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1
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2.
P
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[
5
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.
T
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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4856
IJ
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Vo
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6
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No
.
1
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Ma
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20
1
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:
15
–
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16
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n
g
w
it
h
a
g
ea
r
b
o
x
.
T
h
e
p
latf
o
r
m
co
n
s
is
ts
o
f
t
w
o
c
y
li
n
d
r
ical
r
o
ller
s
to
s
u
p
p
o
r
t
its
m
o
tio
n
.
T
h
e
w
ater
s
p
r
in
k
l
er
is
also
h
o
u
s
ed
w
i
th
i
n
th
e
p
latf
o
r
m
w
i
th
its
s
u
p
p
l
y
co
m
in
g
f
r
o
m
to
p
o
f
th
e
b
u
ild
i
n
g
.
T
h
e
en
tire
p
lat
f
o
r
m
is
s
u
s
p
en
d
ed
b
y
a
p
u
lle
y
th
r
o
u
g
h
a
n
id
ler
f
r
o
m
th
e
to
p
o
f
th
e
b
u
ild
i
n
g
.
T
h
e
p
u
lle
y
is
o
p
er
ated
th
r
o
u
g
h
an
ac
m
o
to
r
ca
lled
th
e
v
er
tical
m
o
to
r
.
T
h
e
lat
er
al
m
o
v
e
m
e
n
t
o
f
th
e
p
latf
o
r
m
is
aid
ed
b
y
an
ac
m
o
to
r
ca
lled
th
e
h
o
r
izo
n
tal
m
o
to
r
.
T
h
is
m
o
to
r
m
o
v
e
s
t
h
e
p
lat
f
o
r
m
o
n
a
r
ail.
A
s
o
len
o
id
w
a
ter
v
al
v
e
co
n
tr
o
ls
t
h
e
f
lo
w
o
f
w
ater
.
T
h
e
w
ei
g
h
t o
f
t
h
e
p
lat
f
o
r
m
is
a
p
o
in
t
o
f
co
n
s
id
er
atio
n
as
i
t
d
ec
id
es
th
e
p
o
w
er
o
f
v
er
ti
ca
l
an
d
h
o
r
izo
n
tal
m
o
to
r
s
r
eq
u
ir
ed
.
Hen
ce
th
e
p
latf
o
r
m
is
p
r
ef
er
r
ed
to
h
av
e
l
i
g
h
ter
w
ei
g
h
t so
as to
r
ed
u
ce
th
e
lo
ad
o
n
th
e
m
o
to
r
s
.
T
h
e
d
im
e
n
s
io
n
s
o
f
t
h
e
b
u
ild
i
n
g
ar
e
in
p
u
t
to
th
e
m
icr
o
co
n
tr
o
ller
.
T
h
e
m
icr
o
co
n
tr
o
ller
d
ec
id
es
th
e
d
u
r
atio
n
o
f
o
p
er
atio
n
o
f
m
o
to
r
s
b
ased
o
n
t
h
e
in
p
u
t
a
n
d
s
p
ee
d
o
f
m
o
to
r
s
(
r
p
m
)
w
h
ich
i
s
alr
ea
d
y
f
ed
.
Fro
m
t
h
e
d
ec
is
io
n
s
m
ad
e,
th
e
m
icr
o
co
n
tr
o
ller
s
en
d
s
s
i
g
n
als
to
t
h
e
co
r
r
esp
o
n
d
in
g
m
o
to
r
s
th
r
o
u
g
h
i
n
ter
f
ac
e
cir
c
u
itr
y
.
T
h
e
in
ter
f
ac
e
cir
c
u
itr
y
co
n
s
i
s
t
s
o
f
Si
n
g
le
P
o
le
Sin
g
le
T
h
r
o
w
(
S
P
ST)
an
d
Sin
g
le
P
o
le
Do
u
b
le
T
h
r
o
w
(
SP
DT
)
r
ela
y
s
w
h
ic
h
p
er
f
o
r
m
s
t
h
e
r
eq
u
ir
ed
s
w
itc
h
i
n
g
ac
tio
n
in
t
h
e
m
o
to
r
s
.
T
h
e
co
n
tr
o
l in
p
u
t
f
r
o
m
t
h
e
m
icr
o
co
n
tr
o
ller
is
g
i
v
e
n
th
r
o
u
g
h
tr
an
s
is
to
r
s
to
th
e
r
ela
y
s
.
T
h
u
s
th
e
m
o
to
r
s
a
r
e
s
w
itc
h
ed
o
n
/o
f
f
a
n
d
th
e
d
ir
ec
tio
n
o
f
r
o
ta
tio
n
is
ch
an
g
ed
ac
co
r
d
in
g
to
th
e
i
n
p
u
t.
T
h
e
s
y
s
te
m
lev
e
l b
lo
ck
d
iag
r
a
m
is
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
S
y
s
te
m
le
v
el
b
lo
ck
d
iag
r
a
m
3.
I
M
P
L
E
M
E
NT
AT
I
O
N
T
h
e
p
h
y
s
ical
i
m
p
le
m
en
ta
tio
n
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
d
eli
n
ea
ted
in
t
h
e
f
o
llo
w
i
n
g
s
ec
tio
n
s
.
3
.
1
.
H
a
rdw
a
re
I
m
ple
m
ent
a
t
i
o
n
T
h
e
p
latf
o
r
m
i
s
d
esi
g
n
ed
w
it
h
o
p
ti
m
al
d
i
m
en
s
io
n
s
ta
k
i
n
g
in
to
co
n
s
id
er
atio
n
t
h
e
e
x
p
ec
ted
s
ize
o
f
th
e
b
u
ild
in
g
m
o
d
el.
T
h
e
m
ac
h
i
n
i
n
g
o
f
r
a
w
m
ater
ial
s
a
n
d
d
ev
elo
p
m
e
n
t
o
f
s
u
p
p
o
r
tin
g
s
tr
u
ct
u
r
e
s
ar
e
p
r
o
p
er
ly
d
o
n
e
to
en
ab
le
f
i
x
atio
n
o
f
t
h
e
m
o
to
r
s
.
T
h
e
m
o
to
r
s
ar
e
ac
p
o
w
er
ed
.
T
h
e
in
ter
f
ac
e
cir
cu
itr
y
as
s
h
o
w
n
i
n
Fi
g
u
r
e
2
is
r
ea
lized
o
n
b
r
ea
d
b
o
ar
d
.
MSP
4
3
0
is
u
s
ed
o
n
ac
co
u
n
t
o
f
th
e
lo
w
p
o
w
er
co
n
s
u
m
p
ti
o
n
.
A
3
.
5
V
s
i
g
n
a
l
f
r
o
m
t
h
e
m
icr
o
co
n
tr
o
ller
to
th
e
b
ase
o
f
tr
a
n
s
i
s
to
r
h
elp
s
in
en
er
g
izi
n
g
co
ils
o
f
SP
ST
o
r
S
P
D
T
to
w
h
ich
t
h
e
tr
an
s
is
to
r
is
co
n
n
ec
ted
.
T
h
e
SP
S
T
r
elay
is
u
s
ed
f
o
r
s
w
itc
h
i
n
g
o
n
/o
f
f
th
e
m
o
to
r
an
d
th
e
SP
D
T
r
elay
h
elp
s
i
n
ch
a
n
g
in
g
d
ir
ec
tio
n
o
f
t
h
e
s
w
itc
h
ed
o
n
m
o
to
r
.
T
h
e
d
if
f
ic
u
lt
y
i
n
is
o
latin
g
th
e
d
c
a
n
d
ac
m
o
d
u
les
w
a
s
o
v
er
co
m
e
w
i
th
t
h
e
h
elp
o
f
t
h
i
s
i
n
ter
f
ac
e
cir
c
u
itr
y
.
T
h
o
u
g
h
al
ter
n
ate
s
o
lu
tio
n
s
f
o
r
i
s
o
latio
n
li
k
e
u
s
e
o
f
I
C
2
9
3
w
er
e
av
ai
lab
le,
t
h
e
tr
an
s
i
s
to
r
b
ased
cir
cu
itr
y
w
as
ch
o
s
en
o
n
ac
co
u
n
t
o
f
its
s
i
m
p
licit
y
a
n
d
ea
s
e
o
f
r
e
aliza
tio
n
f
o
r
th
e
p
r
o
to
ty
p
e.
T
h
e
d
esig
n
o
f
f
in
al
p
r
o
to
ty
p
e
o
f
t
h
e
clea
n
i
n
g
s
y
s
te
m
w
il
l b
e
as sh
o
w
n
i
n
Fi
g
u
r
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
u
to
ma
tic
S
ky
s
cra
p
er W
in
d
o
w
C
lea
n
in
g
S
ystem
(
K
a
vy
a
S
)
17
Fig
u
r
e
2
.
C
ir
cu
it d
ia
g
r
a
m
Fig
u
r
e
3
.
Desig
n
o
f
clea
n
i
n
g
p
latf
o
r
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
.
1
,
Ma
r
ch
20
1
7
:
15
–
20
18
3
.
2
.
S
o
f
t
wa
re
I
m
ple
m
ent
a
t
io
n
T
h
e
p
r
o
g
r
a
m
m
in
g
o
f
m
icr
o
co
n
tr
o
ller
is
d
o
n
e
u
s
i
n
g
E
n
er
g
ia
s
o
f
t
w
ar
e.
T
h
e
alg
o
r
ith
m
i
m
p
le
m
en
ted
to
ac
h
iev
e
a
n
e
f
f
icie
n
t
clea
n
in
g
o
f
th
e
g
las
s
s
u
r
f
ac
e
o
f
t
h
e
b
u
il
d
in
g
i
s
q
u
ite
s
i
m
p
le
an
d
it
i
s
e
x
ec
u
ted
r
ep
ea
ted
l
y
u
n
t
il th
e
p
lat
f
o
r
m
co
v
er
s
an
e
n
tire
s
id
e
o
f
th
e
b
u
i
ld
in
g
.
I
n
itiall
y
th
e
h
o
r
izo
n
ta
l
m
o
to
r
r
e
m
ai
n
s
in
OF
F
co
n
d
itio
n
.
T
h
e
v
er
tical
m
o
to
r
i
s
s
w
it
ch
ed
O
N
s
i
m
u
lta
n
eo
u
s
l
y
w
it
h
th
e
b
r
u
s
h
m
o
to
r
an
d
th
e
w
ater
v
a
lv
e.
T
h
e
p
latf
o
r
m
m
o
v
es
d
o
w
n
f
o
r
a
ca
lcu
lated
d
is
ta
n
ce
an
d
m
o
v
e
s
u
p
ag
a
in
f
o
r
th
e
s
a
m
e
d
is
ta
n
ce
.
Du
r
i
n
g
t
h
i
s
p
er
io
d
,
th
e
b
r
u
s
h
m
o
to
r
an
d
t
h
e
w
ater
v
alv
e
r
e
m
ai
n
w
o
r
k
i
n
g
.
On
r
ea
ch
in
g
t
h
e
to
p
o
f
th
e
b
u
ild
i
n
g
m
o
d
el,
th
e
ab
o
v
e
s
aid
m
o
to
r
s
an
d
th
e
w
ate
r
v
alv
e
is
s
w
itc
h
ed
o
f
f
.
T
h
e
h
o
r
izo
n
tal
m
o
to
r
is
s
w
itc
h
ed
o
n
a
n
d
t
h
e
p
lat
f
o
r
m
m
o
v
e
s
later
all
y
f
o
r
a
ca
lcu
late
d
d
is
tan
ce
.
On
ce
t
h
e
h
o
r
izo
n
tal
m
o
to
r
h
a
s
f
i
n
i
s
h
ed
m
o
v
e
m
e
n
t,
th
e
v
er
tical
m
o
t
io
n
r
ep
ea
ts
ag
ai
n
.
T
h
is
p
r
o
c
ess
is
d
o
n
e
r
ec
u
r
s
i
v
el
y
till
th
e
e
n
tire
s
id
e
o
f
t
h
e
b
u
ild
i
n
g
i
s
clea
n
ed
.
T
h
e
o
p
er
atio
n
s
ar
e
ex
p
lain
ed
th
r
o
u
g
h
th
e
f
lo
wch
ar
t in
F
ig
u
r
e
4
.
Fig
u
r
e
4
.
Flo
w
c
h
ar
t o
f
o
p
er
atio
n
o
f
m
icr
o
co
n
tr
o
ller
in
ASW
C
S
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
u
to
ma
tic
S
ky
s
cra
p
er W
in
d
o
w
C
lea
n
in
g
S
ystem
(
K
a
vy
a
S
)
19
4.
CO
NCLU
SI
O
N
T
h
e
f
in
al
p
r
o
to
t
y
p
e
h
as
b
ee
n
s
u
cc
e
s
s
f
u
ll
y
d
e
v
elo
p
ed
an
d
th
e
en
tire
o
p
er
atio
n
s
u
cc
es
s
f
u
ll
y
v
er
i
f
ied
an
d
t
h
e
i
n
ter
f
ac
e
cir
cu
itr
y
s
tab
ilit
y
w
as
m
ea
s
u
r
ed
b
y
r
ep
ea
te
d
o
b
s
er
v
atio
n
s
.
T
h
e
m
o
to
r
in
g
ac
tio
n
w
a
s
c
h
ec
k
ed
m
o
d
u
le
w
i
s
e
an
d
th
e
n
co
llecti
v
el
y
to
e
n
s
u
r
e
s
u
s
tai
n
ed
o
p
er
a
tio
n
.
T
h
e
f
in
al
p
r
o
to
t
y
p
e
i
s
as
s
h
o
w
n
in
F
ig
u
r
e
5
.
Fig
u
r
e
5
.
Fin
al
p
r
o
to
t
y
p
e
o
f
ASW
C
S
ACK
NO
WL
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D
G
E
M
E
NT
S
W
e
w
i
s
h
to
t
h
an
k
o
u
r
m
en
to
r
s
;
Mr
.
S.
J
o
s
ep
h
Glad
w
in
,
A
s
s
i
s
tan
t
P
r
o
f
ess
o
r
,
E
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t,
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a
n
d
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.
R
.
R
aj
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s
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m
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ad
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t
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v
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s
p
leasu
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e
to
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a
n
k
Mr
s
.
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Kr
is
h
n
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e
n
i,
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ch
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ical
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n
g
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s
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y
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o
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o
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s
y
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te
m
.
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e
w
o
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ld
also
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k
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a
n
k
Mr
.
Sath
i
s
h
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h
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ical
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f
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V
R
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D
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itr
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.
RE
F
E
R
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NC
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S
[1
]
Jin
Ko
o
L
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e
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n
Ho
n
g
Ry
u
,
a
n
d
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n
g
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e
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l
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[2
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Ho
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m
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ste
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s
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telli
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e
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h
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tro
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n
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t
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s.
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ter
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ti
o
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e
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e
,
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u
g
.
2
0
0
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.
[3
]
T
o
rs
ten
Bo
h
m
e
,
Dr.
Ulrich
S
c
h
m
u
c
k
e
r,
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e
rt
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k
m
a
n
n
,
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a
ri
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a
c
k
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ice
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b
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ts
f
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a
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stria
l
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ics
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o
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ty,
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8
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4
t
h
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l
R.
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e
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ff
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e
rr,
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sh
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g
a
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p
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ra
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s
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S
P
a
t
e
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t
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0
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.
[5
]
A
d
a
m
M
.
Yu
,
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W
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n
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a
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,
US
Pa
te
n
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2
.
[6
]
L
iv
n
e
G
a
n
,
A
ri
e
h
Oo
h
e
n
,
Niv
S
o
f
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r,
“
Cle
a
n
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it
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u
sp
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d
e
d
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lo
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i
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terio
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lac
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n
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Dri
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c
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rize
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m
)
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se
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to
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lea
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il
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US
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.
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I
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.
Evaluation Warning : The document was created with Spire.PDF for Python.