I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
9
,
No
.
2
,
J
u
n
e
2
0
2
0
,
p
p
.
1
4
3
~
1
5
2
I
SS
N:
2089
-
4
8
5
6
,
DOI
: 1
0
.
1
1
5
9
1
/
i
jr
a
.
v
9
i
2
.
pp
1
4
3
-
1
5
2
143
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Desig
ning
a
nd
tes
ting
of
a
sm
a
rt
fir
efighting
dev
ic
e
s
y
stem
(LAH
EE
B
)
Yo
us
ef
Sa
m
k
a
ri
,
K
a
m
el
G
uedri
,
M
o
wf
f
a
q O
re
ij
a
h
,
Sh
a
di M
un
s
hi
,
S
ufy
a
n Az
a
m
De
p
a
rtme
n
t
of
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
Um
m
Al
-
Qu
ra
Un
i
v
e
rsity
,
S
a
u
d
i
Ara
b
ia
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Au
g
16
,
2
0
1
9
R
ev
is
ed
Oct
1
0
,
201
9
Acc
ep
ted
Feb
1
8
,
2
0
2
0
Th
e
m
o
ti
v
a
ti
o
n
b
e
h
i
n
d
t
h
is
p
ro
jec
t
is
th
a
t
firefig
h
ter'
s
d
e
a
th
.
M
a
n
y
firefig
h
ters
a
re
str
u
g
g
li
n
g
to
p
e
rfo
rm
th
e
ir
d
u
t
y
w
h
ich
c
a
u
se
s
m
u
c
h
d
e
a
th
wh
il
e
on
a
m
issio
n
a
n
d
t
h
e
c
ircu
m
sta
n
c
e
s
re
late
d
to
e
a
c
h
in
c
i
d
e
n
t.
F
irefig
h
ters
a
re
our
h
e
ro
e
s
a
n
d
o
u
r
se
n
se
of
se
c
u
rit
y
in
ti
m
e
s
of
tr
o
u
b
le.
Th
e
y
put
t
h
e
m
se
lv
e
s
on
d
a
n
g
e
ro
u
s
situ
a
ti
o
n
s
to
p
ro
tec
t
u
s.
At
p
re
se
n
t,
t
h
e
wo
rld
is
m
o
v
in
g
t
o
wa
rd
t
h
e
u
se
of
tec
h
n
o
lo
g
ies
so
ftwa
re
a
n
d
h
a
rd
wa
re
.
Th
is
p
a
p
e
r
p
ro
p
o
se
d
a
sm
a
rt
firefig
h
ti
n
g
d
e
v
ice
sy
ste
m
(LAHEE
B)
w
h
ich
d
e
sig
n
e
d
to
d
e
tec
t
th
e
so
u
rc
e
of
fire,
e
x
ti
n
g
u
i
sh
it,
a
n
d
i
n
c
re
a
se
th
e
k
n
o
wle
d
g
e
a
b
o
u
t
fire
b
e
h
a
v
i
o
r
fro
m
in
c
i
d
e
n
t
a
re
a
.
Th
is
d
e
v
ice
can
e
x
ti
n
g
u
is
h
d
iffere
n
t
t
y
p
e
s
of
fire
A,
B,
C,
D,
F
/K,
e
lec
tri
c
a
n
d
m
e
tal
fire
with
o
u
t
sp
re
a
d
i
n
g
in
th
e
sh
o
rtes
t
ti
m
e
.
Th
is
d
e
v
ice
will
re
d
u
c
e
th
e
risk
of
in
j
u
ry
f
o
r
firefig
h
ters
a
n
d
p
o
ss
i
b
le
v
ictims
a
n
d
d
e
c
re
a
se
th
e
m
o
n
e
tary
lo
ss
e
s
wh
ich
in
c
re
a
se
c
o
n
sid
e
ra
b
ly
as
fire
d
u
ra
ti
o
n
i
n
c
re
a
se
s.
LAHEEB
d
e
v
ice
is
c
o
n
sists
of
two
p
a
rts.
Th
e
f
irst
p
a
rt
is
c
a
ll
e
d
th
e
m
id
-
cap
wh
ic
h
p
re
se
n
t
e
d
th
e
b
o
d
y
of
th
e
d
e
v
ice
t
h
a
t
h
a
s
m
o
st
of
th
e
c
o
m
p
o
n
e
n
ts
su
c
h
as
se
n
so
rs
,
re
lay
s,
b
a
tt
e
ry
,
se
rv
o
m
o
t
o
r,
li
q
u
i
d
tan
k
,
p
u
sh
-
b
u
t
to
n
,
a
n
d
Ard
u
i
n
o
.
Th
e
s
e
c
o
n
d
p
a
rt
is
c
a
ll
e
d
t
h
e
b
o
t
to
m
-
cap
wh
ich
p
re
se
n
ted
th
e
m
o
v
in
g
p
a
rt
of
t
h
e
d
e
v
ice
th
a
t
h
a
s
th
e
sig
n
ifi
c
a
n
t
c
o
m
p
o
n
e
n
ts
of
LAHEEB
su
c
h
as
se
rv
o
m
o
to
r,
s
p
ra
y
e
r,
a
n
d
th
e
rm
a
l
c
a
m
e
ra
.
It
a
lso
m
a
k
e
s
u
se
of
li
q
u
id
-
tan
k
a
n
d
s
p
ra
y
m
e
c
h
a
n
ism
fo
r
e
x
ti
n
g
u
ish
i
n
g
t
h
e
fire.
Th
e
sp
ra
y
in
g
n
o
z
z
le
is
m
o
u
n
ted
on
a
se
rv
o
m
o
t
o
r
to
c
o
v
e
r
m
a
x
imu
m
a
re
a
.
Li
q
u
i
d
-
e
x
t
in
g
u
is
h
e
r
is
p
u
m
p
e
d
fr
o
m
th
e
m
a
in
tan
k
to
th
e
n
o
se
wit
h
th
e
h
e
lp
of
a
p
u
m
p
.
Th
e
wh
o
le
sy
ste
m
is
p
ro
g
ra
m
m
e
d
u
sin
g
an
Ar
d
u
i
n
o
DUE
b
o
a
r
d
wh
ich
fo
rm
s
t
h
e
b
ra
i
n
of
th
e
s
y
ste
m
.
K
ey
w
o
r
d
s
:
E
x
tin
g
u
is
h
in
g
Fire
f
ig
h
tin
g
R
o
b
o
t
R
o
b
o
tics
Saf
ety
T
h
is
is
an
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC
BY
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Yo
u
s
ef
Sam
k
ar
i,
Dep
ar
tm
en
t
of
Me
ch
an
ical
E
n
g
in
ee
r
in
g
,
Um
m
Al
-
Qu
r
a
Un
iv
er
s
ity
,
Al
T
aif
R
o
ad
,
Ma
k
k
a
h
2
4
3
8
2
,
Sau
d
i
Ar
ab
ia.
E
m
ail:
jo
s
ep
h
s
am
k
ar
i@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Ar
tific
ial
in
tellig
en
ce
is
a
s
u
b
ject
th
at
will
be
u
s
ef
u
l
in
m
an
y
in
d
u
s
tr
ies
,
w
h
ile
a
r
o
b
o
t
is
a
m
ac
h
in
e
th
at
p
er
f
o
r
m
task
s
u
s
u
ally
h
u
m
an
do
it.
T
h
e
f
ir
s
t
u
s
es
of
m
o
d
er
n
r
o
b
o
ts
wer
e
in
f
ac
to
r
ies
as
in
d
u
s
tr
ial
r
o
b
o
ts
.
It
is
a
m
ac
h
in
e
with
m
an
u
f
ac
t
u
r
in
g
task
s
,
wh
ic
h
allo
wed
p
r
o
d
u
ctio
n
with
o
u
t
t
h
e
n
ee
d
f
o
r
h
u
m
a
n
ass
is
tan
ce
[
1
]
.
T
h
e
r
o
b
o
ts
d
iv
id
e
d
in
to
s
ev
er
al
g
r
o
u
p
s
s
u
ch
as
tele
-
r
o
b
o
ts
,
telep
r
esen
ce
,
m
o
b
ile
r
o
b
o
ts
,
an
d
a
u
to
n
o
m
o
u
s
r
o
b
o
ts
[
1
]
.
T
eler
o
b
o
tic
or
telep
o
r
tatio
n
is
a
tech
n
ical
n
am
e
g
iv
e
n
to
an
y
h
a
n
d
led
d
ev
ice
d
o
in
g
o
p
er
atio
n
s
co
n
tr
o
lled
by
th
e
o
p
er
ato
r
,
u
n
lik
e
th
e
r
o
b
o
ts
,
th
e
T
ele
-
r
o
b
o
ts
ar
e
r
estricte
d
b
ased
on
h
o
w
th
e
o
p
er
ato
r
h
as
a
lim
ited
r
an
g
e
of
f
u
n
ctio
n
a
n
d
co
m
m
an
d
s
co
m
p
ar
e
to
th
e
r
o
b
o
ts
.
T
ele
o
p
er
atio
n
k
n
o
w
n
as
telep
r
esen
ce
,
th
e
h
u
m
a
n
o
p
e
r
ato
r
,
h
as
a
s
en
s
e
of
b
ein
g
on
lo
ca
tio
n
so
th
at
th
e
ex
p
er
ien
ce
r
esem
b
les
v
ir
tu
al
r
ea
lity
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
N
o
.
2
,
J
u
n
e
2
0
2
0
:
143
–
1
5
2
144
A
telep
r
esen
ce
r
o
b
o
t
is
s
im
ilar
to
a
teler
o
b
o
t,
an
d
t
h
e
o
n
ly
d
if
f
er
en
ce
is
p
r
o
v
id
i
n
g
a
d
ata
r
esp
o
n
s
e,
s
u
ch
as
v
id
eo
a
n
d
s
o
u
n
d
.
T
h
e
r
ef
o
r
e
,
telep
r
esen
ce
r
o
b
o
ts
c
o
m
m
o
n
ly
u
s
ed
in
m
a
n
y
f
ield
s
r
e
q
u
ir
in
g
m
o
n
ito
r
in
g
p
r
o
ce
d
u
r
es,
s
u
ch
as
ch
ild
s
er
v
ices
in
n
u
r
s
er
y
an
d
ed
u
ca
tio
n
[
2
]
.
T
h
e
m
o
b
ile
r
o
b
o
t
is
r
eq
u
i
r
in
g
h
u
m
an
b
ei
n
g
s
to
n
av
ig
ate
an
d
ca
r
r
y
out
task
s
[
3
]
,
wh
ile
au
to
n
o
m
o
u
s
r
o
b
o
ts
can
p
er
f
o
r
m
th
e
task
in
d
ep
en
d
e
n
tly
with
o
u
t
th
e
in
v
o
lv
em
en
t
of
h
u
m
a
n
b
ein
g
s
[
4
]
.
Mo
r
e
o
v
er
,
th
e
i
n
d
u
s
tr
ial
r
o
b
o
ts
ar
e
m
u
lti
-
f
u
n
ctio
n
m
an
ip
u
lato
r
s
d
esig
n
ed
f
o
r
more
s
p
ec
if
ic
m
ater
ials
,
to
o
ls
,
or
d
ev
ices
th
r
o
u
g
h
n
u
m
er
o
u
s
p
r
o
g
r
am
m
ati
c
d
r
iv
es
to
p
er
f
o
r
m
s
ev
er
al
task
s
[
5
]
.
Ma
n
y
s
tu
d
ies
an
d
p
r
o
jects
h
av
e
s
h
o
wn
t
h
at
r
o
b
o
t
can
be
v
alu
ab
le
in
m
ed
icin
e
[
6
]
,
r
escu
e
o
p
er
atio
n
[
7
,
8
]
,
in
d
u
s
tr
y
[
9
]
a
n
d
r
eh
a
b
ilit
atio
n
[
1
0
-
1
2
]
.
T
h
e
u
s
e
of
r
o
b
o
ts
is
in
cr
ea
s
in
g
an
d
b
ec
o
m
e
m
o
r
e
co
m
m
o
n
to
d
a
y
th
an
ev
e
r
b
ef
o
r
e,
a
n
d
th
e
f
ir
e
ex
tin
g
u
is
h
er
r
o
b
o
t
b
ec
o
m
es
e
s
s
en
tial
to
p
r
o
tect
h
u
m
an
life
.
T
h
e
r
o
b
o
t
can
d
etec
t
an
d
e
x
tin
g
u
is
h
a
f
ir
e
by
its
elf
[
1
3
]
.
T
h
e
r
e
ar
e
m
a
n
y
p
r
o
jects
r
elate
d
to
f
ir
ef
ig
h
ter
r
o
b
o
tics
h
av
e
b
ee
n
s
tu
d
ied
th
r
o
u
g
h
th
is
p
r
o
ject
to
co
m
p
ar
e,
im
p
r
o
v
e,
d
e
v
elo
p
th
e
s
tu
d
y
of
th
e
s
m
ar
t
f
ir
ef
ig
h
ti
n
g
Dev
ice
(
L
AHE
E
B
)
.
T
h
e
f
o
llo
win
g
r
o
b
o
ts
ar
e
s
o
m
e
ex
am
p
les
u
s
ed
to
f
ig
h
t
a
f
ir
e
in
d
if
f
er
en
t
ap
p
licatio
n
s
,
m
o
s
t
of
th
em
h
av
e
ad
v
a
n
tag
es
an
d
d
is
ad
v
an
tag
es
th
a
t
h
elp
ed
to
im
p
r
o
v
e
th
is
s
tu
d
y
.
A
s
m
ar
t
f
ir
ef
ig
h
tin
g
r
o
b
o
t
s
y
s
tem
(
L
AHHB)
[
1
4
]
,
t
h
is
p
ap
er
p
r
o
v
id
es
a
d
etail
d
escr
ip
tio
n
of
th
e
s
m
ar
t
s
y
s
tem
th
at
h
elp
to
b
u
ild
th
e
f
ir
ef
ig
h
tin
g
r
o
b
o
t.
T
h
is
r
o
b
o
t
h
as
m
an
y
ad
v
an
tag
e
s
to
d
etec
t
d
if
f
e
r
en
t
ty
p
es
of
f
ir
e
a
n
d
av
o
id
o
b
s
tacl
es.
Mo
r
eo
v
er
,
it
h
elp
s
to
put
o
u
t
th
e
s
o
u
r
ce
of
th
e
f
ir
e
in
a
s
h
o
r
test
tim
e.
Fro
m
th
is
co
n
ce
p
t
th
e
L
AHE
E
B
d
ev
ice
is
lu
n
ch
ed
in
o
r
d
er
to
c
o
m
b
in
e
all
f
u
n
ctio
n
s
with
s
o
m
e
n
ew
f
ea
tu
r
es
s
u
ch
as
a
th
er
m
al
ca
m
er
a
to
m
ak
e
t
h
e
d
ev
ice
ev
en
more
ac
cu
r
ate
an
d
p
r
ec
is
e
in
d
etec
tin
g
f
ir
e
a
n
d
v
ictim
s
in
ar
ea
.
Vir
tu
al
r
ea
lity
s
im
u
lat
io
n
of
f
i
r
ef
ig
h
tin
g
r
o
b
o
t
[
1
5
]
,
t
h
is
s
y
s
t
em
d
ev
elo
p
e
d
in
MA
T
L
AB
/Si
m
u
lin
k
.
It
p
lace
d
f
o
r
i
n
itial
test
in
g
of
c
o
n
tr
o
l
al
g
o
r
ith
m
s
.
T
h
is
p
r
o
je
ct
clea
r
ly
s
h
o
we
d
th
at
th
e
r
o
b
o
t
d
o
es
not
h
av
e
en
o
u
g
h
lev
el
of
f
u
n
ctio
n
ality
,
b
ec
au
s
e
of
lo
w
-
d
etailed
v
ali
d
atio
n
of
e
n
v
ir
o
n
m
en
t.
T
h
e
r
o
b
o
t
c
o
u
ld
o
p
er
ate
o
n
ly
in
f
r
ee
s
p
ac
e
with
o
u
t
o
b
s
tacle
s
.
T
h
is
r
o
b
o
t
wo
r
k
e
d
as
a
f
ir
e
f
ig
h
tin
g
r
o
b
o
t
in
h
o
u
s
es,
an
d
an
y
m
u
n
icip
al
b
u
ild
in
g
s
c
alled
Fire
p
r
o
tectio
n
R
o
b
o
t.
In
[
1
6
]
th
e
r
e
is
a
d
etailed
d
escr
ip
tio
n
of
u
s
in
g
th
e
ab
s
o
l
u
te
tim
e
f
ir
e
f
ig
h
tin
g
a
p
p
r
en
tice
wh
ich
m
o
v
es
in
an
a
f
f
iliated
s
p
ee
d
,
an
aly
ze
t
h
e
b
laze
,
an
d
ag
ain
ex
tin
g
u
is
h
it
with
th
e
ad
v
ice
of
p
u
m
p
in
g
m
ec
h
an
is
m
.
T
h
e
p
r
im
ar
y
s
y
s
tem
'
s
ad
v
an
tag
es
ar
e
d
etec
tin
g
f
ir
e
by
co
m
p
le
x
alg
o
r
ith
m
s
,
u
s
in
g
n
av
ig
atio
n
an
d
u
s
in
g
of
a
s
o
u
n
d
s
en
s
o
r
f
o
r
ac
tiv
atin
g
,
wh
ile
t
h
e
m
ai
n
d
is
ad
v
an
ta
g
es
ar
e
a
l
o
w
-
ef
f
icien
cy
c
o
m
p
u
te
r
,
lo
w
-
p
o
wer
f
r
am
e,
an
ab
s
en
ce
of
m
ap
p
in
g
a
n
d
r
et
u
r
n
-
b
ac
k
.
Fire
f
ig
h
tin
g
r
o
b
o
t
[
1
7
]
is
a
r
o
b
o
t
th
at
wo
r
k
ed
o
n
ly
15
m
in
u
te
s
an
d
th
en
r
etu
r
n
ed
to
th
e
s
u
p
p
ly
s
tatio
n
ar
ea
.
T
h
is
p
r
in
cip
le
is
o
n
e
of
t
h
e
g
r
ea
t
ap
p
licatio
n
s
f
o
r
f
ir
ef
i
g
h
tin
g
t
h
at
f
it
in
n
o
n
-
in
d
u
s
tr
ial
b
u
ild
in
g
s
s
u
c
h
as
h
o
u
s
es.
T
h
e
m
ain
d
is
ad
v
an
ta
g
es
ar
e
th
e
little
p
er
io
d
of
wo
r
k
in
g
tim
e
an
d
lo
w
s
to
r
ag
e
of
w
ater
p
r
o
v
id
ed
.
Po
k
ey
th
e
f
ir
e
-
f
ig
h
tin
g
r
o
b
o
t
is
th
e
r
o
b
o
t
th
at
lis
ted
f
o
r
co
e
m
p
tio
n
a
n
d
got
im
p
r
o
v
ed
.
In
[
1
8
]
t
h
er
e
is
a
d
etailed
d
escr
ip
tio
n
of
b
asic
alg
o
r
ith
m
s
of
o
p
e
r
atin
g
an
d
th
e
u
s
er
e
q
u
ip
m
e
n
t.
T
h
e
r
o
b
o
t
e
q
u
ip
p
ed
wit
h
s
en
s
o
r
s
s
u
ch
as
a
lin
e
-
s
en
s
o
r
,
but
it
d
o
es
n
o
t
wo
r
k
v
e
r
y
well
in
a
d
en
s
e
s
m
o
k
e
ar
ea
.
T
h
e
ad
v
a
n
tag
es
of
th
is
r
o
b
o
t
is
u
s
in
g
of
co
m
p
lex
f
ir
ef
ig
h
tin
g
to
o
l
a
n
d
t
wo
ty
p
es
of
f
ir
e
s
en
s
o
r
s
.
On
th
e
o
th
er
h
a
n
d
,
th
e
d
is
ad
v
a
n
tag
es
ar
e
wo
r
k
i
n
g
in
a
s
h
o
r
t
d
is
tan
ce
p
ac
ed
on
t
h
e
s
en
s
o
r
s
r
a
n
g
e
less
th
an
1
.
5
m
,
also
th
e
ab
s
en
ce
of
o
p
tical
m
ea
n
s
of
en
v
ir
o
n
m
e
n
t
p
er
ce
p
tio
n
an
d
lo
w
ef
f
icien
cy
of
th
e
co
m
p
u
ter
.
In
th
is
p
ap
er
,
a
s
m
ar
t
f
ir
ef
ig
h
t
in
g
d
e
v
ice
(
L
AHE
E
B
)
p
r
o
p
o
s
ed
b
ec
a
u
s
e
f
ir
ef
i
g
h
ter
s
p
lay
a
s
ig
n
if
ican
t
r
u
le
in
s
o
cieties
th
er
ef
o
r
e
m
a
n
y
s
tu
d
ies
ar
e
d
is
cu
s
s
ed
on
th
e
u
s
e
of
d
ev
ice
to
m
in
im
ize
f
ir
ef
ig
h
ter
s
'
in
ju
r
ies
an
d
lo
s
s
es
as
well
as
in
cr
ea
s
in
g
ef
f
icien
cy
,
sa
f
ety
,
a
n
d
q
u
ality
of
th
e
task
an
d
its
p
r
o
ce
d
u
r
es
[
1
9
]
.
T
h
e
p
r
im
ar
y
f
u
n
ctio
n
of
th
is
d
ev
ice
is
to
d
etec
t
th
e
s
o
u
r
ce
of
d
if
f
er
en
t
ty
p
es
of
f
ir
e,
ex
tin
g
u
is
h
it
an
d
in
cr
ea
s
e
th
e
k
n
o
wled
g
e
ab
o
u
t
f
ir
e
b
e
h
av
io
r
f
r
o
m
th
e
in
cid
en
t
ar
e
a.
T
h
er
e
ar
e
s
ev
er
al
ex
is
tin
g
ty
p
es
of
r
o
b
o
t
f
o
r
f
ir
ef
ig
h
tin
g
at
h
o
m
e
a
n
d
e
x
tin
g
u
is
h
f
o
r
est
f
ir
es
[
2
0
]
.
By
u
s
in
g
s
u
ch
r
o
b
o
ts
,
f
ir
e
i
d
en
ti
f
icatio
n
an
d
r
escu
e
ac
tiv
ities
can
ac
co
m
p
lis
h
with
h
ig
h
er
s
ec
u
r
ity
a
n
d
with
o
u
t
p
lacin
g
f
ir
ef
i
g
h
ter
s
at
h
ig
h
r
is
k
an
d
d
an
g
er
o
u
s
co
n
d
itio
n
s
.
2.
M
E
T
H
O
DO
L
O
G
Y
In
th
is
s
ec
tio
n
,
th
e
m
eth
o
d
o
l
o
g
y
p
r
o
ce
d
u
r
es
d
iv
id
ed
in
to
t
h
r
ee
p
ar
ts
.
All
p
ar
ts
wer
e
ass
em
b
led
to
ac
co
m
p
lis
h
th
e
f
u
n
ctio
n
of
d
etec
tin
g
f
ir
e,
ex
tin
g
u
is
h
it
a
n
d
in
cr
ea
s
e
th
e
k
n
o
wled
g
e
a
b
o
u
t
f
ir
e
b
e
h
av
io
r
.
T
h
e
f
ir
s
t
p
ar
t
is
t
h
e
m
ec
h
an
icals
d
esig
n
s
tr
u
ctu
r
e
of
th
e
d
ev
ice
b
o
d
y
.
T
h
e
s
ec
o
n
d
p
ar
t
is
a
h
ar
d
war
e
im
p
lem
en
tatio
n
of
th
e
u
s
ed
p
a
r
ts
,
wh
ile
th
e
th
ir
d
is
th
e
s
o
f
tw
ar
e
d
esig
n
d
etails.
2
.
1
.
M
ec
ha
nica
l
Des
ig
n
Str
uct
ur
e
So
lid
W
o
r
k
s
s
o
f
twar
e
is
u
s
ed
to
p
r
o
d
u
ce
a
3D
s
ch
em
atic
d
iag
r
am
of
th
e
b
o
tto
m
-
cap
of
th
e
s
m
ar
t
f
ir
ef
ig
h
tin
g
d
e
v
ice
(
L
AHE
E
B
)
as
s
h
o
wn
in
Fig
u
r
e
1.
Als
o
,
it
is
u
s
ed
to
p
r
esen
t
t
h
e
m
i
d
-
cap
as
s
h
o
wn
in
Fig
u
r
e
2.
T
h
e
m
ain
s
tr
u
ctu
r
e
is
co
n
s
is
t
in
g
of
two
p
ar
ts
:
th
e
b
o
tto
m
-
cap
an
d
th
e
m
id
-
ca
p
.
T
h
e
th
ick
n
ess
of
th
e
b
o
d
y
is
2mm.
T
h
e
s
h
ap
e
of
th
e
d
e
v
ice
is
m
ad
e
f
r
o
m
alu
m
in
u
m
allo
y
to
p
r
o
tect
th
e
elec
tr
o
n
ic
cir
cu
it.
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
-
4
8
5
6
Desig
n
in
g
a
n
d
test
in
g
o
f a
s
m
a
r
t fir
efig
h
tin
g
d
ev
ice
s
ystem
(
LAHE
E
B
)
(
Yo
u
s
ef
S
a
mka
r
i
)
145
T
h
e
s
u
r
f
ac
e
is
s
m
o
o
th
a
n
d
p
ai
n
ted
.
T
h
e
allo
y
s
h
ee
t
is
r
esis
tan
t
to
th
e
h
ea
t
of
up
to
2
0
0
C
[
2
1
]
.
T
h
e
b
o
d
y
of
alu
m
in
u
m
co
n
tai
n
s
h
o
les
th
at
m
ak
e
it
ea
s
ier
to
th
e
m
o
u
n
tin
g
of
f
lam
e
s
en
s
o
r
s
all
ar
o
u
n
d
th
e
d
ev
ice
to
d
etec
t
f
ir
e
im
m
ed
iately
as
s
h
o
wn
in
Fig
u
r
e
3.
B
u
ild
in
g
th
e
d
e
v
ice
is
g
o
i
n
g
th
r
o
u
g
h
p
r
o
ce
d
u
r
es
of
b
u
ild
in
g
th
e
m
id
-
cap
b
eg
in
with
cu
ttin
g
alu
m
in
u
m
s
h
ee
ts
,
p
r
ess
in
g
th
em
to
p
er
f
o
r
m
a
s
tr
aig
h
t
s
h
ap
e,
an
d
th
en
attac
h
in
g
th
em
to
g
et
h
er
.
Nex
t,
b
u
ild
in
g
h
o
les
to
f
ix
f
lam
e
s
en
s
o
r
on
t
h
em
.
T
h
en
,
p
er
f
o
r
m
d
r
y
p
u
tty
to
p
r
ep
ar
e
th
e
d
ev
ice
f
o
r
th
e
p
ain
t.
T
h
e
two
ca
p
s
attac
h
ed
to
g
eth
e
r
by
s
er
v
o
m
o
to
r
an
d
s
h
af
t
as
s
h
o
wn
in
th
e
f
o
llo
win
g
Fig
u
r
e
3,
a
d
es
ig
n
of
a
co
m
p
lete
L
AHE
E
B
d
ev
ice
u
s
in
g
So
lid
wo
r
k
s
with
d
im
en
s
io
n
s
.
T
h
e
a
s
s
em
b
ly
p
r
o
ce
d
u
r
es
ar
e
p
r
ep
a
r
ed
s
tep
by
s
tep
an
d
test
ed
to
m
ak
e
s
u
r
e
ev
er
y
th
in
g
wo
r
k
an
d
p
er
f
o
r
m
co
r
r
ec
tly
.
Nex
t,
p
lacin
g
th
e
t
h
er
m
al
c
am
er
a,
liq
u
id
tan
k
,
b
atter
y
,
f
lam
e
s
en
s
o
r
s
,
r
elay
,
s
er
v
o
m
o
to
r
,
an
d
cir
cu
it
b
o
ar
d
.
Af
ter
ass
em
b
lin
g
all
p
a
r
ts
on
th
e
d
ev
ice
as
s
h
o
wn
in
Fig
u
r
e
4
.
Fig
u
r
e
1.
3D
Stru
ctu
r
e
of
a
b
o
tto
m
-
cap
of
L
AHE
E
B
u
s
in
g
So
lid
wo
r
k
s
Fig
u
r
e
2.
3D
Stru
ctu
r
e
of
a
m
i
d
-
cap
L
AHE
E
B
u
s
in
g
So
lid
W
o
r
k
s
Fig
u
r
e
3.
A
d
esig
n
of
a
co
m
p
lete
L
AHE
E
B
d
ev
ice
u
s
in
g
So
lid
wo
r
k
s
Fig
u
r
e
4.
A
s
m
ar
t
f
i
r
ef
ig
h
tin
g
d
ev
ice
s
y
s
tem
(
L
AHE
E
B
)
2
.
2
.
H
a
rdwa
re
I
m
plem
ent
a
t
io
n
T
h
er
e
ar
e
s
ev
er
al
p
ar
ts
of
elec
tr
o
n
ics
th
at
h
elp
in
d
ev
elo
p
in
g
L
AHE
E
B
s
u
ch
as
s
en
s
o
r
s
,
m
icr
o
co
n
tr
o
ller
,
DC
m
o
to
r
s
,
Mo
to
r
d
r
i
v
er
,
s
er
v
o
m
o
to
r
s
an
d
p
u
m
p
.
Fig
u
r
e
5
s
h
o
ws
th
e
b
lo
c
k
d
iag
r
am
of
L
AHE
E
B
p
r
o
ce
s
s
wh
ich
co
n
s
is
ts
of
th
e
in
p
u
t
of
f
lam
e
s
en
s
o
r
an
d
th
er
m
al
ca
m
er
a
,
Ar
d
u
in
o
DUE
as
th
e
m
icr
o
co
n
tr
o
ller
,
s
er
v
o
m
o
t
o
r
an
d
p
u
m
p
as
o
u
tp
u
t
to
m
o
v
e
liq
u
id
-
ex
tin
g
u
is
h
er
o
u
t
of
th
e
tan
k
.
a.
Flam
e
s
en
s
o
r
s
:
T
h
e
f
lam
e
s
e
n
s
o
r
,
as
s
h
o
w
n
in
Fig
u
r
e
6
,
is
ab
le
to
d
etec
t
a
f
lam
e
by
s
en
s
in
g
lig
h
t
wav
elen
g
th
b
etwe
en
760
an
d
1100
n
an
o
m
eter
s
.
T
h
e
d
is
tan
c
e
is
r
an
g
e
b
etwe
en
20
to
1
0
0
c
m
.
T
h
e
d
etec
tio
n
an
g
le
is
60
d
e
g
r
ee
s
[
2
2
]
.
b.
Ser
v
o
m
o
t
o
r
s
:
Ser
v
o
s
ar
e
u
s
ed
to
o
p
er
ate
r
em
o
te
-
c
o
n
tr
o
ll
ed
or
r
ad
io
-
co
n
tr
o
lled
to
y
ca
r
s
,
r
o
b
o
ts
,
an
d
air
p
lan
es.
Ser
v
o
m
o
to
r
s
c
o
n
t
r
o
lled
by
s
en
d
in
g
an
elec
tr
i
ca
l
p
u
ls
e
of
v
ar
iab
le
wid
th
or
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
,
th
r
o
u
g
h
t
h
e
co
n
tr
o
l
wir
e
[
2
3
]
.
A
s
er
v
o
m
o
to
r
h
as
90
d
eg
r
ee
s
in
eith
er
d
ir
ec
tio
n
f
o
r
a
to
tal
of
1
8
0
-
d
eg
r
ee
m
o
v
em
e
n
t.
c.
Flu
id
Pu
m
p
:
T
h
e
Flu
id
p
u
m
p
is
a
r
elev
an
t
s
ec
tio
n
in
th
is
r
o
b
o
t
as
it
will
pump
f
ir
e
ter
m
in
ate
f
lu
id
to
ex
tin
g
u
is
h
th
e
f
ir
e
im
m
e
d
iately
no
m
atter
wh
at
is
th
e
class
of
f
ir
e
th
at
o
cc
u
r
s
.
T
h
e
f
lu
id
u
s
ed
b
ec
au
s
e
it
h
as
a
p
r
o
v
e
n
ce
r
tific
ate
f
o
r
e
x
tin
g
u
is
h
in
g
all
ty
p
es
of
f
ir
e.
A
v
er
y
s
m
all
-
s
ize
an
d
lig
h
t
-
weig
h
t
pump
is
th
e
r
ea
s
o
n
f
o
r
s
elec
tin
g
t
h
e
p
u
m
p
in
th
is
p
r
o
ject
[
2
4
]
.
T
h
e
w
o
r
k
in
g
v
o
ltag
e
f
o
r
th
is
p
u
m
p
is
ar
o
u
n
d
4
V
to
12
V,
an
d
th
e
wo
r
k
in
g
cu
r
r
e
n
t
is
1
A.
d.
T
h
er
m
al
C
am
er
a:
T
h
e
h
u
m
a
n
ey
e
ca
n
o
n
l
y
s
ee
a
s
lig
h
t
p
ar
t
of
t
h
e
elec
tr
o
m
a
g
n
etic
s
p
ec
tr
u
m
,
so
t
h
at
h
u
m
an
s
ca
n
n
o
t
s
ee
u
ltra
v
io
le
t
lig
h
t
an
d
in
f
r
ar
ed
.
T
h
er
m
al
im
ag
in
g
,
as
s
h
o
wn
in
Fig
u
r
e
7
,
is
u
s
ed
as
a
v
alu
ab
le
d
ia
g
n
o
s
tic
to
o
l
f
o
r
elec
tr
ical
an
d
m
ec
h
a
n
ical
ap
p
l
icatio
n
s
[
2
5
]
.
1
0
0
m
m
76
mm
2
6
0
mm
1
2
6
m
m
Bot
t
om
c
ap
T
herm
a
l
C
am
era
sp
r
ay
e
r
M
id
-
c
ap
F
la
m
e
se
n
sor
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
N
o
.
2
,
J
u
n
e
2
0
2
0
:
143
–
1
5
2
146
Fig
u
r
e
5.
B
lo
ck
Diag
r
am
of
L
AHE
E
B
Fig
u
r
e
6.
Flam
e
s
en
s
o
r
Fig
u
r
e
7.
T
h
er
m
al
ca
m
e
r
a
2
.
3
.
So
f
t
wa
re
des
ig
n
det
a
ils
Ov
er
th
e
y
ea
r
s
Ar
d
u
i
n
o
h
as
b
ee
n
th
e
b
r
ain
of
m
an
y
p
r
o
j
ec
ts
,
f
r
o
m
p
r
im
a
r
y
o
b
jects
to
co
m
p
le
x
s
cien
tific
in
s
tr
u
m
en
ts
[
2
6
,
2
7
].
Ar
d
u
in
o
DUE
u
s
ed
in
th
is
p
r
o
ject
f
o
r
p
r
o
g
r
am
m
in
g
as
s
h
o
wn
in
Fig
u
r
e
8.
Fo
r
p
r
o
g
r
a
m
m
in
g
th
e
m
icr
o
co
n
tr
o
ller
s
,
th
e
Ar
d
u
in
o
p
r
o
v
id
es
an
in
teg
r
ated
d
e
v
elo
p
m
e
n
t
en
v
ir
o
n
m
en
t
(
I
DE
)
b
ased
on
Pro
ce
s
s
in
g
lan
g
u
ag
e
am
o
n
g
with
C
an
d
C
++
la
n
g
u
ag
es.
A
r
d
u
in
o
is
u
s
ed
in
th
is
p
r
o
ject
b
ec
a
u
s
e
in
ex
p
en
s
iv
e,
cr
o
s
s
-
p
latf
o
r
m
in
m
an
y
o
p
er
atin
g
s
y
s
tem
s
,
s
im
p
le,
clea
r
p
r
o
g
r
am
m
in
g
e
n
v
ir
o
n
m
en
t
an
d
it
h
as
an
o
p
en
s
o
u
r
ce
Ar
d
u
in
o
I
DE
wh
i
ch
m
ak
es
it
ea
s
y
to
wr
ite
co
d
e
an
d
u
p
lo
ad
it
to
th
e
b
o
ar
d
.
Fig
u
r
e
8.
Ar
d
u
in
o
DUE
m
icr
o
co
n
tr
o
ller
3.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
A
s
m
ar
t
f
ir
ef
ig
h
tin
g
d
ev
ice
(
L
AHE
E
B
)
h
as
b
ee
n
d
ev
elo
p
e
d
an
d
s
u
cc
ess
f
u
lly
can
d
etec
t
th
e
s
o
u
r
ce
of
f
ir
e,
ex
tin
g
u
is
h
it,
an
d
in
cr
ea
s
e
th
e
k
n
o
wled
g
e
ab
o
u
t
f
ir
e
b
e
h
av
io
r
f
r
o
m
in
cid
en
t
ar
ea
.
L
A
HE
E
B
can
f
in
d
th
e
s
o
u
r
ce
of
f
ir
e
by
u
s
in
g
a
f
iv
e
-
ch
an
n
el
f
lam
e
s
en
s
o
r
an
d
u
ltra
s
o
n
ic
s
en
s
o
r
.
T
h
e
f
lam
e
s
en
s
o
r
u
s
ed
to
d
etec
t
f
ir
e
an
d
its
lo
ca
tio
n
.
All
s
en
s
o
r
s
ar
e
co
n
n
ec
ted
to
Ar
d
u
i
n
o
DU
E
am
o
n
g
with
p
u
m
p
an
d
s
er
v
o
m
o
to
r
s
to
co
n
tr
o
l
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
-
4
8
5
6
Desig
n
in
g
a
n
d
test
in
g
o
f a
s
m
a
r
t fir
efig
h
tin
g
d
ev
ice
s
ystem
(
LAHE
E
B
)
(
Yo
u
s
ef
S
a
mka
r
i
)
147
th
e
m
o
v
em
e
n
t
of
th
e
d
ev
ice
in
360
an
d
90
up
an
d
d
o
wn
.
If
th
e
f
lam
e
s
en
s
o
r
d
etec
ts
th
e
f
i
r
e,
th
e
s
er
v
o
m
o
to
r
will
s
to
p
.
T
h
e
p
u
m
p
will
s
tar
t
to
r
ea
ct
to
p
u
s
h
th
e
f
ir
e
ter
m
in
ato
r
f
lu
id
in
th
e
s
o
u
r
ce
of
t
h
e
f
ir
e.
Flam
e
an
d
th
er
m
al
d
etec
tio
n
ar
e
th
e
two
t
y
p
es
of
d
etec
tio
n
th
at
p
er
f
o
r
m
e
d
th
is
p
r
o
ject.
T
h
e
f
lam
e
d
etec
tio
n
test
is
wo
r
k
ed
f
r
o
m
s
ev
en
f
lam
e
s
en
s
o
r
s
th
at
b
u
i
lt
on
L
AHE
E
B
d
ev
ice
to
d
et
ec
t
all
th
e
r
an
g
e
of
a
r
o
o
m
,
th
e
test
is
r
u
n
n
in
g
by
co
m
p
ar
in
g
th
e
s
ev
en
s
en
s
o
r
s
,
so
th
e
h
ig
h
v
al
u
e
is
u
s
ed
to
move
th
e
s
er
v
o
to
th
e
p
o
s
itio
n
of
th
e
th
at
f
la
m
e
a
n
d
ce
n
ter
in
g
th
e
f
ir
e
s
o
u
r
ce
as
s
h
o
wn
in
Fig
u
r
e
9.
T
h
r
ee
test
s
ar
e
o
p
er
ated
to
en
s
u
r
e
th
at
th
e
d
ev
ice
p
r
o
v
i
d
e
an
ac
cu
r
ate
r
esu
lt,
Fig
u
r
e
s
10
an
d
11
s
h
o
w
th
e
ab
ilit
y
of
th
e
d
e
v
ice
to
p
u
t
out
th
e
f
ir
s
t
s
o
u
r
ce
of
f
ir
e
,
a
n
d
th
en
m
o
v
ed
to
th
e
s
ec
o
n
d
s
o
u
r
ce
of
f
ir
e
a
n
d
s
tar
t
f
ir
ef
ig
h
t
it.
Af
ter
th
at,
th
e
d
ev
ice
also
d
etec
ts
th
e
t
h
ir
d
s
o
u
r
ce
of
f
ir
e
a
n
d
t
u
r
n
th
e
p
u
m
p
on.
T
h
e
f
ig
u
r
e
clea
r
ly
s
h
o
ws
how
th
e
b
o
tto
m
-
cap
tu
r
n
to
th
e
s
o
u
r
ce
of
f
i
r
e
by
u
s
in
g
f
lam
e
a
n
d
th
er
m
a
l
ca
m
er
a.
Af
ter
th
at,
th
e
d
ev
ice
ch
ec
k
s
th
e
s
o
u
r
ce
an
d
ce
n
ter
th
e
s
p
r
ay
e
r
to
p
u
m
p
th
e
f
ir
e
ter
m
in
at
o
r
,
Fig
u
r
e
12
s
h
o
w
h
o
w
th
e
d
ev
ice
p
u
m
p
s
t
h
e
liq
u
i
d
th
r
o
u
g
h
s
p
r
ay
e
r
a
n
d
how
th
e
tr
ad
itio
n
al
f
ir
ef
i
g
h
tin
g
s
y
s
tem
d
o
es
not
s
en
s
e
th
e
f
ir
e
at
all.
T
h
er
m
al
Dete
ctio
n
is
co
n
s
id
er
ed
one
of
th
e
m
o
s
t
im
p
o
r
ta
n
t
test
s
in
th
i
s
d
ev
ice
s
in
ce
t
h
e
ca
m
er
a
b
r
in
g
s
th
e
h
i
g
h
r
eso
lu
tio
n
s
d
ata
an
d
an
ac
cu
r
ate
r
esu
lt
as
well.
T
h
e
id
ea
is
to
ch
ec
k
if
th
e
f
ir
e
is
r
ea
lly
ex
is
tin
g
ac
co
r
d
in
g
to
f
lam
e
s
e
n
s
o
r
d
etec
tio
n
or
n
o
t.
M
o
r
eo
v
er
,
it
g
iv
es
a
c
o
r
r
ec
t
lo
ca
tio
n
an
d
h
elp
to
r
ec
o
r
d
th
e
s
it
u
atio
n
,
so
it
will
h
elp
to
know
wh
at
th
e
r
ea
s
o
n
of
t
h
e
f
ir
e
is
.
T
esti
n
g
th
e
th
er
m
al
ca
m
er
a
o
p
er
atio
n
r
u
n
s
th
r
o
u
g
h
Ma
tlab
to
id
e
n
tify
h
o
w
ca
m
er
a
wo
r
k
s
,
an
d
how
t
h
e
in
f
o
r
m
atio
n
c
o
u
ld
be
u
s
ef
u
l
in
th
e
d
e
v
ice
to
d
etec
t
th
e
s
o
u
r
ce
of
th
e
f
ir
e
with
its
lo
ca
tio
n
.
Fig
u
r
e
13
s
h
o
ws
th
e
Ma
tlab
r
esu
lt
an
d
how
it
s
ee
s
th
e
s
u
r
f
ac
es
of
th
e
o
b
ject,
it
also
s
h
o
ws
th
e
s
o
u
r
ce
of
f
ir
e
with
th
e
h
u
m
a
n
d
etec
tio
n
as
well.
Usi
n
g
th
is
p
ar
ticu
lar
th
er
m
al
ca
m
er
a
co
u
ld
h
elp
to
d
et
ec
t
th
e
f
ir
e
v
er
y
ea
s
ily
an
d
q
u
ick
ly
,
Fig
u
r
es
14
-
16
also
s
o
m
e
ex
p
e
r
im
en
ts
th
at
h
elp
to
test
th
e
q
u
ality
of
th
e
th
er
m
al
ca
m
er
a
.
Fig
u
r
es
14
-
16
s
h
o
w
how
th
e
ca
m
er
a
s
ee
s
th
e
f
ir
e
an
d
how
th
e
ca
m
er
a
s
ee
s
h
u
m
an
s
am
o
n
g
with
th
e
f
ir
e.
T
h
ese
two
ex
p
er
im
en
ts
not
o
n
l
y
h
elp
to
d
etec
t
t
h
e
f
ir
e
but
also
to
d
etec
t
if
th
e
r
e
is
a
v
ictim
in
t
h
e
f
ir
e
a
r
ea
,
wh
i
ch
will
co
n
s
id
er
a
r
ea
lly
im
p
o
r
ta
n
t
in
f
o
r
m
atio
n
to
be
s
en
d
to
f
ir
ef
i
g
h
ter
s
.
T
o
s
u
m
up,
a
s
m
ar
t
f
ir
ef
ig
h
tin
g
d
ev
ice
s
y
s
tem
(
L
AHE
E
B
)
c
an
f
in
d
th
e
s
o
u
r
ce
of
f
ir
e
by
u
s
in
g
s
ev
en
f
lam
e
s
en
s
o
r
s
an
d
th
er
m
al
ca
m
er
a.
T
h
e
f
lam
e
s
en
s
o
r
u
s
ed
to
d
etec
t
f
ir
e
an
d
its
lo
ca
tio
n
w
h
ile
th
er
m
al
u
s
ed
to
d
etec
t
th
e
e
x
ac
t
lo
ca
tio
n
an
d
m
ak
e
s
u
r
e
th
er
e
is
a
f
ir
e.
T
h
e
p
r
o
ce
d
u
r
e
of
t
h
e
d
e
v
ice
in
d
et
ec
tin
g
is
d
escr
ib
ed
clea
r
ly
in
th
e
f
l
o
wch
ar
t
of
s
m
ar
t
f
ir
ef
i
g
h
tin
g
d
ev
ice
(
L
A
HE
E
B
)
as
s
h
o
wn
in
Fig
u
r
e
17.
All
s
en
s
o
r
s
an
d
ca
m
er
a
ar
e
co
n
n
ec
te
d
to
Ar
d
u
in
o
DUE
am
o
n
g
with
p
u
m
p
an
d
s
er
v
o
m
o
to
r
s
to
co
n
tr
o
l
th
e
m
o
v
em
en
t
of
th
e
b
o
tto
m
-
ca
p
.
If
a
n
y
f
lam
e
s
en
s
o
r
d
etec
ts
th
e
f
ir
e,
th
e
s
er
v
o
m
o
t
o
r
will
go
to
th
at
lo
c
atio
n
,
th
en
th
er
m
al
ca
m
er
a
will
ch
ec
k
an
d
th
e
p
u
m
p
s
tar
t
p
u
s
h
in
g
th
e
f
ir
e
te
r
m
i
n
ato
r
f
lu
i
d
in
th
e
s
o
u
r
ce
of
th
e
f
ir
e.
Fig
u
r
e
9.
A
v
iew
of
th
e
f
ir
s
t
test
of
ex
am
in
e
th
e
f
ir
e
in
s
id
e
th
e
r
o
o
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
N
o
.
2
,
J
u
n
e
2
0
2
0
:
143
–
1
5
2
148
Fig
u
r
e
10.
A
v
iew
of
a
s
ec
o
n
d
ex
am
in
e
of
th
e
f
ir
e
in
s
id
e
th
e
r
o
o
m
Fig
u
r
e
11.
A
v
iew
of
a
th
ir
d
e
x
am
in
e
of
th
e
f
ir
e
i
n
s
id
e
th
e
r
o
o
m
Fig
u
r
e
12.
T
h
e
d
ev
ice
p
u
m
p
in
g
th
e
liq
u
id
to
th
e
f
i
r
e
s
o
u
r
ce
t
h
r
o
u
g
h
s
p
r
a
y
er
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
-
4
8
5
6
Desig
n
in
g
a
n
d
test
in
g
o
f a
s
m
a
r
t fir
efig
h
tin
g
d
ev
ice
s
ystem
(
LAHE
E
B
)
(
Yo
u
s
ef
S
a
mka
r
i
)
149
Fig
u
r
e
13.
T
esti
n
g
th
e
th
e
r
m
al
ca
m
er
a
r
esu
lts
by
u
s
in
g
Ma
tlab
Fig
u
r
e
14.
T
h
er
m
al
ca
m
er
a
test
of
d
etec
tin
g
t
h
e
s
u
r
f
ac
e
of
th
e
h
u
m
an
an
d
t
h
e
s
o
u
r
ce
of
f
ir
e
Fig
u
r
e
15.
T
h
er
m
al
ca
m
er
a
test
of
d
etec
tin
g
t
h
e
s
o
u
r
ce
of
f
i
r
e
an
d
h
u
m
an
h
an
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
N
o
.
2
,
J
u
n
e
2
0
2
0
:
143
–
1
5
2
150
Fig
u
r
e
16.
T
h
er
m
al
ca
m
er
a
test
of
d
etec
tin
g
t
h
e
s
o
u
r
ce
of
f
i
r
e
an
d
h
u
m
an
h
an
d
Fig
u
r
e
17.
Flo
wch
ar
t
of
s
m
ar
t
f
ir
ef
ig
h
tin
g
d
ev
ice
s
y
s
tem
(
L
AHE
E
B
)
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
-
4
8
5
6
Desig
n
in
g
a
n
d
test
in
g
o
f a
s
m
a
r
t fir
efig
h
tin
g
d
ev
ice
s
ystem
(
LAHE
E
B
)
(
Yo
u
s
ef
S
a
mka
r
i
)
151
4.
CO
NCLU
SI
O
N
In
th
e
p
r
esen
t
wo
r
k
,
th
e
d
esig
n
in
g
an
d
test
in
g
of
a
s
m
ar
t
f
ir
ef
ig
h
tin
g
d
ev
ice
s
y
s
tem
(
L
AHE
E
B
)
h
ad
b
ee
n
d
is
cu
s
s
ed
.
T
h
e
a
b
o
v
e
d
ev
ice
is
d
esig
n
ed
to
d
etec
t
th
e
s
o
u
r
ce
of
f
ir
e,
e
x
tin
g
u
i
s
h
it,
an
d
in
cr
ea
s
e
th
e
k
n
o
wled
g
e
ab
o
u
t
f
ir
e
b
eh
av
io
r
f
r
o
m
in
cid
en
t
ar
ea
.
Fro
m
th
e
e
x
p
er
im
e
n
tal
r
esu
lts
,
a
s
m
ar
t
f
ir
e
-
f
ig
h
tin
g
d
ev
ice
(
L
AHE
E
B
)
h
as
ac
h
ie
v
ed
its
aim
a
n
d
o
b
jectiv
e
s
u
cc
e
s
s
f
u
lly
.
T
h
e
d
ev
ice
d
ev
el
o
p
ed
to
h
elp
f
ir
ef
ig
h
ter
s
in
th
eir
d
u
ty
.
It
h
as
ad
v
an
tag
eo
u
s
f
ea
tu
r
es
s
u
ch
as
th
e
ab
il
ity
to
d
etec
t
th
e
s
o
u
r
ce
of
f
ir
e,
ex
tin
g
u
is
h
it
an
d
in
cr
ea
s
e
th
e
k
n
o
wled
g
e
ab
o
u
t
f
ir
e
b
eh
av
i
o
r
f
r
o
m
th
e
i
n
cid
en
t
ar
ea
.
L
AHE
E
B
can
ex
tin
g
u
is
h
d
if
f
er
e
n
t
ty
p
es
of
f
ir
e
A,
B,
C,
D,
F/K,
elec
tr
ic
an
d
m
etal
f
ir
e
with
o
u
t
s
p
r
ea
d
in
g
in
th
e
s
h
o
r
test
tim
e.
T
h
is
r
o
b
o
t
will
r
ed
u
ce
th
e
r
is
k
of
in
ju
r
y
f
o
r
f
ir
ef
ig
h
ter
s
an
d
p
o
s
s
ib
le
v
ictim
s
a
n
d
d
ec
r
ea
s
e
th
e
m
o
n
etar
y
lo
s
s
es
wh
ich
in
cr
ea
s
e
co
n
s
id
er
ab
ly
as
f
i
r
e
d
u
r
atio
n
in
cr
ea
s
es.
L
AHE
E
B
also
can
av
o
id
h
itti
n
g
o
b
s
tacle
s
or
s
u
r
r
o
u
n
d
in
g
o
b
jects
by
u
s
in
g
s
en
s
o
r
s
.
RE
F
E
R
E
NC
E
S
[1
]
Ro
b
o
tS
h
o
p
Distrib
u
ti
o
n
I
n
c
.
Hist
o
ry
of
R
o
b
o
ti
c
s:
Ti
m
e
li
n
e
,
2
0
0
8
.
[2
]
F.
Ta
n
a
k
a
,
et
al
.,
“
Tele
p
re
se
n
c
e
ro
b
o
t
h
e
l
p
s
c
h
i
ld
re
n
in
c
o
m
m
u
n
ica
ti
n
g
wit
h
tea
c
h
e
rs
wh
o
sp
e
a
k
a
d
iffere
n
t
lan
g
u
a
g
e
,
”
in
Pr
o
c
e
e
d
in
g
s
of
t
h
e
2
0
1
4
ACM
/I
EE
E
in
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
on
Hu
m
a
n
-
ro
b
o
t
i
n
ter
a
c
ti
o
n
,
Biele
fe
ld
,
G
e
r
m
a
n
y
,
2
0
1
4
,
p
p.
3
9
9
-
4
0
6
.
[3
]
E.
H.
Ha
rik
a
n
d
A.
Ko
rsa
e
th
,
“
C
o
m
b
in
i
n
g
He
c
to
r
S
LAM
a
n
d
Arti
ficia
l
P
o
te
n
ti
a
l
F
ield
fo
r
Au
t
o
n
o
m
o
u
s
Na
v
i
g
a
ti
o
n
In
sid
e
a
G
re
e
n
h
o
u
se
,
”
R
o
b
o
ti
c
s
,
v
o
l.
7
,
no.
2
,
p
p.
22,
2
0
1
8
.
[4
]
H.
S
in
g
h
,
“
De
sig
n
a
n
d
De
v
e
l
o
p
m
e
n
t
of
an
Au
t
o
n
o
m
o
u
s
Ro
b
o
t,
”
2
0
1
9
.
[5
]
J.
Lee
,
et
al
.,
“
In
d
u
strial
r
o
b
o
t
c
a
li
b
ra
ti
o
n
m
e
th
o
d
u
si
n
g
d
e
n
a
v
i
t
—
Ha
ten
b
e
rg
p
a
ra
m
e
ters
,
”
in
1
7
th
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
Co
n
tro
l
,
A
u
to
m
a
ti
o
n
a
n
d
S
y
ste
ms
(ICCAS
)
,
2
0
1
7
,
p
p
.
1
8
3
4
-
1
8
3
7
.
[6
]
S.
Je
e
lan
i,
et
al
.,
“
Ro
b
o
ti
c
s
a
n
d
m
e
d
icin
e
:
A
sc
ien
ti
fic
ra
in
b
o
w
in
h
o
s
p
it
a
l
,
”
J
o
u
r
n
a
l
of
Ph
a
rm
a
c
y
&
Bi
o
a
ll
ied
S
c
ien
c
e
s
,
v
o
l
.
7
,
n
o
.
S
u
p
p
l
2
,
p
p.
S
3
8
1
-
S
3
8
3
,
2
0
1
5
.
[7
]
M.
Yu
s
o
f
a
n
d
T.
Do
d
d
,
“
P
a
n
g
o
li
n
:
A
Va
riab
le
G
e
o
m
e
try
Trac
k
e
d
Ve
h
icle
with
In
d
e
p
e
n
d
e
n
t
Trac
k
Co
n
tro
l,
”
Fi
e
l
d
Ro
b
o
ti
c
s
,
pp.
9
1
7
-
9
2
4
,
2
0
1
7
.
[8
]
C.
Xin
,
et
al
.,
“
De
sig
n
a
n
d
Im
p
lem
e
n
tatio
n
of
De
b
r
is
S
e
a
rc
h
a
n
d
Re
sc
u
e
R
o
b
o
t
S
y
ste
m
Ba
se
d
on
In
tern
e
t
of
Th
in
g
s,
”
in
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
on
S
ma
rt
Gr
i
d
and
El
e
c
trica
l
Au
to
m
a
ti
o
n
(IC
S
GEA)
,
p
p
.
3
0
3
-
3
0
7
,
2
0
1
8
.
[9
]
C.
-
P.
Da
y
,
“
R
o
b
o
ti
c
s
in
In
d
u
str
y
—
Th
e
ir
R
o
le
in
In
tell
ig
e
n
t
M
a
n
u
f
a
c
tu
rin
g
,
”
E
n
g
i
n
e
e
rin
g
,
v
o
l
.
4
,
no.
4
,
p
p
.
4
4
0
-
4
4
5
,
2
0
1
8
.
[1
0
]
M.
Aliff,
S.
Do
h
ta,
a
n
d
T.
Ak
a
g
i,
“
S
imp
le
Traje
c
to
r
y
Co
n
tr
o
l
M
e
th
o
d
of
R
o
b
o
t
Arm
Us
in
g
F
l
e
x
ib
le
P
n
e
u
m
a
ti
c
Cy
li
n
d
e
rs
,
”
J
o
u
r
n
a
l
of
Ro
b
o
ti
c
s
a
n
d
M
e
c
h
a
tr
o
n
ics
,
v
o
l
.
27
,
n
o
.
6
,
p
p
.
6
9
8
-
7
0
5
,
2
0
1
5
.
[1
1
]
M.
Aliff,
S.
Do
h
ta,
a
n
d
T.
A
k
a
g
i,
“
Co
n
tr
o
l
a
n
d
a
n
a
l
y
sis
of
sim
p
l
e
-
stru
c
tu
re
d
ro
b
o
t
a
rm
u
sin
g
fle
x
ib
le
p
n
e
u
m
a
ti
c
c
y
li
n
d
e
rs
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
of
A
d
v
a
n
c
e
d
a
n
d
A
p
p
li
e
d
S
c
ien
c
e
s
,
v
o
l
.
4
,
n
o
.
12
,
p
p
.
1
5
1
-
1
5
7
,
2
0
1
7
.
[1
2
]
M.
Aliff,
S.
D
o
h
ta,
a
n
d
T.
Ak
a
g
i,
“
Co
n
tro
l
a
n
d
a
n
a
ly
sis
of
r
o
b
o
t
a
r
m
u
sin
g
flex
i
b
le
p
n
e
u
m
a
ti
c
c
y
li
n
d
e
r
,
”
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
J
o
u
rn
a
l
,
v
o
l.
1
,
n
o
.
5
,
p
p
.
DR0
0
5
1
-
DR0
0
5
1
,
2
0
1
4
.
[1
3
]
A
.
Dh
u
m
a
tk
a
r,
e
t
a
l
.
,
“
Au
t
o
m
a
ti
c
F
ire
F
i
g
h
ti
n
g
R
o
b
o
t
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
Rec
e
n
t
Res
e
a
rc
h
in
M
a
th
e
m
a
ti
c
s
Co
mp
u
ter
S
c
ien
c
e
a
n
d
I
n
fo
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
,
2
0
1
5
.
[1
4
]
Y.
S
a
m
k
a
ri,
et
al
.
,
“
A
S
m
a
rt
F
irefig
h
ti
n
g
R
o
b
o
t
S
y
ste
m
(LAHEE
B)
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
11
,
pp
.
3
5
9
-
3
6
6
,
2
0
1
9
,
1
0
.
2
1
8
1
7
/i
jet/2
0
1
9
/
v
1
1
i2
/
1
9
1
1
0
2
0
6
5
.
[1
5
]
J
.
D
.
S
e
ti
a
wa
n
,
M
.
S
u
b
c
h
a
n
,
A
.
Bu
d
iy
o
n
o
,
“
Virtu
a
l
Re
a
li
t
y
S
i
m
u
latio
n
of
F
ire
F
i
g
h
t
in
g
R
o
b
o
t
D
y
n
a
m
ic
a
n
d
M
o
ti
o
n
,
”
in
ICIU
S
,
Oc
to
b
e
r
24
-
26
,
2
0
0
7
.
[1
6
]
C
.
F
les
h
e
r,
et
al
.
,
“
F
ire
P
r
o
tec
ti
o
n
Ro
b
o
t
F
in
a
l
Re
p
o
rt
,
”
p
p
.
1
-
7
8
,
2
0
0
4
.
[1
7
]
M
.
Du
r
k
in
,
e
t
a
l
.
,
“
F
i
re
fig
h
ti
n
g
R
o
b
o
t
:
A
P
r
o
p
o
sa
l
,
”
M
a
y
5
,
2
0
0
8
.
[1
8
]
G
.
Wee
d
,
et
al
.
,
“
P
o
k
e
y
t
h
e
F
ire
-
F
ig
h
ti
n
g
Ro
b
o
t
–
A
L
o
g
ica
l
De
sig
n
Us
in
g
Dig
i
tal
a
n
d
An
a
lo
g
Circu
it
ry
,
”
1
9
9
9
.
[1
9
]
J.
-
H.
Kim
,
S.
Jo
,
a
n
d
B.
Y
.
Latti
m
e
r,
“
F
e
a
tu
re
S
e
lec
ti
o
n
fo
r
In
tel
li
g
e
n
t
F
irefig
h
ti
n
g
Ro
b
o
t
Clas
sif
ica
ti
o
n
of
F
ire,
S
m
o
k
e
,
a
n
d
T
h
e
rm
a
l
Re
flec
ti
o
n
s
Us
in
g
T
h
e
rm
a
l
In
fra
re
d
Im
a
g
e
s
,”
J
o
u
rn
a
l
of
S
e
n
so
rs
,
p
p.
1
3
,
2
0
1
6
.
[2
0
]
R.
N.
Ha
k
sa
r
a
n
d
M.
S
c
h
wa
g
e
r,
“
Distrib
u
ted
De
e
p
Re
in
fo
rc
e
m
e
n
t
Lea
rn
in
g
fo
r
F
ig
h
ti
n
g
F
o
r
e
st
F
ires
with
a
Ne
two
rk
of
Ae
rial
Ro
b
o
ts,
”
in
I
EE
E/
RS
J
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
In
tell
ig
e
n
t
R
o
b
o
ts
a
n
d
S
y
st
e
ms
(IR
OS
)
,
p
p
.
1
0
6
7
-
1
0
7
4
,
2
0
1
8
.
[2
1
]
S.
Jia
n
g
,
et
al
.
,
“
Bu
c
k
l
in
g
Be
h
a
v
i
o
u
r
of
Alu
m
i
n
iu
m
All
o
y
C
o
lu
m
n
s
u
n
d
e
r
F
ire
Co
n
d
it
i
o
n
s
,
”
T
h
i
n
-
W
a
ll
e
d
S
tru
c
tu
re
s
,
v
o
l.
1
2
4
,
p
p
.
5
2
3
–
5
3
7
,
2
0
1
8
,
d
o
i:
1
0
.
1
0
1
6
/
j.
tws,
2
0
1
7
.
1
2
.
0
3
5
.
[2
2
]
M.
Aliff
,
et
al
.
“
De
v
e
lo
p
m
e
n
t
of
F
ire
F
ig
h
ti
n
g
Ro
b
o
t
(QRo
b
),
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
of
A
d
v
a
n
c
e
d
C
o
mp
u
ter
S
c
ien
c
e
a
n
d
A
p
p
li
c
a
ti
o
n
s
,
v
o
l
.
1
0
,
no.
1
,
2
0
1
9
,
d
o
i
:1
0
.
1
4
5
6
9
/
ij
a
c
sa
.
2
0
1
9
.
0
1
0
0
1
1
8
.
[2
3
]
A.
M
.
A.
G
h
iet
a
n
d
A.
Ba
b
a
,
“
Ro
b
o
t
Arm
C
o
n
tr
o
l
wit
h
Ard
u
i
n
o
,
”
2
0
1
7
,
d
o
i:
1
0
.
1
3
1
4
0
/RG
.
2
.
2
.
1
0
2
2
7
.
5
3
2
8
6
.
[2
4
]
M
.
S.
Na
g
e
sh
,
et
al
.
“
F
ir
e
Ex
ti
n
g
u
ish
i
n
g
R
o
b
o
t
,
”
Ij
a
rc
c
e
,
v
o
l.
5,
no.
1
2
,
p
p
.
200
–
2
0
2
,
2
0
1
6
,
d
o
i:
1
0
.
1
7
1
4
8
/i
jarc
c
e
.
2
0
1
6
.
5
1
2
4
4
.
[2
5
]
M
.
Ra
jes
v
a
ri,
et
al
.
,
“
Au
t
o
n
o
m
o
u
s
F
ire
F
ig
h
ti
n
g
Ro
b
o
t
with
M
u
lt
i
S
e
n
so
r
F
ire
De
tec
ti
o
n
Us
in
g
Ar
d
u
i
n
o
,
”
in
Na
ti
o
n
a
l
Co
n
fer
e
n
c
e
on
Eme
rg
in
g
T
e
c
h
n
o
l
o
g
ies
f
o
r
S
u
sta
i
n
a
b
le
E
n
g
i
n
e
e
rin
g
&
M
a
n
a
g
e
me
n
t
(NCE
T
S
EM
'
1
8
)
,
2
0
1
8
.
[2
6
]
Ard
u
i
n
o
DU
E,
ww
w://
sto
re
.
a
rd
u
i
n
o
.
c
c
/u
sa
/d
u
e
,
2
0
1
9
.
[2
7
]
S.
F
e
rd
o
u
s
h
,
X.
Li,
“
W
irele
ss
se
n
so
r
n
e
two
rk
sy
ste
m
d
e
sig
n
u
sin
g
Ra
sp
b
e
rr
y
Pi
a
n
d
Ard
u
in
o
fo
r
e
n
v
ir
o
n
m
e
n
tal
m
o
n
it
o
r
in
g
a
p
p
li
c
a
ti
o
n
s
,”
Pro
c
e
d
i
a
Co
m
p
u
ter
S
c
ie
n
c
e
,
v
o
l.
34,
p
p
.
103
–
1
1
0
,
2
0
1
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
5
6
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l.
8
,
N
o
.
2
,
J
u
n
e
2
0
2
0
:
143
–
1
5
2
152
B
I
O
G
RAP
H
I
E
S
OF
AUTH
O
RS
Yo
u
se
f
S
a
m
k
a
r
i
re
c
e
iv
e
d
h
is
b
a
c
h
e
lo
r’s
d
e
g
re
e
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
fr
o
m
G
a
n
n
o
n
Un
iv
e
rsity
in
2
0
1
5
a
n
d
h
is
m
a
s
ter’s
d
e
g
re
e
in
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
fr
o
m
Um
m
Al
-
Qu
ra
Un
iv
e
rsity
in
2
0
1
9
.
He
wo
r
k
e
d
in
t
h
e
d
e
p
a
rtme
n
t
of
e
n
g
i
n
e
e
rin
g
,
wh
e
re
he
wa
s
re
sp
o
n
sib
le
f
o
r
re
se
a
rc
h
p
ro
jec
ts
in
t
h
e
a
re
a
of
ro
b
o
ti
c
s.
K
a
m
e
l
G
u
e
d
r
i
re
c
e
iv
e
d
h
is
b
a
c
h
e
lo
r’s,
m
a
ste
r’s,
a
n
d
P
h
D
d
e
g
r
e
e
in
En
e
rg
y
En
g
in
e
e
ri
n
g
He
wo
rk
e
d
a
s
a
c
o
n
su
lar
o
f
Um
m
Al
-
Qu
ra
Un
iv
e
rsit
y
(UQ
U)
fo
r
th
e
b
ra
n
c
h
e
s.
T
h
e
n
h
e
w
o
rk
e
d
a
s
th
e
Dire
c
to
r
o
f
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
.
Mo
wffa
q
O
r
e
ija
h
re
c
e
iv
e
d
h
is
m
a
ste
r’s
d
e
g
re
e
fro
m
th
e
Un
iv
e
rsity
of
M
e
lb
o
u
rn
e
in
2
0
0
9
a
n
d
h
is
P
h
D
fro
m
t
h
e
RM
I
T
Un
iv
e
rsity
in
2
0
1
5
.
He
wo
r
k
e
d
as
a
ss
istan
t
p
ro
fe
ss
o
r
in
th
e
d
e
p
a
rtme
n
t
of
m
e
c
h
a
n
ica
l
e
n
g
i
n
e
e
rin
g
a
n
d
h
a
d
a
ss
ig
n
e
d
as
t
h
e
Ch
a
irma
n
of
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
,
Um
m
Alq
u
ra
Un
i
v
e
rsity
(UQ
U)
fo
r
tw
o
y
e
a
rs.
T
h
e
n
he
wo
rk
e
d
as
th
e
Dire
c
to
r
of
In
tellec
tu
a
l
P
r
o
p
e
rt
y
in
Um
m
Alq
u
ra
Un
i
v
e
rsity
(UQ
U)
a
n
d
De
a
n
of
I
n
stit
u
te
of
En
trep
re
n
e
u
rsh
ip
a
n
d
In
n
o
v
a
ti
o
n
.
S
h
a
d
i
M
u
n
shi
r
e
c
e
iv
e
d
h
is
P
h
.
D
.
in
M
e
c
h
a
n
ica
l/
M
e
c
h
a
tro
n
ic
E
n
g
in
e
e
rin
g
with
fift
e
e
n
y
e
a
rs
o
f
a
c
a
d
e
m
ic
e
x
p
e
rien
c
e
in
S
y
d
n
e
y
-
Au
stra
li
a
a
n
d
M
a
k
k
a
h
-
S
a
u
d
i
Ara
b
ia.
S
p
e
c
ialize
d
i
n
M
e
c
h
a
tro
n
ic
a
n
d
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
De
s
ig
n
i
n
g
a
n
d
M
o
d
e
ll
i
n
g
.
S
u
fy
a
n
Az
a
m
re
c
e
iv
e
d
h
is
M
e
c
h
a
n
ica
l/
M
e
c
h
a
tro
n
ic
E
n
g
i
n
e
e
rin
g
-
S
e
n
s
o
rs,
M
EM
S
,
Na
n
o
Co
m
p
o
site
M
a
teria
ls,
De
sig
n
,
Vi
b
ra
ti
o
n
,
Ra
p
i
d
P
r
o
t
o
ty
p
in
g
a
n
d
R
e
v
e
rse
En
g
i
n
e
e
rin
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.