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I
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Me
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”
[
1
]
.
I
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.
[
2
]
d
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m
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Me
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1
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Mo
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n
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'
ter
m
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2722
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2586
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P
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Fig
u
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2
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Fig
u
r
e
2
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Me
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y
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
o
b
&
A
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to
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,
Vo
l
.
1
0
,
No
.
1
,
Ma
r
ch
2
0
2
1
:
24
–
31
26
Ma
ch
i
n
e
tech
n
o
lo
g
y
,
s
u
ch
a
s
m
ac
h
in
e
to
o
ls
,
p
o
w
er
tu
r
b
i
n
es
,
ai
m
s
to
alle
v
iate
p
h
y
s
ical
te
n
s
io
n
an
d
s
tr
ess
o
n
p
eo
p
le,
w
h
ile
elec
tr
o
n
ics
tec
h
n
o
lo
g
y
a
n
d
in
f
o
r
m
a
tio
n
tech
n
o
lo
g
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s
tr
iv
e
to
alle
v
iate
h
u
m
a
n
m
en
ta
l
p
r
ess
u
r
e.
W
ith
i
n
m
u
ltid
i
s
cip
li
n
ar
y
e
n
g
i
n
ee
r
i
n
g
,
m
ac
h
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n
e
te
ch
n
o
lo
g
y
alo
n
g
w
it
h
elec
tr
o
n
i
cs
an
d
in
f
o
r
m
atio
n
tech
n
o
lo
g
y
ca
n
r
ep
lace
th
e
h
u
m
a
n
ele
m
en
t
i
n
b
o
th
p
h
y
s
ic
al
an
d
m
e
n
tal
e
f
f
o
r
ts
.
I
n
t
h
is
s
en
s
e,
in
o
r
d
er
to
ev
o
lv
e
w
ell
-
estab
li
s
h
ed
a
u
to
n
o
m
o
u
s
s
y
s
te
m
s
in
n
e
w
p
r
o
d
u
cts,
th
e
k
e
y
d
r
iv
in
g
f
o
r
ce
in
m
ec
h
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tr
o
n
ic
s
y
s
te
m
s
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e
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n
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g
e
n
ce
o
f
m
ain
s
tr
ea
m
m
u
ltid
is
cip
li
n
ar
y
tech
n
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lo
g
ies
in
en
g
i
n
ee
r
in
g
a
n
d
co
m
p
u
ter
s
cien
ce
.
I
n
teg
r
ati
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g
m
ec
h
a
n
ical
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y
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te
m
s
a
n
d
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o
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ics
o
p
en
s
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p
n
e
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p
o
s
s
ib
ilit
ie
s
f
o
r
m
e
ch
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ica
l
d
esi
g
n
a
n
d
au
to
m
ated
f
u
n
ct
io
n
s
a
lo
n
g
w
i
th
lear
n
in
g
-
b
ased
k
n
o
w
led
g
e
-
b
ased
s
y
s
te
m
s
.
Mic
r
o
co
n
tr
o
ll
er
s
ar
e
in
cr
ea
s
i
n
g
l
y
e
m
b
ed
d
ed
in
elec
tr
o
m
ec
h
an
i
ca
l
d
ev
ices,
cr
ea
ti
n
g
m
u
c
h
m
o
r
e
f
le
x
ib
ilit
y
i
n
s
y
s
te
m
d
esig
n
a
n
d
co
n
tr
o
l
p
o
s
s
ib
ilit
ies.
T
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
th
e
i
n
ter
n
et
o
f
t
h
i
n
g
s
(
I
o
T
)
an
d
m
ec
h
atr
o
n
ic
s
w
as
a
n
al
y
ze
d
b
y
[
4
]
,
an
d
co
n
clu
d
ed
th
at
t
h
e
f
u
t
u
r
e
is
s
t
ill
s
ee
n
a
s
r
eq
u
ir
in
g
m
ec
h
atr
o
n
ic
th
in
k
i
n
g
.
T
h
e
s
i
g
n
if
ican
ce
o
f
th
i
s
s
t
u
d
y
is
to
s
h
o
w
t
h
e
tr
en
d
s
a
n
d
ad
v
an
ce
s
o
f
m
ec
h
atr
o
n
ic
s
.
2.
DE
S
I
G
N
M
E
T
H
O
DO
L
O
G
Y
F
O
R
M
E
CH
AT
RO
NI
C
S
YST
E
M
S
Me
ch
atr
o
n
ic
s
w
as
f
ir
s
t
f
o
cu
s
ed
in
th
e
d
o
m
ai
n
s
p
ec
i
f
ical
l
y
b
ac
k
i
n
th
e
m
id
-
1
9
6
0
's.
Desig
n
i
n
g
d
if
f
er
e
n
t
r
eso
u
r
ce
s
a
n
d
lan
g
u
ag
es
a
s
w
ell
as
w
it
h
tr
ain
in
g
.
T
h
er
e
ar
e
t
w
o
w
a
y
s
i
n
wh
ich
en
g
i
n
ee
r
s
a
n
d
co
m
p
a
n
ies
g
o
ab
o
u
t
d
esig
n
in
g
a
m
ec
h
a
tr
o
n
ic
s
y
s
te
m
[
5
]
.
T
h
e
f
ir
s
t
m
et
h
o
d
r
e
s
e
m
b
les
t
h
at
o
f
co
n
v
e
n
tio
n
al
m
ec
h
a
n
ical
ar
c
h
itect
u
r
e
p
r
o
ce
s
s
d
is
cip
li
n
e
i
n
en
g
i
n
ee
r
in
g
an
d
is
ca
lled
F
u
n
ctio
n
al
Mo
d
elin
g
.
T
h
e
s
ec
o
n
d
ap
p
r
o
ac
h
is
th
e
m
o
d
el
-
b
ased
d
ev
elo
p
m
e
n
t
,
w
h
ic
h
m
o
r
e
in
te
g
r
ates
w
it
h
t
h
e
Mo
d
el
-
B
ased
Sy
s
te
m
E
n
g
i
n
ee
r
in
g
'
MB
SE
'
b
ac
k
g
r
o
u
n
d
.
T
h
er
e
a
r
e
cu
r
r
en
tl
y
s
e
v
er
al
atte
m
p
ts
to
s
tan
d
ar
d
ize
th
e
m
et
h
o
d
s
u
s
ed
in
th
e
Mo
d
el
-
B
ased
Desig
n
ap
p
r
o
ac
h
,
w
h
er
e
th
e
b
asis
is
to
m
o
d
el
lan
g
u
ag
es
an
d
to
o
ls
th
a
t
ca
n
s
u
p
p
o
r
t
th
e
m
ec
h
atr
o
n
ic
s
y
s
te
m
d
ev
e
lo
p
m
en
t
p
r
o
ce
s
s
.
Fu
ll
m
o
d
eli
n
g
an
d
Mo
d
elin
g
a
p
p
r
o
ac
h
es
u
s
e
b
o
th
g
r
ap
h
ical
m
o
d
el
s
to
r
ep
r
esen
t
th
e
s
y
s
te
m
s
p
ec
if
icatio
n
s
an
d
th
u
s
id
en
ti
f
y
i
s
s
u
es
ea
r
l
y
i
n
th
e
d
ev
elo
p
m
e
n
t
p
r
o
ce
s
s
an
d
m
i
n
i
m
ize
th
e
s
y
s
te
m
's
ti
m
e
-
to
-
m
ar
k
et
(
T
T
M)
g
r
o
w
th
.
T
h
e
b
asic
d
if
f
er
en
ce
s
b
etw
ee
n
t
h
ese
m
et
h
o
d
s
ar
e
th
at
f
u
n
ctio
n
al
m
o
d
eli
n
g
ap
p
r
o
ac
h
es
ar
e
in
f
o
r
m
al,
an
d
th
e
y
ar
e
u
n
ab
le
to
d
eliv
er
r
ep
ea
tab
le
f
u
n
ctio
n
a
l
ap
p
r
o
ac
h
m
o
d
el
s
o
f
a
s
p
ec
if
ic
p
r
o
d
u
ct
(
th
e
s
a
m
e
p
r
o
d
u
ct
p
r
o
d
u
ce
d
b
y
t
w
o
tea
m
s
o
f
e
n
g
i
n
ee
r
s
h
a
s
a
s
m
all
ch
a
n
ce
o
f
ac
h
iev
in
g
t
h
e
s
a
m
e
r
esu
lt
s
)
w
h
er
e
th
e
Mo
d
el
-
B
a
s
ed
Desig
n
m
e
th
o
d
o
lo
g
y
i
s
f
o
r
m
al
ized
an
d
ass
is
ted
w
it
h
d
if
f
er
e
n
t
m
o
d
eli
n
g
lan
g
u
a
g
es.
An
o
th
er
b
ig
d
i
f
f
er
e
n
ce
is
t
h
e
r
eu
s
e
o
f
estab
lis
h
ed
d
esig
n
co
n
ce
p
ts
as
"
P
r
o
g
r
am
R
e
-
e
n
g
in
ee
r
i
n
g
"
in
m
o
d
el
-
b
ased
d
esi
g
n
.
T
h
e
is
s
u
e
w
ith
f
u
n
ctio
n
al
m
o
d
elin
g
i
s
th
at
t
h
e
p
r
eser
v
ed
d
esi
g
n
m
o
d
el
ca
n
o
n
l
y
b
e
u
s
ed
f
o
r
th
e
s
a
m
e
p
r
o
d
u
ct
m
o
d
el
o
n
w
h
ic
h
th
e
m
o
d
el
is
ce
n
ter
ed
.
T
h
e
ar
ch
iv
ed
d
esig
n
m
o
d
el
ca
n
s
er
v
e
as
a
b
asis
f
o
r
p
r
o
d
u
ct
m
o
d
el
d
ev
elo
p
m
e
n
t,
s
p
ec
if
ica
tio
n
,
an
d
ex
p
lo
r
at
io
n
.
T
h
er
e
ar
e
f
o
u
r
class
es
(
cl
ass
I
to
class
I
V)
o
f
m
ec
h
a
tr
o
n
ic
s
y
s
t
e
m
s
as
clas
s
if
ied
b
y
[
6
]
.
Sev
er
al
p
r
o
g
r
am
m
i
n
g
la
n
g
u
a
g
ess
u
itab
le
f
o
r
m
ec
h
atr
o
n
ic
d
esig
n
,
to
g
eth
er
w
i
th
th
e
s
u
itab
le
to
o
ls
(
M
A
T
L
A
B
,
Si
m
s
ca
p
e,
C
A
Me
l
-
v
ie
w
)
f
o
r
m
ec
h
atr
o
n
ic
d
esig
n
[
6
]
.
Fig
u
r
e
3
s
h
o
w
s
t
h
e
co
n
v
e
n
tio
n
al
d
esi
g
n
m
eth
o
d
o
lo
g
y
f
o
r
m
ec
h
atr
o
n
ic
p
r
o
ce
s
s
.
Fig
u
r
e
3
.
Me
c
h
atr
o
n
ics co
n
v
e
n
tio
n
al
d
es
ig
n
m
eth
o
d
o
lo
g
y
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
F
u
tu
r
e
tr
en
d
s
in
mec
h
a
tr
o
n
ics
(
C
h
ieb
u
ka
T.
N
n
o
d
im
)
27
3.
AP
P
L
I
CA
T
I
O
N
S O
F
M
E
CH
AT
RO
NIC
S
Hu
m
an
civ
ilizatio
n
a
n
d
in
d
u
s
t
r
ial
tech
n
o
lo
g
y
h
av
e
in
v
e
n
ted
in
telli
g
e
n
t
m
ac
h
i
n
es,
h
i
g
h
-
tec
h
d
ev
ice
s
,
eq
u
ip
m
e
n
t ,
an
d
p
r
o
d
u
cts th
at
i
m
p
r
o
v
e
th
e
q
u
alit
y
o
f
li
f
e.
M
ec
h
atr
o
n
ics al
lo
w
s
t
h
e
cr
ea
tio
n
o
f
s
m
ar
t
m
ac
h
in
e
s
th
at
ar
e
s
el
f
-
co
n
s
c
io
u
s
a
n
d
t
h
at
ca
n
m
a
k
e
d
ec
is
io
n
s
.
C
o
m
p
a
n
ie
s
n
o
w
n
ee
d
h
i
-
tec
h
f
ee
d
b
ac
k
to
p
r
o
d
u
ce
in
n
o
v
ati
v
e
an
d
tech
n
o
lo
g
y
-
en
ab
led
g
o
o
d
s
as
th
eir
cu
s
to
m
e
r
s
ex
p
ec
t.
T
h
r
o
u
g
h
s
ea
m
les
s
l
y
f
u
s
i
n
g
m
ec
h
a
n
ic
s
an
d
tech
n
o
lo
g
y
,
t
h
e
d
esig
n
a
n
d
m
a
n
u
f
ac
t
u
r
e
o
f
ite
m
s
s
u
c
h
as
s
m
ar
tp
h
o
n
es
as
w
el
l
as
f
u
t
u
r
is
tic
v
eh
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les
ar
e
m
ad
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p
o
s
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le.
T
h
e
u
s
e
o
f
m
e
ch
atr
o
n
ics
i
n
ad
v
a
n
ce
d
m
an
u
f
ac
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r
in
g
h
a
s
in
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ed
p
er
f
o
r
m
an
ce
a
n
d
p
r
o
d
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ct
q
u
alit
y
.
T
h
e
u
s
e
o
f
a
u
to
m
a
ted
s
y
s
te
m
s
m
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o
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e
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d
th
e
s
m
o
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th
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tr
ea
m
li
n
ed
p
r
o
ce
d
u
r
es.
Ma
s
s
m
a
n
u
f
ac
t
u
r
in
g
h
ad
i
m
p
r
o
v
ed
p
r
o
d
u
ctiv
it
y
an
d
m
ad
e
c
o
s
t
-
e
f
f
ec
tiv
e
in
d
u
s
tr
ial
p
r
o
d
u
c
tio
n
[
7
]
.
T
ec
h
n
ical
er
r
o
r
s
ar
e
m
in
i
m
ized
a
s
t
h
e
u
s
e
o
f
in
te
lli
g
en
t
s
e
n
s
o
r
s
[8
-
1
1
]
an
d
p
ar
a
m
eter
co
n
tr
o
ls
e
n
s
u
r
es
m
ai
n
tai
n
i
n
g
t
h
e
p
lan
n
ed
o
p
er
atin
g
co
n
d
itio
n
s
[
1
1
-
13]
.
T
h
is
tech
n
o
lo
g
y
h
a
s
s
o
m
u
ch
m
o
r
e
to
d
o
th
a
n
d
ev
elo
p
co
m
p
u
ter
-
co
n
tr
o
lled
elec
tr
o
m
ec
h
a
n
ical
s
y
s
te
m
s
.
Me
ch
atr
o
n
ics
w
a
s
o
r
ig
i
n
all
y
s
ee
n
a
s
an
as
s
i
m
ilatio
n
o
f
m
ec
h
a
n
ics
a
n
d
elec
tr
o
n
ics,
b
u
t
o
v
er
th
e
y
ea
r
s
,
it
is
s
ee
n
to
in
clu
d
e
m
an
y
m
o
r
e
ar
ea
s
w
h
ich
i
n
clu
d
e,
telec
o
m
m
u
n
icat
io
n
[
1
4
-
1
6
]
,
co
m
p
u
ter
tec
h
n
o
lo
g
y
[
1
7
-
19]
,
s
y
s
te
m
s
en
g
i
n
ee
r
in
g
[
2
0
,
21]
,
in
ter
n
et
o
f
t
h
i
n
g
s
[
2
2
-
24]
,
c
iv
il
e
n
g
i
n
ee
r
i
n
g
[
2
5
]
,
in
s
tr
u
m
e
n
tatio
n
an
d
co
n
t
r
o
l [
2
6
]
.
4.
E
M
E
RG
I
N
G
AN
D
F
UT
U
R
E
T
R
E
ND
S O
F
M
E
CH
AT
RO
NICS
Ov
er
r
ec
en
t
y
ea
r
s
,
th
e
co
m
p
l
ex
it
y
o
f
d
ev
ices
an
d
s
y
s
te
m
s
h
as
in
cr
ea
s
ed
d
r
am
a
ticall
y
,
r
eq
u
ir
in
g
a
s
y
s
te
m
-
le
v
el
ap
p
r
o
ac
h
to
m
e
ch
atr
o
n
ics
d
esi
g
n
.
T
h
i
s
ap
p
r
o
ac
h
h
elp
s
e
n
g
in
ee
r
s
to
co
m
b
i
n
e
m
ec
h
a
n
ical
an
d
co
n
tr
o
l
d
esig
n
,
ex
ec
u
te
a
test
ea
s
il
y
,
an
d
r
eu
s
e
al
g
o
r
ith
m
s
w
it
h
i
n
th
e
f
in
al
e
m
b
ed
d
ed
d
eliv
er
y
f
r
a
m
e
w
o
r
k
.
T
h
is
tr
en
d
at
s
y
s
te
m
le
v
el
is
f
u
eled
b
y
g
r
o
w
i
n
g
in
v
es
t
m
e
n
ts
in
th
e
f
ield
s
o
f
m
ed
ical,
lif
e
s
cie
n
ce
s
an
d
r
en
e
w
ab
le
en
er
g
y
as
w
ell
as
d
ev
elo
p
m
e
n
ts
in
i
n
d
u
s
tr
ia
l
m
ac
h
in
er
y
.
T
h
is
ap
p
r
o
ac
h
g
r
ea
tl
y
i
m
p
r
o
v
es
t
h
e
d
esig
n
p
r
o
ce
s
s
b
y
co
m
b
in
i
n
g
b
est
p
r
ac
tices
an
d
tec
h
n
o
lo
g
y
av
ailab
le
to
s
tr
ea
m
li
n
e
d
esi
g
n
,
p
r
o
to
ty
p
i
n
g
,
an
d
i
m
p
le
m
en
ta
tio
n
.
B
y
s
p
litt
i
n
g
th
e
d
esi
g
n
p
r
o
ce
s
s
i
n
to
p
ar
allel
th
r
ea
d
s
,
t
h
e
en
g
i
n
ee
r
s
m
a
y
in
tr
o
d
u
ce
a
m
o
r
e
ef
f
icien
t
p
r
o
ce
s
s
o
f
cr
ea
tio
n
.
I
n
th
e
p
ast
a
tea
m
h
as
h
ad
to
w
ait
f
o
r
a
p
r
ac
tical
p
r
o
to
ty
p
e
to
cr
ea
te
a
co
n
tr
o
l
alg
o
r
ith
m
f
o
r
a
m
ec
h
an
ical
d
ev
ice.
No
w
e
n
g
i
n
ee
r
s
ca
n
u
s
e
a
v
ir
tu
al
p
r
o
to
t
y
p
e
b
ased
o
n
c
o
n
ce
p
t
m
o
d
els
an
d
s
i
m
u
lat
io
n
d
ata
to
g
et
s
tar
ted
f
aster
.
T
h
is
ap
p
r
o
ac
h
,
in
ad
d
itio
n
to
m
i
n
i
m
izi
n
g
d
ev
elo
p
m
e
n
t
ti
m
e
an
d
its
a
s
s
o
ciate
d
co
s
ts
,
allo
w
s
f
o
r
v
ib
r
an
t
co
o
p
er
atio
n
b
et
w
ee
n
d
esig
n
tea
m
s
a
n
d
p
r
o
v
id
es
f
ee
d
b
ac
k
o
n
s
y
s
te
m
e
f
f
ic
ien
c
y
i
n
ea
r
l
y
d
ev
elo
p
m
e
n
t
p
h
ases
.
A
f
u
ll
s
y
s
te
m
d
ig
i
tal
m
o
d
el
allo
w
s
tea
m
s
to
m
u
t
u
al
l
y
au
to
m
ate
th
e
o
v
er
all
s
tr
u
ct
u
r
e,
w
h
ile
i
n
cr
ea
s
i
n
g
p
er
f
o
r
m
a
n
ce
.
Yet
a
g
o
o
d
m
ec
h
atr
o
n
ics
d
es
ig
n
p
r
o
ce
s
s
in
c
lu
d
es
b
u
ilt
-
in
d
esi
g
n
i
n
s
tr
u
m
e
n
t
s
.
Ov
er
th
e
p
as
t
f
e
w
y
ea
r
s
d
ev
ice
v
e
n
d
o
r
s
h
a
v
e
in
v
ested
ex
te
n
s
iv
el
y
i
n
p
r
o
m
o
ti
n
g
t
h
is
ap
p
r
o
ac
h
to
d
esig
n
.
O
r
g
an
izat
io
n
s
s
u
c
h
as
Natio
n
al
I
n
s
tr
u
m
en
ts
h
a
v
e
d
ev
elo
p
ed
in
ter
f
ac
es
to
en
s
u
r
e
s
m
o
o
th
co
m
m
u
n
icatio
n
b
et
w
ee
n
th
e
d
if
f
er
en
t
d
ev
ices.
T
h
is
h
e
lp
s
en
g
i
n
ee
r
s
to
b
u
ild
v
ir
t
u
al
i
m
p
le
m
e
n
t
atio
n
s
o
f
t
h
eir
s
y
s
te
m
s
w
it
h
a
s
m
o
o
th
p
at
h
to
e
m
b
ed
d
ed
h
ar
d
w
ar
e
an
d
to
r
eu
s
e
co
d
e
an
d
m
a
k
e
th
e
m
o
s
t
o
f
in
v
est
m
e
n
ts
m
ad
e
in
t
h
e
p
h
ase
s
o
f
d
esig
n
a
n
d
s
i
m
u
lat
io
n
.
A
l
g
o
r
ith
m
s
n
ee
d
to
b
e
im
p
le
m
en
ted
o
n
e
m
b
ed
d
ed
h
ar
d
w
ar
e
w
h
e
n
p
r
o
to
ty
p
i
n
g
a
n
d
d
ep
lo
y
i
n
g
.
E
n
g
i
n
ee
r
s
h
a
v
e
a
r
an
g
e
o
f
o
p
tio
n
s
f
o
r
s
h
o
r
ten
i
n
g
p
r
o
d
u
ctio
n
ti
m
e
d
u
r
i
n
g
d
ep
lo
y
m
e
n
t.
W
h
ic
h
i
n
v
o
l
v
e
d
ev
elo
p
in
g
a
co
m
p
o
n
en
t
-
lev
el
tailo
r
ed
co
n
tr
o
l
s
y
s
te
m
to
r
ed
u
ce
co
s
ts
a
n
d
d
ep
lo
y
o
n
e
m
b
e
d
d
ed
co
m
m
er
cial
-
o
f
f
-
t
h
e
-
s
h
elf
(
C
OT
S)
s
y
s
te
m
s
[
2
7
]
.
T
h
e
d
is
tin
ctio
n
b
et
w
ee
n
m
ak
in
g
a
p
r
o
f
it
an
d
s
u
f
f
er
in
g
a
lo
s
s
is
al
w
a
y
s
to
m
ak
e
th
e
m
o
s
t
r
ea
s
o
n
ab
le
d
ec
is
io
n
b
ased
o
n
s
u
c
h
tr
ad
eo
f
f
s
.
“
S
y
s
te
m
r
ea
d
y
”
s
u
b
s
y
s
te
m
s
a
r
e
m
o
s
tl
y
u
s
e
d
f
o
r
p
r
o
to
ty
p
in
g
o
r
as
a
d
eliv
er
y
p
latf
o
r
m
to
c
h
ec
k
co
n
s
u
m
er
ac
c
ep
tan
ce
b
ef
o
r
e
a
co
s
t
-
o
p
ti
m
iz
ed
cu
s
to
m
d
es
ig
n
i
s
d
esig
n
ed
.
I
n
th
e
last
f
e
w
y
ea
r
s
th
er
e
h
a
s
b
ee
n
a
m
o
v
e
to
w
ar
d
s
cu
s
to
m
i
za
b
le
em
b
ed
d
ed
p
latf
o
r
m
s
p
r
o
v
id
in
g
t
h
e
s
i
m
u
lta
n
eo
u
s
v
er
s
atili
t
y
o
f
a
cu
s
t
o
m
co
n
f
i
g
u
r
atio
n
a
n
d
r
ap
id
d
ep
lo
y
m
en
t
a
s
s
o
ciate
d
w
i
t
h
C
OT
S
h
ar
d
w
ar
e.
Natio
n
al
I
n
s
tr
u
m
en
t
s
lau
n
ch
e
d
th
e
R
I
O
(
r
ec
o
n
f
i
g
u
r
ab
le
I
/O)
p
latf
o
r
m
s
o
m
e
s
ev
e
n
y
ea
r
s
ag
o
.
Usi
n
g
t
h
e
g
r
ap
h
ical
d
ev
elo
p
m
en
t
p
lat
f
o
r
m
NI
L
ab
VI
E
W
,
a
p
r
o
g
r
am
m
ab
le
p
lu
g
-
in
b
o
ar
d
f
o
r
P
C
s
f
ea
t
u
r
i
n
g
an
FP
GA
an
d
b
u
ilt
-
in
a
n
alo
g
a
n
d
d
ig
ital
I
/O
p
r
o
v
id
ed
c
o
n
s
u
m
er
s
a
w
a
y
to
in
te
g
r
ate
s
o
f
t
w
ar
e
al
g
o
r
ith
m
s
in
to
h
ar
d
w
ar
e.
Sin
ce
t
h
e
n
,
th
is
tec
h
n
o
lo
g
y
h
as
e
v
o
lv
ed
a
n
d
is
c
u
r
r
en
tl
y
b
ein
g
u
s
ed
i
n
r
o
b
u
s
t
e
m
b
e
d
d
ed
h
ar
d
w
ar
e
a
n
d
s
y
s
te
m
-
le
v
el
ite
m
s
o
f
a
n
in
d
u
s
tr
ial
s
ca
le
[
2
8
]
.
So
f
t
w
ar
e
p
lay
s
a
cr
u
cial
r
o
le
in
m
ec
h
atr
o
n
ics
a
n
d
e
m
b
ed
d
ed
s
y
s
te
m
s
o
f
t
h
e
f
u
tu
r
e.
T
h
r
o
u
g
h
o
f
f
er
in
g
a
s
y
s
te
m
-
le
v
el
v
i
e
w
o
f
v
ar
io
u
s
d
esi
g
n
f
ac
to
r
s
an
d
ab
s
tr
ac
ti
n
g
th
e
co
m
p
le
x
itie
s
o
f
t
h
e
late
s
t
te
ch
n
o
lo
g
ies,
s
o
f
t
w
ar
e
to
o
ls
e
m
p
o
w
er
e
n
g
i
n
ee
r
s
to
d
e
v
e
lo
p
h
ig
h
-
p
er
f
o
r
m
a
n
ce
s
y
s
te
m
s
to
m
ee
t
to
m
o
r
r
o
w
’
s
ch
a
lle
n
g
e
s
.
Ku
r
u
et
a
l
[
2
9
]
r
ev
ie
w
ed
an
d
p
r
o
p
o
s
ed
th
e
au
to
m
atio
n
o
f
ev
er
y
th
in
g
as
a
tr
an
s
f
o
r
m
atio
n
in
ad
v
a
n
ce
d
m
ec
h
atr
o
n
ic
s
y
s
te
m
s
w
it
h
in
th
e
i
n
d
u
s
tr
ial
r
ev
o
lu
tio
n
.
Hen
ce
,
g
i
v
i
n
g
a
n
in
s
i
g
h
t
o
f
t
h
e
i
n
ter
ac
tio
n
s
b
et
w
ee
n
t
h
e
m
ec
h
atr
o
n
ic
s
y
s
t
e
m
a
n
d
th
e
en
v
ir
o
n
m
e
n
t.
Fi
g
u
r
e
4
s
h
o
w
s
t
h
e
f
r
a
m
e
w
o
r
k
o
f
ad
v
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2722
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2586
I
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Fig
u
r
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G
ho
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Gh
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ee
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r
o
elec
tr
o
m
ec
h
a
n
ical
s
y
s
te
m
s
(
ME
MS)
[
3
0
,
3
1
]
,
Nan
o
t
ec
h
n
o
lo
g
y
[
3
2
,
3
3
]
,
b
io
-
m
ed
ic
al
en
g
i
n
ee
r
i
n
g
[
3
4
]
,
Nan
o
elec
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o
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ec
h
an
ica
l
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y
s
t
e
m
s
(
NE
M
S)
[
3
5
,
36]
,
Nan
o
m
ec
h
atr
o
n
ic
s
s
y
s
te
m
s
(
NM
S)
[
3
7
]
an
d
o
p
to
m
ec
h
atr
o
n
ics
[
3
8
]
ar
e
th
e
e
m
er
g
i
n
g
f
ield
s
u
n
d
er
t
h
is
ca
t
eg
o
r
y
i
n
m
ec
h
atr
o
n
ics.
T
h
ese
f
ield
s
w
i
ll c
er
tai
n
l
y
g
et
to
a
p
o
in
t
w
h
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d
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ice
s
will b
e
in
th
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s
m
a
lles
t p
o
s
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le
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o
r
m
,
y
et
p
er
f
o
r
m
i
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f
f
icie
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y
.
4
.
2
.
H
idd
en
life
o
f
da
t
a
Hid
d
en
L
i
f
e
o
f
Data
r
ef
er
s
t
o
th
e
u
s
e
o
f
b
i
g
d
ata
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d
p
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o
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ith
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e
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m
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a
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ata
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o
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icie
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f
o
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e
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d
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w
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ee
l
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lik
e
it
h
as
its
o
w
n
m
in
d
.
Data
s
cie
n
ce
[
3
9
-
4
1
]
is
a
v
alu
ab
le
s
k
ill
a
n
d
a
n
ec
ess
ar
y
o
n
e.
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th
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ata
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illed
w
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o
s
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ilit
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w
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e
f
a
ir
ly
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e
n
t
e
m
er
g
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ce
o
f
r
o
b
o
tics
.
Data
s
cien
ce
an
d
r
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b
o
tics
ar
e
im
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o
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tan
t
ar
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s
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n
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ite
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te
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I
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a
y
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llo
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asic
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o
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s
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n
ess
a
n
d
liv
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th
e
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l
d
[
4
2
]
.
Fo
r
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m
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h
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v
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ted
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s
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r
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s
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a
m
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h
a
n
is
m
ca
lled
Ma
ch
i
n
e
lear
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n
g
[
4
3
]
,
a
tr
ial
an
d
er
r
o
r
v
er
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io
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o
f
th
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to
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atio
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.
Fo
r
in
s
ta
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ce
,
r
esear
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h
er
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m
a
y
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ll
th
e
r
o
b
o
t
to
f
it
th
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q
u
ar
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q
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d
f
ig
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r
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t
h
o
w
to
d
o
th
at.
B
ig
d
ata
tech
n
o
lo
g
y
[
4
4
]
is
lev
er
ag
ed
b
y
m
o
r
e
th
a
n
53
%
of
th
e
w
o
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ld
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s
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m
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T
h
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m
p
f
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m
j
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t
17
%
in
2
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5
.
M
o
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co
m
p
an
ies
ar
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s
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g
d
ata
s
cien
ce
tec
h
n
o
lo
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ies
to
s
tr
ea
m
li
n
e
th
eir
p
r
o
ce
s
s
es
a
n
d
d
ev
elo
p
th
eir
o
r
g
an
izatio
n
al
s
tr
u
ct
u
r
es
[
4
5
]
.
A
s
a
r
esu
lt,
th
e
ex
citi
n
g
ca
r
ee
r
p
r
o
s
p
ec
ts
f
o
r
d
ata
s
cie
n
tis
ts
ar
e
b
o
o
m
i
n
g
,
th
is
w
i
ll
s
y
n
er
g
ize
w
it
h
s
en
s
o
r
f
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,
a
u
to
m
at
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n
,
m
ac
h
in
e
lear
n
in
g
an
d
5
G
[
4
6
-
53
]
,
b
lo
ck
ch
ai
n
tech
n
o
lo
g
y
,
i
n
ter
n
et
an
d
A
I
to
y
ield
a
m
in
d
b
lo
w
i
n
g
an
d
m
o
r
e
ad
v
an
ce
d
f
u
tu
r
e.
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
F
u
tu
r
e
tr
en
d
s
in
mec
h
a
tr
o
n
ics
(
C
h
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ka
T.
N
n
o
d
im
)
29
4
.
3
.
F
uture
o
f
f
ea
r
Fu
t
u
r
e
o
f
f
ea
r
i
s
les
s
o
f
a
n
e
w
tech
n
o
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g
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a
n
d
m
o
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e
o
f
a
t
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lin
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s
p
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y
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ciate
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tech
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t
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ter
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tr
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Fi
g
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r
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4
d
ep
icts
th
e
f
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t
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r
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an
d
tr
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ir
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.
Ou
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T
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ical
d
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Fig
u
r
e
5
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ev
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t
h
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o
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h
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Evaluation Warning : The document was created with Spire.PDF for Python.
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RE
F
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R
E
NC
E
S
[1
]
F
.
H
a
ra
s
h
i
m
a
,
M
.
T
o
m
iz
u
k
a
a
n
d
T
.
F
u
k
u
d
a
,
“
M
e
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t
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c
s
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W
h
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t
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s
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.
1
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1
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p
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1
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r
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1
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M
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[2
]
R.
Ise
rm
a
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,
“
M
e
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e
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ru
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,
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2
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.
[3
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.
S
.
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g
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,
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(En
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.
[4
]
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.
B.
F
o
tso
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n
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A
.
Re
tt
b
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rg
,
“
S
tate
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m
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c
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sig
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p
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Pro
c
e
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d
in
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s
o
f
2
0
1
2
IEE
E/
AS
M
E
8
th
IEE
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M
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In
ter
n
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ti
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[5
]
M
.
J.
Ka
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sh
w
a
ri,
“
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s,”
2
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ter
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.
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A
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Ku
tt
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In
tr
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,
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fo
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Un
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Pre
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Ne
w
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2
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[7
]
O.
Ja
ra
d
a
t,
I
.
S
lj
iv
o
,
I.
Ha
b
li
a
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d
R.
Ha
wk
in
s,
“
Ch
a
ll
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As
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3
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ro
p
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DCC.2
0
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2
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.
[8
]
C.
T
.
Nn
o
d
im
,
A
.
M
.
R.
F
a
th
El
-
Ba
b
,
B.
W
.
Ik
u
a
,
a
n
d
D.
N.
S
i
la,
“
De
sig
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a
n
d
sim
u
latio
n
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tac
ti
le se
n
so
r
f
o
r
f
ru
it
rip
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ss
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tec
ti
o
n
,
”
L
e
c
tu
re
No
t
e
s
in
En
g
in
e
e
rin
g
a
n
d
Co
m
p
u
ter
S
c
ien
c
e
:
W
o
rld
C
o
n
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re
ss
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E
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g
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e
2
0
1
9
,
p
p
.
3
9
0
-
3
9
5
,
2
0
1
9
.
[9
]
C.
De
tw
e
il
e
r,
M
.
D
o
n
iec
,
I.
V
a
sil
e
sc
u
a
n
d
D.
R
u
s,
“
a
u
to
n
o
m
o
u
s
d
e
p
th
a
d
ju
stm
e
n
t
f
o
r
u
n
d
e
rw
a
ter
s
e
n
so
r
n
e
tw
o
rk
s:
d
e
sig
n
a
n
d
a
p
p
l
ica
ti
o
n
s
,
”
I
EE
E/
AS
M
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
e
c
h
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tro
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ics
,
v
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l
.
1
7
,
n
o
.
1
,
p
p
.
1
6
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4
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F
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b
.
2
0
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2
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:
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9
/T
M
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2
0
1
1
.
2
1
7
5
0
0
3
.
[1
0
]
N.
K.
S
u
ry
a
d
e
v
a
ra
,
S
.
C.
M
u
k
h
o
p
a
d
h
y
a
y
,
S
.
D.
T
.
Ke
ll
y
a
n
d
S
.
P
.
S
.
G
il
l,
“
W
S
N
-
b
a
se
d
s
m
a
rt
se
n
s
o
rs
a
n
d
a
c
tu
a
to
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f
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p
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m
a
n
a
g
e
m
e
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t
in
in
telli
g
e
n
t
b
u
il
d
in
g
s,
”
IEE
E/
A
S
M
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
e
c
h
a
tro
n
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1
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r
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d
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h
n
,
“
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t
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[1
2
]
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n
d
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.
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u
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o
,
“
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tro
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[1
3
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.
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K.
T
a
n
,
“
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ra
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ter
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ra
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ic
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4
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n
d
H.
Da
i,
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su
rv
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rd
s
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l
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ti
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mm
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[1
5
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,
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6
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R.
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,
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Em
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rg
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h
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lo
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Acc
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ss
,
v
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l.
3
,
pp.
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.
[1
7
]
R.
D.
S
c
h
ra
f
t,
“
M
e
c
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a
tro
n
ics
a
n
d
ro
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o
ti
c
s
f
o
r
se
rv
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a
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p
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ti
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s
,
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ti
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s
&
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p
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c
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.
[1
8
]
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Ko
m
o
to
,
a
n
d
T
.
T
e
tsu
o
,
“
A
f
ra
m
e
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rk
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e
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ti
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g
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f
m
e
c
h
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tro
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ics
p
ro
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u
c
ts,”
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mp
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ter
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sig
n
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[1
9
]
Y.
A
i,
M
.
P
e
n
g
,
a
n
d
K.
Zh
a
n
g
,
“
Ed
g
e
c
o
m
p
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ti
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g
tec
h
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f
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tern
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:
A
p
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r,
”
Dig
it
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l
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0
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u
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ro
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1
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.
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tar,
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Os
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n
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.
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b
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.
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ra
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c
tu
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p
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2
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.
C.
M
.
L
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g
,
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Io
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IEE
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3
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[2
3
]
M
.
Ch
ian
g
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n
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.
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,
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[2
4
]
J.
De
lsin
g
,
“
L
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a
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c
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tern
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t
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f
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:
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t
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d
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stria
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31
[2
5
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V
.
G
a
tt
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ll
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E.
O
tt
a
v
ian
o
,
a
n
d
A
.
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,”
in
T
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6
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o
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e
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s,
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7
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,
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.
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J.
O’Brie
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y
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[2
8
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Ha
jd
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k
,
“
Hig
h
a
c
c
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ra
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y
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P
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c
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ra
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rk
s,”
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ro
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ti
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l
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2
4
7
,
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p
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7
.
[2
9
]
K.
Ku
ru
a
n
d
H.
Y
e
tg
in
,
“
T
ra
n
sfo
rm
a
ti
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d
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n
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e
c
h
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tro
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m
s
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it
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in
n
e
w
in
d
u
strial
re
v
o
lu
ti
o
n
:
A
n
o
v
e
l
f
ra
m
e
w
o
rk
in
a
u
to
m
a
ti
o
n
o
f
e
v
e
r
y
th
in
g
(A
o
E),
”
in
IEE
E
Acc
e
ss
,
v
o
l.
7
,
p
p
.
4
1
3
9
5
-
4
1
4
1
5
,
2
0
1
9
.
[3
0
]
H.
Zh
a
n
g
,
F
.
M
a
rty
,
X
.
X
ia,
Y.
Zi
,
T
.
Bo
u
r
o
u
i
n
a
,
D.
G
a
la
y
k
o
,
P
.
Ba
ss
e
t,
“
E
m
p
lo
y
in
g
a
M
EM
S
p
l
a
s
m
a
s
w
it
c
h
f
o
r
c
o
n
d
i
ti
o
n
in
g
h
ig
h
-
v
o
lt
a
g
e
k
in
e
ti
c
e
n
e
rg
y
h
a
rv
e
ste
rs,”
Na
tu
re
c
o
mm
u
n
ica
ti
o
n
s
,
v
o
l.
1
1
,
n
o
.
1
,
p
p
.
1
-
1
0
,
Ju
n
2
0
2
0
.
[3
1
]
A
.
S
e
ti
o
n
o
,
M
.
Be
rtk
e
,
W
.
N
y
a
n
g
’a
u
,
J.
X
u
,
M
.
F
a
h
rb
a
c
h
,
I.
Kir
sc
h
,
E.
Uh
d
e
,
A
.
De
u
tsc
h
in
g
e
r,
E.
J.
F
a
n
t
n
e
r,
C.
H.S
c
h
w
a
lb
,
H.
S
.
W
a
sisto
,
“
In
-
p
la
n
e
a
n
d
o
u
t
-
of
-
p
lan
e
M
EM
S
p
iez
o
re
sistiv
e
c
a
n
ti
lev
e
r
se
n
so
rs
f
o
r
n
a
n
o
p
a
rt
icle
m
a
s
s
d
e
tec
ti
o
n
,
”
S
e
n
so
rs
,
v
o
l.
2
0
,
n
o
.
3
,
p
p
.
1
-
1
7
,
2
0
2
0
.
[3
2
]
S
.
B.
A
rk
a
d
ii
Z.
V
icto
r
,
“
S
c
ie
n
ti
f
ic
a
n
d
m
e
th
o
d
o
l
o
g
ica
l
a
sp
e
c
ts
in
m
e
c
h
a
tro
n
ic
s,”
M
a
ter
ia
ls
S
c
ien
c
e
P
o
we
r
En
g
i
n
e
e
rin
g
,
v
o
l.
1
0
7
,
n
o
.
1
,
p
p
.
1
3
4
-
1
4
2
,
2
0
1
9
.
[3
3
]
J.
C.
Ne
g
re
te,
“
Na
n
o
tec
h
n
o
lo
g
y
a
n
Op
ti
o
n
in
M
e
x
ica
n
Ag
ricu
lt
u
re
,
”
J
o
u
rn
a
l
o
f
Bi
o
tec
h
n
o
l
o
g
y
&
Bi
o
in
fo
rm
a
ti
c
s
Res
e
a
rc
h
.
v
o
l.
2
,
n
o
.
2
,
p
p
.
1
-
3
,
2
0
2
0
.
[3
4
]
S
.
Na
jaria
n
,
J.
Da
rg
a
h
i,
G
.
Da
rb
e
m
a
m
ieh
,
a
n
d
S
.
H.
F
a
rk
o
u
sh
,
“
M
e
c
h
a
tro
n
ics
in
m
e
d
icin
e
a
b
io
m
e
d
ica
l
e
n
g
in
e
e
rin
g
a
p
p
ro
a
c
h
,
”
M
c
Gr
a
w
-
Hill
E
d
u
c
a
ti
o
n
,
2
0
1
1
.
[3
5
]
A
.
L
a
l,
S
.
A
rd
a
n
u
c
,
J.
T
.
H
o
o
p
le,
J.
C.
Ku
o
,
“
Co
m
p
u
tati
o
n
d
e
v
ice
s
a
n
d
a
rti
f
icia
l
n
e
u
r
o
n
s
b
a
se
d
o
n
n
a
n
o
e
lec
tro
m
e
c
h
a
n
ica
l
s
y
ste
m
s,”
Un
it
e
d
S
ta
tes
p
a
te
n
t,
F
e
b
2
0
1
9
.
[3
6
]
R.
M
a
it
y
,
N.
P
.
M
a
it
y
a
n
d
S
.
Ba
ish
y
a
,
“
A
n
e
ff
icie
n
t
m
o
d
e
l
o
f
n
a
n
o
e
lec
tro
m
e
c
h
a
n
ica
l
s
y
ste
m
s
b
a
se
d
u
lt
ra
so
n
ic
se
n
so
r
w
it
h
f
rin
g
in
g
f
ield
e
ffe
c
ts
,
”
in
IEE
E
S
e
n
s
o
rs
J
o
u
r
n
a
l
,
v
o
l.
2
0
,
n
o
.
4
,
p
p
.
1
7
4
6
-
1
7
5
3
,
1
5
F
e
b
1
5
,
2
0
2
0
.
[3
7
]
S
.
M
.
A
f
o
n
in
,
“
S
tru
c
tu
ra
l
-
p
a
ra
m
e
tri
c
m
o
d
e
l
m
u
lt
il
a
y
e
r
e
le
c
tro
m
a
g
n
e
to
e
las
ti
c
a
c
tu
a
to
r
f
o
r
n
a
n
o
m
e
c
h
a
tro
n
ics
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
P
h
y
sic
s
,
v
o
l.
7
,
n
o
.
2
,
p
p
.
5
0
-
5
7
A
u
g
2
0
1
9
.
[3
8
]
T
.
H.S
u
n
,
Z.
Jia
,
J.
G
e
,
R.
S
h
a
,
Y.
X
ie,
Y.
G
u
,
“
T
h
e
m
u
lt
if
u
n
c
ti
o
n
a
l
sa
f
e
t
y
h
e
l
m
e
t
f
o
r
c
o
a
l
m
in
e
rs
o
f
th
e
o
p
to
-
m
e
c
h
a
tro
n
ics
,
”
Eu
ro
p
e
a
n
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
S
c
ien
c
e
a
n
d
T
e
c
h
n
o
lo
g
y
,
v
o
l.
8
,
n
o
.
1
1
,
p
p
.
64
-
7
7
,
De
c
.
2
0
1
9
.
[3
9
]
A
.
Ch
a
r
f
i
e
t
a
l
,
“
P
o
ss
i
b
il
isti
c
si
m
il
a
rit
y
m
e
a
su
re
s
f
o
r
d
a
ta
sc
ien
c
e
a
n
d
m
a
c
h
in
e
lea
rn
in
g
a
p
p
li
c
a
ti
o
n
s
,”
i
n
IEE
E
Acc
e
ss
,
v
o
l.
8
,
p
p
.
4
9
1
9
8
-
4
9
2
1
1
,
2
0
2
0
[4
0
]
P
.
C.
Ok
o
li
e
,
E.
C.
Nw
a
d
ik
e
,
J.
L
.
Ch
u
k
w
u
n
e
k
e
,
a
n
d
C.
T
.
Nn
o
d
im
,
“
T
h
e
a
n
a
l
y
sis
o
f
c
ig
a
ra
te
p
ro
d
u
c
ti
o
n
u
si
n
g
d
o
u
b
le ex
p
o
n
e
n
ti
a
l
sm
o
o
t
h
in
g
m
o
d
e
l,
”
Aca
d
e
mic
J
o
u
rn
a
l
o
f
S
c
ie
n
c
e
,
v
o
l.
7
,
n
o
.
2
,
p
p
.
2
9
3
-
3
0
8
,
F
e
b
.
2
0
1
7
.
[4
1
]
H.
A
la
m
l
e
h
,
A
li
A
b
d
u
ll
a
h
S
.
A
lQa
h
tan
i
,
“
A
w
e
ig
h
ti
n
g
s
y
ste
m
to
b
u
il
d
p
h
y
sic
a
l
la
y
e
r
m
e
a
su
re
m
e
n
ts
m
a
p
s
b
y
c
ro
w
d
so
u
rc
in
g
d
a
ta
f
ro
m
s
m
a
rtp
h
o
n
e
s,”
I
n
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
Ro
b
o
ti
c
s
a
n
d
A
u
to
m
a
ti
o
n
IJ
RA
,
v
o
l.
9
,
n
o
.
3
,
p
p
.
211
-
2
1
9
,
S
e
p
2
0
2
0
.
[4
2
]
W
.
G
u
o
,
“
Ex
p
lain
a
b
le
a
rti
f
icia
l
in
telli
g
e
n
c
e
f
o
r
6
G
:
Im
p
ro
v
in
g
tru
st
b
e
tw
e
e
n
h
u
m
a
n
a
n
d
m
a
c
h
in
e
,
”
i
n
I
EE
E
Co
mm
u
n
ica
ti
o
n
s M
a
g
a
zin
e
,
v
o
l.
5
8
,
n
o
.
6
,
p
p
.
3
9
-
4
5
,
Ju
n
e
2
0
2
0
.
[4
3
]
G
.
Zh
u
,
D.
L
iu
,
Y.
Du
,
C.
Yo
u
,
J.
Zh
a
n
g
a
n
d
K.
Hu
a
n
g
,
“
T
o
wa
rd
a
n
in
tell
ig
e
n
t
e
d
g
e
:
W
irele
ss
c
o
m
m
u
n
ica
ti
o
n
me
e
ts
m
a
c
h
in
e
lea
rn
in
g
,
”
i
n
IEE
E
Co
mm
u
n
ica
ti
o
n
s M
a
g
a
zi
n
e
,
v
o
l.
5
8
,
n
o
.
1
,
p
p
.
1
9
-
2
5
,
Ja
n
.
2
0
2
0
.
[4
4
]
X
.
W
a
n
g
,
e
t
a
l.
,
“
A
DTT
:
A
h
ig
h
ly
e
ff
icie
n
t
d
istri
b
u
ted
ten
s
o
r
-
tr
a
in
d
e
c
o
m
p
o
siti
o
n
m
e
th
o
d
f
o
r
II
o
T
b
ig
d
a
ta,”
i
n
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
In
d
u
stri
a
l
In
fo
rm
a
t
ics
,
v
o
l.
1
7
,
n
o
.
3
,
p
p
.
1
5
7
3
-
1
5
8
2
,
M
a
r
.
2
0
2
1
.
[4
5
]
C.
T
.
Nn
o
d
im
,
A
.
M
.
R.
F
a
th
El
-
Ba
b
,
B.
W
.
Ik
u
a
,
a
n
d
D.
N.
S
il
a
,
“
Esti
m
a
ti
o
n
o
f
th
e
m
o
d
u
l
u
s
o
f
e
las
ti
c
it
y
o
f
m
a
n
g
o
f
o
r
f
ru
it
so
rti
n
g
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
a
n
d
M
e
c
h
a
tro
n
ics
E
n
g
i
n
e
e
rin
g
,
v
o
l.
9
,
n
o
.
2
,
p
p
.
1
-
1
0
,
2
0
1
9
.
[4
6
]
S
.
O.
No
sa
k
h
a
le,
e
t
a
l
.
,
“
Op
ti
m
a
l
siz
in
g
a
n
d
a
n
a
ly
sis
o
f
a
h
y
b
r
id
e
n
e
rg
y
s
y
ste
m
f
o
r
a
c
o
m
m
u
n
it
y
m
icro
g
rid
in
Nig
e
ria,”
J
o
u
rn
a
l
o
f
E
n
g
i
n
e
e
rin
g
a
n
d
Ap
p
li
e
d
S
c
ien
c
e
s
,
v
o
l.
1
4
,
n
o
.
2
3
,
p
p
.
8
7
6
9
-
8
7
7
8
,
2
0
1
9
.
[4
7
]
M
.
S
a
law
u
,
e
t
a
l
.
,
“
A
c
h
i
-
sq
u
a
re
-
S
V
M
b
a
se
d
p
e
d
a
g
o
g
ica
l
ru
le
e
x
trac
ti
o
n
m
e
th
o
d
f
o
r
m
icro
a
rra
y
d
a
ta
a
n
a
l
y
sis,”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
A
d
v
a
n
c
e
s in
A
p
p
li
e
d
S
c
ien
c
e
s
,
v
o
l
.
9
,
n
o
.
2
,
p
p
.
1
-
1
0
,
2
0
2
0
.
[4
8
]
S
.
O.
A
b
d
u
lsa
lam
e
t
a
l.
,
“
Cu
st
o
m
e
r
c
h
u
rn
p
re
d
icti
o
n
in
b
a
n
k
i
n
g
in
d
u
stry
u
sin
g
K
-
M
e
a
n
s
a
n
d
su
p
p
o
r
t
v
e
c
to
r
m
a
c
h
in
e
a
lg
o
rit
h
m
s
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
M
u
lt
i
d
isc
ip
l
in
a
ry
S
c
ien
c
e
s
a
n
d
Ad
v
a
n
c
e
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l.
1
,
n
o
.
1
,
p
p
.
6
0
-
6
8
,
2
0
2
0
.
[4
9
]
M
.
O.
A
ro
w
o
lo
,
M
.
O.
A
d
e
b
iy
i,
A
.
A
.
A
d
e
b
iy
i
a
n
d
O.
J.
Ok
e
so
la,
“
A
h
y
b
rid
h
e
u
risti
c
d
im
e
n
sio
n
a
li
ty
re
d
u
c
ti
o
n
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