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Ro
bo
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(
I
J
RA
)
Vo
l.
5
,
No
.
4
,
Dec
em
b
er
201
6
,
p
p
.
221
~
229
I
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N:
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[
1
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a
re
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t
in
g
th
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re
su
lt
s
o
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stru
c
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In
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[
3
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.
Ho
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ca
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,
[
4
]
p
r
esen
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s
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tectu
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in
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Si
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ap
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[
5
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.
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is
[
6
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,
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p
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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
.
4
,
Dec
em
b
er
201
6
:
2
2
1
–
2
2
9
222
d
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2.
ANATO
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2
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.
Descript
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A
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
tr
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Un
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erg
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d
P
ip
e
.
.
.
(
A
jin
M
)
225
ap
p
lied
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b
o
t
th
e
f
u
zz
y
is
e
m
p
lo
y
ed
in
all
th
e
la
y
er
s
,
f
o
r
ex
.
,
to
co
m
p
ar
e
th
e
in
p
u
t
s
i
g
n
a
l
f
r
o
m
t
h
e
u
ltra
s
o
n
ic
s
en
s
o
r
i
n
o
r
d
er
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in
d
o
u
t
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r
r
esp
o
n
d
in
g
p
ip
e
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ia
m
eter
a
n
d
th
e
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tat
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s
o
f
th
e
w
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v
ir
o
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e
n
t
w
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eth
er
it
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s
a
clo
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ed
,
o
p
en
o
r
s
em
i
o
p
en
en
v
ir
o
n
m
en
t.
Fi
g
u
r
e
1
5
s
h
o
w
s
t
h
e
f
u
z
z
y
b
ased
ar
ch
itectu
r
e
f
o
r
th
e
in
p
ip
e
in
s
p
ec
tio
n
r
o
b
o
t.
I
n
th
e
r
o
b
o
t
f
o
u
r
u
ltra
s
o
n
ic
s
e
n
s
o
r
is
e
m
p
lo
y
ed
.
F1
i
s
f
r
o
n
t
s
e
n
s
o
r
1
,
F2
is
f
r
o
n
t
s
en
s
o
r
2
,
R
1
is
r
ea
r
s
en
s
o
r
1
an
d
R
2
is
r
ea
r
s
en
s
o
r
2
.
So
m
e
o
f
t
h
e
r
u
le
s
u
s
ed
in
th
e
f
u
zz
y
lo
g
ic
ar
e
g
i
v
e
n
b
elo
w
f
o
r
a
b
etter
u
n
d
er
s
ta
n
d
in
g
.
1.
I
f
U
ltra
s
o
n
ic
s
e
n
s
o
r
F1
r
ea
d
in
g
i
s
in
-
b
et
w
ee
n
7
.
5
to
1
0
c
m
an
d
Ultr
a
s
o
n
ic
s
e
n
s
o
r
F2
r
ea
d
in
g
is
i
n
-
b
et
w
ee
n
7
.
5
to
1
0
cm
an
d
Ul
tr
aso
n
ic
s
e
n
s
o
r
R
1
r
ea
d
in
g
is
in
-
b
et
w
ee
n
7
.
5
to
1
0
cm
a
n
d
Ultr
aso
n
ic
s
en
s
o
r
R
2
r
ea
d
in
g
is
in
-
b
et
w
e
en
7
.
5
to
1
0
cm
t
h
en
t
h
e
p
ip
e
d
ia
m
ete
r
in
w
h
ich
t
h
e
r
o
b
o
t
is
m
o
v
i
n
g
is
2
0
cm
an
d
t
h
e
w
o
r
k
en
v
ir
o
n
m
en
t stat
u
s
i
s
clo
s
ed
s
u
r
f
ac
e.
2.
I
f
Ultr
aso
n
ic
s
e
n
s
o
r
F1
r
ea
d
in
g
i
s
in
-
b
et
w
ee
n
7
.
5
to
1
0
c
m
an
d
Ultr
a
s
o
n
ic
s
e
n
s
o
r
F2
r
ea
d
in
g
is
i
n
-
b
et
w
ee
n
1
0
to
1
2
.
5
cm
an
d
Ultr
aso
n
ic
s
e
n
s
o
r
R
1
r
ea
d
in
g
is
in
-
be
t
w
ee
n
7
.
5
to
1
0
cm
an
d
Ultr
aso
n
ic
s
en
s
o
r
R
2
r
ea
d
in
g
is
in
-
b
et
w
e
en
7
.
5
to
1
0
cm
t
h
en
t
h
e
p
ip
e
d
ia
m
eter
in
w
h
ich
t
h
e
r
o
b
o
t
is
m
o
v
i
n
g
is
2
0
cm
an
d
th
e
w
o
r
k
en
v
ir
o
n
m
en
t
s
tat
u
s
is
clo
s
ed
s
u
r
f
ac
e.
B
u
t
s
i
n
ce
th
e
s
i
g
n
al
d
if
f
er
en
ce
o
cc
u
r
r
ed
in
th
e
f
r
o
n
t
u
l
tr
aso
n
ic
s
en
s
o
r
s
it
w
il
l
b
e
ass
u
m
ed
t
h
at
t
h
e
r
o
b
o
t
is
m
o
v
in
g
f
r
o
m
2
0
to
2
5
c
m
d
ia
m
e
ter
p
ip
e.
3.
I
f
Ultr
aso
n
ic
s
en
s
o
r
F1
r
e
ad
in
g
is
i
n
-
b
et
w
ee
n
1
2
.
5
to
1
5
cm
a
n
d
Ultr
aso
n
ic
s
e
n
s
o
r
F
2
r
ea
d
in
g
is
in
-
b
et
w
ee
n
1
2
.
5
to
1
5
cm
a
n
d
Ul
tr
aso
n
ic
s
e
n
s
o
r
R
1
r
ea
d
in
g
i
s
i
n
-
b
et
w
ee
n
1
2
.
5
to
1
5
cm
a
n
d
Ultr
aso
n
ic
s
en
s
o
r
R
2
r
ea
d
in
g
i
s
i
n
-
b
et
w
e
en
1
2
.
5
to
1
5
c
m
th
e
n
t
h
e
p
ip
e
d
ia
m
eter
i
n
w
h
ich
th
e
r
o
b
o
t
is
m
o
v
i
n
g
is
3
0
cm
an
d
t
h
e
w
o
r
k
en
v
ir
o
n
m
en
t stat
u
s
i
s
clo
s
ed
s
u
r
f
ac
e.
Fig
u
r
e
1
5
.
Fu
zz
y
b
ased
ar
ch
it
ec
tu
r
e
f
o
r
th
e
i
n
p
ip
e
r
o
b
o
t
6.
CO
NCLU
SI
O
N
T
h
e
d
esig
n
p
ar
a
m
e
ter
s
o
f
t
h
e
i
n
-
p
ip
e
r
o
b
o
t
ar
e
id
en
tif
ied
f
o
r
p
r
io
r
itizatio
n
an
d
th
e
r
elat
io
n
s
h
ip
to
th
e
s
u
b
-
p
ar
a
m
eter
s
w
a
s
es
tab
lis
h
e
d
.
Stru
ctu
r
al
a
n
al
y
s
is
r
e
v
ea
ls
t
h
e
b
est
g
eo
m
e
tr
ical
p
ar
a
m
eter
i.e
.
,
th
e
t
h
ic
k
n
e
s
s
o
f
t
h
e
li
n
k
s
w
h
ic
h
w
o
u
ld
allo
w
f
o
r
b
etter
w
ei
g
h
t
a
n
d
p
a
y
lo
ad
ca
p
ac
it
y
o
f
t
h
e
r
o
b
o
t.
T
h
e
f
iv
e
la
y
er
s
o
f
co
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
tr
u
ctu
r
a
l A
n
a
lysi
s
a
n
d
F
ive
-
La
ye
r
ed
C
o
n
tr
o
l F
r
a
me
W
o
r
k
fo
r
Un
d
erg
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o
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P
ip
e
.
.
.
(
A
jin
M
)
229
ar
ch
itect
u
r
e
is
also
p
r
esen
ted
in
d
etail.
A
f
u
zz
y
b
ased
co
n
tr
o
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alg
o
r
ith
m
i
s
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r
o
p
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t
o
ar
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itra
te
b
et
w
ee
n
t
h
e
p
r
o
p
o
s
ed
f
iv
e
-
la
y
er
ed
co
n
tr
o
l
ar
ch
itect
u
r
e
f
o
r
th
e
p
u
r
p
o
s
e
o
f
co
n
tr
o
l
lin
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h
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v
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g
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o
b
j
ec
tiv
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T
h
e
co
r
r
elatio
n
o
f
th
e
p
ar
a
m
eter
s
to
t
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r
ec
o
n
f
i
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r
ab
ilit
y
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o
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ld
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e
p
r
esen
ted
in
th
e
f
o
r
t
h
co
m
i
n
g
p
ap
er
s
f
r
o
m
t
h
e
au
th
o
r
s
.
RE
F
E
R
E
NC
E
S
[1
]
A
ji
n
M
,
S
a
th
e
e
sh
Ku
m
a
r
G
o
p
a
l
a
n
d
Ka
rth
ik
e
y
a
n
P
,
“
De
sig
n
,
S
tru
c
tu
ra
l
a
n
d
Ki
n
e
m
a
ti
c
A
n
a
l
y
sis
o
f
Re
c
o
n
f
ig
u
ra
b
le
S
e
w
a
g
e
Cl
e
a
n
in
g
Ro
b
o
t”,
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ap
p
li
e
d
M
e
c
h
a
n
ics
a
n
d
M
a
ter
ia
ls
,
A
c
c
e
p
ted
fo
r
p
u
b
li
c
a
ti
o
n
,
2
0
1
6
.
[2
]
Nu
r
Af
iq
a
h
Bin
ti
Ha
ji
Ya
h
y
a
,
Ne
g
in
A
sh
ra
f
i,
A
li
Hu
ss
e
in
Hu
m
o
d
,
“
De
v
e
lo
p
m
e
n
t
a
n
d
A
d
a
p
ta
b
il
it
y
o
f
In
-
P
i
p
e
In
sp
e
c
ti
o
n
Ro
b
o
ts”
,
IO
S
R
J
o
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
a
n
d
Civil
En
g
i
n
e
e
rin
g
,
1
1
(
4
),
p
p
.
1
-
8
,
2
0
1
4
.
[3
]
S
.
R.
Jo
n
g
e
riu
s,
D.
L
e
n
ti
n
k
,
“
S
t
ru
c
tu
ra
l
A
n
a
ly
sis
o
f
a
Dra
g
o
n
f
l
y
W
in
g
”
,
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Exp
e
rime
n
ta
l
M
e
c
h
a
n
ics
,
5
0
(9
),
p
p
.
1
3
2
3
-
1
3
3
4
,
2
0
1
0
.
[4
]
Ho
ro
d
in
c
a
,
M
i
h
a
it
a
,
Do
r
o
f
tei,
Io
a
n
,
M
ig
n
o
n
,
Emm
a
n
u
e
l,
P
re
u
m
o
n
t,
A
n
d
ré
,
A
si
m
p
le
a
rc
h
it
e
c
tu
re
f
o
r
in
-
p
i
p
e
in
sp
e
c
ti
o
n
ro
b
o
ts
,
Pro
c
e
e
d
i
n
g
s I
n
ter
n
a
ti
o
n
a
l
Co
ll
o
q
iu
m M
o
b
il
e
,
1
-
4
,
2
0
0
2
.
[5
]
A
tu
l
G
a
r
g
a
d
e
,
Dh
a
n
ra
j
Ta
m
b
u
sk
a
r
a
n
d
G
a
jan
a
n
T
h
o
k
a
l,
M
o
d
e
li
n
g
a
n
d
A
n
a
l
y
sis
o
f
P
ip
e
In
s
p
e
c
ti
o
n
Ro
b
o
t,
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
Eme
rg
i
n
g
T
e
c
h
n
o
l
o
g
y
a
n
d
Ad
v
a
n
c
e
d
En
g
i
n
e
e
rin
g
,
3
(5
)
,
p
p
.
1
2
0
-
1
2
6
,
2
0
1
3
.
[6
]
L
e
il
a
No
tas
h
a
n
d
Jin
g
q
iu
Zh
a
n
g
,
“
S
tru
c
tu
ra
l
S
y
n
th
e
sis
o
f
Kin
e
m
a
ti
c
Ch
a
in
s
a
n
d
M
e
c
h
a
n
ism
s”
,
In
teg
ra
ted
De
sig
n
a
n
d
M
a
n
u
fa
c
t
u
rin
g
in
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
,
S
p
rin
g
e
r
S
c
ien
c
e
&
Bu
sin
e
ss
M
e
d
ia Do
r
d
re
c
h
t
P
u
b
li
sh
e
rs,
p
p
.
3
9
1
-
3
9
8
,
2
0
0
2
.
[7
]
D.
W
a
n
g
a
n
d
C.
B.
L
o
w
,
M
o
d
e
l
in
g
a
n
d
A
n
a
ly
sis
o
f
S
k
id
d
in
g
a
n
d
S
l
ip
p
in
g
i
n
W
h
e
e
led
M
o
b
il
e
R
o
b
o
ts:
C
o
n
tr
o
l
De
s
ig
n
P
e
rsp
e
c
ti
v
e
,
IEE
E
T
ra
n
s
a
c
ti
o
n
s
o
n
Ro
b
o
ti
c
s
,
2
4
(
3
),
p
p
.
6
7
6
–
6
8
7
,
2
0
0
8
.
[8
]
D.
Zl
a
tan
o
v
,
R.
G
.
F
e
n
to
n
a
n
d
B.
Be
n
h
a
b
ib
,
S
in
g
u
larity
a
n
a
l
y
si
s
o
f
m
e
c
h
a
n
is
m
s
a
n
d
ro
b
o
ts
v
ia
a
m
o
ti
o
n
-
sp
a
c
e
m
o
d
e
l
o
f
th
e
in
sta
n
tan
e
o
u
s
k
in
e
m
a
ti
c
s,
P
ro
c
e
e
d
in
g
s
o
f
th
e
1
9
9
4
IEE
E
In
t
e
rn
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s
a
n
d
Au
to
m
a
ti
o
n
,
2
,
p
p
.
9
8
0
-
9
8
5
,
1
9
9
4
.
[9
]
S
a
th
e
e
sh
G
.
Ku
m
a
r,
Na
g
a
ra
j
a
n
T
a
n
d
S
rin
iv
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m
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h
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d
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r
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tl
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r
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).
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r
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h
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th
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s
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irt
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te
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b
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t
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ra
to
ry
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t
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a
d
ra
s
(2
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0
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0
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)
a
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d
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o
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m
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ian
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ly
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m
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ip
u
lato
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c
u
rre
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t
re
se
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rc
h
in
c
lu
d
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s
sm
a
rt
stre
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t
li
g
h
ti
n
g
s
y
ste
m
,
ro
b
o
t
m
a
n
ip
u
lat
o
rs an
d
ro
b
o
ts
f
o
r
g
e
riatric ca
re
.
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