
ith
m
b
ased
o
n
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
i
m
p
le
m
e
n
ted
in
t
h
e
FP
G
A
.
T
h
e
ellip
s
es
p
r
esen
ted
in
Fig
u
r
e
3
(
a)
an
d
Fig
u
r
e
3
(
b
)
s
ig
n
if
y
th
e
m
o
v
e
m
e
n
t
co
m
p
ete
n
c
e
o
f
ev
er
y
ex
tr
ac
ted
f
ea
tu
r
e
p
o
in
ts
i
n
t
h
e
p
atter
n
.
Her
e
a
p
atter
n
t
h
at
co
n
s
is
ts
o
f
t
h
r
ee
p
o
in
t
s
is
co
n
s
id
er
ed
.
T
h
e
r
ep
r
esen
tatio
n
i
n
Fi
g
u
r
e
3
(
a)
s
h
o
w
s
t
h
e
p
er
ce
p
tib
ilit
y
ell
ip
s
e
s
an
d
it i
s
ac
q
u
ir
ed
o
n
l
y
w
it
h
d
ata
av
ailab
le
in
th
e
i
m
a
g
e
s
p
ac
e,
w
h
ic
h
m
a
k
es
t
h
e
p
atter
n
to
b
e
p
er
f
ec
tly
ci
r
cle.
T
h
e
illu
s
tr
atio
n
in
Fi
g
u
r
e
3
(
b
)
s
h
o
w
s
t
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
el
lip
s
es
in
s
tead
,
tak
e
i
n
to
co
n
s
id
e
r
atio
n
th
e
d
y
n
a
m
ics
o
f
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
,
in
f
lu
e
n
ci
n
g
th
e
co
n
to
u
r
o
f
t
h
e
ellip
s
es
th
er
e
co
n
cl
u
d
in
g
th
at
it
w
o
u
ld
b
e
b
etter
to
ch
an
g
e
th
e
p
atter
n
u
p
o
r
d
o
w
n
,
i
n
s
tead
o
f
s
id
elo
n
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
2
,
J
u
l
y
2
0
1
7
:
11
1
–
1
19
116
(
a)
(
b
)
Fig
u
r
e
3
.
(
a)
R
ep
r
esen
tatio
n
o
f
P
er
ce
p
tib
ilit
y
ellip
s
es.
(
b
)
R
e
p
r
esen
tatio
n
o
f
D
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
ellip
s
e
s
4.
E
XP
E
R
I
M
E
NT
A
L
RE
SUL
T
S AN
D
D
I
SC
USS
I
O
N
T
h
is
d
is
cu
s
s
io
n
p
r
ese
n
ts
t
h
e
i
n
v
e
s
ti
g
atio
n
s
ca
r
r
ied
o
u
t
to
e
x
e
m
p
li
f
y
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
v
is
u
al
s
er
v
o
in
g
r
o
b
o
tic
m
a
n
ip
u
lato
r
ar
ch
itect
u
r
e
f
o
r
o
b
j
ec
t
tr
ac
k
in
g
b
ased
o
n
FP
GA
.
A
d
d
itio
n
al
l
y
,
t
h
e
v
a
lu
e
o
f
t
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
id
ea
s
u
g
g
es
ted
in
t
h
is
p
ap
er
is
p
r
esen
ted
h
er
e.
T
h
e
tr
ials
s
h
o
w
s
t
h
at
th
is
id
ea
af
f
o
r
d
s
f
ac
ts
ab
o
u
t
t
h
e
s
y
s
te
m
ca
p
ab
ilit
y
to
tr
ac
k
o
b
j
ec
ts
u
s
i
n
g
a
co
n
tr
o
ller
b
ased
o
n
d
ir
ec
t
v
i
s
u
al
tech
n
iq
u
e
i
m
p
le
m
en
ted
in
FP
G
A
.
T
h
is
p
ar
a
m
eter
is
a
u
s
e
f
u
l
m
ea
s
u
r
e
t
o
g
o
v
er
n
cir
cu
m
s
tan
ce
s
w
h
er
e
th
e
r
o
b
o
t is
n
ea
r
b
y
s
in
g
u
lar
it
y
.
T
h
e
f
u
t
u
r
es
o
f
d
y
n
a
m
ic
v
is
u
al
co
n
tr
o
ller
i
m
p
le
m
en
ted
in
t
h
e
Xi
lin
x
Vir
tex
6
FP
G
A
b
o
ar
d
ar
e
test
ed
w
i
th
t
h
e
HI
L
m
o
d
el
o
f
th
e
t
h
r
ee
lin
k
r
o
b
o
tic
m
a
n
i
p
u
lato
r
i
m
p
le
m
e
n
ted
in
t
h
e
MA
T
L
A
B
Si
m
u
li
n
k
en
v
ir
o
n
m
e
n
t.
A
d
d
itio
n
all
y
,
th
e
r
ed
u
n
d
an
c
y
o
f
th
e
HI
L
m
o
d
el
o
f
th
e
th
r
ee
li
n
k
r
o
b
o
tic
m
a
n
ip
u
lato
r
allo
w
s
u
s
p
r
esen
t
t
h
e
r
es
u
lt
s
attai
n
ed
f
o
r
m
o
r
e
c
h
alle
n
g
in
g
ta
s
k
s
.
I
n
t
h
e
e
x
p
er
i
m
e
n
t
d
escr
ib
ed
th
e
ca
m
er
a
m
o
d
el
i
m
p
le
m
en
ted
i
s
ca
lib
r
ated
w
it
h
in
tr
in
s
ic
p
ar
a
m
eter
s
i
n
ce
r
tai
n
o
p
tical
ce
n
tr
e
p
o
in
ti
n
g
th
e
f
o
ca
l le
n
g
t
h
i
n
X
an
d
Y
d
ir
ec
tio
n
s
.
O
w
i
n
g
to
th
e
r
e
s
tr
ictio
n
s
o
f
th
is
t
h
r
ee
li
n
k
r
o
b
o
tic
m
an
ip
u
lato
r
an
d
ta
k
i
n
g
a
p
p
r
o
p
r
iate
m
ea
s
u
r
e
s
to
av
o
id
s
i
n
g
u
lar
itie
s
,
t
h
e
w
o
r
k
ta
k
en
u
p
f
o
r
ex
p
er
i
m
e
n
tatio
n
is
co
n
s
id
er
ed
to
b
e
in
a
2
D
p
lan
e
m
a
tch
i
n
g
to
th
e
o
b
j
ec
t
p
o
s
itio
n
f
o
r
th
e
p
r
eli
m
in
ar
y
test
s
.
T
h
e
r
o
b
o
tic
m
an
ip
u
lato
r
i
m
p
le
m
e
n
ted
h
as
3
d
o
f
,
b
u
t
to
ac
co
m
p
li
s
h
r
ea
l
en
v
ir
o
n
m
e
n
t
v
is
u
al
s
er
v
o
in
g
f
o
r
o
b
j
ec
t
h
an
d
lin
g
th
e
r
o
b
o
t
n
ee
d
s
to
h
av
e
m
i
n
i
m
u
m
o
f
6
d
o
f
.
T
h
e
r
esu
lt
s
p
ar
t
p
ap
er
n
o
t
ad
d
r
ess
es
t
h
e
c
h
alle
n
g
li
n
g
p
ar
ts
o
f
p
r
o
ce
s
s
i
n
g
ta
s
k
s
o
n
t
h
e
c
ap
tu
r
ed
o
b
j
ec
ts
,
b
u
t
r
ath
er
d
w
ell
s
in
r
ep
r
esen
ti
n
g
th
at
th
i
s
s
y
s
te
m
is
ex
tr
e
m
el
y
r
o
b
u
s
t
an
d
th
at
it
p
r
o
v
id
es
h
ig
h
d
eg
r
ee
o
f
r
e
-
co
n
f
i
g
u
r
ab
ilit
y
w
it
h
p
ar
allel
an
d
f
a
s
t
p
r
o
ce
s
s
i
n
g
w
i
th
th
e
a
i
d
o
f
FP
GA
.
T
h
e
i
n
v
e
s
ti
g
atio
n
s
ar
e
ca
r
r
ied
o
u
t
b
y
f
ir
s
t
p
o
s
itio
n
i
n
g
t
h
e
r
o
b
o
tic
m
an
ip
u
lato
r
at
th
e
d
es
ir
ed
co
o
r
d
in
ates
in
t
h
e
p
lan
e.
T
h
e
o
b
j
ec
t'
s
u
n
d
er
test
th
a
t
n
ee
d
s
to
b
e
tr
ac
k
ed
is
o
b
s
er
v
ed
b
y
s
to
r
in
g
it
s
ce
n
tr
e
o
f
g
r
a
v
it
y
(
c.
o
.
g
)
.
Fo
r
i
m
p
le
m
e
n
ti
n
g
t
h
e
Dir
ec
t
Vis
u
al
co
n
tr
o
ller
as
r
ep
r
esen
ted
i
n
e
q
u
atio
n
(
2
1
)
,
th
e
co
n
s
ta
n
ts
K
P
an
d
KD
ar
e
u
s
ed
s
u
ch
t
h
at
its
i
n
itia
l
v
alu
e
ar
e
ch
o
s
en
a
s
350
0
0
200
;
130
0
0
0
600
D
p
K
K
(
2
2
)
T
h
e
n
av
i
g
atio
n
o
f
t
h
e
e
n
d
-
e
f
f
ec
to
r
o
f
r
o
b
o
tic
m
a
n
ip
u
la
to
r
im
p
le
m
e
n
ted
as
a
HI
L
m
o
d
el,
m
o
v
e
s
th
e
ca
m
er
a
m
o
d
el
i
m
p
le
m
en
ted
w
it
h
a
f
air
l
y
s
tr
ai
g
h
t
p
ath
,
h
ar
d
l
y
w
it
h
n
e
g
li
g
ib
le
o
s
cill
atio
n
s
,
an
d
w
it
h
o
u
t
o
m
itti
n
g
t
h
e
p
r
ef
er
r
ed
p
o
s
itio
n
.
E
v
o
lu
tio
n
o
f
t
h
e
n
o
r
m
er
r
o
r
o
f
th
e
ex
tr
ac
ted
f
ea
t
u
r
es
p
o
in
tes
i
s
s
h
o
w
n
i
n
Fig
u
r
e
4
(
a
)
I
t
ca
n
b
e
o
b
s
e
r
v
ed
th
at
t
h
e
er
r
o
r
f
all
s
q
u
ick
l
y
a
f
ter
f
e
w
in
i
tial
i
ter
atio
n
s
.
Fig
u
r
e
4
(
b
)
d
em
o
n
s
tr
atio
n
s
t
h
e
o
u
tp
u
t
o
f
th
e
ac
t
u
al
j
o
in
t
to
r
q
u
es
o
f
t
h
e
lin
k
s
d
u
r
i
n
g
th
e
p
lac
i
n
g
tas
k
o
f
th
e
o
b
j
ec
t,
th
e
to
r
q
u
es
i
n
p
u
ts
s
e
n
t
f
r
o
m
t
h
e
c
o
n
tr
o
ller
i
m
p
le
m
e
n
ted
i
n
t
h
e
FP
GA
to
th
e
m
o
to
r
s
o
f
ea
c
h
r
o
b
o
t
jo
in
t.
A
r
o
u
n
d
,
af
ter
1
.
5
s
,
th
e
s
y
s
te
m
r
ea
ch
e
s
t
h
e
p
o
s
itio
n
t
h
er
e
b
y
th
e
r
eq
u
ir
ed
to
r
q
u
e
r
ea
ch
es c
lo
s
e
to
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
Usi
n
g
F
P
GA
Desig
n
a
n
d
HI
L A
lg
o
r
ith
m
S
imu
la
tio
n
to
C
o
n
tr
o
l V
is
u
a
l S
ervo
in
g
(
Lw
a
y
F
a
is
a
l A
b
d
u
lr
a
z
a
k
)
117
(
a)
(
b
)
Fig
u
r
e
4
.
P
r
o
g
r
ess
io
n
o
f
th
e
(
a
)
No
r
m
o
f
er
r
o
r
in
th
e
e
x
tr
ac
te
d
f
ea
tu
r
e
p
o
in
ts
.
(
b
)
Ou
tp
u
t o
f
th
e
s
y
s
te
m
j
o
in
t
to
r
q
u
es o
f
th
e
r
o
b
o
tic
m
an
ip
u
l
ato
r
Fig
u
r
e
5
s
h
o
w
s
t
h
e
v
a
lu
e
o
f
t
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
o
b
tain
ed
d
u
r
in
g
t
h
e
i
n
v
e
s
ti
g
atio
n
s
.
Fig
u
r
e
5
a
an
d
Fig
u
r
e
5
b
r
ep
r
esen
t
th
e
v
alu
e
o
f
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
u
s
i
n
g
t
h
e
d
ir
ec
t
v
is
u
al
s
er
v
o
in
g
co
n
tr
o
ller
an
d
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
b
ased
v
i
s
u
al
s
er
v
o
in
g
co
n
tr
o
ller
,
r
esp
ec
tiv
el
y
.
As
e
x
p
ec
ted
,
b
y
u
s
in
g
t
h
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
s
y
s
te
m
,
it
p
er
ce
iv
es
t
h
e
co
n
d
itio
n
w
h
er
e
th
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
is
n
ea
r
to
th
e
s
i
n
g
u
lar
it
y
an
d
th
e
m
o
d
i
f
icatio
n
o
f
th
e
r
o
b
o
t tr
aj
ec
to
r
y
r
aise
s
th
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
,
av
o
id
in
g
t
h
e
s
i
n
g
u
lar
it
y
.
(
a)
(
b
)
Fig
u
r
e
5
.
D
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
o
b
s
er
v
ed
in
t
h
e
HI
L
s
i
m
u
la
tio
n
f
o
r
v
ar
io
u
s
iter
atio
n
u
s
i
n
g
(
a)
Dir
ec
t v
is
u
al
s
er
v
o
in
g
co
n
tr
o
ller
.
(
b
)
D
y
n
a
m
ic
P
er
ce
p
tib
ilit
y
b
ased
Vis
u
al
Ser
v
o
in
g
co
n
tr
o
ller
As a
f
i
n
al
p
ar
t o
f
t
h
e
i
m
p
le
m
e
n
ted
co
n
tr
o
ller
Fig
u
r
e
6
s
h
o
w
s
th
e
t
h
r
ee
d
i
m
en
s
io
n
a
l tr
aj
ec
to
r
ies o
f
th
e
r
o
b
o
tic
m
an
ip
u
lato
r
o
b
tain
ed
f
r
o
m
t
h
e
d
ir
ec
t
v
i
s
u
al
s
er
v
o
in
g
co
n
tr
o
ller
an
d
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
b
ased
v
is
u
al
s
er
v
o
in
g
co
n
tr
o
ller
.
I
t
r
ep
r
esen
ts
t
h
e
m
o
d
i
f
icatio
n
s
m
ad
e
b
y
th
e
e
n
d
ef
f
ec
to
r
o
f
th
e
r
o
b
o
tic
m
an
ip
u
lato
r
u
s
i
n
g
th
e
p
r
o
p
o
s
ed
co
n
tr
o
ller
i
m
p
le
m
en
ted
i
n
FP
G
A
tar
g
etin
g
to
av
o
id
th
e
r
o
b
o
t
s
i
n
g
u
lar
it
y
.
I
t
is
al
s
o
ev
id
en
t
f
r
o
m
th
e
r
es
u
lti
n
g
tr
aj
ec
to
r
y
th
at
th
e
s
i
n
g
u
lar
it
y
in
t
h
e
r
o
b
o
tic
m
a
n
ip
u
lato
r
is
el
i
m
i
n
ate
d
th
er
eb
y
p
r
o
v
id
es
b
etter
tr
ac
k
in
g
o
f
t
h
e
tr
aj
ec
to
r
y
to
tr
ac
k
th
e
o
b
j
ec
ts
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
864
I
J
R
E
S
V
o
l.
6
,
No
.
2
,
J
u
l
y
2
0
1
7
:
11
1
–
1
19
118
Fig
u
r
e
6
.
Ob
s
er
v
ed
tr
aj
ec
to
r
ie
s
o
f
th
r
ee
li
n
k
r
o
b
o
tic
m
a
n
ip
u
l
ato
r
f
o
r
d
ir
ec
t v
is
u
al
s
er
v
o
in
g
co
n
tr
o
ller
s
h
o
w
n
in
s
o
lid
r
ed
lin
k
a
n
d
th
e
tr
aj
ec
to
r
y
o
f
D
y
n
a
m
ic
P
er
ce
p
tib
ilit
y
b
ased
Vis
u
al
s
er
v
o
in
g
co
n
tr
o
ll
er
in
b
lu
e
d
ash
ed
lin
k
T
h
e
r
eso
u
r
ce
u
tili
za
tio
n
s
o
f
t
h
e
i
m
p
le
m
e
n
ted
co
n
tr
o
ller
in
th
e
FP
G
A
ar
e
s
u
m
m
ar
ized
i
n
t
h
e
T
A
B
L
E
.
1
.
Xilin
x
Vir
tex
6
FP
GA
t
h
at
h
o
u
s
e
s
t
h
e
d
ev
ice
XC
6
V
L
X7
6
0
is
u
s
ed
to
t
h
e
e
x
p
er
i
m
e
n
tat
io
n
.
T
h
e
p
er
ce
n
ta
g
e
o
f
th
e
r
eso
u
r
ce
s
u
s
ed
is
also
in
d
icate
d
.
I
t
is
ev
id
en
t
th
at
th
e
i
m
p
le
m
e
n
tatio
n
o
f
th
e
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
b
ased
v
is
u
al
s
er
v
o
in
g
co
n
tr
o
ller
in
th
e
FP
GA
ac
q
u
ir
es
m
o
r
e
r
eso
u
r
ce
s
t
h
an
th
e
d
ir
ec
t
v
is
u
al
s
er
v
o
i
n
g
co
n
tr
o
ller
.
A
ls
o
,
t
h
e
ex
ec
u
ti
o
n
ti
m
e
o
f
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
s
i
s
tab
u
la
ted
r
ep
r
esen
ti
n
g
t
h
e
i
n
cu
r
r
ed
in
ex
ec
u
t
io
n
o
f
th
e
alg
o
r
it
h
m
i
n
th
e
FP
G
A
d
ev
ice.
B
ased
o
n
t
h
e
ex
ce
s
s
r
e
s
o
u
r
ce
s
i
n
t
h
e
d
ir
ec
t
v
i
s
u
al
s
er
v
o
i
n
g
co
n
tr
o
ller
,
it
also
co
n
s
u
m
e
s
ar
o
u
n
d
3
.
2
0
µs d
elay
i
n
co
m
p
let
in
g
th
e
s
er
v
o
in
g
ta
s
k
o
f
o
b
j
ec
t tr
ac
k
in
g
.
5.
CO
NCLU
SI
O
N
A
d
ir
ec
t
v
i
s
u
al
s
er
v
o
in
g
co
n
tr
o
ller
i
m
p
le
m
en
ta
tio
n
o
n
a
n
FP
GA
to
ac
co
m
p
li
s
h
th
e
s
u
p
er
v
i
s
io
n
o
f
a
n
o
b
j
ec
t
h
o
ld
o
n
b
y
a
HI
L
m
o
d
el
o
f
a
th
r
ee
lin
k
r
ig
id
r
o
b
o
ti
c
m
a
n
ip
u
lato
r
u
s
i
n
g
t
h
e
ca
m
e
r
a
m
o
d
el
s
y
s
te
m
i
s
s
u
g
g
e
s
ted
i
n
th
i
s
w
o
r
k
.
T
h
e
i
m
p
le
m
e
n
tat
io
n
o
f
t
h
e
r
ec
o
n
f
i
g
u
r
ab
le
h
ar
d
w
ar
e
ar
ch
i
tectu
r
e
p
er
m
its
to
ac
q
u
ir
e
p
er
s
is
ten
t
p
r
o
ce
s
s
i
n
g
in
ter
v
al
s
an
d
id
ea
l
s
et
o
f
tas
k
s
b
y
p
er
f
o
r
m
i
n
g
p
ip
elin
e
p
r
o
ce
s
s
in
g
o
f
t
h
e
s
u
b
ta
s
k
s
.
Fu
r
t
h
er
m
o
r
e,
th
e
d
y
n
a
m
ic
m
a
n
ip
u
lab
ili
t
y
b
a
s
ed
o
b
j
ec
t
tr
ac
k
in
g
is
i
m
p
le
m
e
n
ted
to
d
eter
m
i
n
e
t
h
e
d
ex
ter
it
y
o
f
th
e
r
o
b
o
tic
m
an
ip
u
lato
r
to
tr
ac
k
d
esire
d
o
b
j
ec
ts
b
y
u
tili
zi
n
g
th
e
d
ir
ec
t
v
is
u
al
co
n
tr
o
ller
.
T
h
e
in
v
es
tig
a
tio
n
s
ar
e
also
p
er
f
o
r
m
ed
u
s
in
g
d
y
n
a
m
i
c
p
e
r
ce
p
tib
ilit
y
b
ased
v
is
u
al
s
er
v
o
in
g
an
d
r
esu
lts
ar
e
co
m
p
ar
ed
w
it
h
th
e
d
ir
ec
t
m
et
h
o
d
.
I
t
is
o
b
v
io
u
s
a
n
d
ev
id
en
t
th
a
t
th
e
p
r
o
p
o
s
ed
d
y
n
a
m
ic
p
er
ce
p
tib
ilit
y
b
ased
v
is
u
al
s
er
v
o
in
g
u
tili
ze
s
o
p
tim
u
m
r
eso
u
r
ce
s
i
n
t
h
e
h
a
r
d
w
ar
e
ar
ch
itect
u
r
e
w
it
h
id
ea
l
p
er
f
o
r
m
an
ce
a
n
d
b
etter
late
n
c
y
.
T
h
e
o
b
s
er
v
ed
p
er
f
o
r
m
a
n
ce
s
ar
e
ac
co
u
n
tab
le
to
th
e
s
er
v
ice
o
f
o
b
j
ec
t
t
r
ac
k
in
g
an
d
t
h
e
co
n
tr
o
l
o
f
th
e
j
o
in
ts
o
f
t
h
e
r
o
b
o
tic
m
an
ip
u
lato
r
th
a
t h
a
n
d
les t
h
e
d
esire
d
o
b
j
ec
t.
RE
F
E
R
E
NC
E
S
[1
]
R.
S
ieg
wa
rt
a
n
d
I.
No
u
rb
a
k
h
sh
,
In
t
ro
d
u
c
ti
o
n
to
a
u
to
n
o
mo
u
s mo
b
il
e
ro
b
o
ts
,
T
h
e
M
IT
P
re
ss
,
2
0
0
4
.
[2
]
O.Kh
a
ti
b
,
M
o
b
il
e
m
a
n
ip
u
lati
o
n
:
t
h
e
ro
n
o
ti
c
a
ss
istan
t,
Ro
b
o
ts
A
u
to
n
S
y
st,
v
o
l.
2
6
,
n
o
.
2
/
3
,
1
9
9
9
,
p
.
1
7
5
-
8
3
.
[3
]
Y.Da
s,
R.
Ru
ss
e
ll
,
N.Kirca
n
sk
i,
A
.
G
o
ld
e
n
b
e
rg
,
An
a
rticu
la
ted
ro
b
o
ti
c
sc
a
n
n
e
r
fo
r
min
e
d
e
tec
ti
o
n
-
a
n
o
v
e
l
a
p
p
r
o
a
c
h
to
v
e
h
icle
mo
u
n
ted
sy
st
e
ms
,
In
:
P
r
o
c
e
e
d
in
g
s o
f
th
e
S
P
I
E
c
o
n
f
e
re
n
c
e
,
Orla
n
d
o
,
F
lo
ri
d
a
,
1
9
9
9
,
p
.
5
-
9
[4
]
G.J.
Ga
rc
ia
,
C.
A.
J
a
ra
,
J
.
Po
ma
r
e
s,
A.
Al
a
b
d
o
,
L
.
M
.
Po
g
g
i,
F
.
T
o
rr
e
s,
A
su
rv
e
y
o
n
F
P
G
A
-
b
a
s
e
d
se
n
so
r
sy
ste
m
s:
to
w
a
rd
s
in
telli
g
e
n
t
a
n
d
re
c
o
n
f
ig
u
ra
b
le
l
o
w
p
o
w
e
r
se
n
s
o
rs
f
o
r
c
o
m
p
u
ter
v
isio
n
,
c
o
n
tr
o
l
a
n
d
sig
n
a
l
p
r
o
c
e
ss
in
g
,
S
e
n
so
rs
,
v
o
l
.
1
4
,
n
o
.
4
,
p
.
6
2
4
7
-
6
2
7
8
,
2
0
1
4
.
[5
]
R.
A.
Os
o
rn
io
,
R.
J
.
R
o
me
ro
,
G.
He
rr
e
ra
,
R.
Ca
sta
n
e
d
a
,
F
P
G
A
im
p
le
m
e
n
tatio
n
o
f
h
ig
h
e
r
d
e
g
re
e
p
o
ly
n
o
m
ial
a
c
c
e
ler
a
ti
o
n
p
ro
f
il
e
s
f
o
r
p
e
a
k
jerk
re
d
u
c
ti
o
n
in
se
rv
o
m
o
to
rs,
Ro
b
o
t.
C
o
m
p
u
t.
-
In
teg
r.
M
a
n
u
f
.
v
o
l.
2
5
,
n
o
.
2
,
p
.
3
7
9
-
3
9
2
,
2
0
0
9
.
[6
]
Y.S
.
Ku
n
g
,
G
.
S
.
S
h
u
,
De
v
e
lo
p
me
n
t
o
f
a
FP
GA
-
b
a
se
d
m
o
ti
o
n
c
o
n
tro
l
IC
f
o
r
ro
b
o
t
a
rm
,
I
EE
E
In
t.
Co
n
f
.
In
d
.
T
e
c
h
n
o
l.
2
0
0
5
,
p
.
1
3
9
7
-
1
4
0
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
R
E
S
I
SS
N:
2089
-
4864
Usi
n
g
F
P
GA
Desig
n
a
n
d
HI
L A
lg
o
r
ith
m
S
imu
la
tio
n
to
C
o
n
tr
o
l V
is
u
a
l S
ervo
in
g
(
Lw
a
y
F
a
is
a
l A
b
d
u
lr
a
z
a
k
)
119
[7
]
A
.
M
u
th
u
ra
m
a
li
n
g
a
m
,
S
.
Him
a
v
a
th
i,
E.
S
rin
iv
a
sa
n
,
Ne
u
ra
l
n
e
t
wo
rk
imp
lem
e
n
ta
ti
o
n
u
sin
g
FP
GA:
issu
e
s
a
n
d
a
p
p
li
c
a
ti
o
n
,
In
t.
J.
I
n
f
.
T
e
c
h
n
o
l.
,
v
o
l.
4
,
n
o
.
2
,
2
0
0
8
,
p
.
8
6
-
92.
[8
]
B.
M
a
c
Clee
ry
,
Z
.
M
.
Ka
ss
a
s,
Ne
w
M
e
c
h
a
tro
n
ics
De
v
e
lo
p
m
e
n
t
Tec
h
n
i
q
u
e
s
f
o
r
F
P
GA
-
b
a
se
d
Co
n
tro
l
a
n
d
S
im
u
latio
n
o
f
El
e
c
tro
m
e
c
h
a
n
ica
l
S
y
st
e
m
s,
1
7
th
IFA
C
W
o
rld
C
o
n
g
re
ss
,
2
0
0
8
.
[9
]
M
I.
Ullah
,
S
A
.
A
j
wa
d
,
RU.Islam
,
U.Iq
b
a
l,
J.
I
q
b
a
l,
M
o
d
e
ll
i
n
g
a
n
d
c
o
mp
u
te
d
t
o
rq
u
e
c
o
n
tr
o
l
o
f
a
6
d
e
g
re
e
o
f
fre
e
d
o
m
ro
b
o
t
ic
a
rm
,
In
:
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
Ro
b
o
ti
c
s
a
n
d
Em
e
r
g
in
g
A
ll
ied
Tec
h
n
o
lo
g
ies
in
En
g
in
e
e
rin
g
(iCRE
AT
E);
2
2
-
2
4
I
sla
m
a
b
a
d
,
P
a
k
istan
:
IEE
E,
A
p
ril
2
0
1
4
,
p
.
1
3
3
-
1
3
8
.
[1
0
]
Ba
y
le B
,
F
o
u
r
q
u
e
t
J
-
Y
,
M
a
n
i
p
u
lab
il
it
y
a
n
a
l
y
sis f
o
r
mo
b
il
e
ma
n
ip
u
l
a
to
rs
,
In
:
IEE
E
in
tern
a
ti
o
n
a
l
c
o
n
f
e
re
n
c
e
o
n
ro
b
o
ts
&
a
u
to
m
a
ti
o
n
,
2
0
0
1
,
p
.
1
2
5
1
1
2
5
6
,
[1
1
]
Ka
u
fm
a
n
H,
Ba
r
k
a
n
a
I,
S
o
b
e
l
K,
Dire
c
t
a
d
a
p
ti
v
e
c
o
n
tro
l
a
lg
o
rith
ms
,
th
e
o
ry
a
n
d
a
p
p
li
c
a
ti
o
n
s
,
2
n
d
e
d
.
Ne
w
Yo
rk
,
USA
:
Ed
:
S
p
ri
n
g
e
r,
1
9
9
8
.
[1
2
]
Na
sisi O,
Ca
re
ll
i
R,
Ad
a
p
ti
v
e
se
rv
o
v
isu
a
l
ro
b
o
t
c
o
n
tr
o
l,
R
o
b
o
t
A
u
t
o
n
S
y
st,
v
o
l.
4
3
,
2
0
0
3
,
p
.
5
1
-
7
8
.
[1
3
]
C.
A.
J
a
ra
,
J
.
P
o
ma
re
s,
F.
A
.
Ca
n
d
e
la
s,
F
.
T
o
rr
e
s,
Co
n
tr
o
l
f
ra
m
e
w
o
rk
f
o
r
d
e
x
te
ro
u
s
m
a
n
ip
u
latio
n
u
sin
g
d
y
n
a
m
ic
v
isu
a
l
se
rv
o
in
g
a
n
d
tac
ti
le se
n
so
r
s ’f
e
e
d
b
a
c
k
,
S
e
n
so
rs
,
v
o
l
.
1
4
,
n
o
.
1
,
2
0
1
4
p
.
1
7
8
7
-
1
8
0
4
.
[1
4
]
M
.
H.
L
iy
a
n
a
g
e
,
N.
Kro
u
g
li
c
o
f
,
A
S
in
g
le
T
ime
S
c
a
le
Vi
su
a
l
S
e
rv
o
in
g
S
y
ste
m
fo
r a
Hig
h
S
p
e
e
d
S
CAR
A
T
y
p
e
Ro
b
o
ti
c
Arm
,
IEE
E
I
n
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
R
o
b
o
ti
c
s an
d
A
u
to
m
a
ti
o
n
,
2
0
1
4
.
[1
5
]
J.S
.
Hu
,
N.Y.C.
C
h
a
n
g
,
J.J.
Ya
n
g
,
J.J.
W
a
n
g
,
R.
G
.
L
o
ss
io
,
M
.
C.
Ch
ien
,
YJ
.
Ch
a
n
g
,
C.
Y.
Ka
i,
S
.
H.
S
u
,
FP
GA
-
b
a
se
d
Emb
e
d
d
e
d
Vi
su
a
l
S
e
rv
o
in
g
Pl
a
tf
o
rm
fo
r
Qu
ick
Res
p
o
n
se
Vi
s
u
a
l
S
e
rv
o
i
n
g
,
8
th
A
sia
n
Co
n
tro
l
Co
n
f
e
re
n
c
e
,
2
0
1
1.
[1
6
]
C.
P
ra
d
a
li
e
r,
A
.
T
e
ws
a
n
d
J.
Ro
b
e
rts,
Vi
sio
n
-
b
a
se
d
o
p
e
ra
ti
o
n
s
o
f
a
la
rg
e
in
d
u
stri
a
l
v
e
h
icle
:
a
u
to
n
o
mo
u
s
h
o
t
me
ta
l
c
a
rr
ier
,
J.
F
ield
R
o
b
o
t.
v
o
l.
2
5
,
n
o
.
4
-
5
,
,
2
0
0
8
,
p
.
2
4
3
-
2
6
7
.
[1
7
]
J.
Civ
e
ra
,
O.
G
.
G
r
a
sa
,
A
.
J.
Da
v
is
o
n
a
n
d
J.M
.
M
.
M
o
n
t
iel,
1
-
p
o
i
n
t
RA
NS
AC
fo
r
EKF
fi
l
ter
in
g
.
A
p
p
l
ica
ti
o
n
to
re
a
l
-
ti
me
stru
c
tu
re
fro
m mo
ti
o
n
a
n
d
v
i
su
a
l
o
d
o
me
try
,
J.
F
iel
d
Ro
b
o
t
.
v
o
l
.
2
7
,
n
o
.
5
,
2
0
1
0
,
p
.
6
0
9
-
6
3
1
.
[1
8
]
J.
G
a
sp
a
r,
N.
W
in
ters
,
J.
S
a
n
t
o
s
-
V
icto
r,
Vi
si
o
n
-
b
a
se
d
n
a
v
ig
a
ti
o
n
a
n
d
e
n
v
iro
n
me
n
ta
l
re
p
re
se
n
ta
ti
o
n
s
w
it
h
a
n
o
mn
id
ire
c
ti
o
n
a
l
c
a
me
ra
,
IEE
E
T
r
a
n
s.
Ro
b
o
t.
A
u
to
m
.
M
a
g
.
1
6
,
n
o
.
6
,
2
0
0
0
,
p
.
8
9
0
-
8
9
8
.
[1
9
]
A
.
As
sa
,
F
.
Ja
n
a
b
i
-
S
h
a
rif
i,
Hy
b
rid
p
re
d
ictive
c
o
n
tro
l
fo
r
c
o
n
str
a
in
e
d
v
isu
a
l
se
rv
o
in
g
,
in
:
IEE
E/
A
S
M
E
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
A
d
v
a
n
c
e
d
In
telli
g
e
n
t
M
e
c
h
a
tro
n
ics
,
2
0
1
4
,
p
.
9
3
1
-
9
3
6
.
[2
0
]
J.
Kim
,
N.
Ku
m
a
r,
V
P
a
n
w
a
r,
J.
Bo
rm
,
J.
Ch
a
i,
Ad
a
p
ti
v
e
n
e
u
ra
l
c
o
n
tr
o
ll
e
r
fo
r
v
isu
a
l
se
rv
o
in
g
o
f
ro
b
o
t
ma
n
ip
u
l
a
to
rs
wit
h
c
a
me
ra
-
in
-
h
a
n
d
c
o
n
fi
g
u
ra
ti
o
n
,
J.
M
e
c
h
.
S
c
i.
T
e
c
h
n
o
l.
v
o
l
.
2
6
,
n
o
.
8
,
2
0
1
2
,
p
.
2
3
1
3
-
2
3
2
3
.
[2
1
]
T
a
ti
y
a
P
a
d
a
n
g
T
u
n
g
g
a
l,
A
n
d
i
S
u
p
riy
a
n
to
,
N
u
r
M
u
k
h
a
m
m
a
d
Zaid
a
tu
r
R
,
I
b
n
u
F
a
is
h
a
l,
Im
a
m
P
a
m
b
u
d
i,
Isw
a
n
to
,
P
u
r
s
u
it
A
lg
o
r
ith
m
fo
r
R
o
b
o
t
Tr
a
s
h
C
a
n
B
a
s
ed
o
n
F
u
z
z
y
-
C
ell
Dec
o
mp
o
s
itio
n
,
In
tern
a
ti
o
n
a
l
Jo
u
r
n
a
l
o
f
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
ter E
n
g
in
e
e
rin
g
(IJECE)
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
.
[2
2
]
H.
H.
T
rih
a
rm
in
to
,
O.
W
a
h
y
u
n
g
g
o
ro
,
T
.
B.
A
d
ji
,
A
.
I.
Ca
h
y
a
d
i,
a
n
d
I.
A
rd
iy
a
n
to
,
A
No
v
e
l
o
f
Rep
u
ls
ive
Fu
n
c
ti
o
n
o
n
Arti
fi
c
ia
l
P
o
ten
t
ia
l
Fi
e
ld
f
o
r
Ro
b
o
t
Pa
th
P
la
n
n
i
n
g
,
In
tern
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
tri
c
a
l
a
n
d
Co
m
p
u
t
e
r
En
g
in
e
e
rin
g
(IJECE)
Vo
l.
6
,
N
o
.
6
,
De
c
e
m
b
e
r
2
0
1
6
,
p
p
.
3
2
6
2
–
3
2
7
5
.
Evaluation Warning : The document was created with Spire.PDF for Python.