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.
6
,
No
.
2
,
J
u
n
e
201
7
,
p
p
.
1
2
1
~1
3
0
I
SS
N:
2089
-
4
8
5
6
,
DOI
: 1
0
.
1
1
5
9
1
/i
j
r
a.
v
6
i2
.
p
p
12
1
-
130
121
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
Desig
ning
of Rob
o
t
G
a
m
ela
n Mus
i
c using
AT
m
eg
a
1
6
M
icro
co
ntroller
H
a
nd
ri
J
ir
Azha
r
,
F
er
ry
H
a
da
ry
,
Sy
a
if
urra
h
m
a
n
De
p
a
rt
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsity
,
P
o
n
ti
a
n
a
k
,
In
d
o
n
e
sia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Feb
1
2
,
201
7
R
ev
i
s
ed
Ma
y
1
0
,
2
0
1
7
A
cc
ep
ted
Ma
y
24
,
2
0
1
7
T
h
is
p
a
p
e
r
p
re
se
n
ts
a
ro
b
o
t
c
o
n
c
e
p
t
w
h
ich
is
th
e
ro
b
o
t
c
a
n
p
lay
th
e
in
stru
m
e
n
tal
Ga
m
e
lan
m
u
sic
.
Ga
m
e
l
a
n
is
a
p
e
rc
u
ss
i
v
e
in
stru
m
e
n
t.
In
stru
m
e
n
tal
G
a
m
e
lan
m
u
sic
k
e
y
s
a
re
c
o
n
sist
o
f
2
o
c
tav
e
s
in
1
5
t
o
n
e
s.
Ro
b
o
t
G
a
m
e
lan
m
u
sic
is
u
sin
g
p
ro
p
o
r
ti
o
n
a
l
-
d
e
riv
a
ti
v
e
(P
D)
c
o
n
tr
o
l
s
y
ste
m
.
P
D
c
o
n
tro
l
o
f
th
e
ro
b
o
t
is
b
y
c
o
n
tro
ll
in
g
DC
g
e
a
r
m
o
to
r
p
o
siti
o
n
to
d
e
sire
d
G
a
m
e
lan
k
e
y
p
o
siti
o
n
.
Ro
b
o
t
G
a
m
e
lan
m
u
sic
u
sin
g
ATm
e
g
a
1
6
m
icro
c
o
n
tro
ll
e
r
a
s
a
c
o
n
tro
ll
e
r.
F
e
e
d
b
a
c
k
o
f
P
D
c
o
n
t
r
o
l
is
u
sin
g
m
a
g
n
e
ti
c
ro
tary
e
n
c
o
d
e
r
(M
RE)
se
n
so
r.
P
D
c
o
n
tro
l
is
u
si
n
g
th
e
c
o
n
sta
n
t.
T
h
e
c
o
n
sta
n
t
f
u
n
c
ti
o
n
s
o
f
P
D
c
o
n
tr
o
l
a
re
d
e
term
in
in
g
th
e
p
u
lse
w
id
th
m
o
d
u
lati
o
n
(
P
W
M
)
to
w
a
rd
th
e
g
e
a
re
d
DC
m
o
to
r
v
e
l
o
c
it
y
in
o
rd
e
r
to
re
p
o
siti
o
n
a
g
a
m
e
lan
k
e
y
p
o
siti
o
n
a
n
d
p
u
s
h
in
g
d
o
w
n
th
e
e
rr
o
rs.
K
ey
w
o
r
d
:
A
T
m
e
g
a
1
6
m
icr
o
co
n
tr
o
ller
Ga
m
ela
n
P
r
o
p
o
r
tio
n
al
d
er
iv
ativ
e
P
u
ls
e
w
id
th
m
o
d
u
latio
n
(
P
W
M)
R
o
b
o
t g
a
m
ela
n
m
u
s
ic
Co
p
y
rig
h
t
©
2
0
1
7
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Han
d
r
i J
ir
A
zh
ar
,
Dep
ar
t
m
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
T
an
j
u
n
g
p
u
r
a
U
n
iv
er
s
it
y
,
P
r
o
f
.
Dr
.
H.
Had
ar
i N
aw
a
w
i
Str.
,
P
o
n
tian
ak
,
7
8
1
2
4
,
I
n
d
o
n
esia.
E
m
ail:
h
an
d
r
ij
ir
az
h
ar
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
R
obot
Ga
m
ela
n
m
u
s
ic
w
a
s
cr
ea
ted
f
o
r
an
i
n
n
o
v
atio
n
o
f
r
o
b
o
tic
in
ar
t
o
f
I
n
d
o
n
e
s
ia
tr
ad
itio
n
al
m
u
s
ical
i
n
s
tr
u
m
e
n
ts
.
Ga
m
ela
n
is
a
n
I
n
d
o
n
e
s
ia
n
cu
ltu
r
al
h
er
itag
e
i
n
s
tr
u
m
e
n
t
m
u
s
ic
t
h
at
m
u
s
t
b
e
p
r
eser
v
ed
.
Mu
s
ical
g
a
m
ela
n
i
n
s
tr
u
m
en
t
g
r
ad
u
all
y
w
o
u
ld
b
e
ab
an
d
o
n
ed
b
y
t
h
e
y
o
u
n
g
g
e
n
er
atio
n
.
I
t
b
ec
au
s
e
t
h
er
e
is
a
p
o
s
s
ib
ilit
y
n
o
lo
n
g
er
in
ter
e
s
ti
n
g
o
f
g
a
m
ela
n
.
Ga
m
ela
n
m
u
s
i
c
is
a
n
I
n
d
o
n
esia
n
tr
ad
itio
n
al
m
u
s
ic
u
s
in
g
a
s
et
o
f
in
s
tr
u
m
en
t
s
ca
lled
g
a
m
ela
n
,
th
is
i
s
a
p
er
cu
s
s
io
n
in
s
tr
u
m
e
n
t
[
1
]
.
T
h
e
n
a
m
e
o
f
g
a
m
ela
n
is
f
r
o
m
th
e
lo
w
J
av
an
ese
w
o
r
d
'
Ga
m
el
'
,
w
h
ic
h
m
ea
n
s
a
t
y
p
e
o
f
h
a
m
m
er
,
l
ik
e
a
b
lack
s
m
it
h
'
s
h
a
m
m
er
.
T
h
e
n
a
m
e
'Ga
m
ela
n
'
th
u
s
r
ef
er
s
to
th
e
m
e
th
o
d
o
f
p
lay
in
g
in
s
tr
u
m
e
n
ts
.
Ge
n
er
all
y
,
a
m
eth
o
d
o
f
p
la
y
i
n
g
Ga
m
elan
is
b
y
s
tr
i
k
in
g
th
e
m
,
as
t
h
e
y
ar
e
al
m
o
s
t
e
n
tire
l
y
p
er
cu
s
s
io
n
[
2
]
.
T
h
is
r
esear
ch
is
u
s
in
g
g
a
m
b
a
n
g
g
an
g
s
a
g
a
m
ela
n
i
n
th
e
r
o
b
o
t a
p
p
licat
io
n
.
Ga
m
b
an
g
g
an
g
s
a
g
a
m
ela
n
i
s
a
g
a
m
elan
w
it
h
t
h
e
k
e
y
s
m
ad
e
f
r
o
m
b
r
o
n
ze
.
T
h
e
k
e
y
s
g
e
n
e
r
all
y
h
av
e
1
4
to
1
5
k
e
y
s
o
r
t
w
o
o
ctav
es
[
3
]
.
Gen
er
ally
,
g
a
m
ela
n
is
p
la
y
in
g
w
i
th
2
b
ea
ter
s
in
lef
t
an
d
r
ig
h
t
h
a
n
d
.
I
t
is
also
ca
n
b
e
p
la
y
i
n
g
w
it
h
o
n
e
b
ea
te
r
as
u
s
u
all
y
p
la
y
ed
b
y
s
e
v
er
al
a
m
ate
u
r
m
u
s
ic
ian
s
[
4
]
.
On
th
is
p
ap
er
,
th
e
r
o
b
o
t
g
a
m
e
lan
m
u
s
ic
i
s
u
s
in
g
g
a
m
b
a
n
g
g
a
n
g
s
a
g
a
m
ela
n
w
it
h
1
5
k
e
y
s
a
n
d
o
n
e
b
ea
ter
.
R
o
b
o
t g
a
m
elan
m
u
s
ic
is
u
s
i
n
g
p
r
o
p
o
r
tio
n
al
-
d
er
iv
ati
v
e
(
P
D)
co
n
tr
o
l
s
y
s
te
m
b
y
t
u
n
i
n
g
t
h
e
co
n
s
tan
tan
p
r
o
p
o
r
tio
n
al
(
an
d
co
n
s
ta
n
ta
n
d
er
iv
ativ
e
(
.
T
h
er
e
ar
e
tw
o
-
wa
y
m
et
h
o
d
s
to
tu
n
i
n
g
t
h
e
co
n
s
ta
n
ta
n
o
f
P
D.
th
ese
ar
e
th
e
tr
ial
an
d
er
r
o
r
m
et
h
o
d
an
d
th
e
p
r
o
ce
s
s
r
esp
o
n
s
e
c
u
r
v
e
m
et
h
o
d
[
5
]
.
T
h
e
P
D
co
n
s
ta
n
ta
n
tu
n
i
n
g
o
f
r
o
b
o
t g
a
m
ela
n
m
u
s
ic
i
s
o
n
l
y
u
s
i
n
g
a
tr
ial
-
er
r
o
r
m
e
t
h
o
d
.
R
o
b
o
t
g
a
m
ela
n
m
u
s
ic
is
u
s
in
g
A
T
m
e
g
a
1
6
m
icr
o
co
n
tr
o
ller
as
a
co
n
tr
o
ller
a
n
d
m
ag
n
etic
r
o
tar
y
e
n
co
d
er
s
en
s
o
r
as a
f
ee
d
b
ac
k
to
s
u
p
p
o
r
t in
P
D
s
y
s
te
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
2
1
–
13
0
122
2.
RE
L
AT
E
D
WO
RK
T
h
is
s
ec
tio
n
w
il
l
d
escr
ib
e
a
c
o
m
p
ar
is
o
n
r
esear
c
h
a
r
o
b
o
tic
tech
n
o
lo
g
y
w
h
ich
is
r
elate
d
p
e
r
cu
s
s
io
n
in
s
tr
u
m
en
t.
C
h
an
g
Ge
u
n
O
h
,
an
d
J
ae
h
eu
n
g
P
ar
k
,
w
it
h
t
h
e
k
in
e
tic
x
y
lo
p
h
o
n
e.
T
he
k
i
n
eti
c
x
y
lo
p
h
o
n
e
i
s
a
n
in
ter
ac
ti
v
e
in
s
tr
u
m
e
n
t,
w
h
ic
h
p
la
y
s
m
u
s
ic
w
it
h
m
o
to
r
ized
m
allet
s
b
y
g
e
s
tu
r
e
s
f
r
o
m
s
p
ec
tato
r
s
.
T
h
is
in
s
tr
u
m
en
t
co
n
s
is
ts
o
f
f
o
u
r
teen
m
etall
ic
tu
b
es
,
an
d
r
ea
cts
th
r
o
u
g
h
e
m
b
ed
d
ed
in
f
r
a
-
r
ed
s
en
s
o
r
w
it
h
s
p
ec
tato
r
s
.
T
h
o
s
e
d
is
tan
ce
s
i
g
n
als
tr
ig
g
er
th
e
r
o
tatio
n
o
f
m
a
llet
attac
h
e
d
to
m
o
to
r
s
.
Sp
ec
tato
r
ca
n
ea
s
il
y
p
er
f
o
r
m
m
u
s
ic
w
it
h
t
h
is
i
n
s
talla
tio
n
b
y
h
a
n
d
-
w
a
v
in
g
g
e
s
t
u
r
es
in
s
tead
o
f
g
r
ab
b
in
g
m
allet
s
.
T
h
u
s
,
t
h
i
s
k
i
n
etic
ar
t
w
o
r
k
ca
n
also
b
e
p
er
f
o
r
m
ed
b
y
c
h
ild
r
en
,
an
d
p
er
s
o
n
s
w
i
th
d
i
s
ab
ili
ties
[
6
]
.
I
t
is
o
n
e
o
f
p
r
ev
io
u
s
r
o
b
o
t
p
er
cu
s
s
io
n
r
esear
ch
.
T
h
e
k
in
etic
x
y
lo
p
h
o
n
e
in
t
h
e
r
o
b
o
t
s
y
s
te
m
ar
e
m
u
ch
n
ee
d
in
g
m
o
to
r
f
o
r
f
o
u
r
tee
n
m
a
llets
a
n
d
m
u
c
h
u
s
i
n
g
in
p
u
t
-
o
u
tp
u
t (
I
/O)
i
n
th
e
co
n
tr
o
ller
s
.
On
th
i
s
p
ap
er
w
ill
m
ak
e
d
i
f
f
er
en
ce
r
o
b
o
t
p
er
cu
s
s
io
n
.
I
t
is
r
o
b
o
t
g
a
m
e
lan
m
u
s
ic.
R
o
b
o
t
g
a
m
ela
n
m
u
s
ic
d
o
es
n
o
t
n
ee
d
m
u
c
h
m
o
to
r
in
t
h
e
r
o
b
o
t
s
y
s
te
m
.
Ga
m
elan
b
ea
ter
/
m
allet
in
th
e
r
o
b
o
t
w
ill
b
e
ac
t
u
ated
b
y
o
n
e
s
er
v
o
m
o
to
r
.
I
t
w
ill
b
e
ca
r
r
ied
b
y
a
tr
o
lle
y
.
T
h
e
tr
o
ll
ey
w
ill
u
s
e
a
r
ail
r
o
u
te
s
y
s
te
m
b
ased
o
n
g
a
m
ela
n
len
g
th
s
ize.
T
h
e
tr
o
lley
f
u
n
cti
o
n
w
i
ll
s
h
if
t
to
th
e
lef
t
o
r
to
th
e
r
ig
h
t
b
ased
o
n
a
d
esire
d
g
am
ela
n
k
e
y
in
p
u
t
in
th
e
r
o
b
o
t.
T
h
is
is
u
s
i
n
g
o
n
e
g
e
ar
ed
DC
m
o
to
r
to
ac
tu
atin
g
it.
3.
CO
M
P
O
NE
NT
S O
F
RO
B
O
T
G
AM
E
L
A
N
M
USI
C
3
.
1
.
I
np
ut
o
f
ro
bo
t
g
a
m
ela
n
m
u
s
i
c
I
n
p
u
t
co
m
p
o
n
e
n
t
s
o
f
r
o
b
o
t
g
a
m
ela
n
m
u
s
ic
ar
e
co
n
s
i
s
t
o
f
m
atr
i
x
k
e
y
p
ad
4
×4
,
m
ec
h
a
n
ical
li
m
it
s
w
itc
h
,
an
d
m
a
g
n
etic
r
o
tar
y
s
e
n
s
o
r
.
T
h
e
d
escr
ip
tio
n
an
d
f
u
n
c
tio
n
o
f
t
h
ese
as
f
o
llo
w
s
:
1.
Ma
tr
ix
k
e
y
p
a
d
4
×4
h
a
v
e
4
r
o
w
a
n
d
4
co
lu
m
n
b
y
k
e
y
p
ad
s
w
itc
h
d
esi
g
n
.
R
o
w
an
d
co
l
u
m
n
in
m
a
tr
i
x
k
e
y
p
ad
4
×4
is
cr
o
s
s
i
n
g
ea
ch
o
th
er
s
.
Ma
tr
i
x
k
e
y
p
ad
4
×4
w
o
r
k
in
g
s
y
s
te
m
is
b
y
s
ca
n
r
o
w
an
d
co
lu
m
n
.
R
o
w
an
d
co
lu
m
n
s
ca
n
s
o
f
g
e
n
er
al
m
atr
ix
k
e
y
p
ad
ar
e
b
in
ar
y
c
o
d
e
f
o
r
m
.
I
t
s
ee
m
s
m
o
r
s
e
co
d
e
[
7
]
.
Ma
tr
ix
k
e
y
p
ad
4
×4
f
u
n
ctio
n
is
to
g
i
v
in
g
t
h
e
i
n
p
u
t
co
n
tr
o
ller
d
ev
ice.
B
y
t
h
e
i
n
p
u
t
f
r
o
m
Ma
tr
i
x
k
e
y
p
ad
4
×4
,
co
n
tr
o
ller
d
ev
ice
ca
n
s
et
t
h
e
p
o
s
itio
n
g
a
m
ela
n
k
e
y
o
r
ca
ll p
la
y
in
g
s
o
n
g
m
o
d
e.
2.
Me
ch
an
ical
li
m
it
s
w
itc
h
is
t
h
e
m
o
s
t
b
asic
an
d
w
id
el
y
u
s
ed
d
ev
ice
f
o
r
s
en
s
i
n
g
o
b
j
ec
ts
an
d
th
eir
p
o
s
itio
n
.
A
m
ec
h
an
ical
li
m
it
s
w
itc
h
co
n
tai
n
s
a
s
p
r
in
g
-
ac
t
iv
ated
s
n
ap
m
ec
h
a
n
i
s
m
to
clo
s
e
o
r
o
p
en
a
s
et
o
f
p
h
y
s
ical
co
n
tact.
An
ac
t
u
ato
r
i
s
p
h
y
s
ic
all
y
d
e
f
lecte
d
to
tr
ig
g
er
t
h
e
m
ec
h
an
i
s
m
a
n
d
o
p
er
ate
th
e
s
w
i
t
ch
.
Me
c
h
an
ica
l
l
i
m
it
s
w
i
tch
w
o
r
k
b
es
t
i
n
r
o
b
o
tics
ap
p
licatio
n
s
t
h
at
p
er
m
it
p
h
y
s
ical
co
n
tact
b
et
w
ee
n
t
h
e
s
w
itc
h
ac
t
u
ato
r
an
d
th
e
o
b
j
ec
t
to
b
e
s
en
s
ed
[
8
]
.
On
th
is
r
esear
ch
,
t
h
e
m
ec
h
an
ica
l
li
m
it
s
w
i
tch
f
u
n
ctio
n
as
a
p
r
o
tecto
r
r
o
b
o
t f
o
r
th
e
tr
o
lley
o
f
r
o
b
o
t g
a
m
ela
n
m
u
s
ic
to
k
ee
p
o
n
th
e
s
af
e
r
o
u
te.
3.
Ma
g
n
e
tic
r
o
tar
y
en
co
d
er
(
MRE)
ar
e
o
f
ten
u
s
ed
as
s
e
n
s
o
r
s
i
n
m
o
to
r
co
n
tr
o
l
s
y
s
te
m
s
w
h
ic
h
e
m
p
lo
y
d
ig
i
tal
co
n
tr
o
ller
s
.
T
h
eir
f
u
n
ct
io
n
s
as
p
o
s
itio
n
an
d
s
p
ee
d
d
etec
to
r
.
MRE
co
n
s
i
s
t
o
f
t
w
o
co
m
p
o
n
e
n
ts
:
a
m
ag
n
eti
c
d
r
u
m
a
n
d
a
m
a
g
n
etic
s
e
n
s
o
r
.
Ma
g
n
e
tic
d
r
u
m
p
er
ip
h
er
y
ar
e
r
ec
o
r
d
e
d
s
o
m
e
m
a
g
n
e
ts
,
b
o
th
n
o
r
th
a
n
d
s
o
u
t
h
p
o
les.
Ma
g
n
et
ic
s
e
n
s
o
r
h
a
s
m
u
ltip
le
m
ag
n
eto
r
esi
s
ti
v
e
(
MR
)
ele
m
en
ts
o
n
a
n
i
n
s
u
lat
in
g
s
u
b
s
tr
ate,
s
u
c
h
as
g
las
s
.
T
h
e
s
en
s
o
r
f
ac
e
s
t
h
e
m
ag
n
et
ic
d
r
u
m
w
ith
a
r
ad
ial
s
p
ac
in
g
ℓ,
a
n
d
th
e
f
ield
o
f
m
ag
n
etic
d
r
u
m
i
s
lin
k
ed
to
it.
MR
o
f
m
a
g
n
etic
r
o
tar
y
e
n
co
d
er
(
MRE)
h
as
eq
u
i
p
p
ed
an
am
p
li
f
ier
in
te
g
r
ated
c
ir
cu
it
i
n
o
r
d
er
to
o
b
tain
o
u
tp
u
t
v
o
lta
g
e
i
n
r
ec
tan
g
u
lar
w
a
v
e
f
o
r
m
.
R
ec
t
an
g
u
lar
w
a
v
e
f
o
r
m
a
m
o
u
n
t
c
an
b
e
u
s
ed
as
p
o
s
itio
n
an
d
s
p
ee
d
o
f
m
o
to
r
d
etec
to
r
[
9
]
.
T
h
is
s
e
n
s
o
r
w
il
l
b
e
u
s
ed
as
f
ee
d
b
ac
k
co
n
tr
o
l
to
s
u
p
p
o
r
t
P
D
co
n
tr
o
l s
y
s
te
m
i
n
t
h
e
r
o
b
o
t g
am
ela
n
m
u
s
ic.
3.
2
.
Co
ntr
o
ller
dev
ice
o
f
r
o
bo
t
g
a
m
ela
n
m
u
s
i
c
C
o
n
tr
o
ller
d
ev
ice
o
f
r
o
b
o
t
g
a
m
ela
n
m
u
s
ic
is
u
s
i
n
g
A
T
m
e
g
a
1
6
.
A
T
Me
g
a
1
6
i
s
an
8
-
b
it
m
icr
o
co
n
tr
o
ller
.
I
t is a
lo
w
p
o
w
er
m
icr
o
co
n
tr
o
ller
b
ased
o
n
A
V
R
e
n
h
a
n
ce
d
r
ed
u
ce
d
in
s
tr
u
ctio
n
s
et
co
m
p
u
ti
n
g
(
R
I
SC
)
ar
ch
itect
u
r
e.
I
t
is
a
4
0
p
in
m
icr
o
co
n
tr
o
ller
w
it
h
3
2
in
p
u
t
o
u
tp
u
t
(
I
/O)
p
in
s
d
i
v
id
ed
in
to
f
o
u
r
8
-
b
it
p
o
r
ts
d
esig
n
ated
as p
o
r
t A
,
p
o
r
t B
,
p
o
r
t C,
an
d
p
o
r
t D
[
1
0
]
.
3.
3
.
Act
ua
t
o
r
o
f
ro
bo
t
g
a
m
e
la
n
m
us
i
c
A
ct
u
ato
r
o
f
r
o
b
o
t
g
am
ela
n
m
u
s
ic
is
u
s
i
n
g
g
ea
r
ed
DC
m
o
to
r
.
Gea
r
ed
DC
m
o
to
r
h
as
p
lan
etar
y
g
ea
r
h
ea
d
.
P
lan
etar
y
g
ea
r
h
ea
d
is
co
n
s
is
tin
g
o
f
a
s
u
n
g
ea
r
,
a
r
i
n
g
g
ea
r
,
s
e
v
er
al
p
la
n
ets,
an
d
a
ca
r
r
ier
.
An
y
o
f
th
e
ca
r
r
ier
,
r
i
n
g
,
an
d
s
u
n
ca
n
b
e
s
elec
ted
as
in
p
u
t
o
r
o
u
tp
u
t
co
m
p
o
n
en
t,
an
d
th
e
p
o
w
er
ar
e
t
r
an
s
m
itted
th
r
o
u
g
h
m
u
ltip
le
p
ath
s
o
f
t
h
e
p
lan
et
m
esh
e
s
.
All
o
f
t
h
e
m
ak
e
h
i
g
h
m
o
to
r
to
r
q
u
e
[
1
1
].
Sp
ee
d
o
f
g
ea
r
ed
DC
g
ea
r
m
o
to
r
ca
n
b
e
s
et
b
y
u
s
in
g
p
u
l
s
e
w
id
t
h
m
o
d
u
la
tio
n
(
P
W
M)
.
3.
4
.
P
l
a
nt
o
f
r
o
bo
t
g
a
m
ela
n
m
u
s
i
c
P
lan
t
o
f
r
o
b
o
t
g
a
m
ela
n
m
u
s
ic
is
tr
o
lle
y
.
T
h
e
tr
o
lle
y
p
o
s
it
io
n
w
il
l
b
e
s
et
b
y
g
ea
r
ed
DC
m
o
to
r
w
h
ic
h
w
a
s
lin
k
ed
b
y
ti
m
i
n
g
b
elt.
T
r
o
lle
y
w
ill
b
e
s
et
to
a
d
esire
g
a
m
ela
n
k
e
y
,
w
e
ca
lled
it
g
a
m
elan
k
e
y
s
et
p
o
i
n
t
p
o
s
itio
n
.
T
r
o
lley
ca
r
r
ier
a
s
i
n
g
le
g
a
m
e
lan
b
ea
ter
,
g
a
m
ela
n
b
ea
ter
w
i
ll
b
e
ac
tu
ated
b
y
s
er
v
o
m
o
to
r
.
Ser
v
o
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
in
g
o
f R
o
b
o
t G
a
mela
n
Mu
s
ic
u
s
in
g
A
Tmeg
a
1
6
Micr
o
co
n
tr
o
ller
(
Ha
n
d
r
i J
ir
A
z
h
a
r
)
123
m
o
to
r
is
a
r
o
tar
y
ac
tu
a
to
r
th
a
t
allo
w
s
f
o
r
p
r
ec
is
e
co
n
tr
o
l
o
f
an
g
u
lar
p
o
s
itio
n
.
I
t
h
as
b
id
i
r
ec
tio
n
al
s
p
in
n
i
n
g
clo
ck
w
is
e
(
C
W
)
an
d
co
u
n
ter
clo
ck
w
is
e
(
C
W
)
.
An
g
u
lar
d
eg
r
ee
o
f
s
er
v
o
m
o
to
r
is
co
n
tr
o
lled
b
y
p
u
l
s
e
w
id
t
h
P
W
M
[
1
2
]
.
4.
CO
NCEPT
A
ND
DE
SI
G
N
O
F
RO
B
O
T
G
AM
E
L
AN
M
USI
C
4
.
1
.
M
ec
ha
nica
l desig
n o
f
ro
bo
t
g
a
m
e
la
n
m
u
s
ic
R
o
b
o
t
g
a
m
elan
m
u
s
ic
w
a
s
d
e
s
ig
n
ed
w
it
h
d
i
m
e
n
s
io
n
v
o
lu
m
e
1
0
0
cm
×
3
0
c
m
×
2
5
c
m
i
n
Fig
u
r
e
1
.
Me
ch
an
ical
d
esi
g
n
o
f
r
o
b
o
t
Ga
m
ela
n
m
u
s
ic
is
u
s
i
n
g
tr
o
ll
e
y
to
ca
r
r
y
in
g
a
g
a
m
elan
b
e
ater
.
T
h
e
tr
o
lle
y
i
s
b
alan
ce
d
b
y
c
y
li
n
d
er
s
h
a
f
t
b
alan
ce
r
r
ail
.
Ga
m
e
lan
b
ea
ter
w
a
s
co
n
n
ec
ted
w
it
h
le
v
er
o
f
s
er
v
o
m
o
to
r
to
s
o
u
n
d
i
n
g
th
e
g
a
m
elan
k
e
y
.
T
h
e
d
o
cu
m
en
ta
tio
n
o
f
r
o
b
o
t g
a
m
elan
m
u
s
ic
s
h
o
w
n
i
n
Fi
g
u
r
e
2
.
Fig
u
r
e
1
.
Me
ch
an
ical
d
es
ig
n
o
f
r
o
b
o
t g
a
m
ela
n
m
u
s
ic
Fig
u
r
e
2
.
T
h
e
d
o
cu
m
e
n
tatio
n
o
f
r
o
b
o
t g
am
e
lan
m
u
s
ic
4
.
2
.
Desig
n o
f
s
o
f
t
w
a
re
Fig
u
r
e
3
s
h
o
w
s
th
e
f
lo
w
c
h
ar
t
p
r
o
ce
s
s
o
f
r
o
b
o
t
g
a
m
elan
m
u
s
ic
to
p
o
s
itio
n
in
g
k
e
y
(
g
a
m
ela
n
k
e
y
)
.
I
t
i
s
ca
lled
b
y
s
et
p
o
in
t
(
SP
)
n
a
m
e.
I
f
g
ea
r
ed
D
C
m
o
to
r
ar
e
s
p
in
n
in
g
a
n
d
s
h
i
f
ti
n
g
t
h
e
tr
o
lle
y
o
f
g
a
m
e
lan
b
ea
ter
.
I
t
w
il
l
o
b
tain
t
h
e
p
r
ese
n
t
v
alu
e
(
P
V)
o
f
g
ea
r
ed
DC
m
o
to
r
.
Gea
r
ed
DC
m
o
to
r
p
o
s
itio
n
w
a
s
d
etec
ted
b
y
MRE
to
r
ec
o
r
d
in
g
in
A
T
m
e
g
a
1
6
m
icr
o
co
n
tr
o
ller
as
a
co
n
tr
o
ller
.
I
f
P
V
is
th
e
s
a
m
e
w
i
th
SP
,
Ser
v
o
m
o
to
r
o
f
g
a
m
ela
n
b
ea
ter
w
ill
s
tr
ik
e
t
h
e
k
e
y
.
B
u
t
if
it
n
o
t,
r
o
b
o
t
g
a
m
elan
m
u
s
ic
w
ill
u
s
e
M
R
E
f
ee
d
b
ac
k
s
en
s
o
r
an
d
u
s
e
P
D
co
n
tr
o
l
s
y
s
te
m
.
T
h
e
f
ir
s
t
p
r
o
ce
d
u
r
e
in
P
D
co
n
tr
o
l
s
y
s
te
m
m
u
s
t
k
n
o
w
h
o
w
m
u
ch
th
e
er
r
o
r
v
al
u
es.
E
r
r
o
r
(
E
r
r
)
v
alu
e
ca
n
b
e
ca
lcu
lated
b
y
r
e
f
er
to
(
1
)
.
err
o
r
=
SP
-
PV
(
1
)
On
t
h
is
r
o
b
o
t
g
a
m
ela
n
m
u
s
ic
s
y
s
te
m
w
i
ll
m
ak
e
a
n
er
r
o
r
to
ler
an
ce
in
m
ax
i
m
u
m
an
d
m
i
n
i
m
u
m
as
s
h
o
w
i
n
(
2
)
.
E
r
r
< 3
a
n
d
E
r
r
>
-
3
(
2
)
T
h
e
er
r
o
r
(
E
r
r
)
to
ler
an
ce
f
u
n
c
tio
n
is
a
ll
o
w
in
g
g
a
m
ela
n
b
ea
ter
to
s
tr
ik
e
a
d
esire
d
k
e
y
.
I
n
(
2
)
,
it
is
m
ea
n
s
th
a
t
g
ea
r
ed
DC
m
o
to
r
h
as
b
ee
n
p
o
s
itio
n
i
n
g
t
h
e
g
a
m
ela
n
b
ea
ter
o
n
th
e
tr
o
lley
,
it
b
ec
au
s
e
g
a
m
ela
n
b
ea
ter
s
till
in
ar
ea
o
f
d
esire
k
e
y
.
I
f
th
e
er
r
o
r
n
o
t
ze
r
o
,
an
d
er
r
o
r
n
o
t
in
(
2
)
co
n
d
itio
n
,
eit
h
er
.
T
h
e
co
n
tr
o
l
s
y
s
te
m
w
ill
u
s
e
P
D
co
n
tr
o
l.
T
h
e
g
en
er
al
f
o
r
m
o
f
p
r
o
p
o
r
ti
o
n
al
d
er
iv
ativ
e
co
n
tr
o
ller
s
(
P
Ds)
ar
e
g
iv
en
b
y
(
3
-
6
):
P
D
= P
+ D
(
3
)
P
=
×e(
t
)
(
4
)
D
= ra
te
err
o
r
×
(
5
)
r
a
te
err
o
r
= e
r
r
o
r
-
p
a
s
t e
r
r
o
r
(
6
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
2
1
–
13
0
124
P
r
o
p
o
r
tio
n
al
d
er
iv
ativ
e
(
P
D)
co
n
tr
o
ls
ar
e
co
m
b
i
n
atio
n
b
et
w
ee
n
p
r
o
p
o
r
tio
n
al
co
n
tr
o
l
a
n
d
d
er
iv
ativ
e
co
n
tr
o
l.
T
h
ey
ar
e
s
i
m
p
le
s
tr
u
ctu
r
e
an
d
ea
s
y
i
m
p
le
m
e
n
t
atio
n
o
f
t
h
e
co
n
tr
o
ller
[
1
3
]
.
P
r
o
p
o
r
tio
n
al
(
P
)
c
o
n
tr
o
l
f
u
n
ctio
n
i
n
(
4
)
ca
n
f
i
x
t
h
e
r
is
e
ti
m
e
in
tr
an
s
ien
t
r
esp
o
n
s
e
s
.
P
co
n
tr
o
l
w
as
in
f
l
u
e
n
ce
d
b
y
e
r
r
o
r
ch
an
g
e
s
v
a
lu
e
(e
(
t)
)
.
Der
iv
ativ
e
(
D)
co
n
tr
o
l
f
u
n
ctio
n
i
n
(
5
)
ca
n
m
u
f
f
le
o
u
tp
u
t
o
s
cilla
tio
n
o
f
g
ea
r
ed
DC
m
o
to
r
.
f
o
r
g
ain
in
g
P
an
d
f
o
r
g
ain
i
n
g
D.
an
d
o
b
tain
ed
b
y
tr
ial
an
d
er
r
o
r
m
et
h
o
d
.
R
esu
lt
o
f
P
D
co
n
tr
o
l
is
P
W
M
v
alu
e
f
o
r
co
n
tr
o
llin
g
d
ir
ec
tio
n
r
o
tatio
n
an
d
co
n
tr
o
llin
g
s
p
ee
d
g
ea
r
ed
DC
m
o
to
r
.
P
o
s
itiv
e
P
W
M
v
alu
e
in
d
icate
f
o
r
clo
ck
w
is
e
(
C
W
)
r
o
tatio
n
,
an
d
n
eg
a
tiv
e
P
W
M
v
al
u
e
in
d
icate
f
o
r
co
u
n
ter
clo
ck
w
i
s
e
(
C
C
W
)
r
o
tatio
n
.
P
D
co
n
tr
o
l f
u
n
ctio
n
f
o
r
r
ep
o
s
itio
n
in
g
g
ea
r
DC
m
o
to
r
u
n
til r
ea
ch
er
r
o
r
ze
r
o
o
r
er
r
o
r
in
(
2
)
c
o
n
d
itio
n
.
S
T
A
R
T
R
O
T
A
R
Y
S
E
N
S
O
R
I
N
I
T
I
A
L
I
Z
A
T
I
O
N
D
C
M
O
T
O
R
T
U
R
N
O
N
C
C
W
A
R
E
L
I
M
I
T
S
W
I
T
C
H
H
O
M
E
B
A
S
E
=
1
&
R
O
T
A
R
Y
=
0
?
N
O
Y
E
S
R
E
S
E
T
S
E
R
V
O
T
o
0
D
e
g
r
e
e
R
O
T
A
R
Y
S
E
N
S
O
R
I
N
I
T
I
A
L
I
Z
A
T
I
O
N
I
S
N
-
B
U
T
T
O
N
A
C
T
I
V
E
?
C
A
L
L
S
P
R
O
T
A
R
Y
T
O
N
-
K
E
Y
M
O
T
O
R
D
C
T
U
R
N
O
N
C
W
A
R
E
N
-
K
E
Y
=
E
r
<
3
&
E
r
>
-
3
?
N
O
Y
E
S
E
r
>
3
?
N
O
P
W
M
P
D
C
O
N
T
R
O
L
D
C
M
O
T
O
R
C
W
R
O
T
A
R
Y
S
E
N
S
O
R
I
N
I
T
I
A
L
I
Z
A
T
I
O
N
I
S
N
-
K
E
Y
=
E
r
<
3
&
E
r
>
-
3
?
I
S
R
I
G
H
T
S
I
D
E
L
I
M
I
T
S
W
I
T
C
H
=
0
?
R
O
T
A
R
Y
S
E
N
S
O
R
I
N
I
T
I
A
L
I
Z
A
T
I
O
N
I
S
N
-
K
E
Y
=
E
r
<
3
&
E
r
>
-
3
?
I
S
H
O
M
E
B
A
S
E
L
I
M
I
T
S
W
I
T
C
H
=
0
?
S
E
R
V
O
M
O
T
O
R
=
1
4
0
D
e
g
r
e
e
(
S
O
U
N
D
I
N
G
K
E
Y
)
X
X
N
O
X
N
O
Y
E
S
Y
E
S
Y
E
S
N
O
E
N
D
P
W
M
P
D
C
O
N
T
R
O
L
D
C
M
O
T
O
R
C
C
W
N
O
Y
E
S
H
O
W
M
U
C
H
(
N
-
K
E
Y
)
P
V
R
O
T
A
R
Y
=
?
Y
E
S
Y
E
S
N
O
N
O
Y
E
S
E
r
<
-
3
?
Fig
u
r
e
3
.
Flo
w
c
h
ar
t d
esig
n
o
f
r
o
b
o
t g
am
ela
n
m
u
s
ic
4
.
3
.
Co
ntr
o
l sy
s
t
e
m
de
s
ig
n o
f
ro
bo
t
g
a
m
ela
n
m
u
s
ic
R
o
b
o
t
g
a
m
ela
n
m
u
s
ic
is
u
s
in
g
P
D
in
clo
s
e
lo
o
p
s
y
s
te
m
.
Diag
r
a
m
b
lo
ck
o
f
r
o
b
o
t
Gam
elan
m
u
s
ic
s
y
s
te
m
co
n
tr
o
l
ar
e
co
n
s
i
s
t
o
f
i
n
p
u
t,
co
n
tr
o
l
d
ev
ice,
ac
tu
ato
r
,
an
d
p
lan
t
,
as
s
h
o
w
n
i
n
Fi
g
u
r
e
4
.
R
o
b
o
t
Gam
e
lan
m
u
s
ic
in
p
u
t
ar
e
m
atr
i
x
k
e
y
p
ad
as
b
u
tto
n
f
o
r
g
a
m
ela
n
k
e
y
/s
o
n
g
b
u
tto
n
s
,
MRE
s
e
n
s
o
r
,
an
d
l
i
m
it
s
w
i
tch
s
e
n
s
o
r
.
R
o
b
o
t
g
a
m
ela
n
m
u
s
ic
ac
t
u
ato
r
is
DC
m
o
to
r
d
r
iv
er
.
R
o
b
o
t
g
a
m
ela
n
m
u
s
ic
p
lan
t
is
a
tr
o
lley
o
f
g
a
m
ela
n
b
ea
ter
ca
r
r
ier
.
T
r
o
lley
o
f
r
o
b
o
t
g
a
m
e
lan
m
u
s
ic
ar
e
co
n
s
is
t
o
f
DC
g
ea
r
m
o
to
r
an
d
g
a
m
elan
b
ea
ter
.
DC
g
ea
r
m
o
to
r
is
co
n
n
ec
ted
to
tr
o
lle
y
b
y
u
s
i
n
g
t
i
m
i
n
g
b
elt.
Ga
m
ela
n
b
ea
ter
w
as
ac
tu
ated
b
y
o
n
e
s
er
v
o
m
o
to
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
in
g
o
f R
o
b
o
t G
a
mela
n
Mu
s
ic
u
s
in
g
A
Tmeg
a
1
6
Micr
o
co
n
tr
o
ller
(
Ha
n
d
r
i J
ir
A
z
h
a
r
)
125
Fig
u
r
e
4
.
Diag
r
a
m
b
lo
ck
o
f
r
o
b
o
t g
a
m
ela
n
m
u
s
ic
4
.
3
.
E
lect
ro
nic
des
ig
n o
f
ro
b
o
t
g
a
m
ela
n
m
u
s
ic
A
T
m
e
g
a
1
6
m
icr
o
co
n
tr
o
ller
ar
e
u
s
in
g
4
u
n
it
p
o
r
ts
as
I
/O
d
ata.
Fu
r
th
er
m
o
r
e
th
is
elec
tr
o
n
ic
cir
cu
i
t
co
n
cist
o
f
clo
c
k
g
e
n
er
ato
r
p
u
ls
e
an
d
r
eset.
I
/O
p
o
r
ts
d
esig
n
a
s
f
o
llo
w
s
:
a.
P
o
r
t
A0
-
A7
is
u
s
ed
as k
e
y
p
ad
m
atr
i
x
4
×4
in
p
u
t a
n
d
n
u
m
b
er
b
u
tto
n
as a
s
o
n
g
d
e
m
o
.
b.
P
o
r
t
D
3
is
co
n
n
ec
ted
to
ch
an
n
el
2
(
C
H2
)
,
an
d
p
o
r
t
D2
is
co
n
n
ec
ted
to
ch
an
n
el
1
(
C
H1
)
o
f
MRE
s
en
s
o
r
p
in
s
.
c.
P
o
r
t D
7
is
co
n
n
ec
ted
to
th
e
li
m
it s
w
itc
h
s
en
s
o
r
o
n
th
e
r
i
g
h
t
s
id
e
o
f
tr
o
lle
y
r
o
u
te.
d.
P
o
r
t D
6
is
co
n
n
ec
ted
to
th
e
li
m
it s
w
itc
h
s
en
s
o
r
o
n
th
e
le
f
t si
d
e
as h
o
m
e
b
ase
p
o
s
itio
n
o
f
tr
o
lle
y
.
e.
P
o
r
ts
o
f
B0
-
B5
a
r
e
u
s
ed
as L
C
D
1
6
×2
o
u
tp
u
t d
is
p
lay
f.
P
o
r
t D
0
an
d
p
o
r
t
D1
ar
e
co
n
n
ec
ted
to
DC
m
o
to
r
d
r
iv
er
.
g.
P
o
r
t C0
is
co
n
n
ec
ted
to
s
er
v
o
m
o
to
r
d
ata
p
in
T
h
e
s
ch
e
m
at
ic
elec
tr
o
n
ic
I
/O
p
o
r
t d
esig
n
w
ill s
h
o
w
i
n
Fi
g
u
r
e
5
.
Fig
u
r
e
5
.
E
lectr
o
n
ic
d
esig
n
o
f
r
o
b
o
t g
am
ela
n
m
u
s
ic
5.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
NS
R
o
b
o
t
g
a
m
elan
m
u
s
ic
te
s
ts
ar
e
co
v
er
in
g
b
y
m
ar
k
i
n
g
g
a
m
el
an
k
e
y
p
o
s
itio
n
o
f
r
o
b
o
t
g
a
m
e
lan
m
u
s
ic,
g
a
m
e
lan
b
ea
ter
test
,
an
d
r
o
b
o
t
g
a
m
ela
n
m
u
s
ic
p
la
y
i
n
g
te
s
t.
T
h
e
co
n
tr
o
l
p
r
o
g
r
a
m
w
a
s
w
r
itte
n
in
b
asic
lan
g
u
a
g
e
an
d
u
n
d
er
B
ASC
O
M
A
V
R
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
.
5
.
1
.
M
a
rk
ing
po
s
it
io
n g
a
m
e
l
a
n k
ey
Ga
m
ela
n
k
e
y
p
o
s
itio
n
s
ca
n
b
e
m
ar
k
ed
b
y
u
s
i
n
g
MRE
s
e
n
s
o
r
.
MRE
w
ill r
ec
o
r
d
th
e
g
ea
r
ed
DC
m
o
to
r
,
th
e
r
ea
s
o
n
i
s
b
ec
au
s
e
g
ea
r
ed
m
o
to
r
w
il
l sp
in
a
n
d
s
h
if
t
t
h
e
tr
o
lle
y
o
f
g
a
m
ela
n
b
ea
ter
.
So
th
e
g
a
m
ela
n
b
ea
ter
w
il
l k
n
o
w
th
e
p
o
s
itio
n
o
f
g
a
m
elan
k
e
y
.
Ma
r
k
i
n
g
p
o
s
itio
n
g
a
m
ela
n
k
e
y
d
ata
as s
h
o
w
i
n
T
ab
le
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
2
1
–
13
0
126
T
ab
le
1
.
Gam
ela
n
K
e
y
P
o
s
itio
n
s
i
n
MRE
T
est
G
a
mel
a
n
K
e
y
M
R
E
S
e
n
so
r
V
a
l
u
e
(
p
u
l
se
)
1
40
2
90
3
1
4
0
4
2
0
0
5
2
5
0
6
3
0
0
7
3
5
0
1'
4
0
0
2'
4
5
0
3'
5
0
0
4'
5
5
0
5'
6
0
0
6'
6
5
0
7'
7
0
0
1"
7
5
0
T
ab
le
I
s
h
o
w
n
th
e
d
ata
o
f
1
5
g
a
m
e
lan
k
e
y
s
t
h
at
w
as
r
ec
o
r
d
ed
b
y
MRE
s
en
s
o
r
.
Ga
m
ela
n
k
e
y
s
r
ec
o
r
d
is
s
tar
ted
f
r
o
m
h
o
m
e
b
ase
p
o
s
itio
n
t
h
at
w
as
s
i
g
n
aled
b
y
a
li
m
it
s
w
i
tch
h
o
m
e
b
ase
s
e
n
s
o
r
ac
tiv
atio
n
w
h
er
e
i
s
th
e
lo
ca
tio
n
in
t
h
e
le
f
t
s
id
e
ar
ea
o
f
r
ail
r
o
u
te.
So
th
e
p
r
o
ce
d
u
r
al
o
f
g
a
m
ela
n
k
e
y
m
ar
k
in
g
is
b
y
r
o
tatin
g
MRE
s
en
s
o
r
f
r
o
m
t
h
e
le
f
t
s
id
e
to
th
e
r
ig
h
t
s
id
e.
I
t
is
u
n
ti
l
t
h
e
g
a
m
elan
k
e
y
p
o
s
itio
n
w
as
r
ec
o
r
d
ed
.
MRE
s
en
s
o
r
s
h
av
e
c
h
an
n
el
1
(
C
h
1
)
an
d
ch
an
n
el
2
(
C
h
2
)
in
p
u
t
d
ata.
C
h
1
an
d
C
h
2
h
av
e
r
ec
ta
n
g
u
lar
w
av
e
f
o
r
m
s
b
o
th
o
f
th
e
m
,
b
u
t i
n
d
if
f
er
en
t
s
tar
t ti
m
e.
T
h
e
y
w
ill
s
h
o
w
i
n
Fi
g
u
r
e
6
.
(
a)
an
d
(
b
)
.
(
a)
(
b
)
Fig
u
r
e
6
.
(
a)
Ou
tp
u
t p
u
ls
e
o
f
MRE
s
e
n
s
o
r
r
o
tate
to
C
W
,
(
b
)
O
u
tp
u
t p
u
ls
e
o
f
M
R
E
s
e
n
s
o
r
r
o
tate
to
C
C
W
Fig
u
r
e
6
.
(
a)
s
h
o
w
t
h
e
r
ec
tan
g
u
lar
w
a
v
e
p
o
s
itio
n
d
ata
in
C
W
r
o
tatio
n
an
d
Fig
u
r
e
6
.
(
b
)
s
h
o
w
t
h
e
C
C
W
r
o
tatio
n
o
f
M
R
E
s
e
n
s
o
r
.
On
e
r
ec
ta
n
g
u
lar
w
av
e
h
av
e
1
,
6
m
s
b
an
d
w
id
t
h
a
n
d
5
V
in
p
u
t
v
o
lta
g
e.
C
W
r
o
tatio
n
o
f
MRE
s
e
n
s
o
r
i
s
s
h
o
w
in
g
th
at
C
h
1
w
a
s
lead
i
n
g
f
r
o
m
C
h
2
i
n
o
u
tp
u
t
p
u
l
s
e.
B
an
d
w
id
th
in
ter
v
a
l
b
et
w
ee
n
C
h
1
an
d
C
h
2
in
C
W
r
o
tatio
n
h
as
o
b
tain
ed
b
y
1
,
5
m
s
.
C
C
W
r
o
tatio
n
o
f
MRE
s
e
n
s
o
r
is
s
h
o
w
i
n
g
th
at
C
h
1
w
a
s
la
g
g
in
g
f
r
o
m
C
h
2
i
n
o
u
tp
u
t
p
u
l
s
e.
Am
o
u
n
t
o
f
M
R
E
r
ec
tan
g
u
lar
w
a
v
e
w
il
l
b
e
co
u
n
ted
b
y
A
T
m
e
g
a
1
6
m
icr
o
co
n
tr
o
ller
.
I
t
w
il
l
d
i
s
p
la
y
t
h
e
p
o
s
itio
n
o
f
MRE
s
e
n
s
o
r
i
n
liq
u
id
cr
y
s
ta
l
d
is
p
la
y
(
L
C
D)
a
s
s
h
o
w
i
n
Fig
u
r
e
7
.
(
a)
,
(
b
)
,
an
d
(
c
)
.
(
a)
(
b
)
(
c)
Fig
u
r
e
7
.
(
a)
MRE
s
en
s
o
r
d
is
p
la
y
at
h
o
m
e
b
ase
p
o
s
itio
n
; (
b
)
MRE
s
e
n
s
o
r
d
is
p
la
y
at
f
ir
s
t
g
a
m
ela
n
k
e
y
p
o
s
itio
n
; (
c)
MRE
s
en
s
o
r
d
is
p
la
y
at
s
ec
o
n
d
g
a
m
ela
n
k
e
y
p
o
s
i
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
in
g
o
f R
o
b
o
t G
a
mela
n
Mu
s
ic
u
s
in
g
A
Tmeg
a
1
6
Micr
o
co
n
tr
o
ller
(
Ha
n
d
r
i J
ir
A
z
h
a
r
)
127
On
e
r
o
tatio
n
o
f
M
R
E
s
e
n
s
o
r
h
as
3
8
r
ec
tan
g
u
lar
w
a
v
e
p
u
l
s
e
s
in
C
h
1
an
d
C
h
2
.
F
ig
u
r
e
7
(
a)
,
(
b
)
,
an
d
(
d
)
ar
e
s
h
o
w
i
n
g
t
h
e
d
is
p
la
y
s
o
f
M
R
E
p
o
s
itio
n
d
ata
s
e
n
s
o
r
f
r
o
m
t
h
e
g
a
m
ela
n
k
e
y
p
o
s
itio
n
o
n
L
C
D.
No
tice
t
h
at
ar
e
R
=
n
u
m
b
er
o
f
M
R
E
s
en
s
o
r
p
u
ls
e,
a
n
d
N
=
g
a
m
ela
n
k
e
y
p
o
s
itio
n
.
T
h
e
h
o
m
e
b
ase
p
o
s
itio
n
i
s
d
is
p
la
y
w
ith
R
=
0
p
u
ls
e.
5
.
2
.
G
a
m
ela
n bea
t
er
t
est
R
o
b
o
t
g
a
m
elan
m
u
s
ic
u
s
e
s
e
r
v
o
m
o
to
r
to
ac
t
u
ate
g
a
m
ela
n
b
ea
ter
.
Ser
v
o
m
o
to
r
a
n
g
le
w
il
l
s
e
t
b
y
g
iv
in
g
d
i
f
f
er
e
n
ce
s
P
W
M.
T
h
er
e
ar
e
th
r
ee
t
y
p
e
s
f
r
o
m
g
a
m
e
lan
b
ea
ter
a
n
g
le,
t
h
e
y
ar
e
+
as
s
tar
t
p
o
s
itio
n
,
as
r
ea
d
y
p
o
s
itio
n
,
an
d
as
s
tr
ik
in
g
th
e
g
a
m
e
lan
k
e
y
p
o
s
itio
n
.
Ser
v
o
m
o
to
r
d
ata
s
h
o
w
n
in
T
ab
le
2
.
T
ab
le
2
.
Ser
v
o
m
o
to
r
test
r
esu
lt a
ctu
ate
t
h
e
g
a
m
ela
n
b
ea
ter
S
e
r
v
o
M
o
t
o
r
P
W
M
I
n
p
u
t
(
ms)
P
o
si
t
i
o
n
o
f
S
e
r
v
o
M
o
t
o
r
L
e
v
e
r
0,
24
ms
P
o
si
t
i
o
n
(
)
1,
2
0
ms
P
o
si
t
i
o
n
(
1
,
6
8
ms
P
o
si
t
i
o
n
(
T
ab
le
2
s
h
o
w
t
h
e
P
W
M
in
p
u
t
f
o
r
s
er
v
o
m
o
to
r
an
g
le.
P
W
M
i
n
p
u
t
s
d
ata
o
f
s
er
v
o
m
o
to
r
h
a
v
e
m
ea
s
u
r
ed
b
y
t
h
e
test
r
esu
l
t
in
th
e
o
s
cil
lo
s
co
p
e
d
is
p
lay
s
as
s
h
o
w
n
i
n
Fig
u
r
e
8
(
a
)
,
(
b
)
,
an
d
(
c)
.
Fig
u
r
e
8
(
a)
s
h
o
w
t
h
e
in
p
u
t
v
o
ltag
e
i
n
4
,
9
V
an
d
0
,
2
4
m
s
P
W
M
b
an
d
w
id
th
p
u
ls
e
f
o
r
+
p
o
s
itio
n
.
Fi
g
u
r
e
8
(
b
)
s
h
o
w
th
e
in
p
u
t
v
o
lta
g
e
i
n
5
V
an
d
1
,
2
0
m
s
P
W
M
b
an
d
w
id
th
p
u
ls
e
f
o
r
+
p
o
s
itio
n
.
Fig
u
r
e
8
(
c)
s
h
o
w
th
e
i
n
p
u
t
v
o
lt
ag
e
in
5
V
an
d
1
,
6
8
m
s
P
W
M
b
an
d
w
id
t
h
p
u
ls
e
f
o
r
+
p
o
s
itio
n
.
(
a)
(
b
)
(
c)
Fig
u
r
e
8
.
(
a)
P
W
M
in
p
u
t o
f
s
e
r
v
o
m
o
to
r
f
o
r
+
; (
b
)
P
W
M
in
p
u
t o
f
s
er
v
o
m
o
to
r
f
o
r
; (
c)
P
W
M
in
p
u
t o
f
s
er
v
o
m
o
to
r
f
o
r
+
Do
cu
m
e
n
tatio
n
s
a
m
p
les o
f
p
o
s
itio
n
i
n
g
g
a
m
ela
n
b
ea
ter
an
g
le
s
h
o
w
n
i
n
Fi
g
u
r
e
9
.
(
a)
,
an
d
(
b
)
(
a)
(
b
)
Fig
u
r
e
9
.
(
a)
Ser
v
o
m
o
to
r
p
o
s
itio
n
at
+
; (
b
)
Ser
v
o
m
o
to
r
p
o
s
iti at
5
.
3
.
Ro
bo
t
g
a
m
ela
n
m
u
s
ic
p
la
y
ing
t
est
R
o
b
o
t g
a
m
ela
n
m
u
s
ic
i
s
au
to
m
atica
ll
y
p
la
y
in
g
a
d
e
m
o
s
o
n
g
b
y
i
n
p
u
t a
t 1
6
th
b
u
tto
n
o
f
m
a
tr
ix
k
e
y
p
ad
4
×4
.
A
b
u
tto
n
i
n
p
u
t
in
16
th
is
to
ca
ll
in
g
a
s
u
b
p
r
o
g
r
a
m
d
ata
b
y
a
n
ar
r
an
g
ed
s
e
q
u
e
n
tial
g
a
m
ela
n
k
e
y
to
m
a
k
e
a
s
o
n
g
.
T
h
e
s
eq
u
en
tial
g
a
m
e
la
n
k
e
y
s
ar
e
s
o
n
g
l
y
r
ic
k
e
y
s
.
T
h
e
s
eq
u
en
tial
g
a
m
ela
n
k
e
y
s
w
i
ll
r
ef
er
to
M
R
E
s
en
s
o
r
.
T
h
e
s
eq
u
en
tial
g
a
m
el
an
k
e
y
s
ar
e
p
r
o
g
r
a
m
m
ed
i
n
th
e
A
T
m
eg
a
1
6
m
icr
o
co
n
tr
o
l
ler
b
y
u
s
i
n
g
b
asic
lan
g
u
a
g
e.
T
h
ese
w
ill
b
e
p
o
s
i
tio
n
in
g
a
g
ea
r
ed
DC
m
o
to
r
an
d
au
to
m
atica
l
l
y
s
h
i
f
ti
n
g
t
h
e
tr
o
lle
y
w
h
er
e
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
2
1
–
13
0
128
g
a
m
e
lan
b
ea
ter
w
a
s
ca
r
r
ied
.
A
s
o
n
g
t
h
at
w
ill
b
e
p
la
y
ed
b
y
r
o
b
o
t
Gam
ela
n
m
u
s
ic
is
I
n
d
o
n
esia
n
atio
n
al
s
o
n
g
.
T
h
e
I
n
d
o
n
esia n
atio
n
al
s
o
n
g
ti
tle
is
I
n
d
o
n
es
ia
R
a
y
a.
P
ar
t o
f
I
n
d
o
n
esia
R
a
y
a
l
y
r
ic
s
o
n
g
s
h
o
w
n
i
n
Fi
g
u
r
e
1
0
.
Fig
u
r
e
1
0
.
P
ar
t
o
f
I
n
d
o
n
esia R
a
y
a
l
y
r
ic
s
o
n
g
i
n
t
h
e
f
ir
s
t r
o
w
T
ab
le
3
.
T
est
R
esu
lt Da
ta
o
f
R
o
b
o
t G
am
ela
n
Mu
s
ic
L
y
r
i
c
T
o
n
e
N
o
t
a
t
i
o
n
G
a
mel
a
n
K
e
y
SP
(
P
u
l
se
)
P
V
1
(
P
u
l
se
)
P
V
2
(
P
u
l
se
)
Er
r
o
r
P
W
M
G
e
a
r
e
d
D
C
M
o
t
o
r
R
o
t
a
t
i
o
n
P
W
M
P
D
C
o
n
t
r
o
l
R
o
t
a
t
i
o
n
S
e
r
v
o
mo
t
o
r
P
o
si
t
i
o
n
In
3
3
1
4
0
1
3
9
-
1
2
0
0
CW
-
-
1
4
0
do
4
4
2
0
0
2
0
0
-
0
2
0
0
CW
-
-
1
4
0
ne
5
5
2
5
0
2
4
9
-
1
2
0
0
CW
-
-
1
4
0
si
a
3'
10
5
0
0
4
9
5
4
9
9
5
2
0
0
CW
1
0
0
CW
1
4
0
ta
3'
10
5
0
0
4
9
9
-
1
2
0
0
-
-
-
1
4
0
n
a
h
2'
9
4
5
0
4
5
0
-
0
2
0
0
CCW
-
-
1
4
0
a
2'
9
4
5
0
4
5
0
-
0
2
0
0
-
-
-
1
4
0
ir
1'
8
4
0
0
4
0
0
-
0
2
0
0
CCW
-
-
1
4
0
ku
5
5
2
5
0
2
4
9
-
1
2
0
0
CCW
-
-
1
4
0
ta
5
5
2
5
0
2
4
9
-
1
2
0
0
-
-
-
1
4
0
n
a
h
5
5
2
5
0
2
4
9
-
1
2
0
0
-
-
-
1
4
0
T
ab
le
3
s
h
o
w
t
h
e
test
r
es
u
lt
d
ata
o
f
r
o
b
o
t
g
am
ela
n
m
u
s
ic
was
p
la
y
i
n
g
I
n
d
o
n
e
s
ia
R
a
y
a
s
o
n
g
i
n
f
ir
s
t
r
o
w
.
Fir
s
t
l
y
r
ic
r
o
w
o
f
“
I
n
d
o
n
esia
r
a
ya
”
s
o
n
g
is
”In
d
o
n
esia
ta
n
a
h
a
ir
ku
.
Ta
n
a
h
"
,
b
y
to
n
e
n
o
tatio
n
"
3
=
I
n
,
4
=
d
o
,
5
=
n
e,
3
'
=
s
ia,
3
'
=
ta,
2
'
=
n
a
h
,
2
'
=
a,
1
'
=
ir
,
5
=
k
u
,
5
=
T
a,
5
=
n
a
h
"
.
So
s
tep
f
o
r
g
ea
r
ed
D
C
m
o
to
r
d
ir
ec
tio
n
a
l
r
o
tatio
n
in
t
h
e
f
ir
s
t r
o
w
l
y
r
ic,
as f
o
llo
w
:
a.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
to
(
"I
n
"
ly
r
ic)
,
D
C
g
ea
r
m
o
to
r
tu
r
n
o
n
C
W
w
it
h
th
e
f
ir
s
t
p
r
esen
t
v
al
u
e
(
P
V1
)
to
n
e
n
o
tatio
n
=
1
3
9
f
r
o
m
s
et
p
o
in
t (
SP
)
to
n
e
n
o
tatio
n
=
1
4
0
,
Gam
ela
n
m
allet
i
s
ac
ti
v
e.
b.
T
h
e
to
n
e
n
o
tat
io
n
f
r
o
m
to
(
"
I
n
d
o
"
ly
r
ic)
,
DC
g
ea
r
m
o
t
o
r
tu
r
n
o
n
C
W
w
i
th
P
V1
to
n
e
n
o
tatio
n
=
2
0
0
an
d
er
r
o
r
=
0
f
r
o
m
SP
to
n
e
n
o
tatio
n
=
2
0
0
,
Ga
m
ela
n
m
al
let
is
ac
ti
v
e.
c.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
to
(
"d
o
n
e
"
ly
r
ic)
,
DC
g
ea
r
m
o
t
o
r
tu
r
n
o
n
C
W
w
i
th
P
V1
to
n
e
n
o
tatio
n
=
2
4
9
an
d
er
r
o
r
=
1
f
r
o
m
SP
to
n
e
n
o
tatio
n
=
2
5
0
,
Ga
m
ela
n
m
al
let
is
ac
ti
v
e.
d.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
to
(
"n
e
s
ia
"
ly
r
ic)
,
DC
g
ea
r
m
o
to
r
tu
r
n
o
n
C
W
w
it
h
P
V1
to
n
e
n
o
tatio
n
=
4
9
5
an
d
er
r
o
r
=
5
f
r
o
m
SP
to
n
e
n
o
tat
io
n
=
5
0
0
,
Gam
ela
n
m
allet
w
ill
n
o
t
ac
tiv
e.
I
t
b
ec
au
s
ed
er
r
o
r
(
E
r
r
)
b
ig
g
er
th
an
t
h
e
ter
m
s
er
r
o
r
to
ler
an
ce
.
I
t
is
b
y
E
r
r
<
3
.
E
r
r
o
r
is
5
p
o
in
t,
th
e
n
b
y
u
s
in
g
ca
lcu
latio
n
f
o
r
m
u
la
o
f
P
W
M
P
D
co
n
tr
o
l
w
as o
b
tain
ed
a
p
o
s
itiv
e
P
W
M
v
al
u
e,
th
e
n
it
w
il
l i
n
s
tr
u
ct
g
ea
r
ed
DC
m
o
to
r
i
n
C
W
d
ir
ec
tio
n
al
r
o
tatio
n
.
Af
ter
g
ea
r
ed
DC
m
o
to
r
tu
r
n
o
n
C
W
d
ir
ec
tio
n
al
r
o
tatio
n
,
t
h
e
s
ec
o
n
d
p
r
esen
t
v
al
u
e
(
P
V2
)
to
n
e
n
o
tatio
n
w
er
e
o
b
tain
ed
b
y
4
9
9
p
u
ls
e
an
d
er
r
o
r
=
1
.
B
y
t
h
e
er
r
o
r
=
1
,
it
w
ill q
u
al
if
y
ter
m
s
er
r
o
r
to
ler
an
ce
E
r
r
=
1
<
3
an
d
E
r
r
=
1
>
-
3
.
Fin
all
y
Ga
m
e
lan
m
alle
t
w
il
l a
ctiv
e.
e.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
to
(
"
I
n
"
ly
r
ic)
.
Gea
r
ed
DC
m
o
to
r
w
i
ll n
o
t r
o
tate,
it is
b
ec
au
s
e
g
ea
r
ed
DC
m
o
to
r
p
o
s
itio
n
s
t
ill
u
s
i
n
g
to
n
e
n
o
tat
i
o
n
.
P
V1
to
n
e
n
o
tati
o
n
=
4
9
9
an
d
er
r
o
r
=
1
f
r
o
m
SP
to
n
e
n
o
tatio
n
=
5
0
0
.
Ga
m
ela
n
m
allet
w
i
ll a
cti
v
e.
f.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
3
'
to
2
'
(
"
Ta
n
a
h
”
l
y
r
ic)
,
g
ea
r
ed
D
C
m
o
to
r
w
ill
tu
r
n
o
n
C
C
W
w
it
h
P
V1
2
'
to
n
e
n
o
tatio
n
=
4
5
0
an
d
er
r
o
r
=
0
f
r
o
m
SP
2
'
to
n
e
n
o
tatio
n
=
4
5
0
,
Ga
m
ela
n
m
a
llet is ac
ti
v
e.
g.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
2
'
to
2
'
(
"
n
a
h
a
”
l
y
r
ic)
,
g
ea
r
ed
D
C
m
o
to
r
w
ill
n
o
t
r
o
tate,
it
i
s
b
e
ca
u
s
ed
g
ea
r
ed
DC
m
o
to
r
p
o
s
itio
n
s
till
u
s
in
g
2
'
to
n
e
n
o
tatio
n
.
P
V1
2
'
to
n
e
n
o
tatio
n
=
4
5
0
an
d
er
r
o
r
=
0
f
r
o
m
SP
2
'
to
n
e
n
o
tatio
n
=
4
5
0
.
Gam
e
lan
m
all
et
w
il
l a
ctiv
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
n
in
g
o
f R
o
b
o
t G
a
mela
n
Mu
s
ic
u
s
in
g
A
Tmeg
a
1
6
Micr
o
co
n
tr
o
ller
(
Ha
n
d
r
i J
ir
A
z
h
a
r
)
129
h.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
2
'
to
1
'
(
"
a
ir
"
ly
r
ic)
,
g
ea
r
ed
DC
m
o
to
r
w
ill
t
u
r
n
o
n
C
C
W
w
it
h
P
V1
1
'
to
n
e
n
o
tatio
n
=
4
0
0
an
d
er
r
o
r
=
0
f
r
o
m
SP
1
'
to
n
e
n
o
tatio
n
=
4
0
0
,
Ga
m
ela
n
m
a
llet is ac
ti
v
e.
i.
T
h
e
to
n
e
n
o
tatio
n
f
r
o
m
1
'
to
("
ir
ku
"
ly
r
ic)
,
D
C
g
ea
r
m
o
t
o
r
w
ill
t
u
r
n
o
n
C
C
W
w
i
th
P
V1
to
n
e
n
o
tatio
n
=
2
4
9
an
d
er
r
o
r
=
1
f
r
o
m
SP
to
n
e
n
o
tatio
n
=
2
5
0
,
Ga
m
ela
n
m
al
let
is
ac
ti
v
e.
T
h
e
d
ir
ec
tio
n
al
r
o
tatio
n
s
tep
s
p
r
o
ce
s
s
in
g
o
f
g
ea
r
ed
DC
m
o
t
o
r
in
th
e
f
ir
s
t
r
o
w
o
f
I
n
d
o
n
esi
a
r
ay
a
l
y
r
ic
s
o
n
g
a
n
d
to
n
e
n
o
tat
io
n
w
ill b
e
s
h
o
w
ed
o
n
th
e
s
cr
ee
n
d
is
p
la
y
o
s
cill
o
s
co
p
e
in
Fi
g
u
r
e
1
1
.
Fig
u
r
e
1
1
.
Vo
ltag
e
d
ata
r
esp
o
n
s
e
o
f
g
ea
r
ed
DC
m
o
to
r
p
o
s
iti
o
n
to
w
ar
d
g
a
m
ela
n
k
e
y
p
o
s
iti
o
n
f
o
r
"
I
n
d
o
n
esia Ra
y
a"
in
th
e
f
ir
s
t r
o
w
s
o
n
g
l
y
r
ic.
6.
CO
N
CL
U
SI
O
N
T
h
e
co
n
clu
s
io
n
s
o
f
r
o
b
o
t g
a
m
elan
m
u
s
ic
r
esear
ch
as
f
o
llo
w
:
1.
Ma
tr
ix
k
e
y
p
ad
4
×4
ar
e
u
s
ed
a
s
m
an
u
al
b
u
tto
n
o
f
1
5
Gam
el
an
to
n
es
an
d
b
u
tto
n
as
d
em
o
s
o
n
g
b
u
tto
n
.
2.
L
i
m
it s
w
itc
h
s
e
n
s
o
r
f
u
n
ct
io
n
a
s
h
o
m
e
b
ase
m
ar
k
er
p
o
s
itio
n
an
d
r
o
u
te
p
r
o
tectio
n
o
f
r
o
b
o
t m
o
v
e
m
e
n
t.
3.
P
o
s
itio
n
o
f
m
a
g
n
e
tic
r
o
tar
y
e
n
co
d
er
r
o
tatio
n
d
ata
w
as
u
s
e
d
as
s
et
p
o
in
t
r
e
g
is
ter
f
o
r
Ga
m
ela
n
k
e
y
p
o
s
itio
n
.
4.
P
u
ls
e
d
ata
o
f
m
a
g
n
e
tic
r
o
tar
y
en
co
d
er
s
e
n
s
o
r
w
er
e
u
s
ed
as
f
ee
d
b
ac
k
co
n
tr
o
l
w
h
ile
ai
m
i
n
g
to
s
et
p
o
in
t d
ata.
5.
Ga
m
ela
n
b
ea
ter
w
ill
b
e
s
o
u
n
d
in
g
a
g
a
m
elan
k
e
y
b
y
s
etti
n
g
s
er
v
o
p
o
s
itio
n
in
an
d
s
ettin
g
s
er
v
o
p
o
s
itio
n
i
n
+
as a
n
o
r
m
al
p
o
s
itio
n
.
6.
R
o
b
o
t
Gam
e
lan
m
u
s
ic
i
s
u
s
i
n
g
P
D
f
ee
d
b
ac
k
co
n
tr
o
l
to
p
u
s
h
in
g
d
o
w
n
t
h
e
er
r
o
r
o
f
g
ea
r
ed
DC
m
o
to
r
p
o
s
itio
n
.
7.
R
o
b
o
t G
a
m
elan
m
u
s
ic
i
s
o
n
l
y
p
lay
in
g
s
lo
w
r
h
y
t
h
m
s
o
n
g
s
.
8.
R
o
b
o
t G
a
m
elan
m
u
s
ic
i
s
o
n
l
y
p
lay
in
g
s
o
n
g
w
i
th
m
ed
iu
m
o
ct
av
e.
9.
L
o
n
g
r
esp
o
n
s
e
in
ter
v
al
o
f
g
e
ar
ed
DC
m
o
to
r
m
o
v
in
g
r
o
tati
o
n
,
it
ca
u
s
ed
th
e
r
o
b
o
t
Ga
m
e
lan
m
u
s
ic
ca
n
n
o
t p
la
y
s
o
n
g
q
u
ic
k
l
y
.
10.
R
o
b
o
t G
a
m
elan
m
u
s
ic
ca
n
p
lay
"
I
n
d
o
n
esia Ra
y
a"
s
o
n
g
i
n
th
e
v
id
eo
d
o
cu
m
en
ta
tio
n
[
1
4
]
.
RE
F
E
R
E
NC
E
S
[
1
]
T
.
P
T
o
m
o
,
G
.
En
riq
u
e
z
,
a
n
d
S
.
Ha
sh
i
m
o
to
.
"
In
d
o
n
e
sia
n
p
u
p
p
e
t
th
e
a
ter
ro
b
o
t
w
it
h
g
a
m
e
lan
m
u
sic
e
m
o
t
io
n
re
c
o
g
n
it
io
n
"
,
in
Ro
b
o
t
ics
a
n
d
Bi
o
mime
ti
c
s
Pro
c
e
e
d
in
g
,
2
0
1
5
IEE
E
In
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
o
n
,
D
e
c
e
m
b
e
r
2
0
1
5
,
p
p
.
1
1
7
7
-
1
1
8
2
.
[
2
]
J.
Hild
e
r
a
n
d
J.
S
u
tri
s
n
o
(
1
9
9
2
,
Ju
n
e
).
Ce
n
tral
Ja
v
a
n
e
se
Ga
m
e
lo
n
Ha
n
d
b
o
o
k
.
V
ict
o
ria Un
iv
e
rsity
o
f
W
e
ll
in
g
to
n
.
[
3
]
S
u
tt
o
n
,
R.
A
n
d
e
rso
n
.
1
9
7
5
.
T
h
e
Ja
v
a
n
e
se
G
a
m
b
a
n
g
a
n
d
Its
M
u
sic
.
(
M
.
A
th
e
sis) Un
iv
e
rsit
y
o
f
Ha
w
a
ii
.
[
4
]
Bra
n
d
ts
B
u
y
s,
J.S
.
,
a
n
d
A
.
Bra
n
d
ts
B
u
y
s
-
v
a
n
Zi
jp
.
1
9
3
8
.
Ja
v
a
a
n
sc
h
e
g
e
n
d
in
g
'
s
b
ij
L
a
n
d
e
n
b
ij
S
e
e
li
g
.
Dja
w
a
1
8
:
1
8
2
-
2
2
5
.
[
5
]
D.
En
g
in
,
a
n
d
M
.
En
g
i
n
,
"
A
u
to
-
tu
n
i
n
g
o
f
P
ID
p
a
ra
m
e
ters
w
it
h
p
ro
g
ra
m
m
a
b
le
lo
g
ic
c
o
n
tro
ll
e
r"
,
in
M
e
c
h
a
tro
n
ics
a
n
d
Au
to
ma
ti
o
n
Pro
c
e
e
d
i
n
g
,
2
0
1
3
IEE
E
In
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
o
n
,
A
u
g
u
st
2
0
1
3
,
p
p
.
1
4
6
9
-
1
4
7
4
.
[
6
]
C.
G
.
Oh
,
a
n
d
J.
P
a
rk
,
"
T
h
e
k
in
e
ti
c
x
y
lo
p
h
o
n
e
:
a
n
in
tera
c
ti
v
e
m
u
sic
a
l
in
stru
m
e
n
t
e
m
b
e
d
d
in
g
m
o
to
rize
d
m
a
ll
e
ts
"
,
in
Ro
b
o
t
a
n
d
Hu
m
a
n
In
ter
a
c
ti
v
e
C
o
mm
u
n
ica
ti
o
n
(
RO
-
M
AN),
2
0
1
3
I
EE
E
In
ter
n
a
ti
o
n
a
l
sy
mp
o
su
i
u
m
o
n
,
A
u
g
u
st
2
0
1
3
,
p
p
.
2
9
2
-
2
9
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
6
,
No
.
2
,
J
u
n
e
201
7
:
1
2
1
–
13
0
130
[
7
]
P
.
Na
laja
la,
B.
G
o
d
a
v
a
rth
,
M
.
L
.
Ra
v
it
e
ja,
a
n
d
D.
S
im
h
a
d
ri,
"
M
o
rse
c
o
d
e
g
e
n
e
ra
to
r
u
sin
g
m
icro
c
o
n
tro
ll
e
r
w
it
h
a
lp
h
a
n
u
m
e
ric
k
e
y
p
a
d
"
,
in
El
e
c
t
ric
a
l,
El
e
c
tro
n
ic,
a
n
d
O
p
ti
miza
ti
o
n
T
e
c
h
n
i
q
u
e
(
ICEE
OT),
2
0
1
6
IEE
E
In
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
o
n
,
M
a
rc
h
2
0
1
6
,
p
p
.
7
6
2
-
7
6
6
.
[
8
]
S
h
im
o
n
Y.
N
o
f
(1
9
9
9
,
F
e
b
ru
a
ry
).
Ha
n
d
b
o
o
k
o
f
in
d
u
str
ial
ro
b
o
t
ic 2
n
d
e
d
it
io
n
.
J
h
o
n
W
il
e
y
a
n
d
S
o
n
s,
In
c
.
[
9
]
K.
M
iy
a
sh
it
a
,
T
.
Tak
a
h
a
sh
i,
a
n
d
M
.
Ya
m
a
n
a
k
a
,
"
F
e
a
tu
re
s
o
f
a
m
a
g
n
e
ti
c
ro
tar
y
e
n
c
o
d
e
r"
,
IEE
E
T
ra
n
s
.
M
a
g
.
,
v
o
l
.
2
3
,
n
o
.
5
,
p
p
.
2
1
8
2
-
2
1
8
4
,
S
e
p
t.
1
9
8
7
.
[
1
0
]
B.
Ch
o
u
d
h
u
ry
,
T
.
S
.
Ch
o
u
d
h
u
ry
,
A
.
P
ra
m
a
n
ik
,
W
.
A
ri
f
,
a
n
d
J.
M
e
h
e
d
i,
"
De
sig
n
a
n
d
im
p
lem
e
n
tatio
n
o
f
a
n
S
M
S
b
a
se
d
h
o
m
e
se
c
u
rit
y
s
y
ste
m
,
"
in
El
e
c
tri
c
a
l,
Co
m
p
u
ter
a
n
d
Co
m
mu
n
ica
t
io
n
T
e
c
h
n
o
l
o
g
ies
(
ICECCT
),
2
0
1
5
IEE
E
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
,
M
a
rc
h
2
0
1
5
,
p
p
.
1
-
7.
[
1
1
]
I.
S
.
Ju
n
g
,
J.M
.
S
e
o
,
J.H.
Kim
,
a
n
d
S
.
H.
R
h
y
u
.
"
De
v
e
lo
p
m
e
n
t
o
f
s
lo
tl
e
ss
ty
p
e
b
ru
sh
les
s
DC
m
o
to
rs
a
n
d
p
lan
e
tary
g
e
a
r
h
e
a
d
f
o
r
ro
b
o
t,
"
in
Ub
iq
u
i
t
o
u
s
Ro
b
o
ts
a
n
d
Amb
ien
t
In
telli
g
e
n
c
e
(
URAI
),
2
0
1
2
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
on,
N
o
v
2
0
1
2
,
p
p
.
4
4
5
-
4
4
8
.
[
1
2
]
W
o
rk
sh
o
p
KRI
-
KRCI
2
0
0
7
,
I
n
stit
u
te o
f
T
e
c
h
n
o
lo
g
y
S
u
ra
b
a
y
a
,
S
u
ra
b
a
y
a
,
2
0
0
7
.
[
1
3
]
S
.
Be
n
c
h
a
re
f
,
a
n
d
H.
Bo
u
b
e
rtak
h
,
"
Op
ti
m
a
l
tu
n
in
g
o
f
a
P
D
c
o
n
tr
o
l
b
y
b
a
t
a
lg
o
rit
h
m
to
sta
b
il
ize
a
q
u
a
d
r
o
t
o
r"
,
in
M
o
d
e
li
n
g
,
I
d
e
n
ti
f
ica
ti
o
n
,
a
n
d
Co
n
tro
l
(ICM
IC),
2
0
1
6
I
EE
E
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
,
N
o
v
e
m
b
e
r
2
0
1
6
,
p
p
.
9
3
8
-
9
4
2
.
[
1
4
]
Ha
n
d
ri
A
z
h
a
r.
2
0
1
6
.
Ro
G
a
l
(Ro
b
o
t
G
a
m
e
lan
)
M
a
in
L
a
g
u
In
d
o
n
e
sia
Ra
y
a
.
h
tt
p
:/
/w
ww
.
y
o
u
tu
b
e
.
c
o
m
/
w
a
tch
?
v
=
z
-
tQwy
2
b
v
3
Q&
t=5
s.
A
c
c
e
ss
in
A
u
g
u
st 5
,
2
0
1
6
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Ha
n
d
ri
Jir
Az
h
a
r
o
b
tain
e
d
Ba
c
h
e
lo
r
De
g
re
e
in
El
e
c
tri
c
a
l
En
g
i
n
e
e
rin
g
f
ro
m
De
p
a
rt
m
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsity
,
P
o
n
ti
a
n
a
k
(In
d
o
n
e
sia
)
in
2
0
1
6
.
His res
e
a
rc
h
in
tere
st a
re
in
f
ield
o
f
ro
b
o
ti
c
,
m
e
c
h
a
tro
n
ic,
a
n
d
a
u
t
o
m
a
ti
o
n
.
He
h
a
s
p
a
rti
c
iap
te
in
Na
ti
o
n
a
l
S
c
ien
c
e
Wee
k
,
M
u
h
a
m
m
a
d
i
y
a
h
Yo
g
y
a
k
a
rt
a
Un
iv
e
rsit
y
,
Yo
g
y
a
k
a
rta
(In
d
o
n
e
sia
)
in
2
0
1
2
.
His
c
u
rre
n
t
re
s
e
a
rc
h
is
s
m
a
rt
st
ick
f
o
r
b
li
n
d
p
e
o
p
le
b
y
u
sin
g
ATm
e
g
a
1
6
.
His
re
se
a
rc
h
h
a
s
p
r
e
se
n
ted
in
S
c
ien
c
e
a
n
d
E
n
g
in
e
e
rin
g
Ex
p
e
d
it
io
n
,
U
n
iv
e
rsity
o
f
T
e
c
h
n
o
lo
g
y
M
a
la
y
sia
,
Jo
h
o
r
Ba
ru
(M
a
lay
sia
)
in
2
0
1
3
.
In
th
e
ro
b
o
ti
c
c
o
n
tes
t,
h
e
h
a
s
p
a
rt
icip
a
te
b
y
h
is
tea
m
o
f
Tan
ju
n
g
p
u
r
a
Un
iv
e
rsit
y
in
th
e
six
-
le
g
g
e
d
f
ire
f
ig
h
ti
n
g
ro
b
o
t
c
o
n
tes
t,
a
t
V
R
e
g
io
n
a
l
o
f
Na
ti
o
n
a
l
lev
e
l,
Ud
a
y
a
n
a
Un
iv
e
rsit
y
,
Ba
li
(In
d
o
n
e
sia
)
in
2
0
1
3
.
His
tea
m
p
ro
u
d
ly
g
o
t
th
e
b
e
st r
o
b
o
t
d
e
sig
n
p
re
d
ica
te o
f
six
-
leg
g
e
d
f
ire f
i
g
h
ti
n
g
ro
b
o
t.
F
ERRY
HA
D
A
RY
is
a
n
A
ss
i
sta
n
t
P
ro
f
e
ss
o
r
o
f
Ro
b
o
ti
c
s,
C
o
n
tr
o
l
a
n
d
Co
m
p
u
tati
o
n
a
t
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsity
(U
NTA
N),
P
o
n
t
ian
a
k
,
In
d
o
n
e
sia
.
He
e
a
rn
e
d
h
is
B.
E
n
g
.
d
e
g
re
e
f
ro
m
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsit
y
,
M
.
En
g
.
f
ro
m
T
o
k
y
o
In
stit
u
te
o
f
T
e
c
h
n
o
l
o
g
y
,
Ja
p
a
n
,
a
n
d
Dr.
E
n
g
.
f
ro
m
K
y
u
sh
u
In
st
it
u
te
o
f
T
e
c
h
n
o
lo
g
y
,
Ja
p
a
n
.
He
is
c
u
rre
n
tl
y
tea
c
h
in
g
a
t
De
p
a
rtm
e
n
t
o
f
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
,
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsity
.
In
h
is
c
a
re
e
r
a
s
a
re
se
a
rc
h
e
r
h
e
re
c
e
i
v
e
d
s
e
v
e
r
a
l
re
s
e
a
rc
h
g
ra
n
ts
p
re
stig
e
o
f
th
e
M
in
istry
o
f
Re
se
a
rc
h
T
e
c
h
n
o
l
o
g
y
a
n
d
Hig
h
e
r
Ed
u
c
a
ti
o
n
o
f
th
e
Re
p
u
b
li
c
o
f
In
d
o
n
e
sia
,
G
ra
n
ts
In
tern
a
ti
o
n
a
l
C
o
o
p
e
ra
ti
o
n
a
n
d
th
e
Na
ti
o
n
a
l
S
trate
g
ic
(h
ig
h
e
st
re
se
a
rc
h
g
ra
n
ts
in
In
d
o
n
e
sia
).
He
is
a
lso
a
re
c
ip
i
e
n
t
o
f
th
e
Na
ti
o
n
a
l
W
o
rk
F
e
a
tu
re
d
T
e
c
h
n
o
lo
g
y
o
f
th
e
M
in
istry
o
f
Re
se
a
rc
h
a
n
d
T
e
c
h
n
o
lo
g
y
o
f
In
d
o
n
e
sia
in
2
0
1
4
.
His
in
tere
sts
a
r
e
in
c
o
n
tro
l
sy
ste
m
s,
ro
b
o
ti
c
s,
n
e
w
a
n
d
re
n
e
w
a
b
le en
e
rg
y
.
H
e
m
a
y
b
e
re
a
c
h
e
d
a
t
f
e
rr
y
.
h
a
d
a
r
y
@in
v
e
n
t.
u
n
tan
.
a
c
.
id
S
y
a
if
u
rra
h
m
a
n
is
a
n
a
ss
istan
c
e
p
ro
f
e
so
r
in
f
ield
o
f
e
lec
tri
c
a
l
e
n
g
in
e
e
rin
g
a
t
T
a
n
ju
n
g
p
u
ra
Un
iv
e
rsit
y
(Un
tan
)
P
o
n
ti
a
n
a
k
,
In
d
o
n
e
sia
.
He
g
o
t
Ba
c
h
e
lo
r
De
g
re
e
f
ro
m
T
a
n
ju
g
p
u
ra
Un
iv
e
rsit
y
,
P
o
n
t
ian
a
k
,
In
d
o
n
e
sia
in
1
9
9
4
a
n
d
M
a
ste
r
De
g
re
e
f
ro
m
Ba
n
d
u
n
g
In
stit
u
te
o
f
T
e
c
h
n
o
lo
g
y
,
Ba
n
d
u
n
g
,
In
d
o
n
e
sia
in
2
0
0
0
.
S
in
c
e
1
9
9
4
,
h
e
h
a
s
b
e
e
n
w
o
rk
in
g
a
s
a
lec
tu
re
r
in
El
e
c
tri
c
a
l
En
g
in
e
e
rin
g
De
p
a
rtem
e
n
,
En
g
in
e
e
rin
g
F
a
c
u
lt
y
,
Tan
ju
n
g
p
u
ra
U
n
iv
e
rsity
.
He
is
p
o
in
ted
b
y
c
o
ll
e
a
g
u
e
s
a
s
He
a
d
o
f
B
a
sic
El
e
c
tri
c
a
l
Lab
o
ra
to
ry
.
His
in
tere
st
a
re
e
lec
tri
c
a
l
m
e
a
su
re
m
e
n
t,
e
letro
n
ics
a
n
d
p
o
w
e
r
e
lec
tro
n
ics
.
Evaluation Warning : The document was created with Spire.PDF for Python.