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m
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at
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m
p
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r
ac
y
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t
h
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ea
c
h
o
f
th
e
s
o
u
r
ce
s
i
n
d
i
v
id
u
all
y
.
A
n
at
u
r
al
ex
a
m
p
le
o
f
s
e
n
s
o
r
f
u
s
io
n
ca
n
b
e
s
ee
n
i
n
H
u
m
a
n
v
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s
io
n
wh
er
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in
p
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f
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o
m
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y
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ar
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in
ed
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t
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g
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b
y
th
e
o
cc
ip
ital
ce
n
ter
o
f
th
e
b
r
ain
.
Sen
s
o
r
f
u
s
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is
o
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ea
liz
ed
in
s
o
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t
w
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ate
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o
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th
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d
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f
icie
n
ci
es o
f
th
e
i
n
d
iv
id
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e
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s
o
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s
.
R
esear
ch
o
n
s
en
s
o
r
f
u
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io
n
m
e
th
o
d
s
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as
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n
s
tar
ted
as
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r
ly
a
s
1
9
8
0
s
[
1
7
,
1
8
]
.
T
h
e
m
o
s
t
co
m
m
o
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m
et
h
o
d
s
in
r
ec
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t
ti
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e
a
B
ay
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tate
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ti
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ato
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lik
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a
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ar
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tate
f
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m
d
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f
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s
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o
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al,
th
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e
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s
o
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f
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io
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alg
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it
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m
s
ca
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l
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s
i
f
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in
to
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ee
ca
teg
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ies
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ased
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th
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w
a
y
th
e
y
h
a
n
d
le
th
e
co
r
r
elatio
n
a
m
o
n
g
t
h
e
d
ata
f
r
o
m
th
e
d
if
f
er
en
t
s
en
s
o
r
s
.
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h
e
f
ir
s
t
ca
teg
o
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as
s
u
m
e
s
th
er
e
is
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p
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io
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k
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th
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co
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x
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ith
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[
1
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d
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ll
ip
s
o
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in
ter
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tio
n
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g
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ith
m
[
2
0
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Ho
w
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,
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ar
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co
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p
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co
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ate
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ler
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ates i
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lated
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ased
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th
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in
d
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id
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n
s
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v
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lu
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as
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m
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tio
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Ma
tr
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x
F
u
s
io
n
al
g
o
r
ith
m
[
2
1
]
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an
d
m
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d
el
p
ar
a
m
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f
t
h
e
in
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l
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n
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y
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te
m
s
(
as
i
n
C
r
o
s
s
-
C
o
v
ar
ian
ce
Me
th
o
d
[
1
7
]
)
.
T
h
e
th
ir
d
an
d
f
i
n
al
ca
te
g
o
r
y
al
g
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r
ith
m
s
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s
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m
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t t
h
e
c
o
r
r
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n
is
k
n
o
wn
eith
er
p
ar
tiall
y
[
2
2
]
o
r
f
u
ll
y
[
2
3
]
.
Kalm
an
f
ilter
f
alls
u
n
d
er
th
e
s
ec
o
n
d
o
r
th
ir
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te
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d
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o
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th
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m
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ith
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it i
m
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m
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ac
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tate
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d
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n
th
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f
in
d
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v
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n
s
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esti
m
a
tes.
3.
SYST
E
M
DE
SCRI
P
T
I
O
N
T
h
e
s
y
s
te
m
co
m
p
r
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s
es
o
f
t
w
o
in
p
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t
d
ev
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–
L
ea
p
m
o
tio
n
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tr
o
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(
L
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an
d
Sen
s
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(
SG)
m
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Fle
x
s
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s
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s
.
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h
e
o
b
j
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tiv
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to
co
m
b
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n
e
t
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n
p
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d
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a
s
in
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le
r
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f
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n
g
er
tip
p
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s
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d
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T
h
e
L
M
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s
ab
le
to
tr
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k
t
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s
w
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h
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g
h
a
cc
u
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ac
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in
m
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t
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f
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e
ca
s
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s
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h
e
m
aj
o
r
d
r
a
w
b
ac
k
is
t
h
e
p
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f
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cc
lu
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n
.
W
h
e
n
e
v
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th
e
L
M
ca
n
n
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t
v
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s
ib
l
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o
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m
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s
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g
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ip
p
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f
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p
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ed
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w
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g
l
y
m
a
k
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g
it
les
s
r
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f
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c
r
itical
ap
p
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s
.
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h
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p
ar
ticu
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p
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f
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3
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1
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p
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o
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ettin
g
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a
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I
t
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t
w
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f
r
ar
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ca
m
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as
(
s
e
n
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s
)
a
n
d
th
r
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in
f
r
ar
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L
E
Ds
[
2
4
]
.
T
h
e
g
r
a
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ca
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ter
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m
ag
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m
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[
2
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s
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4
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I
n
a
s
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m
ilar
r
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ea
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ch
[
2
6
]
,
r
ep
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m
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s
u
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m
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w
er
e
ta
k
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test
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f
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m
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m
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ta
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ar
d
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ev
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n
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5
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cc
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s
.
3
.
2
.
Sens
o
rize
d G
lo
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e
-
F
lex
Sens
o
rs
Flex
s
e
n
s
o
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s
ar
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an
alo
g
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n
p
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d
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w
h
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s
e
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esi
s
ta
n
ce
ch
an
g
es
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h
e
n
th
e
y
ar
e
b
en
t
b
y
e
x
ter
n
al
f
o
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ce
.
T
h
ey
ca
n
b
e
u
s
ed
to
d
etec
t
f
le
x
io
n
/e
x
te
n
s
io
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o
f
a
Hu
m
an
f
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n
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er
.
B
y
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m
ab
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ical
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ai
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R
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er
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Fig
u
r
e
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,
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e
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o
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ain
s
w
er
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u
t
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o
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th
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n
[
2
7
]
.
Fig
u
r
e
2
.
Hu
m
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1
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2
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r
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3
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(
3
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
en
s
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F
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181
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f
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ases
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ed
b
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eq
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ased
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Den
av
it
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Har
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g
(
D
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n
.
Ho
w
e
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er
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th
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m
eth
o
d
ca
n
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g
iv
e
th
e
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ec
is
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o
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f
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t
ip
in
a
th
r
ee
d
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al
s
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n
ce
ex
ac
t
3
D
p
o
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n
i
s
o
b
tain
ed
b
y
s
u
p
er
i
m
p
o
s
in
g
t
h
e
r
elativ
e
f
i
n
g
er
p
o
s
itio
n
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v
er
th
e
f
in
g
er
b
ase
p
o
s
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n
f
r
o
m
t
h
e
L
ea
p
m
o
tio
n
co
n
tr
o
ller
.
Fo
r
th
e
ex
p
er
i
m
e
n
ts
a
n
d
d
is
cu
s
s
io
n
s
in
t
h
is
p
ap
er
,
a
s
i
m
p
le
ar
r
an
g
e
m
en
t
w
a
s
m
ad
e
as
f
o
llo
w
s
.
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h
r
ee
f
le
x
s
e
n
s
o
r
s
w
er
e
s
titc
h
ed
alo
n
g
th
e
o
u
ter
-
d
o
r
s
al
s
u
r
f
ac
e
o
f
a
g
lo
v
e,
o
n
e
ea
ch
f
o
r
t
h
e
t
h
u
m
b
,
in
d
ex
a
n
d
m
id
d
le
f
i
n
g
er
s
.
A
v
o
ltag
e
d
i
v
id
er
cir
cu
it
w
a
s
attac
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ed
to
t
h
e
b
ac
k
o
f
th
e
h
a
n
d
an
d
t
h
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d
ata
w
a
s
f
ed
to
th
e
P
C
t
h
r
o
u
g
h
an
A
r
d
u
in
o
m
icr
o
co
n
tr
o
ller
k
it.
T
h
is
s
etu
p
w
il
l
b
e
h
en
ce
f
o
r
th
ca
lled
as
th
e
Sen
s
o
r
ized
Glo
v
e
(
SG)
in
th
e
r
e
m
ain
in
g
o
f
t
h
e
s
cr
ip
t.
T
h
is
m
et
h
o
d
is
r
elativ
el
y
c
h
ea
p
er
th
an
o
t
h
er
g
lo
v
e
b
ased
tr
ac
k
in
g
m
et
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o
d
s
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s
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n
g
ac
ce
ler
o
m
eter
s
o
r
m
ec
h
a
n
ical
attac
h
m
en
ts
.
4.
SE
NSO
R
F
U
SI
O
N
–
K
AL
M
AN
F
I
L
T
E
R
Ou
t
o
f
th
e
v
ar
io
u
s
m
e
th
o
d
s
o
f
s
en
s
o
r
f
u
s
io
n
d
escr
ib
ed
in
Se
ctio
n
I
I
,
Kal
m
a
n
f
ilter
is
c
h
o
s
en
f
o
r
t
h
e
ap
p
licatio
n
.
I
t
is
a
r
ec
u
r
s
iv
e
a
lg
o
r
ith
m
w
h
ich
ca
n
b
e
u
s
ed
in
s
en
s
o
r
f
u
s
io
n
ap
p
licatio
n
s
d
u
e
to
its
ab
ilit
y
to
esti
m
ate
t
h
e
au
to
-
co
v
ar
ia
n
ce
v
alu
es
w
ith
in
a
s
o
u
r
ce
o
f
m
ea
s
u
r
e
m
e
n
t.
I
t
i
s
h
e
n
ce
ab
le
to
p
r
o
d
u
ce
a
f
u
s
ed
s
tate
o
f
o
u
tp
u
t
f
r
o
m
n
d
if
f
er
e
n
t
s
e
n
s
o
r
s
w
i
th
m
i
n
i
m
u
m
co
v
ar
ia
n
ce
p
o
s
s
ib
le
[
2
8
]
.
Fo
r
th
e
s
y
s
te
m
in
h
a
n
d
,
th
e
o
u
tp
u
ts
a
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f
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o
m
v
ar
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n
s
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r
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itio
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(
p
x
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M,
p
y
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M,
p
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L
M)
a
n
d
v
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lo
cit
y
(
v
x
L
M,
v
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M,
v
z
L
M)
f
r
o
m
L
M
an
d
p
o
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itio
n
(
p
x
SG,
p
y
SG,
p
zSG)
f
r
o
m
th
e
SG.
C
o
n
s
id
er
th
e
f
o
llo
w
in
g
s
tate
-
s
p
ac
e
m
o
d
el
o
f
a
lin
ea
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ti
m
e
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in
v
ar
ia
n
t s
y
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te
m
in
d
i
s
cr
ete
d
o
m
a
in
(
4
)
,
{
(
4
)
w
h
er
e
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d
d
en
o
te
p
r
o
ce
s
s
n
o
is
e
an
d
m
ea
s
u
r
e
m
en
t
n
o
is
e
r
esp
ec
tiv
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y
.
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h
e
s
y
s
te
m
o
u
tp
u
t
is
g
iv
e
n
by
(
5
)
,
,
-
(
5
)
Sin
ce
t
h
er
e
ar
e
n
o
ex
ter
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al
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o
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r
ce
s
o
f
i
n
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e
n
ce
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n
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h
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u
m
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h
a
n
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m
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n
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e
s
y
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te
m
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p
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t
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n
b
e
ass
u
m
ed
as z
er
o
.
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h
e
s
y
s
te
m
s
tate
s
at
an
y
i
n
s
ta
n
ce
k
ar
e
g
iv
e
n
b
y
(
6
)
,
,
-
(
6
)
w
h
er
e
‘
p’
,
‘
v’
an
d
‘
a
’
d
en
o
te
th
e
p
o
s
i
tio
n
,
v
elo
cit
y
a
n
d
ac
ce
ler
atio
n
alo
n
g
t
h
e
r
e
s
p
ec
tiv
e
ax
es.
Hen
ce
t
h
e
Ob
s
er
v
atio
n
m
atr
i
x
r
elatin
g
t
h
e
s
tates a
n
d
o
u
tp
u
t b
ec
o
m
es
(
7
)
,
[
]
(
7
)
T
h
e
f
ir
s
t
s
i
x
r
o
w
s
o
f
th
e
m
atr
i
x
co
r
r
esp
o
n
d
to
L
M
m
ea
s
u
r
em
en
t
w
h
er
e
as
t
h
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last
t
h
r
ee
r
o
w
s
ar
e
f
o
r
th
e
d
ata
f
r
o
m
S
G.
T
h
e
d
ir
ec
t
io
n
co
s
in
e
m
a
tr
ix
r
elati
n
g
t
h
e
h
an
d
co
o
r
d
in
ate
ax
es
an
d
th
e
w
o
r
ld
co
o
r
d
in
ate
ax
es i
s
g
i
v
en
b
y
(
8
)
,
[
]
(
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
3
,
Sep
tem
b
er
201
7
: 1
7
8
–
18
7
182
w
h
er
e
an
d
d
en
o
tes
th
e
an
g
le
b
etw
ee
n
th
e
i
-
a
x
i
s
in
th
e
h
a
n
d
f
r
a
m
e
an
d
th
e
j
-
a
x
is
in
t
h
e
w
o
r
ld
f
r
a
m
e.
A
cc
o
r
d
in
g
to
lin
ea
r
eq
u
atio
n
s
o
f
m
o
tio
n
,
th
e
r
elatio
n
b
et
w
ee
n
p
o
s
itio
n
,
v
elo
cit
y
a
n
d
ac
ce
ler
atio
n
ar
e
g
iv
e
n
b
y
(9
-
1
0
)
,
̇
̇
̇
(
9
)
{
̇
̇
̇
(
1
0
)
Hen
ce
,
f
o
r
a
s
am
p
li
n
g
ti
m
e
t
,
th
e
s
tate
tr
an
s
i
tio
n
m
a
tr
ix
r
elat
in
g
t
h
e
cu
r
r
en
t
an
d
p
r
ev
io
u
s
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t
ates
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s
d
er
iv
ed
as
(
1
1
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,
[
⁄
⁄
⁄
⁄
⁄
⁄
⁄
⁄
⁄
]
(
1
1
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Ass
u
m
e
p
r
o
ce
s
s
an
d
m
ea
s
u
r
e
m
en
t n
o
is
e
s
to
b
e
w
h
ite
n
o
i
s
es
w
it
h
p
r
o
b
ab
ilit
y
d
en
s
it
y
f
u
n
ct
io
n
s
as
(
1
2
)
,
(
)
(
)
(
)
(
)
(
1
2
)
w
h
er
e
Q
an
d
R
r
ep
r
esen
t
th
e
p
r
o
ce
s
s
n
o
is
e
co
v
ar
ian
ce
a
n
d
m
ea
s
u
r
e
m
e
n
t
n
o
is
e
co
v
ar
ia
n
ce
r
esp
ec
tiv
el
y
.
T
h
e
s
eq
u
en
tial step
s
o
f
Kal
m
an
f
ilt
er
,
in
ea
ch
iter
atio
n
,
ar
e
as f
o
ll
o
w
s
(
1
3
-
16
)
.
1
a
p
r
io
r
i
co
v
ar
ian
ce
esti
m
atio
n
:
,
-
,
-
(
1
3
)
2
Kal
m
a
n
g
ai
n
ca
lc
u
latio
n
:
,
-
*
,
-
+
(
1
4
)
3
State
esti
m
atio
n
:
̂
̂
,
̂
-
(
1
5
)
4
a
p
o
s
teri
o
r
i
co
v
ar
ian
ce
est
i
m
a
tio
n
:
̂
,
-
,
-
,
-
(
1
6
)
T
h
e
p
o
s
itio
n
P
(
)
f
r
o
m
t
h
e
n
e
w
l
y
es
ti
m
a
ted
s
tate
at
i
n
s
ta
n
ce
k
d
e
n
o
te
th
e
f
i
n
a
l
p
o
s
itio
n
as a
r
esu
l
t o
f
t
h
e
s
en
s
o
r
f
u
s
io
n
.
5.
E
XP
E
R
I
M
E
NT
S AN
D
RE
S
UL
T
S
I
n
o
r
d
er
to
p
r
o
v
e
th
e
s
u
p
er
io
r
i
t
y
o
f
t
h
e
p
r
o
p
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ized
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v
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ig
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o
ll
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g
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r
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3
s
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etu
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Kal
m
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il
ter
Eq
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atin
13
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is
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it
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al
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a
s
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m
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lated
3
D
en
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to
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er
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h
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ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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S
en
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lex
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183
also
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lectr
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al
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ter
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u
r
e
3
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y
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te
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ex
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et
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tatic
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f
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o
m
[
2
9
]
th
at
ca
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s
h
o
w
th
e
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lem
o
f
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el
f
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io
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d
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ac
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n
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tiall
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e
p
o
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t
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w
as
k
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t
f
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later
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e
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n
d
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as
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Fig
u
r
es
4
-
7
s
h
o
w
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t
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e
co
m
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ar
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o
n
o
f
r
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t
m
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ar
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MS)
er
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p
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lu
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it
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f
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ed
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ac
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p
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o
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h
r
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et
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r
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r
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h
u
m
b
,
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d
ex
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d
th
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m
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t
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p
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ch
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est
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r
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as s
h
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w
n
i
n
Fi
g
u
r
e
7
w
h
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th
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m
id
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s
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t tr
ac
k
ed
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en
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est
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r
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d
w
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h
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p
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a
w
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m
t
h
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f
th
e
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,
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w
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ates
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ased
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ata
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asic k
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av
io
r
[
2
4
]
.
5
.
1
.
Sp
here
F
o
r
m
a
t
io
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Wit
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T
hree
F
ing
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Sp
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tatic
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cted
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,
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ld
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ical
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etw
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t
h
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m
in
s
et
in
Fig
u
r
e
4
.
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h
en
th
e
o
r
ien
tatio
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ev
er
s
ed
s
o
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at
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m
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t
h
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e
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d
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n
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th
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i
n
d
ex
f
i
n
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s
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tiall
y
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cc
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d
ed
.
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ce
t
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ea
p
m
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tio
n
co
n
tr
o
ller
w
as
n
o
t
ab
le
to
esti
m
ate
th
e
p
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s
itio
n
o
f
th
e
f
i
n
g
er
tip
s
ac
cu
r
atel
y
.
W
h
il
e
th
e
i
n
it
ial
o
r
ien
ta
tio
n
h
ad
s
i
m
ilar
er
r
o
r
v
alu
e
s
f
o
r
b
o
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t
h
e
m
et
h
o
d
s
,
th
e
er
r
o
r
v
al
u
es
o
f
t
h
e
f
i
n
al
o
r
ien
tatio
n
w
er
e
al
m
o
s
t r
ed
u
ce
d
to
h
al
f
b
y
th
e
p
r
o
p
o
s
ed
s
en
s
o
r
f
u
s
io
n
m
e
t
h
o
d
as sh
o
w
n
in
Fig
u
r
e
4
.
5
.
2
.
P
a
ra
llel Ex
t
ens
io
n
T
h
e
P
ar
allel
ex
ten
s
io
n
d
en
o
tes
th
e
ex
te
n
s
io
n
o
f
th
e
t
h
u
m
b
in
p
ar
allel
to
th
e
o
th
er
f
o
u
r
f
in
g
er
s
.
T
h
e
th
u
m
b
lie
s
i
n
a
p
o
s
itio
n
b
et
wee
n
ab
d
u
ctio
n
a
n
d
ad
d
u
ctio
n
.
W
h
en
t
h
e
o
r
ien
tatio
n
is
r
e
v
e
r
s
ed
,
th
e
th
u
m
b
is
en
tire
l
y
o
cc
lu
d
ed
b
y
t
h
e
p
al
m
.
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h
e
p
r
o
p
o
s
ed
m
et
h
o
d
is
ab
le
to
r
ed
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ce
th
e
er
r
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r
p
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n
tag
e
o
f
th
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m
b
p
o
s
itio
n
f
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m
4
%
to
2
%
a
s
s
h
o
w
n
i
n
Fig
u
r
e
5
a
s
li
g
h
t
i
m
p
r
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v
e
m
e
n
t
in
p
o
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itio
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o
f
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e
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th
er
t
w
o
f
i
n
g
er
s
ca
n
also
b
e
o
b
s
er
v
ed
.
5
.
3
.
F
ix
ed
H
o
o
k
G
ra
s
p
(‘OK’
Sig
n
)
T
h
e
f
ix
ed
h
o
o
k
g
r
asp
is
s
i
m
il
ar
to
t
h
e
„
OK‟
s
i
g
n
as
s
h
o
w
n
in
th
e
i
n
s
et
o
f
Fi
g
u
r
e
6
.
T
h
e
th
u
m
b
w
ill
f
ac
e
d
ir
ec
tl
y
to
w
ar
d
s
t
h
e
L
M
d
u
r
in
g
t
h
e
f
ir
s
t
o
r
ien
tatio
n
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n
d
d
ir
ec
tly
a
w
a
y
f
r
o
m
it
in
th
e
r
ev
er
s
ed
o
r
ien
tatio
n
w
h
er
e
it
w
as
e
n
tire
l
y
o
cc
lu
d
ed
b
y
th
e
s
id
e
o
f
th
e
h
a
n
d
.
T
h
e
p
r
o
p
o
s
ed
s
en
s
o
r
f
u
s
io
n
m
et
h
o
d
is
ab
le
to
o
v
er
co
m
e
th
i
s
d
r
a
w
b
ac
k
an
d
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ed
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ce
th
e
er
r
o
r
p
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n
tag
e
to
less
t
h
an
1
% a
s
s
h
o
w
n
in
Fig
u
r
e
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
3
,
Sep
tem
b
er
201
7
: 1
7
8
–
18
7
184
F
ig
u
re
4
.
C
o
m
p
a
riso
n
o
f
RM
S
e
rro
rs o
f
L
M
a
lo
n
e
a
n
d
t
h
e
p
ro
p
o
se
d
S
e
n
so
r
f
u
sio
n
m
e
th
o
d
f
o
r
3
f
in
g
e
r
sp
h
e
re
f
o
rm
a
ti
o
n
F
ig
u
re
5
.
C
o
m
p
a
riso
n
o
f
RM
S
e
rro
rs o
f
L
M
a
lo
n
e
a
n
d
t
h
e
p
ro
p
o
se
d
S
e
n
so
r
f
u
sio
n
m
e
th
o
d
f
o
r
P
a
ra
ll
e
l
e
x
ten
sio
n
5
.
4
.
T
ip
P
inch
T
h
e
tip
p
in
ch
p
o
s
tu
r
e
i
s
ac
h
iev
ed
b
y
j
o
in
in
g
t
h
e
tip
s
o
f
th
e
t
h
u
m
b
an
d
t
h
e
i
n
d
ex
f
i
n
g
er
.
T
h
e
r
e
m
ain
in
g
t
h
r
ee
f
i
n
g
er
s
m
a
y
a
s
s
u
m
e
a
n
y
r
elax
ed
ar
b
itra
r
y
p
o
s
itio
n
.
W
ith
t
h
e
p
al
m
f
ac
i
n
g
a
w
a
y
f
r
o
m
th
e
L
M,
th
e
th
u
m
b
a
n
d
in
d
ex
f
i
n
g
er
s
a
r
e
en
tire
l
y
o
cc
lu
d
ed
b
y
t
h
e
b
ac
k
o
f
th
e
h
an
d
.
A
n
i
n
ter
esti
n
g
o
b
s
er
v
atio
n
f
o
u
n
d
d
u
r
in
g
t
h
is
p
o
s
t
u
r
e
is
th
a
t
th
e
L
M
e
s
ti
m
ates
th
e
p
o
s
it
io
n
o
f
t
h
e
o
cc
lu
d
ed
i
n
d
ex
f
i
n
g
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IJ
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6.
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Gr
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.
RE
F
E
R
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NC
E
S
[1
]
J.
Ko
fm
a
n
,
e
t
a
l
,
"
T
e
leo
p
e
ra
ti
o
n
o
f
a
ro
b
o
t
m
a
n
ip
u
lato
r
u
sin
g
a
v
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n
-
b
a
se
d
h
u
m
a
n
-
ro
b
o
t
in
ter
f
a
c
e
,
"
in
IEE
E
T
ra
n
sa
c
ti
o
n
s o
n
I
n
d
u
strial
El
e
c
tro
n
ics
,
v
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l.
5
2
,
n
o
.
5
,
p
p
.
1
2
0
6
-
1
2
1
9
,
Oc
t.
2
0
0
5
.
[2
]
G
.
Du
,
e
t
a
l
,
“
Hu
m
a
n
-
M
a
n
ip
u
lato
r
In
terf
a
c
e
Us
in
g
P
a
rti
c
le
F
il
ter,”
T
h
e
S
c
ien
ti
f
ic
W
o
rld
Jo
u
r
n
a
l,
v
o
l
.
2
0
1
4
,
A
rti
c
le
ID 6
9
2
1
6
5
,
1
2
p
a
g
e
s,
2
0
1
4
.
[3
]
J
.
Ko
fm
a
n
,
e
t
a
l
.
,
“
Ro
b
o
t
-
M
a
n
ip
u
lato
r
T
e
leo
p
e
ra
ti
o
n
b
y
M
a
rk
e
rles
s
V
isio
n
-
Ba
se
d
Ha
n
d
-
A
rm
T
r
a
c
k
in
g
,
”
In
tern
a
ti
o
n
a
l
Jo
u
rn
a
l
o
f
Op
to
m
e
c
h
a
tro
n
ics
,
v
o
l.
1
,
n
o
.
3
,
p
p
.
3
3
1
-
3
5
7
,
S
e
p
2
0
0
7
[4
]
T
.
Hu
ss
a
in
,
e
t
a
l
,
"
Re
a
l
-
ti
m
e
r
o
b
o
t
-
h
u
m
a
n
in
tera
c
ti
o
n
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y
trac
k
in
g
h
a
n
d
m
o
v
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m
e
n
t
&
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rien
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a
ti
o
n
b
a
se
d
o
n
m
o
rp
h
o
lo
g
y
,
"
IEE
E
In
tern
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
o
n
S
ig
n
a
l
a
n
d
Im
a
g
e
P
ro
c
e
ss
in
g
A
p
p
li
c
a
ti
o
n
s
(I
CS
I
P
A
)
,
Ku
a
la
L
u
m
p
u
r,
2
0
1
1
.
[5
]
G
.
Ca
rid
a
k
is,
e
t
a
l
,
“
S
OMM
:
S
e
lf
o
rg
a
n
izin
g
M
a
rk
o
v
m
a
p
fo
r
g
e
stu
re
re
c
o
g
n
it
i
o
n
"
,
p
re
se
n
t
e
d
a
t
P
a
tt
e
r
n
Re
c
o
g
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it
io
n
L
e
tt
e
rs,
2
0
1
0
,
p
p
.
5
2
-
59
[6
]
G
.
Du
a
n
d
P
.
Zh
a
n
g
,
“
M
a
rk
e
rles
s
h
u
m
a
n
–
ro
b
o
t
i
n
terf
a
c
e
f
o
r
d
u
a
l
r
o
b
o
t
m
a
n
ip
u
lato
rs
u
sin
g
Kin
e
c
t
se
n
so
r,
”
Ro
b
o
ti
c
s an
d
Co
m
p
u
ter
-
In
teg
ra
ted
M
a
n
u
f
a
c
tu
rin
g
,
Vo
l
u
m
e
3
0
,
Iss
u
e
2
,
A
p
ril
2
0
1
4
,
P
a
g
e
s 1
5
0
-
1
5
9
[7
]
S
.
S
a
m
o
il
a
n
d
S
.
N.
Ya
n
u
s
h
k
e
v
ich
,
"
M
u
lt
isp
e
c
tral
h
a
n
d
re
c
o
g
n
it
io
n
u
sin
g
th
e
Ki
n
e
c
t
v
2
se
n
so
r,
"
2
0
1
6
IEE
E
Co
n
g
re
ss
o
n
Ev
o
lu
ti
o
n
a
ry
Co
m
p
u
tatio
n
(C
EC)
,
V
a
n
c
o
u
v
e
r,
BC,
Ca
n
a
d
a
,
2
0
1
6
,
p
p
.
4
2
5
8
-
4
2
6
4
.
[8
]
U.
L
e
e
a
n
d
J.
T
a
n
a
k
a
,
"
Ha
n
d
c
o
n
tr
o
ll
e
r:
Im
a
g
e
m
a
n
ip
u
latio
n
in
terf
a
c
e
u
sin
g
f
in
g
e
rti
p
s
a
n
d
p
a
l
m
tra
c
k
in
g
w
it
h
Kin
e
c
t
d
e
p
t
h
d
a
ta,"
P
ro
c
.
A
sia
P
a
c
if
ic Co
n
f
.
Co
m
p
u
t.
Hu
m
a
n
In
tera
c
t.
,
p
p
.
7
0
5
-
7
0
6
,
2
0
1
2
[9
]
J
-
G
Ha
n
,
e
t
a
l
,
"
En
h
a
n
c
e
d
Co
m
p
u
ter
V
isio
n
w
it
h
M
icro
so
f
t
Kin
e
c
t
S
e
n
so
r
:
A
Re
v
ie
w"
,
IEE
E
T
ra
n
s.
Cy
b
e
rn
e
ti
c
s
,
v
o
l.
4
3
,
n
o
.
5
,
p
p
.
1
3
1
8
-
1
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tern
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[1
7
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Y.
Ba
r
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m
,
"
On
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ro
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,
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[1
8
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J.
A
.
Ro
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,
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"
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
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187
[1
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S
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,
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J.
S
ij
s,
e
t
a
l
,
"
S
tate
f
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sio
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w
it
h
u
n
k
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o
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:
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li
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[2
1
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X
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ian
a
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d
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.
Ba
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lo
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,
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On
a
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a
s
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ro
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2
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In
ter
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1
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[2
2
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H.
Zh
u
,
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t
a
l
,
“
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m
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f
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n
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m
s
in
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e
p
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o
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rt
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k
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o
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ro
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latio
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l
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a
l
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sti
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ti
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rro
rs,”
In
f
.
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u
si
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1
8
,
Ju
ly
2
0
1
4
,
p
p
.
1
8
7
-
1
9
6
.
[2
3
]
Y.
Ba
r
-
S
h
a
lo
m
,
e
t
a
l
,
"
T
h
e
Eff
e
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Co
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P
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No
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so
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,
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in
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ttp
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5
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F
.
W
e
ich
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rt
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t
a
l
,
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p
.
6
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8
0
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3
,
2
0
1
3
.
[2
6
]
J.
G
u
n
a
,
e
t
a
l
,
“
A
n
A
n
a
l
y
si
s
o
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re
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a
n
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Re
li
a
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a
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e
n
so
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n
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Its
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u
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tatic
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p
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0
2
–
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7
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0
,
2
0
1
4
.
[2
7
]
S.
Co
b
o
s,
e
t
a
l,
“
Co
n
stra
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ts
f
o
r
R
e
a
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stic Ha
n
d
M
a
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p
u
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o
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,
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In
P
ro
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2
0
0
7
,
3
6
9
–
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0
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2
0
0
7
.
[2
8
]
K.
H.
Kim
,
"
D
e
v
e
lo
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m
e
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o
f
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to
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k
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u
sio
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a
lg
o
rit
h
m
s,"
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e
rica
n
Co
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l
Co
n
f
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re
n
c
e
,
1
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4
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p
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0
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7
-
1
0
4
1
v
o
l.
1
,
1
9
4
4
.
[2
9
]
T
.
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e
ix
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e
t
a
l
,
"
T
h
e
G
R
A
S
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T
a
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Hu
m
a
n
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r
a
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Ty
p
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s,"
in
IEE
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n
sa
c
ti
o
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s
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u
m
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,
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p
.
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.
2
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6
Evaluation Warning : The document was created with Spire.PDF for Python.