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I
J
R
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Vo
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3
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1
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r
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v9
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pp
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232
220
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R
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Oct
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C
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A
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Ven
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a
g
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@
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v
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1.
I
NT
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D
UCT
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m
o
tio
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s
ar
e
p
s
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c
h
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p
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s
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d
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ac
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tai
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it
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s
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m
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co
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d
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h
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b
o
d
y
h
o
w
it
p
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f
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it.
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h
e
e
m
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tio
n
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s
p
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tr
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m
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m
a
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ad
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a
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ce
i
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th
e
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v
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o
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m
en
t.
Mu
ltip
le
w
o
r
k
s
h
a
v
e
b
ee
n
d
ev
elo
p
ed
in
t
h
e
ar
ea
o
f
em
o
tio
n
s
f
o
r
r
o
b
o
ts
th
at
in
c
l
u
d
e
m
o
d
el
p
r
o
p
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s
als,
h
ar
d
w
ar
e
i
m
p
le
m
e
n
tatio
n
s
,
a
n
d
h
u
m
a
n
-
r
o
b
o
t in
t
er
ac
tio
n
s
b
ased
o
n
e
m
o
tio
n
s
,
a
m
o
n
g
o
t
h
er
s
.
I
n
[
1
]
,
e
m
o
tio
n
s
ar
e
i
n
clu
d
ed
i
n
a
m
u
lti
-
r
o
b
o
t
s
y
s
te
m
w
it
h
t
h
e
o
b
j
ec
t
o
f
g
e
n
er
atin
g
in
t
ellig
e
n
t
b
e
h
av
io
r
s
b
et
w
ee
n
r
o
b
o
ts
t
h
at
co
o
p
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ate
in
t
h
e
e
x
ec
u
tio
n
o
f
a
s
p
ec
i
f
i
c
tas
k
.
I
n
[
2
]
is
p
r
esen
ted
a
h
ar
d
w
ar
e
d
esi
g
n
f
o
r
th
e
i
m
p
le
m
en
ta
tio
n
o
f
e
m
o
ti
o
n
s
i
n
a
r
o
b
o
tic
ag
e
n
t.
I
n
[
3
]
,
th
e
au
th
o
r
s
p
r
o
p
o
s
e
an
e
m
o
tio
n
al
m
o
d
el
t
h
at
co
n
s
id
er
s
m
u
ltip
le
f
ac
to
r
s
th
at
af
f
ec
t
e
m
o
tio
n
s
:
s
ti
m
u
li,
c
o
g
n
iti
v
e
a
n
d
n
o
n
-
co
g
n
iti
v
e
f
ac
to
r
s
,
p
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s
o
n
alit
y
,
th
e
s
u
b
co
n
s
cio
u
s
o
f
th
e
a
g
e
n
t
,
a
m
o
n
g
o
t
h
er
s
.
[
4
]
d
escr
ib
es
an
e
m
o
tio
n
al
m
o
d
el
f
o
r
a
p
et
r
o
b
o
t,
in
o
r
d
er
to
ad
ap
t
it
to
h
a
v
e
a
n
at
u
r
al
b
e
h
av
io
r
.
I
n
[
5
]
is
p
r
ese
n
ted
th
e
s
t
u
d
y
o
f
e
m
o
tio
n
s
f
o
r
r
o
b
o
ts
i
n
t
w
o
d
o
m
a
in
s
:
th
e
f
ir
s
t
r
elate
d
to
th
e
w
a
y
in
w
h
ic
h
r
o
b
o
ts
r
elate
to
h
u
m
a
n
s
,
an
d
th
e
s
ec
o
n
d
r
elate
d
to
th
e
r
o
b
o
t'
s
ad
ap
tatio
n
to
th
e
en
v
ir
o
n
m
en
t
an
d
h
o
w
e
m
o
tio
n
s
ca
n
i
m
p
r
o
v
e
its
p
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f
o
r
m
an
ce
.
I
n
g
en
er
al,
t
h
e
e
m
o
tio
n
s
i
n
th
e
r
o
b
o
ts
ar
e
r
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r
esen
ted
in
d
is
cr
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s
tate
s
t
h
at
co
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tr
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l th
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ac
tio
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s
o
f
th
e
s
e
d
u
r
in
g
t
h
eir
o
p
er
atio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
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ed
in
o
r
d
er
to
g
en
er
ate
e
m
e
r
g
en
t
b
eh
a
v
io
r
s
in
t
h
e
r
o
b
o
ts
o
f
a
m
u
l
ti
r
o
b
o
t
s
y
s
te
m
.
I
n
o
u
r
ca
s
e,
th
e
e
m
o
tio
n
s
o
f
t
h
e
r
o
b
o
ts
d
escr
ib
e
th
eir
c
u
r
r
en
t
f
u
n
ctio
n
al
s
tate
s
,
a
n
d
th
e
y
ar
e
u
s
ed
b
y
th
e
m
u
lt
i
r
o
b
o
t
s
y
s
te
m
i
n
o
r
d
er
to
de
f
in
e
t
h
e
ac
tio
n
s
o
f
t
h
e
r
o
b
o
t
s
.
T
h
is
ar
ticle
is
o
r
g
an
ized
i
n
4
s
ec
tio
n
s
.
T
h
e
f
ir
s
t
o
n
e
d
escr
i
b
e
s
th
e
p
r
o
p
o
s
ed
em
o
tio
n
al
m
o
d
el
.
T
h
e
s
ec
o
n
d
r
ef
er
s
to
its
i
m
p
le
m
e
n
t
atio
n
.
T
h
e
n
e
x
t
s
ec
tio
n
p
r
ese
n
ts
t
h
e
r
e
s
u
lts
o
f
t
h
e
te
s
ts
ca
r
r
i
ed
o
u
t
.
T
o
f
in
alize
,
th
e
co
n
cl
u
s
io
n
s
o
f
t
h
e
r
esear
c
h
ar
e
p
r
esen
ted
.
2.
E
M
O
T
I
O
NAL M
O
DE
L
F
O
R
AN
ARCH
I
T
E
C
T
UR
E
F
O
R
M
UL
T
I
-
RO
B
O
T
SYST
E
M
S W
I
T
H
E
M
E
RG
E
NT
B
E
H
AV
I
O
R
I
n
[
6
–
9
]
is
p
r
esen
ted
an
ar
ch
itect
u
r
e
f
o
r
m
u
lti
-
r
o
b
o
t
s
y
s
te
m
s
w
it
h
e
m
er
g
en
t
b
eh
a
v
i
o
r
(
ca
lled
A
ME
B
)
,
w
h
ic
h
i
s
s
tr
u
ct
u
r
ed
in
t
h
r
ee
lev
el
s
:
o
n
e
i
n
d
i
v
id
u
al,
o
n
e
co
llectiv
e
a
n
d
an
o
t
h
er
f
o
r
th
e
k
n
o
w
led
g
e
an
d
lear
n
in
g
m
a
n
ag
e
m
e
n
t
(
s
ee
F
ig
u
r
e
1
)
.
A
t
t
h
e
i
n
d
iv
id
u
al
le
v
el
o
f
A
ME
B
,
a
b
eh
av
io
r
al
m
o
d
u
le
is
i
m
p
le
m
e
n
ted
in
[
10
]
,
w
h
ich
ai
m
s
to
m
a
n
a
g
e
t
h
e
b
eh
a
v
io
r
o
f
t
h
e
r
o
b
o
t.
T
h
is
b
eh
av
io
r
al
m
o
d
u
le
r
eq
u
ir
es
a
n
e
m
o
t
io
n
a
l
m
o
d
el,
w
h
ic
h
co
n
s
id
er
s
t
h
e
s
e
t
o
f
n
e
x
t
e
m
o
tio
n
s
ε
=
{
a
n
g
er
,
r
ej
ec
tio
n
,
n
eu
tr
al,
s
a
d
n
e
s
s
,
j
o
y
},
r
ep
r
ese
n
ted
i
n
a
o
n
e
d
im
e
n
s
io
n
al
s
p
ac
e
p
r
o
p
o
s
ed
in
[
11
–
1
3
]
,
w
h
er
e
t
h
e
X
ax
is
r
ep
r
esen
t
s
th
e
s
atis
f
ac
tio
n
o
r
d
is
s
atis
f
ac
tio
n
s
tate
o
f
t
h
e
r
o
b
o
t in
th
e
i
n
ter
v
a
l [
-
1
,
1
]
(
s
ee
Fig
u
r
e
2
)
,
an
d
th
e
e
m
o
tio
n
al
s
p
ec
tr
u
m
r
an
g
es
f
r
o
m
h
ig
h
l
y
n
e
g
ati
v
e
e
m
o
tio
n
s
li
k
e
a
n
g
er
,
to
h
ig
h
l
y
p
o
s
iti
v
e
e
m
o
tio
n
s
s
u
c
h
as
j
o
y
,
p
lu
s
a
n
e
u
tr
al
o
r
n
o
n
-
e
m
o
tio
n
.
T
h
r
ee
s
u
b
-
in
ter
v
als
ar
e
d
ef
i
n
ed
b
as
ed
o
n
th
e
r
elatio
n
s
h
ip
b
et
w
e
en
e
m
o
tio
n
s
an
d
i
n
d
i
v
id
u
al
b
eh
av
io
r
s
[
1
1
–
13
]
:
an
i
n
ter
v
a
l
r
elate
d
to
r
ea
cti
v
e
b
eh
av
io
r
s
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o
n
e
r
elate
d
to
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g
n
i
tiv
e
b
eh
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v
io
r
s
,
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n
d
a
t
h
ir
d
in
ter
v
al
r
elate
d
to
co
llectiv
e
b
eh
a
v
io
r
s
.
Fig
u
r
e
1
.
A
ME
B
A
r
ch
itect
u
r
e
[
6
,
8
,
9
]
Fig
u
r
e
2
.
E
m
o
tio
n
al
m
o
d
el
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
0
8
9
-
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I
n
t
J
R
o
b
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u
to
m
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Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
2
2
0
–
232
222
T
h
e
lev
el
o
f
s
ati
s
f
ac
tio
n
o
f
t
h
e
r
o
b
o
t
is
in
f
l
u
en
ce
d
b
y
a
s
er
i
es
o
f
f
ac
to
r
s
t
h
at
d
ef
i
n
e
t
h
e
i
n
ter
n
al
s
tate
o
f
th
e
r
o
b
o
t,
an
d
th
at
ar
e
r
elate
d
to
th
e
o
p
er
atio
n
o
f
th
e
r
o
b
o
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n
d
its
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er
f
o
r
m
a
n
ce
in
t
h
e
e
n
v
ir
o
n
m
en
t [
10
]:
-
B
a
tter
y
s
ta
te
(
B
S
)
:
i
s
r
ep
r
esen
t
ed
b
y
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e
e
n
er
g
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le
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el
o
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h
e
r
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b
o
t'
s
b
atter
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i
n
s
tan
t
t
.
w
h
er
e:
nc
t
=
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el
o
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h
ar
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e
i
n
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in
s
tan
t
t,
cb
=
B
atter
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ch
ar
g
e
ca
p
ac
it
y
.
-
Op
era
tin
g
s
ta
te
(
OS
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:
r
ep
r
ese
n
ts
t
h
e
le
v
el
o
f
p
er
f
o
r
m
a
n
ce
o
f
th
e
r
o
b
o
t.
I
t
is
g
iv
e
n
b
y
th
e
ac
tu
al
ti
m
e
o
f
ac
tio
n
(
ta
)
o
f
t
h
e
r
o
b
o
t v
er
s
u
s
th
e
to
tal
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
t
i
m
e
(
tt
)
.
-
S
ec
u
r
ity
s
ta
te
(
S
S
)
:
d
e
f
i
n
ed
b
y
t
h
e
n
u
m
b
er
o
f
co
lli
s
io
n
s
(
c)
(
ca
u
s
ed
b
y
o
th
er
r
o
b
o
ts
o
r
o
b
s
tacle
s
)
an
d
f
ail
u
r
es (
f)
v
er
s
u
s
t
h
e
to
tal
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
ti
m
e
(
tt)
.
-
I
n
tera
ctio
n
s
ta
te
(
I
S
)
:
it
is
d
e
f
i
n
ed
b
y
t
h
e
s
o
cial
o
r
in
ter
ac
tio
n
ca
p
ac
it
y
o
f
th
e
r
o
b
o
t.
I
t
i
s
m
ea
s
u
r
ed
b
y
th
e
n
u
m
b
er
o
f
m
e
s
s
a
g
es se
n
t
(
me)
o
r
r
ec
eiv
ed
(
mr
)
v
er
s
u
s
t
h
e
to
tal
s
y
s
te
m
p
er
f
o
r
m
an
ce
ti
m
e
(
tt)
.
T
h
e
r
o
b
o
t
p
e
r
ce
iv
es
s
ti
m
u
l
i
t
h
at
i
n
f
lu
e
n
ce
th
e
s
tate
o
f
t
h
e
m
e
n
tio
n
ed
p
ar
a
m
eter
s
.
T
h
is
ac
tiv
ate
s
th
e
e
m
o
tio
n
al
p
r
o
ce
s
s
o
f
t
h
e
r
o
b
o
t,
w
h
ic
h
g
en
er
ate
s
a
s
atis
f
ac
tio
n
i
n
d
ex
(
SI
)
th
at
d
ef
i
n
es
th
e
c
u
r
r
en
t
e
m
o
tio
n
in
t
h
e
r
o
b
o
t
an
d
t
h
e
t
y
p
e
o
f
b
eh
av
io
r
as
s
o
ciate
d
(
s
ee
Fig
u
r
e
3
)
.
I
n
[
11
–
15
]
ar
e
co
n
s
id
er
ed
th
r
ee
t
y
p
e
s
o
f
b
eh
av
io
r
:
i
m
ita
tiv
e,
co
g
n
iti
v
e
an
d
r
ea
cti
v
e,
w
h
ic
h
ar
e
r
elat
ed
to
a
s
p
ec
i
f
ic
e
m
o
tio
n
al
s
ta
te.
I
n
o
u
r
p
r
o
p
o
s
al,
th
e
s
a
m
e
as
s
u
m
p
tio
n
s
ar
e
m
ad
e:
n
eg
ati
v
e
e
m
o
t
io
n
s
p
r
ed
is
p
o
s
e
th
e
i
n
d
iv
id
u
al
to
p
r
o
b
l
e
m
s
o
l
v
in
g
t
h
r
o
u
g
h
a
p
r
o
ce
s
s
th
at
g
o
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f
r
o
m
th
e
lo
ca
l
to
th
e
co
llecti
v
e,
w
h
ile
th
e
p
o
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iti
v
e
e
m
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n
s
lead
to
g
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ap
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h
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r
an
g
i
n
g
f
r
o
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co
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to
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e
in
d
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a
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T
ab
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e
e
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h
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m
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icatio
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,
an
d
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t
y
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e
o
f
ass
o
ciate
d
b
eh
av
io
r
.
Fig
u
r
e
3
.
E
m
o
tio
n
al
p
r
o
ce
s
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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J
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o
b
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r
(
A
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Gil
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223
T
ab
le
1
.
R
elatio
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s
h
ip
s
b
et
w
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Als
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ar
e
clea
r
l
y
r
ea
cti
v
e,
w
h
er
e
t
h
e
i
n
d
i
v
id
u
al
s
ee
k
s
to
ac
h
ie
v
e
th
eir
s
u
r
v
i
v
al
b
y
r
ea
cti
n
g
to
t
h
e
s
ti
m
u
li
o
f
t
h
e
en
v
ir
o
n
m
e
n
t
w
it
h
o
u
t
p
r
ev
io
u
s
r
ea
s
o
n
in
g
.
T
h
e
em
o
tio
n
s
af
f
ec
t
th
e
p
ar
a
m
eter
s
o
f
th
e
r
o
b
o
t;
f
o
r
ex
a
m
p
le,
i
f
t
h
e
r
o
b
o
t
is
s
a
d
,
th
en
its
ab
ilit
y
o
f
f
ee
l
in
g
will
b
e
af
f
ec
ted
;
o
r
i
f
th
e
r
o
b
o
t is h
ap
p
y
,
t
h
e
n
its
s
p
e
ed
o
f
m
o
v
e
m
en
t
w
ill b
e
g
r
ea
te
r
,
w
h
ic
h
w
il
l a
f
f
ec
t it
s
p
er
f
o
r
m
at
a
g
iv
e
n
ti
m
e.
T
h
e
ty
p
e
s
o
f
b
eh
av
io
r
ar
e
d
ef
in
ed
b
elo
w
.
a.
I
m
itati
v
e:
b
eh
a
v
io
r
s
w
h
er
e
an
in
d
i
v
id
u
a
l
s
ee
k
s
to
b
eh
a
v
e
in
a
s
i
m
ilar
w
a
y
to
an
o
t
h
er
,
f
o
r
ex
a
m
p
le
:
p
er
s
ec
u
tio
n
.
b.
C
o
g
n
iti
v
e:
b
eh
a
v
io
r
s
w
h
er
e
th
er
e
is
a
r
ea
s
o
n
i
n
g
p
r
o
ce
s
s
i
n
o
r
d
er
to
d
ec
is
io
n
-
m
a
k
e,
b
y
th
e
in
d
i
v
id
u
a
l,
ex
a
m
p
le:
s
h
e
lter
s
ea
r
ch
.
c.
R
ea
cti
v
e:
b
eh
a
v
io
r
s
w
h
er
e
t
h
e
in
d
iv
id
u
al
s
ee
k
s
to
s
u
r
v
i
v
e,
f
o
r
ex
a
m
p
le:
o
b
s
tacle
av
o
id
a
n
ce
.
T
h
e
in
clu
s
io
n
o
f
e
m
o
tio
n
s
in
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
te
m
s
ee
k
s
to
i
m
p
r
o
v
e
its
ad
a
p
tab
ilit
y
to
th
e
d
y
n
a
m
ic
s
o
f
t
h
e
e
n
v
ir
o
n
m
en
t,
as
w
ell
as
f
ac
ilit
ate
th
e
e
m
er
g
en
ce
i
n
t
h
e
s
y
s
te
m
,
b
y
m
o
d
i
f
y
i
n
g
t
h
e
w
a
y
o
f
p
er
f
o
r
m
in
g
t
h
e
b
eh
a
v
io
r
s
th
at
ea
ch
i
n
d
iv
id
u
al
is
ab
le
to
ex
ec
u
te.
T
h
e
co
n
j
u
n
ct
io
n
o
f
in
d
i
v
id
u
al
b
eh
av
io
r
s
d
ef
i
n
es t
h
e
o
v
er
all
b
eh
av
io
r
o
f
t
h
e
s
y
s
te
m
,
w
h
ich
b
y
its
n
at
u
r
e
ca
n
n
o
t b
e
p
r
ed
icted
a
p
r
io
r
i [
1
6
].
3.
I
M
P
L
E
M
E
NT
AT
I
O
N
O
F
T
H
E
M
O
DE
L
T
h
e
m
o
d
el
is
i
m
p
le
m
en
ted
in
th
e
A
ME
B
b
eh
av
io
r
al
m
o
d
u
le
d
escr
ib
ed
in
[
10
]
,
w
h
i
c
h
is
s
tr
u
ctu
r
ed
in
f
o
u
r
la
y
er
s
(
s
ee
Fi
g
u
r
e
4
)
,
in
w
h
ic
h
t
h
e
p
r
o
ce
s
s
es
i
n
v
o
lv
ed
in
t
h
e
e
m
o
tio
n
al
m
o
d
el
ar
e
o
r
g
an
ized
:
a)
r
ea
cti
v
e
la
y
er
:
m
a
n
ag
e
s
th
e
r
ea
cti
v
e
b
eh
av
io
r
s
o
f
t
h
e
r
o
b
o
t,
w
h
ich
ar
e
g
en
er
ated
b
y
a
s
ti
m
u
lu
s
-
r
ea
ctio
n
p
r
o
ce
s
s
;
b
)
co
g
n
iti
v
e
la
y
er
:
d
elib
er
ati
v
e
b
eh
av
io
r
s
ar
e
m
an
a
g
ed
i
n
t
h
e
r
o
b
o
t,
b
ased
o
n
th
eir
lo
ca
l
k
n
o
w
led
g
e
;
c)
s
o
cial
la
y
er
:
it
e
x
p
lo
its
th
e
co
llect
i
v
e
k
n
o
w
led
g
e
in
th
e
p
r
o
ce
s
s
es
o
f
d
ec
is
io
n
m
a
k
in
g
o
f
t
h
e
r
o
b
o
t,
b
asically
,
it
m
a
n
a
g
es t
h
e
w
a
y
t
h
at
t
h
e
r
o
b
o
t in
ter
ac
ts
w
it
h
o
t
h
er
r
o
b
o
ts
in
t
h
e
s
y
s
te
m
,
a
s
w
ell
a
s
it
s
as
s
o
ciate
d
b
eh
av
io
r
s
;
d
)
af
f
ec
ti
v
e
la
y
er
:
i
s
r
esp
o
n
s
ib
le
f
o
r
m
an
a
g
i
n
g
th
e
e
m
o
tio
n
al
p
r
o
ce
s
s
o
f
th
e
r
o
b
o
t.
T
h
e
p
h
ases
in
v
o
l
v
ed
in
th
e
e
m
o
tio
n
al
m
o
d
el
ar
e
d
escr
ib
e
d
b
elo
w
,
b
ased
o
n
th
e
p
h
ases
d
escr
ib
ed
in
[
11
].
a.
C
las
s
i
f
ier
I
n
th
e
p
r
o
p
o
s
ed
m
o
d
el,
w
e
d
ef
in
e
f
o
u
r
b
as
ic
e
m
o
tio
n
s
an
d
a
n
e
u
tr
al
o
r
n
o
n
-
e
m
o
ti
o
n
al
s
tate
,
co
n
s
id
er
in
g
p
o
s
iti
v
e
an
d
n
e
g
a
tiv
e
e
m
o
t
io
n
s
,
w
h
ic
h
lead
to
in
d
iv
id
u
al
o
r
co
llectiv
e
b
eh
a
v
io
r
s
.
I
n
th
is
p
h
a
s
e
th
e
t
y
p
e
s
o
f
e
m
o
tio
n
th
a
t th
e
r
o
b
o
t c
an
ac
tiv
ate
at
a
ce
r
tain
ti
m
e
ar
e
d
ef
in
ed
.
b.
B
eh
av
io
r
m
o
d
el
T
h
e
r
ea
ctiv
e,
co
g
n
it
iv
e
an
d
s
o
cial
la
y
er
s
i
m
p
le
m
e
n
t
a
s
et
o
f
b
e
h
av
io
r
s
o
f
t
h
e
r
o
b
o
t
in
th
e
en
v
ir
o
n
m
e
n
t
[
10
]
.
T
h
ese
b
eh
av
io
r
s
ar
e
co
n
s
tr
u
cted
b
y
t
h
e
co
n
j
u
n
ctio
n
o
f
t
w
o
o
r
m
o
r
e
b
asic
r
o
b
o
t
s
k
il
ls
,
w
h
ich
ar
e
clo
s
el
y
r
e
late
d
to
th
eir
h
ar
d
w
ar
e
an
d
s
o
f
t
w
a
r
e
ca
p
ab
ili
ties
,
s
o
m
e
o
f
t
h
ese
s
k
ill
s
ar
e:
-
Mo
v
e
:
Th
e
r
o
b
o
t m
o
ve
s
fo
r
w
a
r
d
o
r
b
a
ck
w
a
r
d
,
it c
a
n
b
e
fo
r
a
ce
r
ta
in
time
o
r
a
ce
r
ta
in
d
is
t
a
n
ce
.
-
R
o
tate
:
Th
e
r
o
b
o
t ro
ta
tes in
o
n
e
d
ir
ec
tio
n
fo
r
a
g
iven
time
o
r
a
g
iven
n
u
mb
er o
f d
eg
r
ee
s
.
-
P
er
ce
iv
in
g
:
Th
e
r
o
b
o
t
p
erc
eive
s
in
fo
r
ma
tio
n
o
f
th
e
en
viro
n
men
t
th
r
o
u
g
h
its
s
en
s
o
r
s
,
a
s
w
ell
a
s
in
fo
r
ma
tio
n
a
b
o
u
t its
in
tern
a
l
s
ta
te.
-
Sto
p
:
Th
e
r
o
b
o
t c
a
n
s
to
p
a
t a
n
y
mo
men
t.
Fro
m
th
e
s
e
s
k
ill
s
ar
e
b
u
ilt
b
eh
av
io
r
s
o
f
g
r
ea
ter
co
m
p
le
x
it
y
,
w
h
ich
d
e
f
i
n
e
th
e
w
a
y
t
h
e
r
o
b
o
t
ac
ts
,
a
m
o
n
g
w
h
ich
ar
e:
-
E
x
p
lo
r
e
:
Th
r
o
u
g
h
th
is
b
eh
a
vi
o
r
th
e
r
o
b
o
t is a
b
le
to
ex
p
lo
r
e
th
e
en
viro
n
men
t a
t ra
n
d
o
m.
-
Ob
s
tacle
av
o
id
an
ce
:
a
llo
w
s
th
e
r
o
b
o
t to
ev
a
d
e
o
b
s
ta
cles,
w
h
ich
ca
n
b
e
fixed
o
r
mo
vin
g
o
b
j
ec
ts
.
-
P
u
r
s
u
it
:
it a
llo
w
s
th
e
r
o
b
o
t to
p
u
r
s
u
e
fo
r
s
o
me
time
a
n
o
th
er
r
o
b
o
t.
-
Sh
elter
:
th
e
r
o
b
o
t
s
ee
ks
a
s
a
fe
a
r
ea
(
r
ep
r
esen
ted
b
y
ma
r
ks
o
n
th
e
g
r
o
u
n
d
)
,
a
n
d
s
ta
y
in
i
t
u
n
til
r
ea
ch
in
g
th
e
d
esir
ed
s
ta
te.
-
C
o
n
f
r
o
n
tatio
n
:
Dep
en
d
in
g
o
n
yo
u
r
emo
tio
n
a
l
s
ta
te,
th
e
r
o
b
o
t
ma
y
fa
ce
a
n
o
th
er,
w
h
en
a
co
n
flict
a
r
is
es
fo
r
a
r
eso
u
r
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
2
2
0
–
232
224
-
R
ec
h
ar
g
e
:
Th
e
r
o
b
o
t
h
a
s
t
h
e
a
b
ilit
y
to
s
a
ti
s
fy
i
ts
en
e
r
g
y
leve
l
th
r
o
u
g
h
a
s
ea
r
ch
mec
h
a
n
is
m
o
f
a
ch
a
r
g
e
z
o
n
e
.
Fig
u
r
e
4
.
A
ME
B
B
eh
av
io
r
al
Mo
d
u
le
T
h
ese
b
eh
av
io
r
s
ar
e
as
s
o
ciat
ed
,
as
m
en
t
io
n
ed
ab
o
v
e,
to
a
s
p
ec
if
ic
e
m
o
tio
n
al
s
tate,
f
o
r
w
h
ic
h
th
e
f
o
llo
w
i
n
g
r
u
le
s
ar
e
d
ef
in
ed
[
10
]:
Rule
1
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
h
i
g
h
l
y
p
o
s
iti
v
e.
th
e
n
<i
m
itat
i
v
e_
b
eh
av
io
r
>
Rule
2
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
p
o
s
itiv
e,
t
h
en
<i
m
ita
tiv
e_
b
e
h
av
io
r
>
Rule
3
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
s
li
g
h
tl
y
p
o
s
iti
v
e,
t
h
en
<c
o
g
n
itiv
e_
b
eh
a
v
io
r
_
p
r
io
r
ity
>
Rule
4
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
n
e
u
tr
al,
th
e
n
<b
eh
a
v
io
r
al>
Rule
5
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
s
li
g
h
tl
y
n
eg
a
tiv
e,
t
h
e
n
<c
o
g
n
itiv
e_
b
eh
a
v
io
r
_
p
r
io
r
ity
>
Rule
6
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
n
e
g
ati
v
e,
th
e
n
<c
o
g
n
iti
v
e
-
b
e
h
av
io
r
_
p
r
io
r
it
y
>
Rule
7
: I
f
<e
m
o
tio
n
al
s
tate>
i
s
h
i
g
h
l
y
n
eg
a
tiv
e,
t
h
e
n
<r
ea
ctiv
e_
p
r
io
r
ity
>
a.
E
m
o
tio
n
al
co
n
f
i
g
u
r
ato
r
Dete
r
m
i
n
i
n
g
th
e
e
m
o
tio
n
o
f
t
h
e
r
o
b
o
t
at
an
i
n
s
ta
n
t
t
is
a
f
u
n
d
a
m
en
tal
s
tag
e
o
f
t
h
e
e
m
o
ti
o
n
al
p
r
o
ce
s
s
.
I
t
d
ep
en
d
s
o
n
th
e
lev
el
o
f
s
at
is
f
ac
t
io
n
o
f
t
h
e
r
o
b
o
t,
w
h
ich
is
g
i
v
en
b
y
t
h
e
f
ac
to
r
s
d
escr
i
b
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
.
B
elo
w
,
it i
s
d
escr
ib
ed
th
is
p
r
o
ce
s
s
.
-
E
v
alu
a
tio
n
o
f
t
h
e
o
cc
u
r
r
en
ce
o
f
an
e
x
ter
n
al
o
r
in
ter
n
al
s
ti
m
u
lu
s
t
h
at
a
f
f
ec
ts
t
h
e
p
ar
a
m
e
ter
s
in
v
o
lv
ed
i
n
th
e
r
o
b
o
t satis
f
ac
t
io
n
i
n
d
ex
(
SI
).
-
Dete
r
m
i
n
atio
n
o
f
th
e
v
al
u
es o
f
th
e
p
ar
a
m
eter
s
.
-
C
alcu
latio
n
o
f
t
h
e
SI
s
atis
f
ac
ti
o
n
in
d
ex
u
s
i
n
g
a
f
u
zz
y
m
o
d
el.
-
Dete
r
m
i
n
atio
n
o
f
th
e
c
u
r
r
en
t e
m
o
tio
n
.
I
n
th
i
s
p
h
ase,
th
e
s
at
is
f
ac
tio
n
in
d
ex
i
s
ca
lcu
la
ted
u
s
i
n
g
a
f
u
zz
y
s
y
s
te
m
co
m
p
o
s
ed
o
f
f
o
u
r
in
p
u
t
v
ar
iab
les
an
d
o
n
e
o
u
tp
u
t
v
a
r
iab
le.
T
h
e
in
p
u
t
v
ar
iab
les,
as
h
as
b
ee
n
ex
p
lai
n
ed
in
th
e
p
r
ev
io
u
s
s
ec
tio
n
,
r
ep
r
esen
t
th
e
i
n
ter
n
al
s
tate
o
f
t
h
e
r
o
b
o
t,
an
d
ar
e
r
elate
d
to
o
p
er
atin
g
p
ar
a
m
e
ter
s
.
T
h
e
o
u
tp
u
t
v
ar
iab
le
is
r
e
lated
to
th
e
s
atis
f
ac
t
io
n
s
tat
u
s
o
f
th
e
r
o
b
o
t,
an
d
is
ass
o
ciate
d
w
ith
an
e
m
o
tio
n
:
-
I
n
p
u
t v
ar
iab
le
s
:
B
S
,
OS
,
S
S
,
I
S
.
-
Ou
tp
u
t v
ar
iab
le:
S
I
.
T
h
e
in
p
u
t
v
ar
iab
le
s
h
av
e
t
h
r
ee
f
u
zz
y
s
e
ts
:
{lo
w
,
n
o
r
m
al,
h
i
g
h
}
a
n
d
t
h
e
o
u
tp
u
t
v
ar
iab
le
h
as
f
i
v
e
f
u
zz
y
s
ets:
{a
n
g
er
,
r
ej
e
ct,
n
eu
tr
al,
s
a
d
n
ess
,
j
o
y
}.
So
m
e
o
f
t
h
e
r
u
le
s
th
at
g
o
v
er
n
t
h
e
s
y
s
te
m
ar
e:
Rule
1
:
I
f
B
S is
lo
w
a
n
d
OS is
lo
w
an
d
S
S is
h
ig
h
an
d
I
S is
l
o
w
,
th
e
n
SI
is
s
ad
n
es
s
.
Rule
2
:
I
f
B
S is
lo
w
a
n
d
OS is
lo
w
an
d
S
S is
n
o
r
m
al
an
d
I
S i
s
lo
w
,
t
h
en
SI
is
s
ad
n
e
s
s
.
Rule
3
:
If
B
S is
lo
w
a
n
d
OS is
n
o
r
m
al
an
d
S
S is
n
o
r
m
al
an
d
I
S is
lo
w
,
t
h
e
n
SI
is
s
ad
n
e
s
s
.
Rule
4
:
I
f
B
S is
lo
w
a
n
d
OS is
n
o
r
m
al
an
d
S
S is
n
o
r
m
al
an
d
I
S is
n
o
r
m
al,
t
h
e
n
SI
is
r
ej
ec
ted
.
Fig
u
r
e
5
s
h
o
w
s
a
n
ex
a
m
p
le
o
f
th
e
i
m
p
le
m
en
tatio
n
o
f
t
h
e
f
u
zz
y
m
o
d
el
in
M
A
T
L
A
B
®.
Fo
r
th
e
ca
s
e
o
f
th
e
Fi
g
u
r
e
5
,
f
o
r
th
e
s
et
o
f
in
p
u
t
{B
S:
h
i
g
h
,
OS:
n
o
r
m
al,
SS
:
lo
w
,
I
S:
h
ig
h
}
w
as
o
b
tain
ed
th
e
n
ex
t
o
u
tp
u
t
:
{j
o
y
}.
T
h
is
,
ac
co
r
d
in
g
to
o
u
r
m
o
d
el
d
escr
ib
es t
h
e
f
o
llo
w
i
n
g
:
-
B
a
tter
y
C
h
a
r
g
in
g
:
o
p
tim
al
.
-
Op
era
tio
n
s
ta
te
:
n
o
r
m
a
l,
th
e
r
o
b
o
t
h
as
b
ee
n
ex
ec
u
ti
n
g
s
o
m
e
ta
s
k
d
u
r
in
g
a
g
o
o
d
p
ar
t
o
f
th
e
o
p
er
atin
g
p
er
io
d
o
f
th
e
g
lo
b
al
s
y
s
te
m
.
-
S
a
fety
fa
cto
r
: L
o
w
,
i
n
d
icati
n
g
th
at
t
h
er
e
ar
e
f
e
w
o
r
n
o
co
llis
i
o
n
s
an
d
/o
r
b
lo
ck
ag
e
s
.
-
I
n
tera
ctio
n
fa
cto
r
: h
ig
h
,
t
h
e
r
o
b
o
t h
as in
ter
ac
ted
w
it
h
th
e
o
t
h
er
tea
m
m
e
m
b
er
s
.
T
h
e
r
o
b
o
t a
t th
at
m
o
m
e
n
t is
s
a
tis
f
ied
an
d
th
e
ac
ti
v
e
e
m
o
t
io
n
is
jo
y
.
Fig
u
r
e
6
s
h
o
w
s
t
h
e
r
elatio
n
s
h
i
p
b
et
w
ee
n
t
h
e
b
atter
y
s
tate
(
B
S)
an
d
s
tate
o
f
o
p
er
atio
n
(
OS)
v
ar
iab
les
w
it
h
t
h
e
o
th
er
s
y
s
te
m
v
ar
iab
l
es,
an
d
h
o
w
t
h
e
y
i
n
f
l
u
en
ce
t
h
e
o
u
tp
u
t
v
ar
iab
le
(
SI)
.
I
t
ca
n
b
e
o
b
s
er
v
ed
,
f
o
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
E
mo
tio
n
a
l m
o
d
el
f
o
r
a
mu
lti
-
r
o
b
o
t sys
tem
w
ith
eme
r
g
en
t b
eh
a
vio
r
(
A
n
g
el
Gil
)
225
ex
a
m
p
le,
t
h
at
f
o
r
n
o
r
m
al
v
alu
es
o
f
B
S
an
d
OS
w
it
h
o
u
t
co
n
s
id
er
in
g
t
h
e
o
th
er
s
tates,
th
e
s
at
is
f
ac
t
io
n
in
d
e
x
ca
n
r
ea
ch
a
m
a
x
i
m
u
m
v
alu
e
clo
s
e
to
n
o
r
m
al,
i
m
p
l
y
i
n
g
t
h
at
t
h
e
a
ctiv
e
e
m
o
t
io
n
w
o
u
ld
b
e
s
li
g
h
tl
y
p
o
s
itiv
e.
b.
B
eh
av
io
r
s
elec
tio
n
I
n
th
i
s
p
h
ase
i
s
m
o
d
i
f
ied
th
e
cu
r
r
en
t
b
eh
a
v
io
r
o
f
th
e
r
o
b
o
t,
as
a
co
n
s
eq
u
en
ce
o
f
t
h
e
p
r
ev
io
u
s
p
h
ase.
T
h
is
m
o
d
i
f
icatio
n
in
v
o
lv
es
t
h
e
ass
o
ciat
io
n
o
f
a
n
e
m
o
tio
n
to
a
b
eh
a
v
io
r
,
as
is
s
h
o
w
n
in
T
ab
le
1
,
ac
co
r
d
in
g
to
th
e
r
u
les
estab
li
s
h
ed
in
p
h
ase
2
.
T
h
e
r
o
b
o
t'
s
p
er
f
o
r
m
an
ce
is
a
f
f
ec
ted
b
y
t
h
e
cu
r
r
en
t
e
m
o
tio
n
in
t
w
o
s
p
ec
i
f
ic
asp
ec
ts
.
-
T
h
e
s
elec
ted
b
eh
av
io
r
(
i
m
itati
v
e,
co
g
n
i
tiv
e
o
r
r
ea
ctiv
e)
o
f
t
h
e
s
et
o
f
b
eh
av
io
r
s
o
f
th
e
r
o
b
o
t.
-
T
h
e
p
er
f
o
r
m
a
n
ce
p
ar
a
m
eter
s
th
at
ar
e
m
o
d
i
f
ied
b
y
t
h
e
s
a
ti
s
f
ac
tio
n
i
n
d
ex
o
f
t
h
e
r
o
b
o
t,
w
h
i
c
h
i
n
f
l
u
en
ce
th
e
w
a
y
i
n
t
h
at
t
h
e
b
eh
av
io
r
is
ex
ec
u
ted
.
T
h
e
p
er
f
o
r
m
a
n
ce
p
ar
a
m
e
ter
s
t
h
at
ca
n
b
e
m
o
d
if
ied
ar
e
r
elate
d
to
th
e
c
h
ar
ac
ter
is
tic
s
o
f
t
h
e
r
o
b
o
ts
to
b
e
m
a
n
a
g
ed
b
y
t
h
e
ar
ch
itectu
r
e
[
14
]:
-
v
elo
cit
y
o
f
d
is
p
lace
m
e
n
t
-
r
an
g
e
o
f
d
etec
tio
n
o
f
o
b
j
ec
ts
in
f
r
o
n
t
-
r
an
g
e
o
f
d
etec
tio
n
o
f
m
ar
k
s
o
n
th
e
g
r
o
u
n
d
-
d
ec
is
io
n
-
m
a
k
i
n
g
ca
p
ac
it
y
(
ti
m
e
to
d
ec
id
e)
.
W
h
at
i
m
p
lie
s
th
a
t
f
o
r
th
e
s
a
m
e
b
eh
a
v
io
r
,
d
if
f
er
e
n
t
r
es
u
lts
w
il
l
b
e
o
b
tain
ed
.
Fo
r
ex
a
m
p
le:
if
t
h
e
r
o
b
o
t
is
in
a
ch
ase
an
d
i
ts
c
u
r
r
en
t
e
m
o
tio
n
i
s
j
o
y
,
th
e
n
i
t
w
il
l
m
o
v
e
f
as
ter
an
d
it
s
s
e
n
s
o
r
y
ab
ilit
ie
s
w
i
ll
w
o
r
k
b
etter
t
h
a
t
if
t
h
e
r
o
b
o
t h
as a
s
cu
r
r
en
t e
m
o
tio
n
th
e
s
ad
n
es
s
.
Fig
u
r
e
5
.
I
m
p
le
m
e
n
tatio
n
o
f
t
h
e
f
u
zz
y
m
o
d
el
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
9
,
No
.
3
,
Sep
tem
b
er
2
0
2
0
:
2
2
0
–
232
226
Fig
u
r
e
6
.
R
elatio
n
s
h
ip
o
f
t
h
e
b
atter
y
s
tate
a
n
d
s
tate
o
f
o
p
er
atio
n
v
ar
iab
les
w
it
h
t
h
e
o
th
er
f
ac
to
r
s
an
d
w
ith
t
h
e
s
at
is
f
ac
tio
n
i
n
d
ex
4.
E
XP
E
R
I
M
E
NT
S
4
.
1
.
Scena
rio
s
Dif
f
er
en
t
test
s
w
er
e
ca
r
r
ied
o
u
t,
in
o
r
d
er
to
v
er
if
y
t
h
e
e
m
o
tio
n
al
m
o
d
el
t
h
r
o
u
g
h
th
e
v
ar
iatio
n
o
f
th
e
p
ar
a
m
eter
s
i
n
th
e
i
m
p
le
m
en
ted
f
u
zz
y
s
y
s
te
m
.
I
n
t
h
ese
test
s
,
t
h
e
ai
m
i
s
to
v
er
if
y
th
e
e
m
o
tio
n
al
m
o
d
el
in
t
h
e
r
o
b
o
ts
,
n
o
t
f
o
cu
s
in
g
o
n
t
h
e
o
v
er
all
b
e
h
av
io
r
o
f
th
e
s
y
s
te
m
.
T
h
e
i
n
ter
ac
tio
n
s
b
et
w
ee
n
t
h
e
r
o
b
o
ts
an
d
o
f
th
e
m
w
it
h
t
h
e
en
v
ir
o
n
m
e
n
t
ar
e
s
i
m
u
lated
,
as
w
ell
as
th
e
f
ac
to
r
s
th
at
alter
th
eir
in
ter
n
al
s
tate
.
T
h
e
ex
p
er
im
e
n
tal
s
ce
n
ar
io
s
ar
e
th
e
f
o
llo
w
i
n
g
:
-
Dete
r
m
i
n
atio
n
o
f
th
e
c
u
r
r
en
t e
m
o
tio
n
al
s
tate
ac
co
r
d
in
g
to
t
h
e
cu
r
r
en
t o
p
er
atio
n
al
s
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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4856
I
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232
228
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ed
:
co
llis
io
n
s
/f
a
ilu
r
e
s
(
C
/F),
th
e
e
f
f
ec
tiv
e
t
i
m
e
o
f
ac
tio
n
(
OT
)
,
i
n
ter
ac
tio
n
s
(
I
)
an
d
b
atter
y
c
h
a
r
g
e
(
B
C
)
.
T
h
e
r
o
b
o
t
in
ter
ac
ts
w
it
h
th
e
e
n
v
ir
o
n
m
e
n
t
f
o
r
a
p
er
io
d
o
f
tim
e
t,
an
d
th
e
s
a
m
p
li
n
g
s
ar
e
ca
r
r
ied
o
u
t
ev
er
y
1
0
u
n
its
o
f
ti
m
e.
T
h
e
s
i
m
u
latio
n
r
esu
lt
s
ar
e
p
r
esen
ted
b
elo
w
,
f
o
r
w
h
ich
t
h
e
f
ir
s
t
1
0
0
s
am
p
les
ca
r
r
ied
o
u
t
d
u
r
in
g
ti
m
e
t
ar
e
tak
en
i
n
to
co
n
s
id
er
atio
n
.
Fig
u
r
e
8
s
h
o
w
s
t
h
e
f
ir
s
t
r
es
u
l
ts
f
o
r
t
h
e
f
ir
s
t
g
r
o
u
p
o
f
s
a
m
p
les,
in
a
co
n
te
x
t
w
h
er
e
t
h
er
e
is
a
s
et
o
f
n
eg
at
iv
e
f
ac
to
r
s
at
th
is
ti
m
e
in
th
e
e
n
v
ir
o
n
m
e
n
t,
s
u
ch
as
co
llis
io
n
s
,
i
s
o
latio
n
o
f
th
e
r
o
b
o
ts
,
etc.
Fig
u
r
e
8
s
h
o
w
s
t
h
at,
f
o
r
t
=
0
,
th
e
r
o
b
o
t
is
in
a
n
e
u
tr
al
s
tate.
Du
r
in
g
th
e
b
e
g
in
n
i
n
g
o
f
it
s
p
er
f
o
r
m
a
n
ce
,
th
e
r
o
b
o
t
p
r
esen
ts
a
n
ab
r
u
p
t
ten
d
e
n
c
y
to
w
ar
d
s
a
h
i
g
h
l
y
n
e
g
ati
v
e
e
m
o
ti
o
n
,
th
i
s
i
s
m
o
tiv
a
ted
b
y
t
h
e
f
a
ct
th
at
th
e
r
ec
eiv
ed
s
ti
m
u
l
i
w
er
e
n
e
g
ati
v
e
(
h
i
g
h
n
u
m
b
er
o
f
co
ll
is
io
n
s
,
f
e
w
i
n
te
r
ac
tio
n
s
,
etc.
)
.
Du
r
i
n
g
its
o
p
e
r
atio
n
,
it
b
eg
i
n
s
to
ch
an
g
e
i
ts
s
tate
to
a
h
i
g
h
l
y
p
o
s
itiv
e
e
m
o
tio
n
al
s
tate,
th
e
n
t
h
e
e
m
o
tio
n
al
s
tate
b
e
g
i
n
s
to
d
ec
lin
e,
a
n
d
it
s
tab
ilizes
i
n
a
s
lig
h
tl
y
n
e
g
ati
v
e
s
tate.
T
h
is
is
d
u
e
to
th
e
o
cc
u
r
r
en
ce
o
f
f
ac
to
r
s
o
v
er
ti
m
e
th
at
n
eg
a
tiv
e
l
y
in
f
lu
e
n
ce
t
h
e
s
tate
o
f
th
e
r
o
b
o
t.
Fig
u
r
e
8
.
R
esu
lts
f
o
r
th
e
f
ir
s
t t
est f
o
r
th
e
s
ec
o
n
d
s
ce
n
ar
io
Fig
u
r
e
s
9
an
d
1
0
s
h
o
w
t
h
e
r
es
u
lts
o
f
t
h
e
s
ec
o
n
d
tes
t.
I
n
Fi
g
u
r
e
9
,
it
is
o
b
s
er
v
ed
th
at
at
th
e
b
eg
in
n
i
n
g
,
th
e
r
o
b
o
t
h
ad
f
e
w
in
ter
ac
tio
n
s
(
I
)
,
co
n
ce
n
tr
ated
s
to
p
s
i
n
it
s
o
p
er
atio
n
(
OT
)
in
a
s
h
o
r
t
i
n
ter
v
al
o
f
ti
m
e,
a
n
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
E
mo
tio
n
a
l m
o
d
el
f
o
r
a
mu
lti
-
r
o
b
o
t sys
tem
w
ith
eme
r
g
en
t b
eh
a
vio
r
(
A
n
g
el
Gil
)
229
th
e
d
is
ch
ar
g
e
r
ate
w
as
s
i
m
il
ar
,
in
ad
d
itio
n
to
a
h
ig
h
n
u
m
b
er
o
f
co
llis
io
n
s
(
C
)
.
T
h
is
s
h
o
u
ld
ca
u
s
e
th
at
th
e
e
m
o
t
io
n
al
s
tate
s
h
o
u
ld
b
e
h
ig
h
l
y
n
e
g
ati
v
e
e
m
o
tio
n
.
W
ith
th
e
p
as
s
ag
e
o
f
ti
m
e,
th
e
s
o
cial
ca
p
ac
it
y
o
f
th
e
r
o
b
o
t
s
h
o
u
ld
in
cr
ea
s
e
s
tea
d
il
y
,
th
e
co
lli
s
io
n
s
s
h
o
u
ld
in
cr
ea
s
e
s
lo
w
l
y
s
tab
ilizi
n
g
,
th
e
d
i
s
ch
ar
g
e
r
ate
s
h
o
u
ld
lo
w
,
an
d
al
s
o
th
e
n
u
m
b
er
o
f
s
to
p
s
.
T
h
ese
e
v
en
t
s
s
h
o
u
ld
in
f
lu
e
n
ce
t
h
at
t
h
e
r
o
b
o
t
m
ain
tai
n
s
a
p
o
s
iti
v
e
e
m
o
tio
n
al
s
tate
at
th
e
e
n
d
(
h
i
g
h
in
ter
ac
t
io
n
s
,
s
a
f
e
o
p
er
atio
n
a
n
d
s
tab
le
b
atter
y
ch
ar
g
e
(
B
C
)
)
.
Fig
u
r
e
9
.
E
v
en
t
s
th
at
a
f
f
ec
t t
h
e
s
tatu
s
o
f
t
h
e
r
o
b
o
t d
u
r
in
g
th
e
s
ec
o
n
d
test
o
f
t
h
e
s
ec
o
n
d
s
ce
n
ar
io
Fig
u
r
e
1
0
.
R
esu
lt
s
f
o
r
t
h
e
s
ec
o
n
d
test
f
o
r
t
h
e
s
ec
o
n
d
s
ce
n
ar
io
.
I
n
Fi
g
u
r
e
1
0
,
it
i
s
o
b
s
er
v
ed
t
h
at
at
ti
m
e
ze
r
o
ev
e
n
ts
o
cc
u
r
th
at
lead
th
e
r
o
b
o
t
to
a
h
ig
h
l
y
n
eg
ati
v
e
e
m
o
tio
n
al
s
tate,
an
d
th
e
n
,
a
p
r
o
ce
s
s
b
eg
in
s
t
h
at
in
cr
ea
s
es
its
s
tate
o
f
s
ati
s
f
ac
tio
n
to
s
tab
ilize
in
a
s
tate
h
ig
h
l
y
p
o
s
iti
v
e.
T
h
is
is
e
x
p
la
in
ed
b
y
t
h
e
ev
e
n
t
s
th
a
t
o
cc
u
r
th
at
a
f
f
ec
t
th
e
s
tate
o
f
th
e
r
o
b
o
t
(
s
ee
Fig
u
r
e
9
)
,
w
h
ic
h
co
r
r
o
b
o
r
ates
th
at
o
u
r
em
o
tio
n
al
m
o
d
el
co
n
s
id
er
s
t
h
e
ev
en
t
s
i
n
th
e
co
n
te
x
t
to
d
eter
m
i
n
e
th
e
e
m
o
tio
n
al
s
tate
o
f
t
h
e
r
o
b
o
t.
T
h
e
p
r
ev
io
u
s
test
s
s
h
o
w
t
h
e
e
m
o
tio
n
al
p
r
o
ce
s
s
t
h
at
o
cc
u
r
s
in
a
r
o
b
o
t
d
u
r
in
g
a
p
er
io
d
o
f
ti
m
e,
an
d
h
o
w
t
h
e
ev
e
n
ts
t
h
at
o
cc
u
r
in
th
e
en
v
ir
o
n
m
en
t
d
ef
i
n
e
its
e
m
o
tio
n
al
s
tate.
A
cc
o
r
d
in
g
to
th
e
cu
r
r
en
t
e
m
o
tio
n
al
s
tate,
t
h
e
b
eh
a
v
io
r
o
f
t
h
e
r
o
b
o
t
ca
n
b
e
d
if
f
er
en
t
(
s
ee
s
ec
tio
n
3
)
.
I
f
t
h
e
r
o
b
o
t
h
as
a
p
o
s
it
i
v
e
e
m
o
t
io
n
al
s
tate,
t
h
en
it
w
i
ll
h
av
e
an
i
m
itati
v
e
b
eh
av
io
r
,
as,
f
o
r
e
x
a
m
p
le,
to
e
x
p
lo
r
e;
if
t
h
e
r
o
b
o
t h
as a
h
i
g
h
l
y
n
e
g
ati
v
e
e
m
o
t
io
n
,
th
en
it
w
ill
h
a
v
e
a
r
ea
ctiv
e
b
eh
av
io
r
,
f
o
r
ex
a
m
p
le,
to
a
v
o
i
d
o
b
s
tacle
s
,
an
d
s
o
f
o
r
th
e
r
est
o
f
t
h
e
e
m
o
tio
n
a
l
s
tates.
I
n
t
h
i
s
w
a
y
i
s
g
e
n
er
ate
d
a
n
e
m
er
g
i
n
g
b
eh
a
v
io
r
in
a
r
o
b
o
t,
b
ased
o
n
its
cu
r
r
en
t
e
m
o
tio
n
al
s
tate,
w
h
ich
ca
n
ch
a
n
g
e
d
u
r
in
g
its
o
p
er
atio
n
.
4
.
2
.
Co
m
pa
riso
n w
it
h pre
v
io
us
w
o
rk
s
I
n
th
is
s
ec
tio
n
,
a
q
u
alitati
v
e
c
o
m
p
ar
is
o
n
o
f
th
e
p
r
o
p
o
s
ed
m
o
d
el
w
i
th
p
r
ev
io
u
s
w
o
r
k
s
is
c
ar
r
ied
o
u
t,
f
o
r
w
h
ich
t
h
e
f
o
llo
w
i
n
g
is
t
ak
en
i
n
to
co
n
s
id
er
atio
n
(
s
ee
T
a
b
le
3
)
:
tech
n
iq
u
e
u
s
ed
,
f
ea
tu
r
es
th
a
t
d
ef
in
e
th
e
e
m
o
tio
n
,
an
d
th
e
ap
p
licati
o
n
o
f
th
e
e
m
o
tio
n
al
m
o
d
el.
Evaluation Warning : The document was created with Spire.PDF for Python.