I
AE
S
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
RA)
Vo
l.
1
0
,
No
.
1
,
Ma
r
ch
2021
,
p
p
.
6
8
~
7
4
I
SS
N:
2722
-
2586
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
10
i
1
.
pp
68
-
74
68
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Desig
n and
i
m
ple
m
en
tatio
n
o
f
auto
m
a
tic
painting
mo
bile robo
t
A
m
g
a
d M
un
ee
r
1
,
Z
ha
n
D
a
ir
a
ba
y
ev
2
1
De
p
a
rtme
n
t
o
f
Co
m
p
u
ter an
d
I
n
f
o
rm
a
ti
o
n
S
c
ien
c
e
s,
Un
iv
e
rsiti
T
e
k
n
o
lo
g
i
P
ET
RON
A
S
,
M
a
la
y
sia
2
S
c
h
o
o
l
o
f
En
g
in
e
e
ri
n
g
,
A
sia
P
a
c
if
ic Un
iv
e
rsit
y
o
f
Tec
h
n
o
lo
g
y
&
I
n
n
o
v
a
ti
o
n
,
M
a
lay
sia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
2
7
,
2
0
2
1
R
ev
i
s
ed
Feb
9
,
2
0
2
1
A
cc
ep
ted
Feb
2
4
,
2
0
2
1
W
a
ll
p
a
in
ti
n
g
is
a
re
p
e
ti
ti
v
e
,
stre
s
sf
u
l,
a
n
d
h
a
z
a
rd
o
u
s
p
ro
c
e
ss
t
h
a
t
m
a
k
e
s
it
a
n
id
e
a
l
a
u
to
m
a
ti
o
n
c
a
se
.
In
t
h
e
a
u
to
m
o
ti
v
e
in
d
u
stry
,
p
a
in
ti
n
g
h
a
d
b
e
e
n
a
u
to
m
a
ted
b
u
t
n
o
t
y
e
t
f
o
r
th
e
c
o
n
s
tru
c
ti
o
n
in
d
u
stry
.
Ho
w
e
v
e
r,
th
e
re
is
a
str
o
n
g
n
e
e
d
f
o
r
a
m
o
b
il
e
ro
b
o
t
th
a
t
c
a
n
m
o
v
e
to
p
a
in
t
re
sid
e
n
ti
a
l
i
n
terio
r
w
a
ll
s.
In
t
h
is
stu
d
y
,
w
e
a
i
m
to
d
e
sig
n
a
n
d
im
p
lem
e
n
t
a
n
a
u
t
o
m
a
ti
c
p
a
in
ti
n
g
m
o
b
il
e
r
o
b
o
t.
T
h
e
c
o
n
c
e
p
tu
a
l
d
e
sig
n
o
f
th
e
p
r
o
p
o
se
d
w
a
ll
p
a
in
ti
n
g
r
o
b
o
t
c
o
n
si
stin
g
p
a
in
t
m
e
c
h
a
n
is
m
w
it
h
a
sp
ra
y
g
u
n
a
n
d
u
lt
ra
so
n
ic
se
n
so
r.
T
h
e
sp
ra
y
g
u
n
is
a
tt
a
c
h
e
d
to
a
p
u
ll
e
y
m
e
c
h
a
n
is
m
th
a
t
h
a
s
li
n
e
a
r
m
o
ti
o
n
.
T
h
e
u
lt
ra
so
n
ic se
n
so
r
is u
se
d
to
d
e
tec
t
th
e
sp
ra
y
g
u
n
w
h
e
n
it
re
a
c
h
e
d
a
c
e
rtain
li
m
it
.
T
h
e
DC
m
o
to
r
ro
tate
s
c
lo
c
k
w
ise
a
n
d
c
o
u
n
terc
l
o
c
k
w
is
e
b
a
se
d
o
n
t
h
e
u
lt
ra
so
n
ic
se
n
so
r
c
o
n
d
it
i
o
n
m
a
d
e
.
T
h
e
e
x
p
e
rime
n
tal
re
su
lt
s
i
n
d
ica
te
t
h
a
t
t
h
e
r
o
b
o
t
w
a
s
a
b
le
t
o
p
a
in
t
th
e
w
a
ll
s
s
m
o
o
th
ly
v
e
rti
c
a
ll
y
,
a
n
d
h
o
r
izo
n
tally
.
T
h
e
sp
ra
y
in
g
g
u
n
stru
c
t
u
re
'
s
sp
e
e
d
is
a
t
a
to
lera
b
le
sp
e
e
d
o
f
0
.
0
7
m
/s,
w
h
ich
c
o
u
ld
b
e
in
c
re
a
se
d
,
b
u
t
to
p
r
o
v
id
e
h
ig
h
-
q
u
a
li
ty
p
a
in
ti
n
g
w
it
h
o
u
t
a
n
y
g
a
p
s,
th
e
c
u
rre
n
t
sp
e
e
d
w
a
s
se
le
c
ted
a
s
th
e
m
o
s
t
su
it
a
b
le,
w
it
h
o
u
t
a
n
y
h
a
r
m
to
th
e
w
o
rk
in
g
p
r
o
c
e
ss
.
K
ey
w
o
r
d
s
:
Au
to
m
a
tic
p
ain
ti
n
g
r
o
b
o
t
B
u
ild
in
g
au
to
m
atio
n
P
u
lle
y
m
ec
h
a
n
i
s
m
R
o
b
o
tics
Sp
r
ay
p
ai
n
ti
n
g
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Am
g
ad
Mu
n
ee
r
Dep
ar
t
m
en
t o
f
C
o
m
p
u
ter
an
d
I
n
f
o
r
m
a
tio
n
Scie
n
ce
s
Un
i
v
er
s
iti T
ek
n
o
lo
g
i
P
E
T
R
O
NAS
Ser
i I
s
k
a
n
d
ar
3
2
1
6
0
,
Ma
lay
s
ia
E
m
ail:
m
u
n
ee
r
a
m
g
ad
@
g
m
ai
l.c
o
m
1.
I
NT
RO
D
UCT
I
O
N
R
o
b
o
t
s
is
o
n
e
o
f
th
e
m
o
s
t
w
id
e
l
y
u
s
ed
au
to
m
at
io
n
m
eth
o
d
s
i
n
a
n
u
m
b
er
o
f
s
ec
to
r
s
,
f
r
o
m
h
ea
v
y
in
d
u
s
tr
y
[
1
]
,
h
ea
lth
ca
r
e
an
d
s
m
ar
t
lib
r
ar
ies
[
2
,
3
]
.
T
h
e
r
o
b
o
t
is
an
in
ter
d
is
cip
lin
ar
y
tec
h
n
o
lo
g
y
to
b
u
il
d
r
o
b
o
ts
th
at
i
m
i
tate
an
d
r
ep
lace
h
u
m
a
n
b
ei
n
g
s
,
i
n
clu
d
in
g
m
ec
h
an
ica
l
en
g
i
n
ee
r
i
n
g
,
elec
tr
o
n
ic
a
n
d
elec
tr
ical
e
n
g
i
n
ee
r
i
n
g
,
ar
ti
f
icia
l
in
telli
g
e
n
ce
,
an
d
co
m
p
u
ter
v
i
s
io
n
[
4
]
.
T
h
e
au
to
m
at
ic
w
all
p
ain
ti
n
g
r
o
b
o
t
h
as
b
ec
o
m
e
a
n
ec
ess
it
y
i
n
th
e
p
as
t
d
ec
ad
e
[
5
,
6
]
d
u
e
to
th
e
in
cr
ea
s
e
in
t
h
e
h
ei
g
h
t
o
f
t
h
e
b
u
il
d
in
g
s
an
d
m
o
r
e
a
n
d
m
o
r
e
s
k
y
s
cr
ap
er
s
[
7
]
.
Mu
ch
r
esear
ch
an
d
m
o
n
e
y
ar
e
in
v
e
s
ted
in
f
i
n
d
i
n
g
a
s
o
l
u
tio
n
to
th
is
p
r
o
b
le
m
[
8
-
10
]
.
T
h
e
s
o
lu
tio
n
w
o
u
ld
h
elp
to
eli
m
i
n
ate
t
h
e
lo
s
s
o
f
l
if
e
d
u
e
t
o
th
e
ex
ter
n
al
f
ac
to
r
s
ac
ti
n
g
wh
en
th
e
w
o
r
k
er
s
ar
e
d
o
in
g
th
ei
r
j
o
b
,
s
u
ch
a
s
h
i
g
h
w
i
n
d
,
s
to
r
m
a
n
d
f
a
lls
[
1
1
,
1
2
]
.
No
w
ad
a
y
s
,
all
t
h
e
co
u
n
tr
ies
o
v
er
th
e
w
o
r
ld
ar
e
r
ap
id
l
y
d
ev
elo
p
in
g
,
ea
ch
d
a
y
r
is
in
g
h
u
n
d
r
ed
s
o
f
b
u
ild
in
g
s
.
P
ain
tin
g
w
all
s
is
s
i
g
n
if
ican
t,
a
n
d
it is
n
o
t j
u
s
t
i
m
p
r
o
v
i
n
g
t
h
e
in
ter
io
r
.
Als
o
,
it c
a
n
b
e
ex
p
lain
ed
a
s
a
p
ar
t
o
f
t
h
e
b
u
ild
in
g
p
r
o
ce
s
s
[
1
3
]
.
Ho
w
e
v
er
,
ac
co
r
d
in
g
to
B
u
r
ea
u
o
f
L
a
b
o
r
Statis
tics
,
th
er
e
w
er
e
ap
p
r
o
x
i
m
a
tel
y
2
.
9
m
illi
o
n
n
o
n
f
atal
w
o
r
k
p
lace
in
j
u
r
ie
s
r
ep
o
r
ted
b
y
p
r
iv
ate
i
n
d
u
s
tr
y
e
m
p
lo
y
er
s
i
n
2
0
1
5
,
w
h
ic
h
o
cc
u
r
r
ed
at
a
r
ate
o
f
3
ca
s
es
p
er
1
0
0
eq
u
iv
ale
n
t
f
u
ll
-
ti
m
e
w
o
r
k
er
s
[
1
4
]
.
T
h
is
n
u
m
b
er
is
g
r
o
w
i
n
g
ea
c
h
y
ea
r
,
w
h
ic
h
is
a
g
lo
b
al
w
o
r
ld
w
id
e
p
r
o
b
le
m
,
an
d
it
m
u
s
t b
e
s
o
lv
ed
.
T
h
er
ef
o
r
e,
th
e
m
ai
n
ac
h
ie
v
e
m
en
t
to
b
e
r
ea
ch
ed
in
th
e
cu
r
r
en
t
s
t
u
d
y
is
f
o
c
u
s
ed
o
n
d
ev
elo
p
in
g
a
s
u
s
tai
n
ab
le
an
d
r
ea
s
o
n
ab
le
p
r
i
ce
d
w
al
l p
ain
tin
g
au
to
m
atic
r
o
b
o
t to
in
cr
ea
s
e
th
e
ef
f
icien
c
y
o
f
w
a
ll p
ain
ti
n
g
an
d
r
ed
u
ce
th
e
h
u
m
a
n
p
o
w
er
i
n
v
o
lv
ed
in
c
u
r
r
en
t
ac
ti
v
it
y
.
T
h
e
au
to
m
at
ic
m
ac
h
i
n
e
s
h
o
u
ld
ca
r
r
y
o
u
t
a
w
h
o
le
w
all
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:
2722
-
2586
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
a
u
to
ma
tic
p
a
in
tin
g
m
o
b
ile
r
o
b
o
t
(
A
mg
a
d
Mu
n
ee
r
)
69
p
ain
tin
g
p
r
o
ce
s
s
to
p
ai
n
t
t
h
e
w
all
w
it
h
o
u
t
h
u
m
a
n
i
n
v
o
lv
e
m
en
t
a
n
d
a
h
i
g
h
er
lev
el
o
f
s
u
f
f
i
cie
n
t
e
f
f
icie
n
c
y
.
A
r
o
b
o
t
h
as
an
ef
f
icie
n
t
w
o
r
k
i
n
g
alg
o
r
ith
m
[
1
5
,
1
6
]
,
p
r
o
v
id
in
g
th
e
w
o
r
ld
w
i
th
an
a
u
to
n
o
m
o
u
s
m
ac
h
in
e
t
h
at
w
il
l
b
e
ab
le
to
:
d
etec
t
th
e
ar
ea
t
h
at
n
ee
d
s
to
b
e
p
ain
ted
[
1
7
]
,
an
al
y
ze
s
th
e
s
u
r
f
ac
e
th
r
o
u
g
h
o
u
t
th
e
d
ev
elo
p
ed
s
o
f
t
w
ar
e
[1
8
]
,
p
ain
t
th
e
s
u
r
f
ac
e,
c
h
ec
k
s
o
n
an
y
e
m
p
t
y
s
p
ac
es,
an
d
to
d
o
co
r
r
ec
tio
n
if
n
ee
d
ed
.
T
h
e
r
em
ai
n
d
er
o
f
th
i
s
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
.
Secti
o
n
2
g
iv
es
an
o
v
er
v
ie
w
o
f
th
e
m
et
h
o
d
o
lo
g
y
ad
o
p
ted
f
o
r
th
e
p
r
o
p
o
s
ed
r
esear
ch
an
d
d
escr
ib
ed
th
e
ex
p
er
i
m
en
ta
l m
o
d
el.
R
es
u
lt
s
ar
e
d
is
c
u
s
s
ed
in
Sectio
n
3
,
w
h
ile
;
th
e
co
n
cl
u
s
io
n
a
n
d
th
e
f
u
tu
r
e
w
o
r
k
ar
e
g
iv
e
n
in
Sectio
n
4
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
AN
D
H
ARDWA
R
E
I
n
th
e
l
iter
atu
r
e,
m
o
s
t o
f
th
e
s
i
ze
o
f
th
e
r
o
b
o
ts
ar
e
v
ar
ies,
i
t h
as a
s
i
g
n
if
ica
n
t
w
e
ig
h
t,
i
s
w
o
r
k
in
g
s
lo
w
,
an
d
th
e
p
r
ice
is
s
u
r
p
r
is
in
g
l
y
h
i
g
h
.
T
h
u
s
,
it
is
n
o
t
ea
s
il
y
ac
ce
s
s
ib
le
f
o
r
th
e
p
eo
p
le.
T
o
s
o
lv
e
th
e
p
r
o
b
lem
t
h
at
i
s
s
tated
as
a
d
an
g
er
to
h
u
m
a
n
li
f
e
w
h
ile
p
ain
ti
n
g
p
r
o
ce
s
s
,
th
e
r
o
b
o
t
is
d
esig
n
ed
to
b
e
s
u
itab
le
f
o
r
th
e
w
all
p
ain
ti
n
g
w
it
h
o
u
t
t
ak
i
n
g
a
n
y
r
is
k
f
o
r
h
u
m
an
li
f
e.
T
h
is
s
tu
d
y
co
n
s
is
t
s
o
f
t
w
o
p
ar
ts
:
On
e
p
ar
t,
w
h
ic
h
is
th
e
b
ase
m
e
n
t
o
f
th
e
r
o
b
o
t,
ar
e
r
ep
r
esen
ted
as
a
b
o
ar
d
w
it
h
f
o
u
r
w
h
ee
l
s
,
w
h
ic
h
a
r
e
o
n
t
h
e
r
o
o
f
to
p
o
f
t
h
e
b
u
ild
i
n
g
.
I
t
is
cr
ea
ted
to
ca
r
r
y
all
t
h
e
p
ar
ts
w
h
ich
ar
e
r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
llin
g
th
e
s
y
s
te
m
,
m
o
to
r
,
b
atter
y
,
w
e
ig
h
t
,
an
d
p
r
ess
u
r
e
b
an
k
f
o
r
th
e
s
p
r
ay
in
g
g
u
n
.
I
t
w
il
l
also
h
av
e
“g
r
ip
s
”
to
m
ak
e
t
h
e
b
o
ar
d
s
tab
le
w
h
ile
th
e
p
ain
tin
g
p
r
o
ce
s
s
an
d
s
ta
y
s
tead
y
to
n
o
t
f
all
d
o
w
n
f
r
o
m
t
h
e
r
o
o
f
to
p
.
T
h
e
s
ec
o
n
d
p
ar
t,
w
h
ic
h
is
t
h
e
r
o
b
o
t
its
elf
,
w
ill
b
e
r
ep
r
esen
ted
as
a
lo
n
g
b
o
ar
d
,
w
ith
4
w
h
ee
ls
,
w
it
h
a
m
o
v
ab
le
s
p
r
ay
in
g
g
u
n
.
Fi
g
u
r
e
1
s
h
o
w
s
t
h
e
p
r
o
ce
s
s
o
f
p
ai
n
ti
n
g
i
m
p
le
m
e
n
ted
in
th
is
s
t
u
d
y
.
Fig
u
r
e
1
.
P
r
o
ce
s
s
o
f
p
ain
tin
g
T
h
e
p
r
o
p
o
s
ed
r
o
b
o
t
is
an
au
to
m
o
tiv
e
m
o
b
ile
r
o
b
o
t,
b
u
t
it
w
i
l
l
n
ee
d
h
u
m
a
n
i
n
v
o
lv
e
m
e
n
t
i
n
i
ts
w
o
r
k
i
n
g
p
r
o
ce
s
s
.
T
h
e
r
o
b
o
t
w
ill
b
e
p
ai
n
ti
n
g
w
all
s
f
r
o
m
u
p
to
d
o
w
n
,
th
e
w
o
r
k
er
w
ill
n
ee
d
to
ac
tiv
a
te
a
m
o
to
r
f
o
r
th
e
m
etal
r
o
p
es w
h
ic
h
ar
e
h
o
ld
in
g
th
e
r
o
b
o
t,
s
o
it w
ill
b
e
d
escen
d
ed
d
o
w
n
w
ar
d
s
w
h
en
t
h
e
p
ain
tin
g
p
r
o
ce
s
s
is
d
o
n
e
v
er
ticall
y
,
th
e
w
o
r
k
er
o
n
th
e
r
o
o
f
to
p
w
ill
n
ee
d
to
b
r
in
g
it
u
p
b
y
ac
t
iv
at
in
g
th
e
m
o
to
r
s
o
it
w
ill
p
u
ll
r
o
b
o
t
u
p
w
ar
d
s
b
y
r
o
p
es
attac
h
ed
to
it.
T
h
e
w
o
r
k
er
w
ill
m
o
v
e
t
h
e
b
ase
m
en
t
o
f
th
e
r
o
b
o
t
o
n
th
e
r
o
o
f
to
p
h
o
r
izo
n
tall
y
an
d
co
n
tin
u
e
th
e
p
ain
ti
n
g
p
r
o
ce
s
s
.
T
h
is
alg
o
r
ith
m
w
ill
b
e
d
o
n
e
m
u
ltip
le
ti
m
es
u
n
til
r
ea
ch
i
n
g
th
e
s
u
cc
e
s
s
f
u
ll
y
p
ain
ted
s
elec
ted
ar
ea
,
as
s
h
o
w
n
in
Fi
g
u
r
e
2
.
Ho
w
e
v
er
,
to
let
th
e
r
o
b
o
t
“
k
n
o
w
”
h
o
w
b
ig
t
h
e
ar
ea
f
o
r
p
ain
tin
g
is
,
th
e
w
o
r
k
er
w
ill
h
av
e
to
i
n
p
u
t t
h
e
len
g
t
h
an
d
t
h
e
w
id
t
h
o
f
t
h
e
s
elec
ted
ar
ea
af
t
er
tak
in
g
t
h
e
m
ea
s
u
r
e
m
e
n
ts
.
As
th
e
r
o
b
o
t
co
n
s
is
ts
o
f
t
w
o
p
ar
ts
,
it
w
a
s
d
ec
id
ed
to
u
s
e
2
A
r
d
u
i
n
o
Un
o
m
icr
o
co
n
tr
o
ller
b
o
ar
d
s
an
d
co
n
n
ec
t
t
h
e
m
w
ir
ele
s
s
l
y
s
o
t
h
at
w
h
e
n
t
h
e
m
o
b
ile
s
tr
u
ct
u
r
e
w
il
l
b
e
in
t
h
e
s
tag
e
o
f
w
all
p
ai
n
ti
n
g
,
t
h
er
e
w
ill
n
o
t
b
e
an
y
n
ee
d
f
o
r
lo
n
g
w
ir
es,
c
o
n
n
ec
ti
n
g
it
to
th
e
b
a
s
e
s
tr
u
ct
u
r
e.
T
h
is
d
ec
is
io
n
is
also
a
g
o
o
d
s
o
lu
tio
n
,
a
n
d
it
af
f
ec
ts
a
co
s
t
p
o
s
itiv
el
y
,
m
a
k
i
n
g
o
v
er
all
r
o
b
o
t
co
n
s
tr
u
ctio
n
a
l
p
r
icele
s
s
b
ec
au
s
e
th
er
e
w
ill
n
o
t
b
e
an
y
n
ee
d
in
in
s
ta
lli
n
g
lo
n
g
w
ir
es,
w
ir
e
co
ll
ec
tin
g
co
ils
.
T
h
e
r
o
b
o
t'
s
b
ase
s
tr
u
ctu
r
e
co
n
s
i
s
ts
o
f
A
r
d
u
i
n
o
U
n
o
m
icr
o
co
n
tr
o
ller
b
o
ar
d
,
m
o
to
r
d
r
iv
er
L
2
9
8
N,
th
e
p
u
li
n
g
m
ec
h
a
n
is
m
(
DC
-
m
o
to
r
,
p
u
lle
y
s
,
n
y
lo
n
r
o
p
es),
an
d
1
2
V
DC
b
atter
y
a
p
o
w
er
s
u
p
p
l
y
,
A
r
d
u
i
n
o
H
C
-
0
5
s
er
ial
p
o
r
t w
ir
eless
tr
a
n
s
m
itte
r
m
o
d
u
le
an
d
w
o
o
d
en
b
ase
co
n
s
tr
u
ctio
n
it
s
el
f
.
Fig
u
r
e
3
s
h
o
w
s
t
h
e
p
r
o
p
o
s
ed
a
u
to
m
at
ic
m
o
b
ile
r
o
b
o
t'
s
f
i
n
al
h
ar
d
w
ar
e
d
esi
g
n
w
i
th
al
l
m
ec
h
an
is
m
a
n
d
co
m
p
o
n
e
n
t
s
u
s
ed
.
T
h
e
d
esig
n
s
h
o
w
s
t
h
er
e
is
t
w
o
p
u
lle
y
m
ec
h
an
i
s
m
a
n
d
w
h
er
e
t
h
e
y
lo
ca
ted
.
T
h
e
p
u
lle
y
s
y
s
te
m
p
lace
d
o
n
th
e
to
p
is
to
m
o
v
e
t
h
e
L
-
s
h
ap
e
u
p
s
an
d
d
o
w
n
s
w
it
h
th
e
h
elp
o
f
t
h
e
D
C
m
o
to
r
th
at
ca
n
ca
r
r
y
ab
o
u
t
1
0
k
g
.
T
h
e
o
th
er
p
u
lle
y
m
ec
h
an
i
s
m
is
to
m
o
v
e
t
h
e
s
p
r
a
y
g
u
n
le
f
t
an
d
r
ig
h
t
(
li
n
e
a
r
m
o
tio
n
)
to
p
ain
t
th
e
w
al
l
en
tire
l
y
.
I
n
th
e
p
r
o
p
o
s
ed
h
ar
d
w
ar
e
d
esig
n
,
t
h
er
e
ar
e
tw
o
A
r
d
u
i
n
o
Un
o
im
p
le
m
e
n
ted
.
On
e
is
f
o
r
m
a
s
ter
p
u
r
p
o
s
e
an
d
th
e
o
th
er
f
o
r
s
lav
e
p
u
r
p
o
s
e.
Fig
u
r
e
4
s
h
o
w
s
th
e
p
ain
t
m
ec
h
an
i
s
m
d
es
ig
n
w
it
h
th
e
s
p
r
a
y
g
u
n
an
d
u
ltra
s
o
n
ic
s
en
s
o
r
.
T
h
e
s
p
r
ay
g
u
n
i
s
attac
h
ed
to
a
p
u
lle
y
m
ec
h
a
n
is
m
w
it
h
li
n
ea
r
m
o
tio
n
—
t
h
e
u
l
tr
aso
n
ic
s
e
n
s
o
r
u
s
ed
to
d
etec
t
th
e
s
p
r
a
y
g
u
n
w
h
e
n
it
r
ea
ch
ed
t
h
e
s
p
ec
if
ic
li
m
it.
T
h
e
DC
m
o
to
r
r
o
tate
s
C
lo
ck
w
is
e
a
n
d
C
o
u
n
ter
clo
ck
w
is
e
b
ased
o
n
th
e
u
l
tr
aso
n
ic
s
en
s
o
r
co
n
d
itio
n
m
ad
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
68
–
74
70
Fig
u
r
e
2
.
P
r
o
p
o
s
ed
alg
o
r
ith
m
p
r
o
ce
s
s
Fig
u
r
e
3
.
P
h
o
to
g
r
ap
h
o
f
th
e
p
ain
ti
n
g
r
o
b
o
t
(
E
x
p
er
i
m
en
tal
m
o
d
el)
Fig
u
r
e
4
.
P
ain
t
m
ec
h
a
n
i
s
m
d
e
s
ig
n
3.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
N
Sev
er
al
e
x
p
er
i
m
e
n
ts
w
er
e
co
n
d
u
cted
to
ch
ec
k
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
s
y
s
te
m
.
T
h
e
p
u
r
p
o
s
e
o
f
test
in
g
th
e
s
y
s
te
m
is
to
e
n
s
u
r
e
th
at
th
e
s
y
s
te
m
is
ad
eq
u
ate
l
y
e
v
al
u
at
ed
.
T
h
e
f
o
llo
w
i
n
g
ar
e
t
h
e
e
x
p
er
i
m
en
ts
co
n
d
u
cted
to
ev
alu
ate
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
p
r
o
p
o
s
ed
w
all
p
ai
n
ti
n
g
r
o
b
o
t:
3
.
1
.
T
i
m
e
t
a
k
en
f
o
r
v
er
t
ica
l t
ra
ns
la
t
io
n o
f
m
o
bil
e
s
t
ruct
u
re
T
h
e
ex
p
er
im
e
n
tal
s
et
u
p
f
o
r
th
e
v
er
tical
tr
an
s
latio
n
w
a
s
d
o
n
e
b
y
s
etti
n
g
u
p
th
e
p
r
o
to
ty
p
e
'
s
s
tatio
n
ar
y
m
o
d
u
l
e
at
th
e
h
ei
g
h
t
o
f
5
m
e
t
er
s
.
T
h
e
m
o
b
ile
s
tr
u
ct
u
r
e
w
it
h
th
e
s
p
r
ay
g
u
n
w
as
h
u
n
g
f
r
ee
l
y
a
n
d
co
n
tr
o
lled
b
y
th
e
A
r
d
u
i
n
o
m
icr
o
co
n
tr
o
ller
.
T
h
e
p
r
o
g
r
a
m
w
as
w
r
itte
n
to
m
o
v
e
t
h
e
s
tr
u
ctu
r
e
to
v
ar
y
in
g
lev
els
o
f
h
ei
g
h
t.
T
h
e
h
eig
h
t
s
w
er
e
m
ea
s
u
r
ed
m
an
u
all
y
u
s
i
n
g
a
m
ea
s
u
r
i
n
g
tap
e
,
an
d
th
e
r
ea
d
in
g
s
f
r
o
m
t
h
e
u
lt
r
aso
n
ic
s
e
n
s
o
r
w
er
e
co
m
p
ar
ed
to
t
h
e
a
f
o
r
e
m
e
n
tio
n
ed
ac
tu
al
r
ea
d
in
g
s
.
T
h
u
s
,
t
h
is
i
s
i
m
p
o
r
ta
n
t
b
ec
au
s
e
,
d
u
r
i
n
g
t
h
e
p
r
o
to
ty
p
e
'
s
ac
tu
a
l
ap
p
licatio
n
,
th
e
h
eig
h
t
s
h
o
u
ld
b
e
m
ea
s
u
r
ed
v
er
y
ac
c
u
r
atel
y
f
o
r
o
p
tim
u
m
p
er
f
o
r
m
an
ce
.
T
ab
le
1
sh
o
w
s
t
h
e
d
ata
f
o
r
th
e
v
er
tical
tr
a
n
s
la
tio
n
o
f
th
e
m
o
b
ile
p
ar
t.
T
h
e
ti
m
e
ta
k
en
f
o
r
th
e
tr
a
n
s
lat
io
n
w
a
s
m
e
asu
r
ed
ag
ai
n
s
t
t
h
e
d
is
p
lace
m
e
n
t.
T
h
e
test
w
as
d
o
n
e
t
w
ice
,
an
d
th
e
m
ea
n
v
al
u
e
w
a
s
ca
lcu
lated
in
o
r
d
er
to
in
cr
ea
s
e
ac
cu
r
ac
y
an
d
p
r
ec
is
io
n
.
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:
2722
-
2586
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
a
u
to
ma
tic
p
a
in
tin
g
m
o
b
ile
r
o
b
o
t
(
A
mg
a
d
Mu
n
ee
r
)
71
T
ab
le
1
.
T
im
e
ta
k
e
n
f
o
r
v
er
tic
al
tr
an
s
latio
n
T
e
st
1
:
T
i
me
t
a
k
e
n
(
se
c
o
n
d
s)
T
e
st
2
:
T
i
me
t
a
k
e
n
(
se
c
o
n
d
s)
A
v
e
r
a
g
e
D
i
st
a
n
c
e
me
a
su
r
e
d
(
me
t
e
r
s)
2
.
4
2
.
5
2
.
4
5
0
.
2
5
4
.
9
4
.
9
4
.
9
0
.
5
0
7
.
2
7
.
3
7
.
2
5
0
.
7
5
9
.
5
9
.
6
9
.
5
5
1
.
0
0
1
1
.
7
1
1
.
9
1
1
.
8
1
.
2
5
1
4
.
0
1
4
.
2
1
4
.
1
1
.
5
0
1
6
.
3
1
6
.
4
1
6
.
3
5
1
.
7
5
1
8
.
5
1
8
.
5
1
8
.
5
2
.
0
0
Fig
u
r
e
5
s
h
o
w
s
th
e
ti
m
e
tak
e
n
f
o
r
th
e
v
er
tical
d
is
p
lace
m
e
n
t o
f
2
m
eter
s
.
T
h
e
s
p
ee
d
o
f
th
e
m
o
b
ile
p
ar
t
is
at
an
ad
eq
u
ate
s
p
ee
d
o
f
r
o
u
g
h
l
y
0
.
1
m
/
s
f
o
r
ea
ch
c
y
cle.
T
h
is
is
an
ad
eq
u
ate
s
p
ee
d
f
o
r
th
e
p
ain
tin
g
to
b
e
d
o
n
e
co
r
r
ec
tly
.
No
ac
ce
ler
atio
n
w
a
s
d
o
n
e
b
ec
au
s
e
it
w
o
u
ld
ca
u
s
e
u
n
ev
e
n
co
ats
o
f
p
ai
n
t,
w
h
ic
h
w
o
u
ld
r
esu
lt
i
n
t
h
e
p
r
o
to
ty
p
e
h
a
v
i
n
g
to
d
o
ex
tr
a
m
o
v
e
m
e
n
t
to
co
m
p
lete
t
h
e
p
ain
tin
g
p
r
o
ce
s
s
.
T
h
e
v
er
tica
l
m
o
v
e
m
e
n
t
test
i
n
g
in
d
icate
d
th
at
t
h
e
o
v
er
all
v
er
tical
m
o
v
e
m
e
n
t
o
f
th
e
m
o
b
il
e
p
ar
t
w
as
li
n
ea
r
an
d
s
m
o
o
th
.
T
h
is
w
as
a
g
o
o
d
in
d
icatio
n
t
h
at
t
h
e
p
ain
ti
n
g
p
r
o
ce
s
s
w
o
u
ld
r
u
n
s
m
o
o
t
h
l
y
.
Fig
u
r
e
5
.
T
im
e
tak
e
n
f
o
r
v
er
ti
ca
l tr
an
s
latio
n
3
.
2
.
T
i
m
e
t
a
k
en
f
o
r
ho
rizo
nta
l t
ra
ns
la
t
io
n o
f
pa
int
s
pra
y
g
un
T
h
e
h
o
r
izo
n
tal
tr
an
s
latio
n
o
f
th
e
p
ain
t
g
u
n
w
a
s
te
s
ted
b
y
u
s
in
g
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
.
T
h
e
d
is
p
lace
m
e
n
t
o
f
th
e
p
ain
t g
u
n
w
as tested
in
a
m
a
n
n
er
lik
e
th
e
v
er
tical
tr
an
s
latio
n
o
f
th
e
m
o
b
ile
p
ar
t.
T
h
e
m
o
b
ile
p
ar
t
w
as set
o
n
th
e
g
r
o
u
n
d
f
o
r
th
is
tes
t.
T
h
e
to
tal
d
is
tan
ce
b
et
w
ee
n
th
e
u
ltra
s
o
n
ic
s
e
n
s
o
r
an
d
th
e
p
ain
t
s
p
r
a
y
g
u
n
at
th
e
f
u
r
t
h
es
t
d
is
tan
ce
i
s
0
.
8
0
m
eter
s
.
I
t
h
ad
to
b
e
en
s
u
r
ed
th
at
t
h
e
m
o
v
e
m
en
t
o
f
th
e
s
p
r
a
y
g
u
n
w
a
s
at
an
ad
eq
u
ate
s
p
ee
d
.
T
h
is
h
ad
to
b
e
d
o
n
e
to
m
a
k
e
s
u
r
e
th
at
th
e
s
p
ee
d
is
s
u
f
f
ic
ien
t
e
n
o
u
g
h
to
f
i
n
i
s
h
t
h
e
p
ain
ti
n
g
j
o
b
in
a
r
ea
s
o
n
ab
le
ti
m
e
an
d
m
a
k
e
s
u
r
e
s
p
ee
d
is
n
o
t
t
o
o
f
ast
to
m
a
k
e
th
e
p
ain
t
j
o
b
im
p
r
o
p
er
.
T
ab
le
2
p
r
esen
ted
th
e
ex
p
er
i
m
e
n
tal
r
es
u
lt
s
o
f
t
h
e
ti
m
e
tak
e
n
f
o
r
th
e
h
o
r
izo
n
tal
tr
an
s
latio
n
o
f
a
p
ain
t sp
r
a
y
g
u
n
i
n
c
o
n
tr
ast to
t
h
e
w
a
ll
p
ai
n
tin
g
ar
ea
.
T
h
e
r
esu
l
ts
s
h
o
w
t
h
at
t
h
e
lar
g
er
th
e
p
ai
n
t
i
n
g
ar
ea
is
,
th
e
m
o
r
e
ti
m
e
n
ee
d
ed
f
o
r
th
e
r
o
b
o
t
to
f
u
l
l
y
p
ain
t th
e
d
esire
d
ar
ea
.
T
ab
le
2
.
T
im
e
tak
e
n
f
o
r
h
o
r
izo
n
tal
tr
an
s
latio
n
T
e
st
1
:
T
i
me
t
a
k
e
n
(
se
c
o
n
d
s)
T
e
st
2
:
T
i
me
t
a
k
e
n
(
se
c
o
n
d
s)
A
v
e
r
a
g
e
D
i
st
a
n
c
e
me
a
su
r
e
d
(
m
e
t
e
r
s)
1
.
3
1
.
5
1
.
4
0
.
1
3
.
5
3
.
3
3
.
4
0
.
2
4
.
7
0
4
.
6
0
4
.
6
5
0
.
3
5
.
3
0
5
.
7
0
5
.
5
0
0
.
4
6
.
2
3
6
.
4
0
6
.
3
2
0
.
5
8
.
5
6
8
.
0
1
8
.
3
0
.
6
9
.
0
1
9
.
5
9
.
3
0
.
7
1
0
.
7
0
1
0
.
5
0
1
0
.
6
0
.
8
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
68
–
74
72
Fig
u
r
e
6
s
h
o
w
s
th
e
ti
m
e
ta
k
e
n
f
o
r
th
e
h
o
r
izo
n
tal
tr
an
s
latio
n
o
f
th
e
s
p
r
a
y
i
n
g
g
u
n
,
w
i
th
i
n
0
.
8
m
eter
s
’
d
is
tan
ce
.
T
h
e
s
p
r
a
y
i
n
g
g
u
n
s
tr
u
ctu
r
e
's
s
p
ee
d
is
a
t
a
to
ler
ab
le
s
p
ee
d
o
f
r
o
u
g
h
l
y
0
.
0
7
m
/s
,
w
h
ich
co
u
ld
b
e
in
cr
ea
s
ed
,
b
u
t
to
p
r
o
v
id
e
h
i
g
h
-
q
u
alit
y
p
ai
n
ti
n
g
w
it
h
o
u
t
a
n
y
g
a
p
s
,
cu
r
r
en
t
s
p
ee
d
w
as
s
elec
ted
as
th
e
m
o
s
t
s
u
i
tab
le
w
it
h
o
u
t
an
y
h
ar
m
to
th
e
w
o
r
k
in
g
p
r
o
ce
s
s
.
A
s
w
el
l
as
f
o
r
th
e
h
o
r
izo
n
tal
tr
an
s
la
tio
n
,
t
h
er
e
w
a
s
n
o
ac
ce
ler
atio
n
d
o
n
e.
T
h
e
h
o
r
izo
n
tal
m
o
v
e
m
e
n
t
test
i
n
g
in
d
icate
d
th
at
t
h
e
p
ain
t
s
p
r
a
y
i
n
g
g
u
n
's
o
v
er
all
h
o
r
izo
n
tal
m
o
v
e
m
e
n
t
w
a
s
s
u
itab
le.
C
u
r
r
en
t te
s
t
in
g
e
n
s
u
r
ed
th
at
t
h
e
p
ain
ti
n
g
p
r
o
ce
s
s
w
o
u
ld
r
u
n
s
m
o
o
t
h
l
y
.
Fig
u
r
e
6
.
T
im
e
tak
e
n
f
o
r
h
o
r
izo
n
tal
tr
an
s
latio
n
3
.
3
.
Air
c
o
m
pre
s
s
o
r
t
est
A
ir
co
m
p
r
ess
o
r
test
i
n
g
w
a
s
d
o
n
e
u
s
in
g
w
ater
p
ain
t,
p
ain
t
s
p
r
a
y
in
g
g
u
n
,
air
p
r
ess
u
r
e
v
alv
e
co
n
n
ec
ted
to
th
e
A
r
d
u
i
n
o
UNO
b
o
ar
d
an
d
air
co
m
p
r
ess
o
r
.
T
h
e
p
r
ess
u
r
e
w
as in
cr
ea
s
ed
f
r
o
m
an
in
it
ial
p
o
in
t
o
f
4
0
p
s
i w
it
h
th
e
s
tep
o
f
1
0
p
s
i.
T
h
e
e
x
p
er
im
en
t
ai
m
ed
to
d
escr
ib
e
w
h
ic
h
wo
r
k
in
g
air
co
m
p
r
ess
o
r
p
r
ess
u
r
e
is
th
e
m
o
s
t
s
u
itab
le
f
o
r
th
e
u
s
ed
s
p
r
a
y
i
n
g
g
u
n
.
Sp
r
ay
in
g
g
u
n
w
as
s
e
t
i
n
t
h
e
i
n
iti
al
p
o
s
it
io
n
,
an
d
w
it
h
ea
ch
s
t
e
p
o
f
in
cr
ea
s
i
n
g
t
h
e
p
r
ess
u
r
e,
o
n
e
la
y
er
w
a
s
p
ai
n
te
d
.
Af
ter
w
ar
d
s
,
t
h
e
q
u
al
it
y
o
f
th
e
p
ain
ted
la
y
er
w
as
ex
a
m
i
n
ed
m
an
u
all
y
to
v
er
d
ict
th
e
m
o
s
t
ap
p
r
o
p
r
iate
p
s
i
lev
el.
T
ab
le
3
s
h
o
w
s
t
h
e
ex
p
er
i
m
e
n
tal
d
ata
co
llectio
n
o
f
th
e
air
co
m
p
r
e
s
s
o
r
te
s
t.
T
h
is
test
d
e
m
o
n
s
tr
ates
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
th
e
u
s
e
o
f
p
ain
t
an
d
th
e
ti
m
e
n
ee
d
ed
o
n
th
e
ex
c
h
an
g
e
o
f
air
co
m
p
r
es
s
i
n
g
p
r
ess
u
r
e.
T
ab
le
3
.
Data
co
llectio
n
f
o
r
air
co
m
p
r
ess
o
r
test
A
i
r
P
r
e
ssu
r
e
(
p
si
)
P
a
i
n
t
c
o
n
s
u
m
p
t
i
o
n
(
ml
)
T
i
me
r
e
q
u
i
r
e
d
(
se
c
)
40
4
1
4
.
7
1
50
5
1
3
.
8
8
60
22
1
2
.
6
4
70
24
1
1
.
9
2
80
26
1
1
.
1
4
90
29
1
0
.
4
3
1
0
0
33
9
.
7
5
Fig
u
r
e
7
ill
u
s
tr
ates
t
h
e
r
elat
io
n
s
h
ip
b
et
w
ee
n
p
ai
n
t
co
n
s
u
m
p
ti
o
n
an
d
t
i
m
e
s
p
en
d
d
u
e
to
e
x
c
h
an
g
e
o
f
th
e
air
co
m
p
r
ess
i
n
g
p
r
ess
u
r
e.
T
h
e
cu
r
r
en
t
g
r
ap
h
's
X
-
ax
is
r
ep
r
es
en
ts
th
e
air
p
r
ess
u
r
e
ch
a
n
g
e
r
ate
w
it
h
in
th
e
r
an
g
e
o
f
4
0
–
1
0
0
p
s
i,
an
d
Y
-
ax
is
r
ep
r
esen
ts
t
h
e
ti
m
e
r
ate
f
r
o
m
0
to
3
5
s
ec
o
n
d
s
.
A
s
i
n
Fig
u
r
e
7
o
f
th
e
air
co
m
p
r
ess
o
r
test
,
t
h
e
h
ig
h
er
t
h
e
air
p
r
ess
u
r
e
,
th
e
le
s
s
ti
m
e
r
eq
u
ir
ed
.
Ho
w
e
v
er
,
p
ain
t
co
n
s
u
m
p
t
io
n
g
r
o
w
s
o
n
th
e
f
lip
s
id
e
.
D
u
e
to
th
e
p
r
ess
u
r
e
cr
ea
ted
in
s
id
e
th
e
p
ain
t
tan
k
o
f
th
e
s
p
r
a
y
i
n
g
g
u
n
,
p
ain
t
is
s
p
r
a
y
ed
f
as
ter
,
w
h
ich
d
ec
r
ea
s
e
s
t
h
e
ti
m
e
n
ee
d
ed
f
o
r
th
e
p
ain
t
in
g
p
r
o
ce
s
s
,
b
u
t
f
a
s
ter
is
n
o
t
al
w
a
y
s
b
etter
.
I
f
air
p
r
ess
u
r
e
is
to
o
h
i
g
h
,
a
la
y
er
o
f
s
p
r
a
y
ed
o
u
t
p
ain
t
w
ill
b
ec
o
m
e
to
o
th
i
ck
,
w
h
ic
h
w
ill
ca
u
s
e
lea
k
ag
e
s
an
d
o
th
er
u
n
w
an
ted
p
h
e
n
o
m
en
a
w
h
ile
p
ain
t
in
g
p
r
o
ce
s
s
.
A
s
it
is
n
o
ticea
b
le,
at
p
o
in
ts
o
f
4
0
an
d
5
0
p
s
i
,
p
ain
t
co
n
s
u
m
p
tio
n
i
s
v
er
y
lo
w
,
co
m
p
ar
i
n
g
to
th
e
o
th
er
p
r
ess
u
r
e
lev
els.
I
t
is
ca
u
s
ed
b
y
th
at
f
ac
t
th
at
th
ese
air
p
r
ess
u
r
e
lev
els
w
er
e
j
u
s
t
n
o
t
p
o
w
er
f
u
l
en
o
u
g
h
to
in
d
u
ce
th
e
p
ain
t
s
p
r
a
y
in
g
f
r
o
m
t
h
e
s
p
r
ay
g
u
n
's n
o
zz
le
.
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:
2722
-
2586
Desig
n
a
n
d
imp
leme
n
ta
tio
n
o
f
a
u
to
ma
tic
p
a
in
tin
g
m
o
b
ile
r
o
b
o
t
(
A
mg
a
d
Mu
n
ee
r
)
73
Fig
u
r
e
7
.
Data
an
al
y
s
is
o
f
a
ir
co
m
p
r
es
s
o
r
test
3
.
4
.
Acc
ura
cy
o
f
t
he
ultr
a
s
o
n
ic
s
ens
o
r
Du
r
in
g
test
i
n
g
o
f
au
to
m
at
ic
p
ain
ti
n
g
r
o
b
o
t,
th
e
w
a
ll
p
ain
ter
u
ltra
s
o
n
ic
s
e
n
s
o
r
w
as
ex
p
ec
t
ed
to
w
o
r
k
co
r
r
ec
tly
w
i
th
1
0
0
%
ac
cu
r
ac
y
,
b
u
t
lik
e
a
n
y
o
th
er
d
ev
ice,
it
h
as
a
r
a
n
g
e
o
f
er
r
o
r
s
.
A
s
e
v
e
n
m
e
n
tio
n
ed
b
y
t
h
e
m
an
u
f
ac
t
u
r
er
,
its
er
r
o
r
r
an
g
e
is
±
3
%
.
H
o
w
ev
er
,
w
h
ile
test
i
n
g
,
it
s
h
o
w
ed
g
r
ea
t
p
er
f
o
r
m
a
n
c
e
w
it
h
a
m
i
n
i
m
u
m
ac
cu
r
ac
y
o
f
9
6
%.
I
n
th
e
cu
r
r
en
t
r
o
b
o
t’
s
w
o
r
k
i
n
g
p
r
o
ce
s
s
,
it
is
v
ital
to
h
av
e
ac
cu
r
ate
w
o
r
k
i
n
g
u
ltra
s
o
n
ic
s
e
n
s
o
r
s
to
p
r
o
v
id
e
eq
u
alit
y
in
p
ain
ti
n
g
lay
er
s
a
n
d
m
ak
e
t
h
e
m
s
tr
aig
h
t,
w
it
h
o
u
t
an
y
b
r
ea
k
d
o
w
n
s
o
n
th
e
ed
g
es
an
d
p
ath
en
d
in
g
s
.
4.
CO
NCLU
SI
O
N
T
h
e
p
r
o
p
o
s
ed
r
esear
ch
ai
m
s
t
o
co
n
s
tr
u
ct
a
n
a
u
to
m
atic
r
o
b
o
t,
w
h
ic
h
w
ill
p
ai
n
t
t
h
e
b
u
ild
i
n
g
s
'
w
alls
o
f
an
y
s
ize.
T
h
e
ex
p
er
i
m
en
ta
l
r
esu
lt
s
in
d
icate
th
at
t
h
e
p
r
o
p
o
s
ed
r
o
b
o
t
co
u
ld
s
m
o
o
th
l
y
p
ain
t
th
e
w
all
s
w
i
th
an
ac
cu
r
ac
y
o
f
u
p
to
9
0
%
(
s
p
r
ay
g
u
n
ac
cu
r
ac
y
)
an
d
in
a
v
er
y
ef
f
icie
n
t ti
m
e.
T
h
er
ef
o
r
e,
th
e
s
y
s
te
m
w
as d
ev
elo
p
ed
w
it
h
t
h
e
o
p
tio
n
f
o
r
th
e
w
o
r
k
e
r
s
to
s
elec
t
a
m
o
n
g
s
e
v
er
al
o
p
t
io
n
s
to
e
n
s
u
r
e
th
a
t
th
e
p
r
o
to
ty
p
e
ca
n
b
e
u
s
ed
f
o
r
v
ar
io
u
s
h
ei
g
h
ts
.
Ho
w
e
v
er
,
f
u
t
u
r
e
d
ev
elo
p
m
e
n
t
s
h
o
u
ld
b
e
d
o
n
e
to
s
elec
t
an
y
le
n
g
t
h
ac
co
r
d
in
g
to
th
e
b
u
ild
i
n
g
's
h
eig
h
t.
On
e
f
u
r
th
er
s
h
o
r
tco
m
i
n
g
is
d
u
e
to
t
h
e
ca
p
ac
it
y
o
f
t
h
e
p
ain
t
ta
n
k
.
T
h
e
c
u
r
r
en
t
s
y
s
te
m
u
s
e
s
u
p
to
1
li
tr
e
o
f
p
ain
t.
T
h
is
is
i
n
co
n
v
e
n
ien
t
b
ec
au
s
e
t
h
e
p
ain
t
h
as
to
b
e
f
il
led
b
y
t
h
e
w
o
r
k
er
s
’
m
u
l
tip
le
ti
m
es
in
s
o
m
e
i
n
s
tan
ce
s
.
T
h
e
o
th
er
s
h
o
r
tco
m
in
g
i
s
d
u
e
to
th
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
u
ltr
aso
n
ic
s
en
s
o
r
u
s
ed
.
T
h
e
c
u
r
r
en
t
u
ltra
s
o
n
ic
s
e
n
s
o
r
ca
n
w
o
r
k
p
er
f
ec
tl
y
w
h
en
u
s
ed
o
n
a
p
er
p
en
d
icu
lar
w
all
;
h
o
wev
er
,
w
h
en
p
ain
tin
g
ed
g
es,
cr
ev
ices
an
d
co
r
n
er
s
,
th
e
s
en
s
o
r
ca
n
h
av
e
in
co
n
s
i
s
t
en
cies
in
t
h
e
r
ea
d
in
g
s
.
T
h
er
ef
o
r
e,
th
is
ca
n
f
u
r
t
h
er
b
e
im
p
r
o
v
ed
b
y
u
s
in
g
m
o
r
e
s
en
s
o
r
s
th
at
ca
n
en
h
an
ce
t
h
e
r
esu
lt
s
.
T
h
e
af
o
r
e
m
en
tio
n
ed
s
h
o
r
tco
m
in
g
s
ca
n
b
e
eli
m
i
n
ated
with
f
u
r
t
h
er
r
esear
ch
an
d
w
o
r
k
.
RE
F
E
R
E
NC
E
S
[1
]
I.
Qa
d
ri
,
A
.
M
u
n
e
e
r,
a
n
d
S
.
M
o
h
a
m
e
d
F
a
ti
,
“
A
u
to
m
a
ti
c
ro
b
o
ti
c
sc
a
n
n
in
g
a
n
d
in
sp
e
c
ti
o
n
m
e
c
h
a
n
is
m
f
o
r
m
in
e
s
u
sin
g
Io
T
,
”
Fi
rs
t
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
El
e
c
trica
l
E
n
e
rg
y
a
n
d
Po
we
r
En
g
i
n
e
e
rin
g
2
0
2
0
(
ICEE
PE
2
0
2
0
)
.
p
p
.
1
-
11
,
2
0
2
0
.
[2
]
S.
Al
-
N
a
b
h
a
n
i,
a
n
d
A
.
M
u
n
e
e
r,
“
A
u
to
m
a
ted
li
b
ra
ry
s
y
ste
m
u
sin
g
S
M
S
b
a
se
d
p
ick
a
n
d
p
lac
e
ro
b
o
t
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Co
m
p
u
ti
n
g
a
n
d
Di
g
it
a
l
S
y
ste
ms
,
v
o
l.
8
,
n
o
.
6
,
No
v
.
2
0
1
9
.
[3
]
R.
C.
L
u
o
,
M
.
Ho
n
g
,
P
.
C
h
u
n
g
,
“
Ro
b
o
t
A
rti
st
f
o
r
c
o
lo
rf
u
l
p
ictu
re
p
a
in
ti
n
g
w
it
h
v
isu
a
l
c
o
n
tr
o
l
sy
ste
m
,
”
2
0
1
6
IE
EE
/R
S
J
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
In
telli
g
e
n
t
Ro
b
o
ts
a
n
d
S
y
ste
ms
IROS
,
p
p
.
2
9
9
8
-
3
0
0
3
,
2
0
1
6
,
d
o
i
:
1
0
.
1
1
0
9
/IRO
S
.
2
0
1
6
.
7
7
5
9
4
6
4
.
[4
]
P
.
Ke
e
rth
a
n
a
a
,
K.
Je
e
v
it
h
a
,
V
.
Na
v
in
a
,
G
.
In
d
ira,
S
.
Ja
y
a
m
a
n
i
,
“
A
u
t
o
m
a
ti
c
w
a
ll
p
a
in
ti
n
g
r
o
b
o
t
,
”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
In
n
o
v
a
ti
v
e
Res
e
a
rc
h
in
S
c
ien
c
e
,
En
g
in
e
e
rin
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
2
,
n
o
.
7
,
p
p
.
3
0
0
9
-
3
0
2
3
,
2
0
1
3
.
[5
]
A
b
d
e
ll
a
ti
f
,
“
De
sig
n
o
f
a
n
a
u
t
o
n
o
m
o
u
s
w
a
ll
p
a
in
ti
n
g
ro
b
o
t
,
”
M
e
c
h
a
tro
n
ics
a
n
d
Ro
b
o
t
ics
De
p
t.
E
g
y
p
t
-
J
a
p
a
n
U
n
ive
rs
it
y
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
l
o
g
y
,
2
0
1
2
.
[6
]
L
i
Jin
g
,
S
,
“
A
u
to
m
a
ti
c
h
ig
h
r
ise
w
a
ll
s
p
a
in
ti
n
g
r
o
b
o
t:
d
e
sig
n
a
n
d
i
n
teg
ra
ti
o
n
o
f
sp
ra
y
p
a
in
ti
n
g
s
y
ste
m
,
”
Na
n
y
a
n
g
T
e
c
h
n
o
l
o
g
ica
l
Un
ive
rs
it
y
,
2
0
1
6
.
[7
]
F
re
d
e
rick
P
.
Riv
a
ra
M
D.
M
P
H
,
Dia
n
e
C
T
h
o
m
p
so
n
M
S
,
“
P
re
v
e
n
ti
o
n
o
f
f
a
ll
s
in
th
e
c
o
n
str
u
c
ti
o
n
i
n
d
u
stry
:
e
v
id
e
n
c
e
f
o
r
p
ro
g
ra
m
e
ffe
c
ti
v
e
n
e
s
s
,
”
Ame
r
ica
n
j
o
u
r
n
a
l
o
f
p
re
v
e
n
ti
v
e
me
d
icin
e
,
v
o
l.
1
8
,
n
o
.
4
,
p
p
.
2
3
-
2
6
,
M
a
y
2
0
0
0
.
[8
]
G
e
e
th
a
M
.
W
a
e
h
re
r,
X
iu
w
e
n
S
.
Do
n
g
,
T
e
d
M
il
ler,
El
iza
b
e
th
Ha
il
e
,
Yu
ro
n
g
M
e
n
,
“
Co
sts
o
f
o
c
c
u
p
a
ti
o
n
a
l
i
n
ju
ries
in
c
o
n
stru
c
ti
o
n
in
th
e
Un
i
ted
S
tate
s
,
”
Acc
id
e
n
t
A
n
a
lys
is &
Pre
v
e
n
ti
o
n
,
v
o
l.
3
9
,
n
o
.
6
,
p
p
.
1
2
5
8
-
1
2
6
6
,
2
0
0
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2722
-
2586
I
A
E
S
I
n
t
J
R
ob
&
A
u
to
m
,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2021
:
68
–
74
74
[9
]
Ch
ia
-
F
e
n
C
h
i,
T
in
-
Ch
a
n
g
C
h
a
n
g
,
Hs
in
-
I
T
in
g
,
“
A
c
c
id
e
n
t
p
a
tt
e
rn
s
a
n
d
p
re
v
e
n
ti
o
n
m
e
a
su
re
s
f
o
r
fa
tal
o
c
c
u
p
a
ti
o
n
a
l
f
a
ll
s
in
t
h
e
c
o
n
str
u
c
ti
o
n
i
n
d
u
stry
,
”
Ap
p
li
e
d
Erg
o
n
o
mic
,
v
o
l.
36
,
n
o
.
4
,
p
p
.
3
9
1
-
4
0
0
,
2
0
0
5
.
[1
0
]
M
o
h
a
m
e
d
S
h
e
rif
,
“
S
a
f
e
t
y
c
li
m
a
te
in
c
o
n
stru
c
ti
o
n
site
e
n
v
ir
o
n
m
e
n
ts,”
J
o
u
rn
a
l
o
f
c
o
n
stru
c
ti
o
n
e
n
g
i
n
e
e
rin
g
a
n
d
ma
n
a
g
e
me
n
t
,
v
o
l
.
1
2
8
,
n
o
.
5
,
p
p
.
3
7
5
-
3
8
4
,
2
0
0
2
.
[1
1
]
B.
J.
M
.
A
le,
e
t
a
l
.
,
“
A
c
c
id
e
n
ts
in
th
e
c
o
n
stru
c
ti
o
n
in
d
u
stry
in
t
h
e
Ne
th
e
rlan
d
s:
a
n
a
n
a
ly
sis
o
f
a
c
c
id
e
n
t
re
p
o
rts
u
si
n
g
S
to
ry
b
u
il
d
e
r
,
”
Reli
a
b
il
it
y
E
n
g
i
n
e
e
rin
g
&
S
y
ste
m S
a
fety
,
v
o
l.
9
3
,
n
o
.
1
0
,
p
p
.
1
5
2
3
-
1
5
3
3
,
2
0
0
8
.
[1
2
]
Ho
ll
y
M
.
Jo
h
n
so
n
,
Am
a
rji
t
S
in
g
h
,
“
F
a
ll
p
ro
tec
ti
o
n
a
n
a
ly
sis f
o
r
w
o
rk
e
rs
o
n
re
sid
e
n
ti
a
l
r
o
o
f
s,”
J
o
u
r
n
a
l
o
f
Co
n
stru
c
ti
o
n
En
g
i
n
e
e
rin
g
a
n
d
M
a
n
a
g
e
me
n
t
,
v
o
l.
1
2
4
,
n
o
.
5
,
p
p
.
4
1
8
-
4
2
8
,
1
9
9
8
.
[1
3
]
M
o
h
a
m
e
d
T
.
S
o
r
o
u
r,
e
t
a
l
.
,
“
De
v
e
lo
p
m
e
n
t
o
f
ro
ll
e
r
-
b
a
se
d
in
teri
o
r
w
a
ll
p
a
in
ti
n
g
r
o
b
o
t
,
”
W
o
rl
d
Aca
d
e
my
o
f
S
c
ien
c
e
,
En
g
i
n
e
e
rin
g
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l.
5
9
,
p
p
.
1
7
8
5
-
1
7
9
2
,
2
0
1
1
.
[1
4
]
U.
S
.
Bu
re
a
u
o
f
L
a
b
o
r
S
tatisti
c
s,
“
Em
p
lo
y
e
r
-
re
p
o
rted
w
o
rk
p
lac
e
in
ju
ries
a
n
d
il
l
n
e
ss
e
s
(A
n
n
u
a
l)
n
e
w
s
r
e
lea
se
,
”
[
On
li
n
e
]
.
A
v
a
il
a
b
le:
h
tt
p
s://
w
ww
.
b
ls.g
o
v
/n
e
w
s.rele
a
s
e
/arc
h
iv
e
s/o
sh
_
1
1
0
9
2
0
1
7
.
Htm
,
[
A
c
c
e
ss
e
d
1
3
A
u
g
u
st 2
0
2
0
]
.
[1
5
]
R.
M
u
k
e
sh
K
a
n
n
a
n
,
P
.
Kis
h
o
re
,
S
.
Ra
h
u
l,
K.
P
o
o
m
a
n
i,
“
A
u
to
m
a
ti
c
p
a
in
t
sp
ra
y
in
g
m
a
c
h
in
e
u
sin
g
IR
se
n
so
r
,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
T
re
n
d
i
n
Res
e
a
rc
h
a
n
d
De
v
e
lo
p
me
n
t
(
IJ
T
R
D
)
,
p
p
.
3
-
5
,
2
0
1
7
.
[1
6
]
Ju
a
n
M
a
n
u
e
l
Da
v
il
a
De
lg
a
d
o
L
u
k
u
m
o
n
Oy
e
d
e
le,
e
t
a
l
.
,
“
Ro
b
o
ti
c
s
a
n
d
a
u
to
m
a
ted
s
y
ste
m
s
in
c
o
n
str
u
c
ti
o
n
:
Un
d
e
rsta
n
d
i
n
g
in
d
u
stry
-
sp
e
c
i
f
ic
c
h
a
ll
e
n
g
e
s
f
o
r
a
d
o
p
ti
o
n
,
”
J
o
u
rn
a
l
o
f
Bu
il
d
in
g
En
g
in
e
e
rin
g
,
v
o
l.
2
6
,
p
p
.
1
0
0
8
6
8
,
2
0
1
9
.
[1
7
]
Ish
a
k
Bin
A
ris,
A
.
K.
M
.
P
a
rv
e
z
Iq
b
a
l,
“
De
sig
n
a
n
d
f
a
b
rica
ti
o
n
o
f
a
Ca
rtes
ian
p
a
in
ter
ro
b
o
t
f
o
r
th
e
c
o
n
str
u
c
ti
o
n
in
d
u
stry
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
E
d
u
c
a
t
io
n
,
v
o
l.
34
,
n
o
,
2
,
p
p
.
1
2
5
-
1
4
4
.
2
0
0
6
.
[1
8
]
M
.
E.
He
lo
u
,
S
.
M
a
n
d
t,
A
.
Kra
u
se
,
P
.
Be
a
rd
sle
y
,
“
M
o
b
il
e
r
o
b
o
ti
c
p
a
in
ti
n
g
o
f
tex
tu
re
,
”
2
0
1
9
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
R
o
b
o
ti
c
s
a
n
d
Au
to
ma
ti
o
n
ICR
A
,
2
0
1
9
,
d
o
i:
1
0
.
1
1
0
9
/ICRA
.
2
0
1
9
.
8
7
9
3
9
4
7
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
A
m
g
a
d
M
u
n
e
e
r
wa
s
b
o
rn
in
T
a
iz,
Ye
m
e
n
.
He
o
b
tain
e
d
h
is
B.
En
g
d
e
g
re
e
(
w
it
h
h
o
n
o
rs)
in
M
e
c
h
a
tro
n
ic
En
g
in
e
e
rin
g
f
ro
m
As
ia
P
a
c
if
ic
Un
iv
e
rsit
y
,
M
a
la
y
sia
in
2
0
1
8
.
He
is
c
u
rre
n
t
ly
p
u
rsu
in
g
th
e
m
a
ste
r’
s d
e
g
re
e
in
in
f
o
rm
a
ti
o
n
tec
h
n
o
lo
g
y
w
it
h
Un
iv
e
rsiti
T
e
k
n
o
l
o
g
i
P
ET
RON
A
S
,
M
a
la
y
si
a
.
His
re
se
a
rc
h
in
tere
sts
f
o
c
u
s
o
n
Im
a
g
e
P
ro
c
e
ss
in
g
,
M
a
c
h
i
n
e
L
e
a
rn
in
g
,
In
tern
e
t
o
f
T
h
in
g
s,
M
a
c
h
in
e
V
isio
n
,
R
o
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
.
He
h
a
s
a
u
th
o
re
d
se
v
e
ra
l
IS
I
a
n
d
S
c
o
p
u
s
j
o
u
r
n
a
l/
c
o
n
f
e
re
n
c
e
p
a
p
e
rs.
He
is
a
re
v
ie
we
r
in
so
m
e
in
tern
a
ti
o
n
a
l
im
p
a
c
t
-
f
a
c
to
r
jo
u
rn
a
ls
su
c
h
a
s
Jo
u
r
n
a
l
o
f
Co
m
b
in
a
to
rial
Op
t
im
iza
ti
o
n
a
n
d
s
e
v
e
ra
l
I
G
I
g
lo
b
a
l
jo
u
r
n
a
ls.
Z
h
a
n
D
a
ira
ba
y
ev
w
a
s
b
o
r
n
i
n
A
l
m
a
t
y
,
Ka
z
a
k
h
sta
n
.
He
a
c
q
u
ired
h
is
B.
E
n
g
(2
0
1
9
)
f
ro
m
A
sia
P
a
c
if
ic
Un
iv
e
rsit
y
o
f
T
e
c
h
n
o
lo
g
y
a
n
d
In
n
o
v
a
ti
o
n
,
M
a
lay
sia
.
His
b
a
c
h
e
lo
r’s
d
e
g
re
e
w
a
s
in
M
e
c
h
a
tro
n
ic
En
g
in
e
e
ri
n
g
.
His
re
se
a
rc
h
in
tere
sts
f
o
c
u
s
o
n
Ro
b
o
t
i
c
s
a
n
d
A
u
to
m
a
ti
o
n
,
S
e
c
u
r
it
y
S
y
st
e
m
s,
G
S
M
c
o
m
m
u
n
ica
ti
o
n
tc
e
c
h
n
o
l
o
g
y
,
En
e
rg
y
h
a
r
v
stin
g
s
y
st
e
m
s.
Evaluation Warning : The document was created with Spire.PDF for Python.