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Dec
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201
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IJ
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4856
Dev
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231
2.
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p
le
x
an
d
w
o
u
ld
h
a
v
e
m
an
y
m
o
r
e
ad
d
ed
d
eg
r
ee
s
o
f
f
r
ee
d
o
m
.
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h
is
t
h
r
ee
d
eg
r
ee
o
f
f
r
ee
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o
m
ar
m
is
q
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i
te
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f
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icie
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le
m
en
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r
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t
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ic
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r
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an
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tes
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u
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T
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i
x
el
M
X
-
6
4
T
s
er
v
o
ac
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ato
r
s
ar
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s
ed
i
n
all
t
h
e
th
r
ee
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o
in
ts
.
T
h
ese
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er
v
o
s
ar
e
ch
o
s
en
s
p
ec
if
icall
y
b
ec
au
s
e
t
h
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s
h
a
f
t
p
o
s
itio
n
al
f
ee
d
b
ac
k
o
f
t
h
e
s
er
v
o
en
co
d
er
is
q
u
i
te
p
r
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is
e
an
d
ac
cu
r
ate,
w
h
ic
h
i
s
v
er
y
e
s
s
e
n
tial
f
o
r
teac
h
p
en
d
en
t
i
m
p
le
m
en
tatio
n
.
Mo
r
eo
v
er
,
it
ca
n
p
r
o
v
id
e
a
s
tall
to
r
q
u
e
ar
o
u
n
d
6
.
4
N
m
w
h
ic
h
also
s
ati
s
f
ies t
h
e
ac
tu
a
l r
eq
u
ir
e
m
en
t.
T
h
e
lin
k
s
ar
e
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ad
e
u
s
i
n
g
alu
m
i
n
iu
m
6
0
6
1
T
-
6
g
r
ad
e
allo
y
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ater
ial
o
f
1
.
2
m
m
t
h
ick
n
es
s
.
T
h
e
ac
tu
al
ar
m
u
s
ed
in
th
e
p
r
o
j
ec
t is as sh
o
w
n
in
t
h
e
Fig
u
r
e
2
.
Fig
u
r
e
2
.
A
ct
u
al
r
o
b
o
tic
ar
m
a
ttach
ed
w
it
h
a
p
en
as its
e
n
d
ef
f
ec
to
r
,
u
s
ed
f
o
r
test
i
n
g
th
e
d
e
v
elo
p
ed
p
r
o
g
r
am
.
T
h
e
o
v
er
all
s
y
s
te
m
elec
tr
ical
s
ch
e
m
atic
o
f
t
h
e
r
o
b
o
ti
c
ar
m
i
s
as
d
ep
icted
i
n
t
h
e
Fi
g
u
r
e
3
.
T
h
e
R
asp
b
er
r
y
P
i 2
m
o
d
el
B
h
as b
ee
n
u
s
ed
as
a
ce
n
tr
al
p
r
o
ce
s
s
o
r
r
u
n
n
i
n
g
R
a
s
p
b
ian
W
h
ee
z
y
s
y
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te
m
s
o
f
t
w
ar
e
w
it
h
P
y
t
h
o
n
lib
r
ar
ies
i
n
s
tal
led
in
it
[
7
]
.
A
s
tan
d
ar
d
SMP
S
is
u
s
e
d
to
p
r
o
v
id
e
r
eg
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lated
p
o
w
er
s
u
p
p
l
y
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v
ar
io
u
s
co
m
p
o
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e
n
t
s
o
f
t
h
e
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y
s
te
m
s
.
Var
io
u
s
i
n
p
u
t
a
n
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o
u
tp
u
t
co
m
p
o
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en
ts
s
u
c
h
as
k
e
y
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o
ar
d
,
m
o
u
s
e
an
d
m
o
n
i
to
r
d
is
p
la
y
h
as
a
l
s
o
b
ee
n
co
n
n
e
cted
to
th
e
ce
n
tr
al
p
r
o
ce
s
s
o
r
.
T
h
e
Dy
n
a
m
i
x
el
s
er
v
o
m
o
t
o
r
s
ar
e
c
o
n
n
ec
ted
s
eq
u
en
tiall
y
a
s
s
h
o
w
n
i
n
th
e
F
ig
u
r
e
3
,
w
i
th
o
n
e
a
n
o
th
er
.
On
e
en
d
o
f
th
e
s
er
v
o
p
o
r
t
is
d
ir
e
ctl
y
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ter
f
ac
ed
w
it
h
th
e
ce
n
tr
al
p
r
o
ce
s
s
o
r
th
r
o
u
g
h
th
e
USB
to
Ser
ial
co
n
v
er
ter
d
ev
ice
[
4
]
.
T
h
e
p
o
w
er
s
u
p
p
l
y
i
s
co
n
n
ec
ted
to
th
e
o
th
er
en
d
p
o
r
t o
f
th
e
s
er
v
o
.
I
n
o
r
d
er
to
u
n
d
er
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tan
d
th
e
d
ata
an
d
p
o
w
er
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an
s
m
is
s
io
n
w
it
h
i
n
th
e
s
er
v
o
s
er
ies
t
h
e
ex
p
lo
d
ed
v
ie
w
o
f
th
e
i
n
ter
n
a
l c
o
n
n
ec
tio
n
d
i
ag
r
a
m
is
as s
h
o
wn
in
t
h
e
Fi
g
u
r
e
4.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
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5
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4
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er
201
6
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232
Fig
u
r
e
3
.
Ov
er
all
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y
s
te
m
s
ch
e
m
atic
o
f
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e
r
o
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Fig
u
r
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4
.
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n
ter
n
al
co
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n
ec
tio
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d
iag
r
a
m
o
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D
y
n
a
m
ix
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s
er
ies
m
o
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d
in
ter
f
ac
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w
it
h
ad
j
ac
en
t
m
o
to
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s
.
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h
e
d
ata
is
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er
iall
y
tr
an
s
m
itt
ed
in
b
et
w
ee
n
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h
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ad
j
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en
t
s
er
v
o
m
o
to
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s
an
d
th
e
p
o
w
er
s
u
p
p
l
y
i
s
p
r
o
v
id
ed
at
o
n
e
en
d
o
f
th
e
s
er
ies
o
f
m
o
to
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co
n
n
ec
tio
n
as
s
h
o
w
n
i
n
th
e
Fi
g
u
r
e
4
.
So
,
th
ese
s
m
ar
t
s
er
v
o
s
co
n
s
id
er
ab
l
y
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ed
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ce
s
th
e
co
n
n
ec
t
io
n
a
n
d
in
ter
f
ac
i
n
g
i
n
b
et
w
ee
n
v
ar
io
u
s
m
o
to
r
s
an
d
m
o
r
eo
v
er
th
e
d
ata
tr
an
s
m
is
s
io
n
b
et
w
ee
n
v
ar
io
u
s
m
o
to
r
s
i
s
ca
r
r
ied
o
u
t
u
s
in
g
s
p
ec
if
ic
I
D
p
r
o
v
id
ed
f
o
r
ea
c
h
a
n
d
ev
er
y
m
o
to
r
co
n
n
ec
ted
i
n
th
e
s
er
ies
w
h
ic
h
m
ak
e
s
it
m
u
ch
m
o
r
e
ef
f
icie
n
t
in
ter
m
s
o
f
p
r
o
g
r
a
m
m
in
g
to
h
an
d
le
th
e
s
e
m
o
to
r
s
[
2
]
.
3.
I
M
P
L
E
M
E
NT
AT
I
O
N
O
F
T
E
A
CH
P
E
ND
E
NT
M
O
DE
Usi
n
g
th
i
s
m
et
h
o
d
,
ev
e
n
a
co
m
p
lex
f
ig
u
r
e
ca
n
b
e
m
ad
e
to
d
r
a
w
b
y
th
e
r
o
b
o
t
v
er
y
clea
r
l
y
a
n
d
th
e
ac
cu
r
ac
y
m
o
s
tl
y
d
ep
en
d
s
u
p
o
n
th
e
u
s
er
an
d
n
o
t
t
h
e
r
o
b
o
t
in
th
is
ca
s
e
b
ec
a
u
s
e,
t
h
e
u
s
er
i
s
g
o
i
n
g
to
h
o
ld
th
e
r
o
b
o
t’
s
h
a
n
d
a
n
d
teac
h
w
h
at
h
as
to
b
e
d
r
a
w
n
an
d
th
e
r
o
b
o
t
ju
s
t
r
ep
ea
ts
e
x
ac
tl
y
w
h
at
e
v
er
h
as
b
ee
n
ta
u
g
h
t
[
3
]
.
So
o
v
er
all,
th
is
m
et
h
o
d
o
p
er
at
es in
t
w
o
s
ta
g
es
w
h
ic
h
ar
e
as e
x
p
lain
ed
i
n
th
e
f
o
llo
w
i
n
g
.
T
h
e
f
ir
s
t
s
ta
g
e
o
f
o
p
er
atio
n
is
th
e
R
ea
d
Mo
d
e,
in
w
h
ic
h
th
e
r
o
b
o
t
is
in
t
h
e
r
ec
o
r
d
in
g
s
tate
an
d
w
ait
s
f
o
r
th
e
u
s
er
to
teac
h
i
t.
A
s
t
h
e
u
s
er
h
o
ld
s
its
ar
m
an
d
m
o
v
es
ar
o
u
n
d
th
e
f
ig
u
r
e
to
b
e
d
r
a
w
n
,
it
co
n
ti
n
u
o
u
s
l
y
r
ec
o
r
d
s
ea
ch
an
d
ev
er
y
p
o
s
it
io
n
o
f
t
h
e
s
er
v
o
m
o
to
r
s
h
af
t a
n
d
co
n
tin
u
o
u
s
l
y
s
to
r
es it i
n
a
d
ata
b
ase.
T
h
e
p
o
s
itio
n
r
ea
d
co
m
m
a
n
d
is
m
ad
e
to
e
x
ec
u
te
a
f
ter
ev
er
y
5
0
0
m
illi
s
ec
o
n
d
s
in
ter
v
al
to
en
s
u
r
e
t
h
at
th
e
ac
c
u
r
ac
y
i
s
en
h
a
n
ce
d
ev
e
n
th
o
u
g
h
t
h
e
s
p
e
ed
m
i
g
h
t g
e
t c
o
m
p
r
o
m
is
ed
.
Af
ter
th
e
e
n
tire
f
i
g
u
r
e
is
tau
g
h
t
b
y
t
h
e
u
s
er
,
th
e
R
ea
d
Mo
d
e
is
co
m
p
lete.
T
h
e
n
ex
t
s
ta
g
e
o
f
o
p
er
atio
n
in
t
h
is
m
o
d
e
is
th
e
R
ep
ea
t
M
o
d
e
in
w
h
ic
h
t
h
e
ta
u
g
h
t
f
i
g
u
r
e
is
r
ep
r
o
d
u
ce
d
ag
ain
b
y
t
h
e
r
o
b
o
t
o
n
ly
t
h
is
ti
m
e
w
it
h
o
u
t
t
h
e
h
elp
o
f
th
e
u
s
er
.
T
h
e
r
ec
o
r
d
ed
p
o
s
itio
n
s
ar
e
f
ed
s
eq
u
en
tiall
y
to
t
h
e
m
o
to
r
s
f
r
o
m
th
e
d
atab
ase
w
h
ic
h
co
n
tai
n
s
t
h
e
r
ec
o
r
d
ed
p
o
s
itio
n
s
f
r
o
m
th
e
p
r
ev
io
u
s
R
e
ad
Mo
d
e
[
6
]
.
A
n
ex
a
m
p
le
ca
s
e
in
w
h
ic
h
t
h
e
m
ap
o
f
I
n
d
ia
is
m
ad
e
to
b
e
d
r
aw
n
b
y
th
e
r
o
b
o
t a
cc
u
r
atel
y
u
s
i
n
g
th
i
s
m
et
h
o
d
is
as s
h
o
w
n
in
t
h
e
F
ig
u
r
e
5.
Usi
n
g
t
h
is
m
et
h
o
d
ev
e
n
co
m
p
lex
f
ig
u
r
es
w
h
ic
h
ar
e
d
if
f
icu
lt
to
b
e
p
r
o
g
r
a
m
m
ed
i
s
ea
s
il
y
r
ep
r
o
d
u
ce
d
b
y
t
h
e
r
o
b
o
t.
C
o
m
b
in
atio
n
s
o
f
s
ev
er
al
f
ig
u
r
es
ar
e
also
p
o
s
s
i
b
le
th
r
o
u
g
h
t
h
is
m
et
h
o
d
.
T
h
at
is
b
y
teac
h
in
g
t
h
e
d
r
a
w
in
g
p
r
o
ce
d
u
r
e
f
o
r
s
i
m
p
le
f
i
g
u
r
es
s
u
c
h
a
s
b
asic
s
h
ap
es
a
n
d
s
tr
u
ct
u
r
es,
co
m
p
le
x
f
i
g
u
r
es
w
h
ic
h
ar
e
u
s
u
all
y
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Dev
elo
p
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a
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C
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So
lid
Geo
m
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(
C
SG)
.
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e.
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w
it
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m
et
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o
d
as
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m
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m
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co
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p
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s
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asic
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b
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t
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p
r
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r
a
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u
s
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a
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d
r
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u
es s
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ch
as C
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tr
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So
lid
Geo
m
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(
C
SG)
is
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ei
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g
d
ev
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lo
p
ed
[
5
]
.
ACK
NO
WL
E
D
G
E
M
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NT
S
T
h
is
w
o
r
k
w
as
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u
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ted
in
p
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Dep
ar
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Me
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ics,
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n
i
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y
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h
e
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p
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t
s
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eq
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f
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th
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cs,
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it
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w
a
s
r
ea
ll
y
h
elp
f
u
l.
RE
F
E
R
E
NC
E
S
[1
]
G
ó
m
e
z
-
Esp
in
o
sa
,
P
.
D.
L
a
f
u
e
n
te
-
Ra
m
ó
n
,
C.
Re
b
o
ll
a
r
-
Hu
e
rta,
M
.
A
.
He
rn
á
n
d
e
z
-
M
a
ld
o
n
a
d
o
,
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H.
Ol
g
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ín
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Ca
ll
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jas
,
H.
Jim
é
n
e
z
-
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rn
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n
d
e
z
,
E.
A
.
Riv
a
s
-
A
ra
i
z
a
a
n
d
J.
Ro
d
ríg
u
e
z
-
Re
sé
n
d
i
z
,
“
De
si
g
n
a
n
d
Co
n
stru
c
ti
o
n
o
f
a
Did
a
c
ti
c
3
-
DO
F
P
a
ra
ll
e
l
L
in
k
s
Ro
b
o
t
S
tati
o
n
w
it
h
a
1
-
DO
F
G
rip
p
e
r,
”
Jo
u
rn
a
l
o
f
A
p
p
li
e
d
Re
se
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rc
h
a
n
d
Tec
h
n
o
lo
g
y
,
V
o
l
1
2
,
Ju
n
e
,
2
0
1
4
,
p
p
.
4
3
5
-
4
4
3
.
[2
]
M
.
P
é
re
z
Ch
a
v
a
rría,
a
n
d
E.
Est
u
d
il
l
o
Zam
o
ra
,
“
De
v
e
lo
p
m
e
n
t
o
f
a
d
a
ta
a
c
q
u
isit
io
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sy
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m
f
o
r
a
n
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e
a
n
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g
ra
p
h
ic
b
u
o
y
”
,
Jo
u
rn
a
l
o
f
A
p
p
li
e
d
Re
se
a
rc
h
a
n
d
T
e
c
h
n
o
lo
g
y
,
V
o
l.
7
,
N
o
.
2
,
A
u
g
u
st,
2
0
0
9
,
p
p
.
1
9
3
-
2
0
1
.
[3
]
F
e
i
Ch
a
o
,
Zh
e
n
g
sh
u
a
i
W
a
n
g
,
Ch
a
n
g
ji
n
g
S
h
a
n
g
,
Qin
g
g
a
n
g
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e
n
g
,
M
in
Jia
n
g
,
Ch
a
n
g
le
Zh
o
u
,
Qia
n
g
S
h
e
n
,
“
A
d
e
v
e
lo
p
m
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n
tal
a
p
p
ro
a
c
h
to
r
o
b
o
ti
c
p
o
in
t
in
g
v
ia
h
u
m
a
n
–
ro
b
o
t
In
tera
c
ti
o
n
,
”
In
f
o
rm
a
ti
o
n
S
c
ien
c
e
s
2
8
3
,
2
0
1
4
,
p
p
.
2
8
8
–
3
0
3
.
[4
]
J.
Ro
d
ríg
u
e
z
-
Re
sé
n
d
iz,
G
.
He
rre
ra
-
Ru
íz,
a
n
d
E.
A
.
Riv
a
s
-
A
ra
i
z
a
,
“
A
d
ju
sta
b
le
S
p
e
e
d
Driv
e
P
ro
jec
t
f
o
r
Tea
c
h
in
g
a
S
e
rv
o
S
y
ste
m
s Co
u
rse
L
a
b
o
ra
to
ry
,
”
IEE
E
T
ra
n
s.
Ed
u
c
.
,
V
o
l
.
5
4
,
No
.
4
,
No
v
e
m
b
e
r,
2
0
1
1
,
p
p
.
6
5
7
-
6
6
6
.
[5
]
F
a
e
z
A
h
m
e
d
,
Ka
l
y
a
n
m
o
y
De
b
,
Bish
a
k
h
B
h
a
tt
a
c
h
a
ry
a
,
“
S
tru
c
t
u
ra
l
t
o
p
o
lo
g
y
o
p
ti
m
iza
ti
o
n
u
si
n
g
m
u
lt
i
-
o
b
jec
ti
v
e
g
e
n
e
ti
c
a
lg
o
rit
h
m
w
it
h
c
o
n
stru
c
t
iv
e
so
li
d
g
e
o
m
e
tr
y
r
e
p
re
se
n
tatio
n
,
”
A
p
p
li
e
d
S
o
f
t
Co
m
p
u
ti
n
g
,
Vo
l.
3
9
,
F
e
b
r
u
a
ry
2
0
1
6
,
p
p
.
2
4
0
-
2
5
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
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4
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Dec
em
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3
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3
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236
[6
]
G
u
a
n
fe
n
g
S
u
n
,
T
e
tsu
o
S
a
w
a
ra
g
i,
Yu
k
io
Ho
rig
u
c
h
i,
Hiro
a
k
i
Na
k
a
n
ish
i,
“
Kn
o
w
led
g
e
-
In
ten
siv
e
Tea
c
h
in
g
A
ss
istan
c
e
S
y
st
e
m
f
o
r
In
d
u
strial
R
o
b
o
ts
U
sin
g
Ca
se
-
Ba
s
e
d
Re
a
so
n
in
g
a
n
d
Ex
p
lan
a
ti
o
n
-
Ba
se
d
L
e
a
rn
in
g
,
”
1
9
th
IF
A
C
W
o
rld
Co
n
g
re
ss
,
Vo
l.
4
7
,
Iss
u
e
3
,
2
0
1
4
,
p
p
.
4
5
3
5
-
4
5
4
0
.
[7
]
A
n
g
e
l
e
s Ho
y
o
,
Jo
se
L
u
is
G
u
z
m
a
n
,
Jo
se
Ca
rlo
s M
o
re
n
o
,
M
a
n
u
e
l
Be
re
n
g
u
e
l,
“
Tea
c
h
in
g
Co
n
tro
l
En
g
i
n
e
e
rin
g
Co
n
c
e
p
ts
u
sin
g
Op
e
n
S
o
u
rc
e
to
o
ls
o
n
a
Ra
sp
b
e
rry
P
i
b
o
a
rd
,
”
IF
A
C
W
o
rk
sh
o
p
o
n
In
tern
e
t
b
a
se
d
c
o
n
tr
o
l
e
d
u
c
a
ti
o
n
IBCE
1
5
,
V
o
l
.
4
8
,
Iss
u
e
2
9
,
2
0
1
5
,
p
p
.
9
9
-
1
0
4
.
Evaluation Warning : The document was created with Spire.PDF for Python.