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.
4
,
Dec
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er
201
6
,
p
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.
237
~
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6
In
s
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it
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
4
,
Dec
em
b
er
201
6
:
2
3
7
–
xx
238
2
.
1
.
M
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1
9
DOF
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h
ic
h
is
k
n
o
w
n
as p
itc
h
.
Seco
n
d
Deg
r
ee
: T
h
e
m
o
v
e
m
e
n
t o
f
elb
o
w
in
u
p
an
d
d
o
w
n
p
o
s
itio
n
w
h
ic
h
is
k
n
o
w
n
as e
lb
o
w
p
itc
h
.
T
h
ir
d
Deg
r
ee
: sid
e
to
s
id
e
m
o
v
e
m
e
n
t o
f
th
e
elb
o
w
Fo
u
r
th
De
g
r
ee
: T
h
e
m
o
v
e
m
e
n
t o
f
w
r
i
s
t i
n
u
p
an
d
d
o
w
n
p
o
s
it
io
n
k
n
o
w
n
as
w
r
i
s
t p
itch
Fif
t
h
De
g
r
ee
: T
h
e
m
o
v
e
m
e
n
t
o
f
w
r
i
s
t i
n
a
r
o
tatin
g
p
o
s
it
io
n
k
n
o
w
n
to
b
e
w
r
is
t r
o
ll.
Fin
g
er
s
: 3
DOF
(
p
er
)
f
in
g
er
a
n
d
2
DOF
f
o
r
th
u
m
b
3.
M
O
T
I
VAT
I
O
N
B
o
m
b
s
q
u
ad
o
f
f
icial
s
,
s
o
ld
ie
r
s
r
is
k
t
h
eir
lif
e
w
h
ile
w
o
r
k
i
n
g
f
o
r
th
e
n
a
tio
n
.
Ma
n
y
co
m
p
lex
a
n
d
co
n
tag
io
u
s
m
ed
ical
s
u
r
g
er
ies
ca
n
b
e
p
er
f
o
r
m
ed
w
it
h
h
elp
o
f
h
u
m
a
n
o
id
r
o
b
o
tic
ar
m
.
Als
o
,
p
ar
aly
ze
d
p
atie
n
ts
ca
n
b
e
m
ad
e
i
n
d
ep
en
d
en
t
i
f
th
e
y
ar
e
tau
g
h
t
to
u
s
e
t
h
is
s
y
s
te
m
ef
f
ec
t
iv
el
y
.
Scan
n
i
n
g
an
d
v
er
if
ica
tio
n
o
f
o
f
f
icia
l d
o
cu
m
e
n
t
s
is
an
o
t
h
er
ad
d
ed
f
ea
tu
r
e
w
it
h
0
1
i
m
a
g
e
p
r
o
ce
s
s
in
g
.
Fo
r
s
ev
er
al
d
ec
ad
es
alr
ea
d
y
,
i
n
d
u
s
tr
ial
r
o
b
o
ts
h
av
e
p
r
o
v
ed
th
eir
v
al
u
e
b
y
o
b
tai
n
in
g
h
i
g
h
p
er
f
o
r
m
a
n
ce
i
n
ter
m
s
o
f
s
p
ee
d
,
ac
cu
r
ac
y
an
d
r
elia
b
ilit
y
.
R
o
b
o
ts
ar
e
b
u
ilt
th
at
ev
e
n
h
av
e
n
a
n
o
m
etr
e
p
r
ec
is
io
n
.
T
h
e
co
n
s
tr
u
c
tio
n
s
ar
e
v
er
y
s
t
if
f
,
t
h
e
b
e
h
av
io
r
is
a
l
m
o
s
t
p
e
r
f
ec
tl
y
li
n
ea
r
a
n
d
e
v
er
y
d
eg
r
ee
o
f
f
r
ee
d
o
m
ca
n
in
d
ep
en
d
en
tl
y
b
e
co
n
tr
o
lled
.
Mo
r
eo
v
er
,
th
e
o
p
er
atin
g
en
v
i
r
o
n
m
e
n
t
o
f
t
h
e
r
o
b
o
ts
is
k
n
o
w
n
a
-
p
r
io
r
i
an
d
th
e
n
u
m
b
er
o
f
o
b
j
ec
ts
is
li
m
ited
.
T
h
is
w
a
y
,
r
elat
iv
el
y
s
i
m
p
le
co
n
tr
o
l
tec
h
n
iq
u
es
ca
n
b
e
u
s
ed
to
m
ak
e
e
x
ac
t
p
o
s
itio
n
in
g
p
o
s
s
ib
le.
T
h
e
m
ai
n
i
n
s
p
ir
atio
n
f
o
r
t
h
is
s
y
s
te
m
i
s
„
R
o
b
o
Sall
y
[
1
0
]
[
1
1
]
[
1
2
]
,
a
b
o
m
b
d
i
s
p
o
s
al
r
o
b
o
t
d
ev
elo
p
ed
an
d
u
s
ed
b
y
U.
S.
D
ef
e
n
s
e.
W
it
h
th
e
u
s
e
o
f
u
p
co
m
i
n
g
tec
h
n
o
lo
g
y
an
d
b
y
ad
d
i
n
g
m
u
l
tip
le
f
ea
t
u
r
es,
a
u
s
er
-
f
r
ie
n
d
l
y
s
y
s
te
m
is
d
ev
el
o
p
ed
.
4.
P
RO
B
L
E
M
DE
F
I
NIT
I
O
N
L
i
f
e
o
f
a
h
u
m
a
n
b
ei
n
g
is
th
e
m
o
s
t
p
r
ec
io
u
s
t
h
i
n
g
.
Sti
ll
b
o
m
b
s
q
u
ad
o
f
f
icials
lo
s
e
t
h
eir
l
if
e
d
e
f
u
s
in
g
b
o
m
b
s
,
m
a
n
n
i
n
g
c
h
ec
k
p
o
in
ts
,
s
o
ld
ier
s
lo
s
e
th
eir
lif
e
s
av
i
n
g
th
e
o
th
er
in
j
u
r
ed
s
o
ld
ier
,
d
o
c
to
r
s
&
n
u
r
s
e
s
r
is
k
th
eir
li
f
e
e
x
a
m
in
in
g
co
n
tag
io
u
s
p
atien
t
s
,
a
n
d
s
cie
n
tis
t r
is
k
t
h
eir
lif
e
w
o
r
k
in
g
w
ith
h
ig
h
l
y
r
a
d
io
ac
tiv
e
ele
m
en
t
s
.
Sev
er
al
p
r
ec
au
tio
n
s
ar
e
ta
k
e
n
,
s
till
m
a
n
y
p
eo
p
le
lo
s
e
th
eir
li
f
e.
Ho
w
ev
er
al
l
t
h
ese
j
o
b
s
ca
n
b
e
ef
f
icien
tl
y
d
o
n
e
b
y
a
R
o
b
o
t
if
co
n
tr
o
lled
b
y
a
p
r
o
f
ess
io
n
al.
Gest
u
r
e
C
o
n
tr
o
lled
Se
m
i
-
H
u
m
a
n
o
id
R
o
b
o
t
w
ill
h
elp
to
g
et
o
v
er
th
ese
p
r
o
b
le
m
s
w
i
th
o
u
t r
is
k
in
g
th
e
p
r
ec
io
u
s
l
if
e
o
f
p
eo
p
le
a
n
d
m
a
k
in
g
t
h
e
m
in
d
ep
en
d
e
n
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Wir
ele
s
s
Ges
tu
r
e
C
o
n
tr
o
lled
S
emi
-
Hu
ma
n
o
id
R
o
b
o
t
(
To
s
h
ika
F
eg
a
d
e
)
239
5.
P
RO
B
L
E
M
ST
AT
E
M
E
NT
I
n
th
e
i
n
d
u
s
tr
y
th
e
r
o
b
o
ts
ar
e
u
s
ed
as a
to
o
l to
f
ac
ilit
ate
t
h
e
w
o
r
k
s
o
it is
n
ec
es
s
ar
y
f
o
r
th
e
m
to
s
ati
s
f
y
s
o
m
e
cr
i
ter
ia.
T
h
er
e
ar
e
m
ai
n
p
r
o
b
lem
th
a
t a
r
is
e
in
t
h
e
ex
is
ti
n
g
r
o
b
o
t a
r
m
:
Dif
f
ic
u
lt to
co
n
tr
o
l a
n
d
ti
m
e
co
n
s
u
m
i
n
g
to
co
n
tr
o
l.
T
h
e
p
r
o
j
ec
t
p
r
o
p
o
s
ed
in
th
is
p
ap
er
is
h
av
i
n
g
u
p
p
er
b
o
d
y
s
i
m
ilar
to
h
u
m
an
b
o
d
y
w
it
h
2
ar
m
s
an
d
lo
w
er
b
o
d
y
i
s
r
ep
lace
d
b
y
a
p
latf
o
r
m
,
h
e
n
ce
ca
lled
s
e
m
i
-
h
u
m
a
n
o
id
.
I
t
ca
n
b
e
co
n
tr
o
lled
b
y
co
r
r
esp
o
n
d
in
g
g
est
u
r
es
o
f
o
p
er
ato
r
‟
s
h
a
n
d
an
d
leg
,
ex
ac
tl
y
w
o
r
k
i
n
g
as
a
h
u
m
an
r
o
b
o
t,
m
a
k
i
n
g
it
ea
s
ier
to
co
n
tr
o
l
an
d
f
ast
in
o
p
er
atio
n
.
6.
T
E
CH
N
I
CA
L
RE
Q
U
I
R
E
M
E
NT
S
6
.
1
.
M
icro
co
ntr
o
ller
T
h
e
co
n
tr
o
llin
g
u
n
its
u
s
ed
h
e
r
e
ar
e
b
asicall
y
A
r
d
u
i
n
o
m
e
g
a
[
4
]
&
A
r
d
u
in
o
U
n
o
.
T
h
e
r
o
b
o
tic
ar
m
s
u
s
e
A
r
d
u
i
n
o
Me
g
a
w
h
ile
t
h
e
p
latf
o
r
m
ass
e
m
b
l
y
u
s
e
s
A
r
d
u
i
n
o
Un
o
.
T
h
e
m
icr
o
co
n
tr
o
ller
u
s
ed
in
t
h
e
A
r
d
u
in
o
Me
g
a
i
s
A
T
m
e
g
a2
5
6
0
&
th
a
t
o
f
A
r
d
u
i
n
o
U
n
o
is
A
T
m
eg
a
3
2
8
P
.
Fo
r
ea
ch
r
o
b
o
tic
ar
m
s
t
w
o
A
r
d
u
in
o
Me
g
as
ar
e
r
eq
u
ir
ed
.
On
e
at
tr
an
s
m
it
tin
g
en
d
&
o
t
h
er
at
r
ec
eiv
in
g
en
d
.
Si
m
ilar
l
y
p
latf
o
r
m
a
s
s
e
m
b
l
y
r
eq
u
ir
es
t
w
o
A
r
d
u
i
n
o
Un
o
s
.
I
n
to
tal
w
e
r
eq
u
ir
e
6
A
r
d
u
i
n
o
s
b
o
ar
d
s
.
6
.
2
.
F
lex
s
ens
o
r
[5]
T
h
ey
ar
e
p
as
s
i
v
e
r
esi
s
ti
v
e
d
ev
ices
w
h
ich
g
i
v
es
v
ar
iab
le
r
es
i
s
tan
ce
d
ep
en
d
i
n
g
o
n
t
h
e
b
e
n
d
in
g
r
ad
iu
s
.
T
h
ey
ar
e
a
v
ailab
le
i
n
v
ar
io
u
s
f
o
r
m
at
d
ep
en
d
i
n
g
o
n
th
e
t
y
p
e
o
f
th
e
m
ater
ial
u
s
ed
,
t
h
e
s
ize
o
f
th
e
s
en
s
o
r
&
t
h
e
ap
p
licatio
n
.
I
n
o
u
r
p
r
o
j
ec
t,
w
e
u
s
ed
C
o
n
d
u
ct
iv
e
I
n
k
-
b
ased
,
2
.
2
in
ch
,
u
n
id
ir
ec
tio
n
al
f
le
x
s
e
n
s
o
r
.
W
e
u
s
e
1
f
lex
s
en
s
o
r
f
o
r
ea
ch
f
i
n
g
er
at
th
e
tr
an
s
m
itt
in
g
en
d
.
6
.
3
.
A
cc
eler
o
m
et
er
Sen
s
o
r
[6]
T
h
e
A
DX
L
3
3
5
[6]
is
a
s
m
all,
t
h
in
,
lo
w
p
o
w
er
,
co
m
p
lete
3
-
ax
i
s
ac
ce
ler
o
m
eter
w
i
th
s
i
g
n
a
l c
o
n
d
itio
n
ed
v
o
ltag
e
o
u
tp
u
t
s
.
T
o
tal
7
ac
ce
l
er
o
m
eter
s
u
s
ed
in
t
h
i
s
p
r
o
j
ec
t
ar
e
A
DX
L
3
3
5
.
Fo
r
ea
ch
h
a
n
d
,
w
e
r
eq
u
ir
e
o
n
e
ac
ce
ler
o
m
eter
f
o
r
s
h
o
u
ld
er
m
o
v
e
m
e
n
t,
o
n
e
f
o
r
elb
o
w
m
o
v
e
m
en
t,
o
n
e
f
o
r
w
r
is
t
m
o
v
e
m
e
n
t
an
d
th
e
r
e
m
ai
n
i
n
g
o
n
e
is
u
s
ed
f
o
r
p
latf
o
r
m
m
o
v
e
m
en
t.
6
.
4
.
Rf
m
o
du
le
[
7]
R
F
s
ta
n
d
s
f
o
r
R
ad
io
Fre
q
u
en
c
y
.
T
h
is
m
o
d
u
le
co
n
s
is
t
s
o
f
f
u
r
th
er
t
w
o
p
ar
ts
:
T
r
an
s
m
itter
(
T
x
)
an
d
R
ec
eiv
er
(
R
x
)
.
I
t
is
a
v
ailab
le
in
d
if
f
er
e
n
t
o
p
er
atin
g
f
r
eq
u
e
n
cies
w
it
h
d
if
f
er
e
n
t
o
p
er
atin
g
r
an
g
e.
An
R
F
(
r
ad
io
f
r
eq
u
en
c
y
)
m
o
d
u
le
o
p
er
atin
g
at
4
3
3
MH
z
f
r
eq
u
en
c
y
i
s
u
s
e
d
to
tr
an
s
m
it
an
d
r
ec
eiv
e
r
ad
io
s
ig
n
al
s
b
et
w
ee
n
u
s
er
(
tr
an
s
m
itter
)
an
d
th
e
r
o
b
o
t
(
r
ec
eiv
er
)
.
On
e
R
F
m
o
d
u
le
is
u
s
ed
p
er
ea
ch
h
an
d
&
o
n
e
is
u
s
ed
f
o
r
p
latf
o
r
m
ass
e
m
b
l
y
.
So
to
tal
3
R
F
m
o
d
u
le
p
air
s
ar
e
u
s
ed
.
7.
P
RO
P
O
SE
D
SYS
T
E
M
I
n
th
is
p
ap
er
,
a
r
o
b
o
tic
ar
m
w
ith
1
9
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
(
p
er
ar
m
)
i
s
d
esi
g
n
ed
.
T
h
e
s
y
s
te
m
i
s
ca
teg
o
r
ized
in
to
th
e
f
o
llo
w
in
g
p
ar
ts
:
R
o
b
o
tic
ar
m
s
P
latf
o
r
m
ass
e
m
b
l
y
R
F c
o
m
m
u
n
icatio
n
W
ir
eless
v
id
eo
tr
an
s
m
i
s
s
io
n
7
.
1
.
Ro
bo
t
ic
Ar
m
T
h
e
h
ea
r
t o
f
t
h
is
p
r
o
j
ec
t is th
e
t
w
o
r
o
b
o
tic
ar
m
s
.
T
h
e
s
tr
u
ct
u
r
e
o
f
t
h
is
ar
m
i
s
s
i
m
ilar
to
h
u
m
an
ar
m
.
I
t
is
d
ev
elo
p
ed
in
s
u
ch
a
w
a
y
t
h
at
th
e
co
m
p
le
x
m
o
v
e
m
en
t
s
s
u
ch
as
s
h
o
u
ld
er
u
p
d
o
w
n
,
elb
o
w
u
p
-
d
o
w
n
&
r
i
g
h
t
-
lef
t,
w
r
is
t
u
p
-
d
o
w
n
&
r
o
tatio
n
.
Fin
g
er
s
m
o
v
e
m
e
n
t
is
t
h
e
ad
d
itio
n
al
f
ea
t
u
r
e
o
f
th
i
s
s
y
s
te
m
w
h
ich
i
s
r
ar
el
y
ob
s
er
v
ed
in
th
e
o
th
er
r
o
b
o
tic
ar
m
s
.
T
h
e
ar
m
i
s
eq
u
ip
p
ed
w
it
h
g
est
u
r
e
s
y
n
c
h
r
o
n
ized
s
er
v
o
m
o
to
r
s
.
T
h
e
f
le
x
s
e
n
s
o
r
s
(
m
o
u
n
ted
o
n
f
i
n
g
er
s
)
an
d
ac
ce
ler
o
m
eter
(
m
o
u
n
ted
o
n
w
r
is
t,
elb
o
w
a
n
d
s
h
o
u
ld
er
)
ca
p
tu
r
es
t
h
e
h
a
n
d
g
e
s
t
u
r
es.
A
t
th
e
tr
an
s
m
i
tti
n
g
en
d
R
F
tr
an
s
m
itter
m
o
d
u
le
i
s
in
ter
f
ac
ed
to
th
e
co
n
tr
o
l
u
n
i
t
(
A
r
d
u
i
n
o
)
w
h
ic
h
s
en
s
es
t
h
e
m
o
tio
n
o
f
h
u
m
a
n
g
est
u
r
es
a
n
d
tr
an
s
m
it
it
to
th
e
r
o
b
o
t.
A
t
th
e
r
ec
ei
v
in
g
en
d
R
F
R
ec
eiv
er
m
o
d
u
le
w
ill
r
ec
ei
v
e
th
e
d
ata
an
d
th
i
s
d
ata
is
t
h
e
n
p
r
o
ce
s
s
ed
b
y
a
co
n
tr
o
l
u
n
it
a
n
d
p
ass
ed
o
n
to
r
o
t
ate
th
e
m
o
to
r
s
i
n
a
s
p
ec
ial
co
n
f
ig
u
r
atio
n
to
m
ak
e
th
e
r
o
b
o
t m
o
v
e
in
t
h
e
s
a
m
e
d
ir
ec
tio
n
as t
h
at
o
f
t
h
e
h
u
m
an
g
e
s
tu
r
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
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SS
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RA
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l.
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.
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Dec
em
b
er
201
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7
–
xx
240
Fig
u
r
e
3
.
Han
d
Mo
v
e
m
e
n
t F
lo
w
c
h
ar
t
Fig
u
r
e
4
.
Han
d
ass
e
m
b
l
y
7
.
2
.
P
la
t
f
o
rm
A
s
s
e
m
bly
T
h
e
r
o
b
o
tic
ar
m
s
ar
e
m
o
u
n
ted
o
n
th
e
p
latf
o
r
m
as
s
e
m
b
l
y
.
T
h
is
as
s
e
m
b
l
y
h
as
a
w
o
o
d
en
p
lat
f
o
r
m
w
i
t
h
4
DC
m
o
to
r
s
w
h
ic
h
ar
e
ca
p
ab
le
o
f
h
a
n
d
lin
g
t
h
e
lo
ad
o
f
w
h
o
l
e
r
o
b
o
t.
A
n
ac
ce
ler
o
m
eter
is
p
lace
d
o
n
o
n
e
o
f
t
h
e
u
s
er
‟
s
le
g
.
Dep
en
d
in
g
o
n
t
h
e
leg
g
e
s
tu
r
e
s
a
v
al
u
e
is
s
e
n
t
to
th
e
co
n
tr
o
llin
g
u
n
i
t
(
A
r
d
u
i
n
o
Un
o
)
w
h
ic
h
is
s
itu
a
ted
o
n
th
e
p
latf
o
r
m
ass
e
m
b
l
y
e
n
ab
lin
g
th
e
co
r
r
esp
o
n
d
in
g
p
latf
o
r
m
m
o
tio
n
.
Gest
u
r
es
ar
e
-
Fo
r
w
ar
d
,
B
ac
k
w
ar
d
,
R
i
g
h
t,
L
e
f
t.
B
lo
ck
Diag
r
a
m
:
Fig
u
r
e
5
.
P
latf
o
r
m
Mo
v
e
m
e
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Wir
ele
s
s
Ges
tu
r
e
C
o
n
tr
o
lled
S
emi
-
Hu
ma
n
o
id
R
o
b
o
t
(
To
s
h
ika
F
eg
a
d
e
)
241
Fig
u
r
e
6
.
P
latf
o
r
m
Fig
u
r
e
7
.
Gestu
r
e
co
n
tr
o
l f
o
r
P
latf
o
r
m
7
.
3
.
RF
Co
mm
un
ica
t
io
n
An
R
F
m
o
d
u
le
i
s
u
s
ed
as a
m
e
d
iu
m
f
o
r
co
m
m
u
n
icatio
n
b
et
w
ee
n
u
s
er
an
d
r
o
b
o
t.
Fig
u
r
e
8
.
B
lo
ck
d
iag
r
a
m
f
o
r
c
o
m
m
u
n
icatio
n
s
y
s
te
m
7
.
4
.
Wirele
s
s
Video
T
ra
n
s
m
i
s
s
io
n
A
ca
m
er
a
m
o
d
u
le
is
u
s
ed
a
s
a
r
o
b
o
t
ey
e
en
ab
li
n
g
th
e
u
s
er
to
s
ee
w
h
at
t
h
e
r
o
b
o
t
is
ac
tu
a
ll
y
s
ee
in
g
.
T
h
e
in
f
o
r
m
at
io
n
ca
p
tu
r
ed
b
y
t
h
e
ca
m
er
a
is
s
en
t
w
ir
eless
l
y
to
th
e
u
s
er
‟
s
m
o
b
ile
o
r
lap
to
p
.
Fig
u
r
e
9
.
Vid
eo
ass
e
m
b
l
y
Fig
u
r
e
10
.
R
o
b
o
t stru
ctu
r
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
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0
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IJ
RA
Vo
l.
5
,
No
.
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,
Dec
em
b
er
201
6
:
2
3
7
–
xx
242
8.
RE
SU
L
T
S
8
.
1
.
P
la
t
f
o
rm
E
x
p
lan
atio
n
:
T
h
e
r
an
g
e
f
o
r
ac
ce
ler
o
m
eter
v
alu
e
s
ar
e
tab
u
lated
f
o
r
p
ar
ti
cu
lar
o
b
s
er
v
atio
n
.
T
h
e
p
latf
o
r
m
m
o
v
es
f
o
r
w
ar
d
,
b
ac
k
w
ar
d
,
r
ig
h
t a
n
d
le
f
t
w
it
h
r
esp
ec
t to
th
e
r
ea
d
in
g
s
o
f
ac
ce
l
er
o
m
eter
.
8
.
2
.
Rig
ht
H
a
nd
E
x
p
lan
atio
n
:
T
h
e
ac
ce
ler
o
m
eter
v
al
u
es a
r
e
co
n
v
er
ted
in
to
a
n
g
le
v
al
u
es (
s
p
h
er
ical
co
o
r
d
in
ates)
f
o
r
th
e
e
ase
o
f
o
p
e
r
atio
n
.
An
g
le
X,
Y,
Z
s
ta
n
d
s
f
o
r
s
h
o
u
l
d
er
ac
ce
ler
o
m
eter
an
d
an
g
le
X
1
,
Y1
,
Z
1
f
o
r
w
r
is
t a
cc
eler
o
m
e
t
er
.
T
h
e
r
esp
ec
tiv
e
v
alu
e
s
f
o
r
m
o
v
es a
r
e
tab
u
la
ted
th
at
g
i
v
e
s
r
an
g
e
o
f
o
p
er
atio
n
.
Mo
v
e
1
is
0
o
in
v
er
tical
p
lan
e.
Mo
v
e
2
is
9
0
o
in
v
er
tical
p
lan
e
a
n
d
m
o
v
e
3
is
1
8
0
o
in
v
er
tical
p
lan
e.
8
.
3
.
L
ef
t
H
a
nd
E
x
p
lan
atio
n
:
T
h
e
ac
ce
ler
o
m
eter
v
al
u
es a
r
e
co
n
v
er
ted
in
to
a
n
g
le
v
al
u
es(sp
h
er
ical
co
o
r
d
in
ates)
f
o
r
th
e
ea
s
e
o
f
o
p
er
atio
n
.
An
g
le
X,
Y,
Z
s
ta
n
d
s
f
o
r
s
h
o
u
l
d
er
ac
ce
ler
o
m
eter
an
d
an
g
le
X
1
,
Y1
,
Z
1
f
o
r
w
r
is
t a
cc
eler
o
m
e
t
er
.
T
h
e
r
es
p
ec
tiv
e
v
alu
e
s
f
o
r
m
o
v
es a
r
e
tab
u
la
ted
th
at
g
i
v
e
s
r
an
g
e
o
f
o
p
er
atio
n
.
Mo
v
e
1
is
0
o
in
v
er
tical
p
lan
e.
Mo
v
e
2
is
9
0
o
in
v
er
tical
p
lan
e
a
n
d
m
o
v
e
3
is
1
8
0
o
in
v
er
tical
p
lan
e.
9.
CO
NCLU
SI
O
N
Gestu
r
e
co
n
tr
o
l
is
th
e
m
o
s
t
s
i
m
p
le
an
d
ea
s
y
to
u
s
e
m
et
h
o
d
.
Mu
ltip
le
ap
p
licatio
n
s
with
l
i
m
ited
n
u
m
b
er
o
f
g
e
s
t
u
r
es
w
i
th
h
ig
h
ac
cu
r
ac
y
a
n
d
s
en
s
iti
v
it
y
i
s
v
er
if
ied
.
Si
m
p
le
h
ar
d
w
ar
e
w
it
h
m
icr
o
co
n
tr
o
ller
an
d
s
en
s
o
r
s
ar
e
u
s
ed
to
d
ev
elo
p
th
e
tec
h
n
o
lo
g
y
.
I
n
t
h
i
s
,
p
ap
er
h
as
r
e
v
ie
w
ed
t
h
e
c
h
ar
ac
ter
is
tics
o
f
t
h
e
m
ai
n
m
ec
h
a
n
ical
s
tr
u
ctu
r
e
a
n
d
co
n
s
tr
u
ctio
n
o
f
a
s
e
m
i
-
h
u
m
an
o
id
r
o
b
o
t.
T
h
e
f
i
n
al
s
tep
o
f
t
h
is
r
o
b
o
t
is
au
to
lear
n
er
,
in
t
h
i
s
s
ta
g
e
t
h
i
s
r
o
b
o
t
ca
n
lea
r
n
au
to
m
atica
l
l
y
.
T
h
e
a
s
s
i
s
ti
v
e
r
o
b
o
tic
ar
m
w
ill
m
u
s
t
b
e
ab
le
to
co
n
tr
ib
u
te
m
o
s
t
o
f
th
e
c
h
alle
n
g
e
s
in
o
u
r
d
ail
y
l
if
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Wir
ele
s
s
Ges
tu
r
e
C
o
n
tr
o
lled
S
emi
-
Hu
ma
n
o
id
R
o
b
o
t
(
To
s
h
ika
F
eg
a
d
e
)
243
10.
F
UTU
RE S
CO
PE
T
h
e
p
r
o
p
o
s
ed
d
esig
n
ca
n
b
e
d
ev
elo
p
ed
b
y
m
a
k
i
n
g
it
p
ath
f
i
n
d
er
u
s
in
g
n
e
u
r
al
n
et
w
o
r
k
t
ec
h
n
o
lo
g
y
,
i
m
a
g
e
p
r
o
ce
s
s
i
n
g
f
u
n
ctio
n
s
,
f
ac
e
r
ec
o
g
n
it
io
n
,
s
ca
n
n
i
n
g
,
lea
r
n
in
g
it
f
o
r
a
p
ar
tic
u
lar
ap
p
li
ca
tio
n
u
s
i
n
g
n
eu
r
al
n
et
w
o
r
k
an
d
ar
tif
ic
ial
in
tel
lig
e
n
ce
,
f
o
r
s
ec
u
r
it
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.
GP
S
s
y
s
te
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