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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
.
2
,
J
u
n
e
2
0
1
6
:
87
–
9
7
88
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u
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u
r
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1
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ir
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r
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r
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32
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atch
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T
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ates
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o
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e
ass
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Fig
u
r
e
3
.
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ir
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b
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e
p
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ath
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u
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4
.
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ath
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s
Ass
u
m
ptio
n 3
:
T
h
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in
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iv
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a
l seg
m
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p
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t sp
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e
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e
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Ass
u
m
ptio
n 4
:
T
h
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p
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m
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ltip
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ased
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ab
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ass
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Fi
g
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r
e
5
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r
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cu
r
v
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at
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r
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r
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eg
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Fig
u
r
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1
,
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d
Fig
u
r
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6
s
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ath
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ith
eq
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all
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Fig
u
r
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5
.
C
o
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ir
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e
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ath
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ee
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r
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Fig
u
r
e
6
.
C
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i
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te
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ir
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e
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ar
ticle
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ath
s
a
m
o
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th
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ee
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r
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
0
8
9
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IJ
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5
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As
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Fi
g
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r
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4
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6
,
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e
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n
s
.
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th
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o
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t,
w
e
p
u
r
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b
o
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p
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ilit
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ak
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eter
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ath
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at
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ip
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ter
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w
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ir
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ter
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e
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d
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r
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m
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s
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t
ies
o
f
th
e
p
ar
ticle
co
n
ce
n
tr
atio
n
s
.
Fi
g
u
r
es
7
an
d
8
s
h
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p
ath
e
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te
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io
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e
p
ath
s
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n
d
ar
ies.
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k
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r
e
o
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Fig
u
r
e
7
.
P
r
im
ar
y
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-
b
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r
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e
p
ar
ticle
p
ath
ex
te
n
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io
n
s
g
o
in
g
th
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g
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t
w
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e
n
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r
s
Fig
u
r
e
8
.
P
r
im
ar
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-
b
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r
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e
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ticle
p
ath
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te
n
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io
n
s
g
o
in
g
th
r
o
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g
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h
r
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en
s
o
r
s
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n
th
e
n
e
x
t
s
tep
o
f
th
e
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tr
ap
o
latio
n
,
w
e
f
ill
th
e
w
h
o
le
r
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o
m
w
it
h
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ec
o
n
d
ar
y
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ath
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.
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r
th
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ec
o
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ar
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ath
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et
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ar
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at
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eter
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i
n
e
th
e
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o
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al
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ter
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als
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ate
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at
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r
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at
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t
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m
ar
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w
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u
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e
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m
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a
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t
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e
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o
late
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e
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ticle
c
o
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ce
n
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n
s
a
n
d
th
e
co
n
ce
n
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g
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.
Fi
g
u
r
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9&10
s
h
o
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p
at
h
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ten
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io
n
s
as
w
ell
a
s
th
e
w
h
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l
e
r
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o
m
co
v
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ag
e
w
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th
p
r
i
m
ar
y
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d
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n
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ar
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at
h
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.
Fig
u
r
e
9
.
P
r
im
ar
y
a
n
d
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o
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d
a
r
y
air
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b
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e
p
a
r
ticle
p
ath
s
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o
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n
g
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t
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Fig
u
r
e
1
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.
P
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o
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d
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y
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-
b
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e
p
ar
ticle
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ath
s
g
o
i
n
g
th
r
o
u
g
h
th
r
ee
s
e
n
s
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r
He
ex
ten
d
ed
p
r
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m
ar
y
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d
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h
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o
n
d
ar
y
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ath
s
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ep
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est
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ata
f
it
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ased
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r
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ata.
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th
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g
e
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atio
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o
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p
at
h
s
,
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e
x
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f
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ts
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m
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n
d
ar
ies.
Ob
v
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ate
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ld
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ate
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is
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ted
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th
e
d
ir
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tio
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th
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b
o
u
n
d
ar
y
.
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n
th
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w
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m
ap
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
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4856
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ptio
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4.
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l a
r
chit
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t
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4
.
1
.
O
do
r
Sens
o
r
& Ane
m
o
m
et
er
s
e
ns
o
r
T
h
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tr
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ap
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n
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in
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p
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m
e
[
9
].
I
n
s
u
c
h
a
ca
s
e,
th
e
r
o
b
o
t
n
ee
d
s
to
r
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e
p
r
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ce
o
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ar
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ly
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er
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[
10
]
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ter
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t d
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p
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in
[
11
]
an
d
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b
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r
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ted
as:
1
(
1
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S
1
S0
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ad
a
p
tiv
e
th
r
es
h
o
ld
is
d
ef
i
n
ed
as:
1
10
0
KK
k
SS
z
e
ls
e
W
h
er
e
k
z
in
d
icate
s
a
n
o
d
o
r
d
etec
t
io
n
ev
e
n
t a
t ti
m
e
s
tep
k
.
An
a
n
e
m
o
m
eter
m
o
u
n
ted
o
n
th
e
r
o
b
o
t
ca
n
p
r
o
v
id
e
r
elati
v
e
v
elo
cit
y
b
et
w
ee
n
th
e
air
f
lo
w
a
n
d
t
h
e
an
e
m
o
m
eter
.
T
h
e
air
-
f
lo
w
v
elo
cit
y
d
escr
ib
ed
in
t
h
is
p
ap
e
r
w
a
s
a
m
o
d
if
ied
v
al
u
e,
w
it
h
th
e
v
elo
cit
y
o
f
t
h
e
r
o
b
o
t’
s
m
o
tio
n
b
ein
g
s
u
b
tr
ac
ted
f
r
o
m
t
h
e
an
e
m
o
m
eter
m
ea
s
u
r
e
m
e
n
t.
T
h
e
an
e
m
o
m
eter
is
a
Sh
ib
au
r
a
F6
2
0
1
-
1
air
f
lo
w
s
en
s
o
r
,
w
h
ich
ca
n
s
en
s
e
w
in
d
f
lo
w
d
o
w
n
to
0
.
0
5
m
/s
.
I
t
is
en
c
lo
s
ed
in
a
tu
b
e
to
p
r
o
v
id
e
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Usi
n
g
a
Mo
b
ile
R
o
b
o
t wi
th
I
n
t
erp
o
la
tio
n
a
n
d
E
xtra
p
o
la
tio
n
Meth
o
d
f
o
r
C
h
emic
a
l S
o
u
r
ce
.
.
.
(
X
ia
n
g
Ga
o
)
95
u
n
id
ir
ec
tio
n
al
s
en
s
iti
v
it
y
,
w
h
ich
,
co
m
b
i
n
ed
w
it
h
a
s
ca
n
n
i
n
g
b
eh
a
v
io
r
,
allo
w
s
t
h
e
r
o
b
o
t
to
m
ea
s
u
r
e
w
in
d
d
ir
ec
tio
n
.
W
h
en
w
i
n
d
d
ir
ec
tio
n
in
f
o
r
m
at
io
n
is
r
eq
u
ir
ed
,
th
e
r
o
b
o
t
f
ir
s
t
r
o
tates
9
0
,
an
d
th
en
r
o
tates
s
lo
w
l
y
3
6
0
w
h
ile
r
ea
d
i
n
g
th
e
w
i
n
d
s
e
n
s
o
r
o
u
tp
u
t
a
n
d
f
in
a
ll
y
r
o
tates
b
ac
k
to
t
h
e
h
ea
d
in
g
co
r
r
esp
o
n
d
in
g
to
th
e
h
i
g
h
est
s
en
s
o
r
v
alu
e.
4
.
2
.
M
o
bil
e
ro
bo
t
c
o
ntr
o
l a
r
chit
ec
t
ure
I
n
th
i
s
p
ap
er
,
w
e
p
r
o
p
o
s
ed
a
n
o
v
el
co
n
tr
o
l
al
g
o
r
ith
m
o
f
m
o
b
ile
r
o
b
o
t
f
o
r
d
etec
tin
g
a
n
d
tr
ac
k
i
n
g
ch
e
m
ical
s
o
u
r
ce
.
.
A
t e
ac
h
ti
m
e
s
tep
,
th
e
lo
ca
tio
n
o
f
t
h
e
odor
s
o
u
r
ce
is
esti
m
ated
a
n
d
th
e
te
r
m
in
a
tio
n
co
n
d
itio
n
is
ch
ec
k
ed
.
I
f
t
h
e
ter
m
in
ated
co
n
d
itio
n
is
s
ati
s
f
ied
,
th
e
m
is
s
io
n
o
f
d
etec
ti
n
g
c
h
e
m
ic
al
s
o
u
r
ce
is
e
n
d
ed
,
o
th
er
w
is
e
t
h
e
m
o
b
ile
r
o
b
o
t
m
o
v
e
m
o
r
e
lo
ca
tio
n
s
to
d
o
m
o
r
e
m
ea
s
u
r
e
m
e
n
t
s
an
d
u
p
d
ates
t
h
e
g
a
s
d
is
tr
ib
u
tio
n
m
ap
an
d
o
d
o
r
s
o
u
r
ce
lo
ca
lizatio
n
.
T
h
is
tr
ac
in
g
s
tr
ate
g
y
i
s
d
e
s
c
r
ib
ed
as
f
o
llo
w
s
.
A
t
f
ir
s
t,
t
h
e
r
o
b
o
t
m
o
v
es
ar
b
itra
l
at
t
w
o
lo
ca
tio
n
s
,
b
ec
au
s
e
t
h
e
ch
e
m
ica
l
p
ar
ticle
f
lo
w
is
d
er
iv
ed
b
y
at
least
t
wo
s
en
s
o
r
n
o
d
es.
A
f
ter
t
h
e
f
ir
s
t
s
tep
,
th
e
r
o
b
o
t
ca
n
k
n
o
w
t
h
e
s
o
u
r
ce
lo
ca
tio
n
r
o
u
g
h
l
y
b
y
t
h
e
g
as
d
is
tr
ib
u
tio
n
m
ap
.
T
h
en
,
th
e
r
o
b
o
t
m
o
v
es
to
a
n
e
w
lo
ca
tio
n
w
h
er
e
it
is
alo
n
g
th
e
d
ir
ec
tio
n
o
f
c
h
e
m
ical
p
ar
ticle
p
r
o
p
ag
at
io
n
.
W
h
e
n
w
e
g
o
t
a
n
e
w
lo
c
atio
n
a
n
d
u
p
d
ated
th
e
g
as
d
is
tr
ib
u
tio
n
m
ap
,
w
e
h
av
e
t
w
o
m
et
h
o
d
s
.
W
e
ca
n
u
s
e
all
o
f
th
e
s
en
s
o
r
s
to
m
ap
t
h
e
ch
e
m
ica
l
p
ar
ticle
p
r
o
p
ag
at
io
n
,
o
r
w
e
ca
n
u
s
e
n
e
w
s
e
n
s
o
r
to
u
p
d
ate
th
e
m
ap
d
er
iv
ed
b
y
th
e
f
o
r
m
er
s
en
s
o
r
s
.
T
h
e
r
o
b
o
t
m
o
tio
n
s
tep
can
b
e
ad
ap
tiv
e
th
r
o
u
g
h
t
h
e
r
ea
l
-
ti
m
e
t
h
e
g
a
s
d
is
tr
ib
u
t
io
n
m
ap
.
5.
E
x
peri
m
e
nta
l R
esu
lt
Fro
m
t
h
e
Go
o
g
le
E
ar
t
h
,
a
r
ea
l
m
ap
o
f
M
is
s
o
u
r
i U
n
i
v
er
s
it
y
o
f
s
cien
ce
an
d
tec
h
n
o
lo
g
y
ca
n
b
e
d
er
iv
ed
.
Usi
n
g
th
e
ed
g
e
d
etec
tio
n
m
eth
o
d
,
th
e
p
r
o
ce
s
s
ed
m
ap
o
n
l
y
e
x
its
th
e
m
a
in
b
u
ild
i
n
g
s
.
Fi
g
u
r
e
17
s
h
o
w
ed
th
e
r
ea
l
m
ap
ca
p
tu
r
ed
f
r
o
m
Go
o
g
le
E
a
r
th
.
Fig
u
r
e
18
s
h
o
w
s
t
h
e
r
ea
l m
ap
p
r
o
ce
s
s
ed
b
y
t
h
e
ed
g
e
d
et
ec
tio
n
ap
p
r
o
ac
h
.
Fig
u
r
e
1
7
.
A
r
ea
l
m
ap
o
f
Mis
s
o
u
r
i U
n
i
v
er
s
it
y
o
f
s
cien
ce
a
n
d
tech
n
o
lo
g
y
f
r
o
m
t
h
e
Go
o
g
le
E
ar
th
Fig
u
r
e
1
8
.
A
r
ea
l
m
ap
o
f
Mis
s
o
u
r
i U
n
i
v
er
s
it
y
o
f
s
cien
ce
a
n
d
tech
n
o
lo
g
y
p
r
o
ce
s
s
ed
b
y
ed
g
e
d
etec
tio
n
m
et
h
o
d
Usi
n
g
all
o
f
ab
o
v
e
ap
p
r
o
ac
h
es,
w
e
ca
n
ex
te
n
d
th
e
p
ath
u
n
li
m
ited
l
y
.
Ho
w
e
v
er
,
in
f
ac
t
t
h
e
en
tire
p
ath
s
ar
e
n
o
t
co
m
p
lete
l
y
e
x
ac
t.
W
e
s
h
o
u
ld
k
n
o
w
w
h
er
e
w
e
ca
n
s
t
ar
t
a
p
ath
an
d
w
h
er
e
th
e
p
at
h
en
d
s
to
d
ec
id
e
th
e
ef
f
ec
tiv
e
r
a
n
g
e
o
f
th
e
p
at
h
s
.
T
h
e
f
o
llo
w
i
n
g
ass
u
m
p
tio
n
i
s
in
t
r
o
d
u
ce
d
f
o
r
th
e
p
ath
s
’
cr
ed
ib
le
s
ec
tio
n
.
Ass
u
m
ptio
n 8
:
B
ased
o
n
th
e
m
ea
s
u
r
e
m
e
n
t r
a
n
g
e
o
f
s
en
s
o
r
s
,
o
n
l
y
th
e
s
ec
tio
n
s
o
f
t
h
e
p
ath
s
w
h
er
e
ar
e
s
u
r
r
o
u
n
d
ed
b
y
s
e
n
s
o
r
s
ar
e
cr
ed
ib
le.
B
ec
au
s
e
th
e
in
f
o
r
m
a
tio
n
co
ll
ec
ted
b
y
th
e
s
e
n
s
o
r
s
is
lo
ca
l
v
ar
ia
b
le,
o
n
l
y
th
e
d
ata
o
n
th
e
s
en
s
o
r
lo
ca
tio
n
is
co
m
p
letel
y
co
r
r
ec
t
an
d
th
e
en
tire
p
ath
s
ar
e
co
n
s
t
r
u
cted
b
ased
o
n
th
e
s
en
s
o
r
s
’
d
ata.
T
h
e
s
ec
tio
n
o
f
th
e
p
ath
s
w
h
er
e
ar
e
n
ea
r
th
e
s
en
s
o
r
s
h
a
v
e
m
o
r
e
cr
ed
ib
le
lev
el,
w
h
ile
th
e
s
ec
tio
n
s
o
f
th
e
p
ath
s
w
h
er
e
ar
e
f
ar
f
r
o
m
t
h
e
s
e
n
s
o
r
s
s
h
o
u
ld
h
a
v
e
a
lo
w
cr
ed
ib
le
lev
el.
Usi
n
g
a
ll
s
en
s
o
r
s
b
e
th
e
v
er
tices,
w
e
ca
n
p
lo
t
a
co
n
v
e
x
p
o
ly
g
o
n
in
w
h
ich
w
e
b
elie
v
e
th
e
p
at
h
s
ar
e
co
m
p
letel
y
co
r
r
ec
t.
Kee
p
in
g
a
n
eq
u
a
l
d
is
ta
n
c
e
w
it
h
t
h
e
p
o
l
y
g
o
n
,
w
e
g
et
a
zo
n
e
w
h
ic
h
i
s
en
cir
c
led
.
I
n
th
is
e
n
ci
r
cled
s
ec
tio
n
,
t
h
e
p
ath
s
ar
e
co
r
r
ec
t
in
ce
r
tain
p
r
o
b
a
b
ilit
y
.
I
n
th
e
Fig
u
r
e
19
,
th
e
g
r
ee
n
d
o
tted
lin
es
s
h
o
w
th
e
e
x
ac
t
zo
n
e,
th
e
y
e
llo
w
d
o
tted
lin
es
d
esi
g
n
ate
t
h
e
u
n
ce
r
tai
n
r
eg
io
n
.
A
t
t
h
e
s
a
m
e
ti
m
e,
th
e
b
o
u
n
d
ar
y
l
in
e
s
o
f
u
n
ce
r
tai
n
zo
n
e
tr
u
n
ca
te
t
h
e
p
ar
ticle
p
ath
s
.
Hen
ce
,
w
e
ar
e
ab
le
to
o
b
tain
b
o
th
t
h
e
s
tar
tin
g
p
o
in
t
s
an
d
e
n
d
in
g
p
o
i
n
ts
o
f
t
h
e
p
a
th
s
.
B
e
y
o
n
d
t
h
i
s
u
n
ce
r
tai
n
z
o
n
e,
th
e
p
at
h
i
s
n
o
t
th
o
u
g
h
t
b
e
cr
ed
ib
le.
I
t’
s
b
ec
au
s
e
th
e
p
o
r
tio
n
s
b
e
y
o
n
d
t
h
e
u
n
ce
r
tain
zo
n
e
ar
e
d
er
iv
ed
b
y
e
x
tr
ap
o
latio
n
w
i
th
o
u
t
an
y
u
p
d
a
ted
d
ata
f
r
o
m
n
ea
r
b
y
s
en
s
o
r
s
.
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
.
2
,
J
u
n
e
2
0
1
6
:
87
–
9
7
96
Fig
u
r
e
1
9
.
T
h
e
cr
ed
ib
le
s
ec
tio
n
s
o
f
c
h
e
m
ical
p
ath
u
s
i
n
g
d
if
f
er
en
t n
u
m
b
er
o
f
w
o
r
k
i
n
g
s
e
n
s
o
r
T
o
v
er
if
y
th
e
e
f
f
ec
t
iv
e
n
es
s
o
f
th
e
p
r
o
p
o
s
ed
ass
u
m
p
t
io
n
s
,
r
ea
l
s
i
m
u
latio
n
i
s
d
ev
e
lo
p
ed
b
y
C
OM
SO
L
s
o
f
t
w
ar
e
t
h
at
is
u
s
ed
to
an
al
y
z
e
co
m
p
le
x
f
lo
w
o
f
f
l
u
id
d
y
n
am
ics.
W
e
ass
u
m
e
th
a
t
th
e
w
i
n
d
is
f
r
o
m
s
o
u
th
w
e
s
t
4
5
d
eg
r
ee
s
an
d
th
e
co
n
f
ig
u
r
atio
n
is
o
n
s
a
m
e
s
ize
an
d
p
o
s
itio
n
w
it
h
th
e
Go
o
g
le
m
a
p
.
T
h
is
s
o
f
t
w
ar
e
is
ac
co
r
d
ed
to
Fin
ite
E
le
m
en
t
m
eth
o
d
to
p
r
o
ce
s
s
th
e
f
lu
id
d
y
n
a
m
ic
is
s
u
e,
s
o
w
e
w
a
n
t
to
u
s
e
th
e
r
esu
l
t
f
r
o
m
th
is
s
o
f
t
w
ar
e
to
d
o
a
co
m
p
ar
is
o
n
.
Fro
m
th
e
r
es
u
lts
p
r
o
d
u
ce
d
C
OM
SO
L
,
w
e
ar
e
ab
le
to
o
b
tain
th
e
v
elo
cit
y
o
f
air
f
lo
w
at
e
v
er
y
p
o
in
t
a
n
d
th
e
p
ar
ticle
p
ath
s
.
W
e
s
elec
t
te
n
p
o
in
ts
,
an
d
r
ec
o
r
d
its
lo
ca
tio
n
s
an
d
v
e
lo
cities
o
n
th
ese
p
o
in
t
s
.
Fig
u
r
e
20
s
h
o
w
s
th
e
s
tea
m
li
n
e
o
f
air
f
lo
w
p
r
o
p
ag
atio
n
w
h
ich
ill
u
s
tr
ates
th
e
ch
e
m
ical
p
ar
ticle
s
d
is
p
er
s
io
n
.
Fig
u
r
e
2
0
.
A
ir
-
b
o
r
n
e
p
ar
ticle
p
ath
s
g
o
i
n
g
th
r
o
u
g
h
ten
s
en
s
o
r
s
in
a
r
ea
l
m
ap
p
r
o
ce
s
s
ed
b
y
C
OM
SO
L
I
f
t
h
e
r
es
u
lt
s
u
s
i
n
g
o
u
r
p
r
o
p
o
s
ed
ap
p
r
o
ac
h
an
d
th
e
r
es
u
lt
s
u
s
i
n
g
C
OM
SO
L
ar
e
id
en
ti
ca
l,
it
ca
n
s
u
p
p
o
r
t
o
u
r
p
r
o
p
o
s
ed
ap
p
r
o
a
ch
is
co
r
r
ec
t.
Ou
r
ap
p
r
o
ac
h
u
s
es
t
h
e
s
a
m
e
m
ap
,
l
o
ca
tio
n
s
an
d
v
elo
citie
s
o
f
s
en
s
o
r
s
t
h
at
ar
e
s
elec
ted
f
r
o
m
t
h
e
r
e
s
u
l
t
o
f
C
O
MSO
L
.
T
h
e
cir
cles
s
i
g
n
i
f
y
t
h
e
lo
ca
tio
n
s
w
h
er
e
w
e
f
i
x
ed
s
en
s
o
r
s
.
T
h
e
r
ed
cir
cles
m
ea
n
t
h
e
s
en
s
o
r
s
ar
e
w
o
r
k
in
g
,
a
n
d
t
h
e
b
la
n
k
cir
cles
m
ea
n
t
h
e
s
en
s
o
r
s
ar
e
n
o
t
w
o
r
k
i
n
g
.
C
o
m
p
ar
in
g
t
h
e
f
i
g
u
r
e
1
9
an
d
f
i
g
u
r
e
2
0
,
w
e
ca
n
f
i
n
d
th
e
air
f
lo
w
p
ath
is
al
m
o
s
t
s
a
m
e.
Fi
g
u
r
e
19
s
h
o
w
th
e
ca
s
e
s
w
h
er
e
d
if
f
er
e
n
t
n
u
m
b
er
o
f
w
o
r
k
i
n
g
s
en
s
o
r
s
ex
is
ted
.
W
h
en
th
e
w
o
r
k
i
n
g
s
en
s
o
r
s
ar
e
ch
an
g
ed
f
r
o
m
e
ig
h
t
to
o
n
e,
th
e
m
ap
s
o
f
t
h
e
air
f
lo
w
s
ar
e
d
i
f
f
er
en
t.
A
lar
g
er
n
u
m
b
e
r
o
f
w
o
r
k
i
n
g
s
e
n
s
o
r
p
r
o
d
u
ce
r
esu
lt
s
clo
s
er
to
t
h
e
r
ea
l
d
ata
o
b
tain
e
d
f
r
o
m
C
OM
SO
L
.
T
h
e
s
en
s
o
r
’
s
d
is
p
atch
a
f
f
ec
t
s
th
e
r
esu
lt
o
f
s
i
m
u
la
tio
n
also
.
I
t
is
o
b
v
io
u
s
t
h
at
o
p
ti
m
ized
d
is
p
atch
ca
n
co
llect
m
o
r
e
in
f
o
r
m
atio
n
f
o
r
t
h
e
s
y
s
te
m
.
Fo
r
an
ex
tr
e
m
e
e
x
a
m
p
le,
i
f
w
e
f
i
x
all
o
f
t
h
e
s
e
n
s
o
r
s
i
n
a
s
m
all
ar
ea
to
g
et
h
er
,
th
e
e
f
f
ec
tiv
e
p
ath
s
w
ill e
x
is
ted
i
n
th
is
s
m
a
ll a
r
ea
o
n
l
y
.
6.
CO
NCLU
SI
O
N
T
h
er
e
ar
e
m
a
n
y
u
s
e
f
u
l
an
d
h
u
m
a
n
itar
ia
n
ap
p
licatio
n
s
t
h
a
t
ca
n
lo
ca
te
t
h
e
s
o
u
r
ce
o
f
a
ch
e
m
ical
s
o
u
r
ce
.
C
u
r
r
en
tl
y
,
t
h
e
m
aj
o
r
it
y
o
f
w
o
r
k
in
th
is
ar
ea
u
s
es
r
ea
ctiv
e
co
n
tr
o
l
s
ch
e
m
e
s
th
a
t
tr
ac
k
an
o
d
o
r
p
lu
m
e
alo
n
g
it
s
e
n
tire
len
g
t
h
,
w
h
ic
h
i
s
s
lo
w
a
n
d
d
if
f
icu
lt
i
n
clu
tter
ed
en
v
ir
o
n
m
e
n
ts
.
T
h
is
p
ap
er
em
p
lo
y
s
a
h
i
g
h
-
lev
e
l
co
n
tr
o
l
s
ch
e
m
e.
T
h
e
in
ter
p
o
la
tio
n
a
n
d
ex
tr
ap
o
latio
n
m
e
th
o
d
is
u
s
ed
to
m
o
d
el
t
h
e
p
ar
ticle
p
ath
i
n
t
h
e
s
en
s
o
r
s
’
en
v
ir
o
n
m
e
n
t.
T
h
en
a
r
ea
s
o
n
in
g
s
y
s
te
m
u
s
e
t
h
e
p
ath
m
o
d
el
t
o
g
et
th
e
v
elo
cit
y
,
c
h
e
m
ical
c
o
n
ce
n
tr
atio
n
at
an
y
p
o
in
t
o
n
t
h
e
m
ap
an
d
p
r
ed
ict
th
e
m
o
s
t
p
r
o
b
ab
le
lo
ca
tio
n
s
o
f
t
h
e
o
d
o
r
s
o
u
r
ce
.
T
h
is
ap
p
r
o
a
ch
h
a
s
b
ee
n
s
h
o
wn
to
b
e
ef
f
ec
t
iv
e
f
o
r
o
d
o
r
lo
ca
lizatio
n
in
a
k
n
o
w
n
e
n
v
ir
o
n
m
e
n
t,
w
it
h
o
u
t
t
h
e
n
ee
d
f
o
r
th
e
r
o
b
o
t
to
tr
av
el
to
th
e
s
o
u
r
ce
.
W
ith
t
h
e
f
u
r
t
h
er
d
ev
elo
p
m
e
n
t
th
er
e
i
s
g
r
ea
t
p
o
te
n
tial
f
o
r
t
h
is
ap
p
r
o
ac
h
to
lead
to
m
an
y
v
al
u
ab
le
ap
p
licatio
n
s
b
y
g
e
n
er
aliza
tio
n
to
a
w
id
er
r
an
g
e
o
f
en
v
ir
o
n
m
e
n
tal
co
n
f
i
g
u
r
atio
n
s
.
T
h
e
p
ap
er
p
r
esen
t
d
ev
elo
p
m
en
t
to
s
o
lv
e
t
h
e
p
r
o
b
le
m
th
er
e
e
x
is
t
o
b
s
tacle
s
an
d
o
p
en
in
g
i
n
t
h
e
en
v
ir
o
n
m
e
n
t.
T
h
e
ap
p
r
o
ac
h
g
iv
e
s
th
e
m
o
d
e
o
f
t
h
e
p
ar
ticle
p
at
h
s
u
r
r
o
u
n
d
in
g
t
h
e
o
b
s
tacle
s
a
n
d
o
p
en
in
g
s
.
T
h
e
d
ev
elo
p
m
e
n
t
h
as
s
u
cc
ess
f
u
ll
y
a
p
p
lied
in
g
en
er
al
en
v
ir
o
n
m
e
n
t,
b
ec
au
s
e
t
h
e
p
r
o
p
ag
atio
n
o
f
th
e
c
h
e
m
ical
p
ar
ticle
ca
n
g
o
th
r
o
u
g
h
o
b
s
tacle
s
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