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26
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I
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©
201
6
In
s
t
it
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te o
f
A
d
v
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d
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n
g
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S
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Al
l
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se
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d
.
C
o
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p
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A
uth
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r
:
Nico
lad
ie
T
am
,
Dep
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t
m
en
t o
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B
io
lo
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Scie
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s
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Un
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to
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7
6
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2
3
USA
.
E
m
ail:
n
ico
lad
ie.
ta
m
@
u
n
t.e
d
u
1.
I
NT
RO
D
UCT
I
O
N
On
e
o
f
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m
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s
t
cr
u
cia
l
p
r
o
b
lem
s
in
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to
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m
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u
s
co
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tr
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l
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th
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ab
ilit
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to
d
etec
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d
co
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ec
t
u
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x
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er
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s
l
y
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th
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t
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y
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er
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co
n
d
itio
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s
au
to
n
o
m
o
u
s
l
y
[
1
]
.
Au
to
n
o
m
o
u
s
co
r
r
ec
tio
n
o
f
s
elf
-
d
is
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ch
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a
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v
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
elf
-
C
o
r
r
ec
tive
A
u
to
n
o
mo
u
s
S
ystems
u
s
in
g
Op
timiz
a
tio
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P
r
o
ce
s
s
es fo
r
Dete
ctio
n
and
...
(
N
ico
la
d
ie
Ta
m
)
263
1
.
1
.
F
ee
db
a
c
k
Co
ntr
o
l Sy
s
t
e
m
in
Ro
bu
s
t
E
ng
i
neer
ing
Desig
n
f
o
r
E
rr
o
r
Co
rr
ec
t
io
n
On
e
o
f
th
e
d
esi
g
n
p
r
in
cip
les
in
r
o
b
u
s
t
en
g
i
n
ee
r
in
g
d
esi
g
n
is
th
e
u
s
e
o
f
f
ee
d
b
ac
k
s
y
s
te
m
s
i
n
th
e
co
n
tr
o
l
o
f
au
to
n
o
m
o
u
s
s
y
s
te
m
s
.
Feed
b
ac
k
co
n
tr
o
l
is
o
n
e
o
f
th
e
s
ta
n
d
ar
d
m
o
d
es
o
f
o
p
er
atio
n
in
o
r
d
er
to
co
r
r
ec
t
f
o
r
er
r
o
r
co
n
d
itio
n
s
in
en
g
i
n
ee
r
in
g
(
cf
.
[2
-
5]
).
So
m
eti
m
e
s
,
f
ee
d
f
o
r
w
ar
d
co
n
tr
o
l
is
o
f
te
n
u
s
ed
to
i
m
p
r
o
v
e
t
h
e
e
f
f
icie
n
c
y
i
n
p
r
o
v
id
in
g
f
a
s
t
r
esp
o
n
s
e
t
i
m
e
[
6
]
.
Yet,
t
h
ese
f
ee
d
f
o
r
w
ar
d
o
r
f
e
ed
b
ac
k
s
y
s
te
m
s
ar
e
e
m
b
ed
d
ed
in
to
th
e
s
y
s
te
m
b
y
d
esig
n
w
it
h
a
p
r
io
r
i
k
n
o
w
le
d
g
e
o
f
h
o
w
t
h
e
er
r
o
r
co
n
d
itio
n
s
m
a
y
e
x
i
s
t.
I
f
t
h
e
s
p
ec
if
ic
e
x
p
ec
ted
er
r
o
r
s
w
er
e
k
n
o
w
n
,
it
is
ea
s
y
to
i
m
p
le
m
en
t
a
f
ee
d
b
ac
k
co
n
tr
o
l
s
y
s
te
m
to
co
r
r
ec
t
f
o
r
s
u
c
h
er
r
o
r
c
o
n
d
itio
n
s
.
Fo
r
in
s
ta
n
ce
,
to
p
r
ev
en
t
s
k
id
d
in
g
in
ca
r
s
,
f
ee
d
b
ac
k
co
n
tr
o
l
s
y
s
te
m
ca
n
b
e
d
esig
n
ed
in
t
h
e
an
ti
-
lo
ck
b
r
ak
e
s
y
s
te
m
,
b
ec
au
s
e
th
e
p
h
y
s
ic
s
o
f
th
e
er
r
o
r
co
n
d
itio
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s
f
o
r
s
k
id
d
in
g
in
wet
r
o
ad
s
ar
e
k
n
o
w
n
.
Ho
w
e
v
er
,
if
th
e
er
r
o
r
co
n
d
i
tio
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s
ar
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u
n
k
n
o
w
n
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r
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n
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x
p
ec
ted
(
s
u
ch
a
s
s
o
f
t
w
ar
e
b
u
g
s
ca
u
s
ed
b
y
t
h
e
m
al
f
u
n
ctio
n
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
[
7
]
)
,
th
en
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
m
a
y
n
o
t
b
e
d
esig
n
ed
in
th
e
s
y
s
te
m
w
it
h
o
u
t
th
e
a
p
r
io
r
i
k
n
o
w
led
g
e
o
f
h
o
w
th
e
s
y
s
te
m
f
ail
s
.
I
n
co
m
p
u
t
er
s
y
s
te
m
s
,
o
n
e
o
f
t
h
e
m
o
s
t
c
o
m
m
o
n
m
et
h
o
d
s
f
o
r
id
en
ti
f
y
i
n
g
u
n
e
x
p
ec
ted
er
r
o
r
in
i
n
teg
r
i
t
y
o
f
d
ata
is
th
e
u
s
e
o
f
ch
ec
k
s
u
m
[
8
,
9
]
o
r
r
esu
lt
-
c
h
e
ck
in
g
[
1
0
,
1
1
]
.
Yet,
th
ese
m
et
h
o
d
s
o
f
te
n
as
s
u
m
e
t
h
e
er
r
o
r
s
ar
e
ex
ter
n
al
er
r
o
r
s
r
ath
er
th
a
n
i
n
ter
n
al
er
r
o
r
s
.
T
h
at
is
,
if
t
h
e
s
y
s
te
m
is
a
f
au
lt
y
s
y
s
te
m
w
i
th
d
e
s
ig
n
f
la
w
s
i
n
ter
n
all
y
(
s
u
c
h
as
s
o
f
t
w
a
r
e
p
r
o
g
r
am
m
i
n
g
b
u
g
s
)
,
t
h
en
t
h
e
ab
ilit
y
to
d
etec
t
an
d
s
elf
-
co
r
r
ec
t in
ter
n
al
f
au
lt i
s
a
d
au
n
ti
n
g
p
r
o
b
lem
f
o
r
d
esig
n
in
g
a
f
u
l
l
y
a
u
to
n
o
m
o
u
s
s
y
s
te
m
.
1
.
2
.
E
ng
ineeri
ng
Desig
n P
ro
ble
m
f
o
r
Unex
pect
ed
E
rr
o
r
Co
nd
it
io
ns
Sp
ec
if
icall
y
,
i
f
th
e
f
ee
d
b
ac
k
c
o
n
tr
o
l s
y
s
te
m
its
el
f
is
f
a
u
lt
y
,
t
h
en
t
h
e
p
r
o
b
le
m
to
s
el
f
-
co
r
r
ec
t th
e
f
au
l
t
y
co
n
d
itio
n
w
it
h
in
t
h
e
co
n
tr
o
l
s
y
s
te
m
its
e
lf
is
a
m
u
c
h
h
ar
d
er
p
r
o
b
lem
to
s
o
lv
e.
T
h
is
is
a
cr
u
cial
p
r
o
b
lem
w
h
e
n
th
e
f
a
u
l
t
co
n
d
itio
n
is
u
n
d
eter
m
i
n
ed
b
ey
o
n
d
th
e
o
r
ig
i
n
al
d
e
s
ig
n
o
f
t
h
e
s
y
s
te
m
.
T
h
er
ef
o
r
e,
in
o
r
d
er
to
d
esig
n
a
tr
u
l
y
au
to
n
o
m
o
u
s
s
y
s
te
m
,
it
s
h
o
u
ld
b
e
ca
p
ab
le
o
f
s
el
f
-
co
r
r
ec
tin
g
a
n
y
u
n
e
x
p
ec
ted
er
r
o
r
co
n
d
itio
n
s
th
at
it
d
is
co
v
er
s
w
it
h
o
u
t
an
y
e
x
ter
n
al
g
u
id
an
ce
o
r
e
x
ter
n
al
co
n
t
r
o
l.
T
h
ese
u
n
f
o
r
eseea
b
le
er
r
o
r
co
n
d
itio
n
s
m
a
y
in
cl
u
d
e
th
e
d
es
ig
n
f
la
w
s
o
f
t
h
e
o
r
ig
i
n
al
i
m
p
le
m
en
tatio
n
(
w
h
ic
h
is
o
f
te
n
u
n
p
r
ed
ictab
le
w
h
e
n
th
e
s
y
s
te
m
i
s
o
p
er
atin
g
in
t
h
e
r
ea
l
w
o
r
ld
)
.
1
.
3
.
T
he
P
ro
ble
m
o
f
Self
-
Dis
co
v
er
y
a
nd
Self
-
Co
rr
ec
t
io
n o
f
I
nt
er
na
l D
esig
n F
la
w
s
Mo
s
t
tr
ad
itio
n
al
en
g
i
n
ee
r
in
g
d
esig
n
s
a
s
s
u
m
e
t
h
at
t
h
er
e
i
s
n
o
d
esi
g
n
f
la
w
,
an
d
th
e
s
y
s
t
e
m
s
h
o
u
ld
b
eh
av
e
as
e
x
p
ec
ted
b
y
d
es
ig
n
.
Yet,
in
t
h
e
r
ea
l
w
o
r
ld
i
m
p
le
m
en
ta
tio
n
,
t
h
er
e
ar
e
al
w
a
y
s
u
n
e
x
p
ec
ted
an
d
u
n
f
o
r
eseea
b
le
er
r
o
r
s
en
co
u
n
te
r
ed
in
r
ea
l
li
f
e
th
a
t
ex
h
ib
it
d
e
s
ig
n
f
la
w
s
in
th
e
s
y
s
te
m
.
Fo
r
in
s
ta
n
ce
,
t
h
e
m
o
s
t
co
m
m
o
n
d
esig
n
f
la
w
s
in
s
o
f
t
w
ar
e
en
g
i
n
ee
r
i
n
g
ar
e
t
h
e
ex
i
s
ten
ce
o
f
s
o
f
t
w
ar
e
b
u
g
s
i
n
th
e
s
o
f
t
w
ar
e
s
y
s
te
m
.
So
f
t
w
ar
e
b
u
g
s
ar
e
th
e
u
n
f
o
r
eseea
b
le
er
r
o
r
co
n
d
itio
n
s
e
n
co
u
n
ter
ed
i
n
t
h
e
r
ea
l
w
o
r
ld
i
m
p
le
m
e
n
t
o
f
s
o
f
t
w
ar
e
ap
p
licatio
n
s
t
h
at
ar
e
b
e
y
o
n
d
t
h
e
e
x
p
ec
tatio
n
o
f
t
h
e
o
r
i
g
i
n
al
d
esig
n
.
T
h
at
i
s
,
i
f
t
h
e
s
o
f
t
w
a
r
e
i
m
p
le
m
en
tatio
n
w
er
e
o
p
er
atin
g
a
s
ex
p
ec
ted
b
y
th
e
d
esi
g
n
,
th
e
n
t
h
er
e
s
h
o
u
l
d
n
o
t
b
e
an
y
s
o
f
t
w
ar
e
b
u
g
s
i
n
th
e
f
i
n
al
p
r
o
d
u
ct.
Ho
w
e
v
er
,
in
r
ea
lit
y
,
ev
er
y
s
o
f
t
w
ar
e
en
g
i
n
ee
r
d
esig
n
er
k
n
o
w
s
th
at
s
o
f
t
w
ar
e
b
u
g
s
ar
e
lik
el
y
to
ex
i
s
t
in
a
n
y
i
m
p
le
m
en
ta
tio
n
o
f
th
e
co
m
p
l
ex
s
o
f
t
w
ar
e
s
y
s
te
m
.
T
h
u
s
,
th
e
p
r
o
b
lem
o
f
s
el
f
-
d
i
s
co
v
er
in
g
s
o
f
t
w
ar
e
b
u
g
s
a
n
d
s
elf
-
co
r
r
ec
tio
n
o
f
t
h
ese
b
u
g
s
w
h
e
n
th
e
y
w
er
e
d
is
co
v
er
ed
ar
e
a
d
au
n
tin
g
p
r
o
b
l
e
m
f
o
r
ad
v
an
ce
d
au
to
n
o
m
o
u
s
in
telli
g
e
n
t so
f
t
w
ar
e
d
esig
n
s
.
1
.
4
.
Aut
o
no
m
o
u
s
Sy
s
t
e
m
w
it
h Se
lf
-
Dis
co
v
er
y
a
nd
Self
-
Co
rr
ec
t
io
n o
f
Unex
pect
ed
E
rr
o
rs
On
e
o
f
t
h
e
m
o
s
t
ch
alle
n
g
i
n
g
p
r
o
b
lem
s
i
n
en
g
i
n
ee
r
in
g
d
esi
g
n
s
i
s
th
e
ab
ilit
y
to
d
esig
n
a
s
y
s
te
m
w
i
th
th
e
ca
p
ab
ilit
y
to
s
e
lf
-
d
is
co
v
er
in
ter
n
a
l
er
r
o
r
s
,
an
d
th
en
s
el
f
-
c
o
r
r
ec
t
s
u
ch
er
r
o
r
s
o
n
ce
th
e
y
wer
e
id
en
tif
ied
.
T
h
e
m
o
s
t
d
if
f
ic
u
lt
p
ar
t
o
f
th
e
p
r
o
b
lem
f
o
r
a
tr
u
l
y
au
to
n
o
m
o
u
s
s
y
s
te
m
d
esi
g
n
i
s
th
at
a
b
ilit
y
to
d
is
co
v
er
u
n
f
o
r
eseea
b
le
er
r
o
r
s
th
at
ar
e
b
ey
o
n
d
th
e
o
r
ig
i
n
al
d
esig
n
s
.
T
h
a
t
is
,
th
e
au
to
n
o
m
o
u
s
s
y
s
te
m
s
h
o
u
ld
b
e
ab
le
to
co
r
r
ec
t
an
y
er
r
o
r
s
th
at
it
e
n
c
o
u
n
ter
s
,
i
n
cl
u
d
in
g
t
h
e
u
n
e
x
p
ec
ted
,
u
n
f
o
r
eseea
b
le
d
esig
n
f
la
w
s
,
if
it
is
tr
u
l
y
au
to
n
o
m
o
u
s
.
T
h
e
ab
ilit
y
to
s
el
f
-
co
r
r
ec
t
th
e
s
y
s
te
m
’
s
o
w
n
f
au
lt
co
n
d
it
io
n
s
d
ep
en
d
s
o
n
th
e
ab
ilit
y
to
id
en
ti
f
y
er
r
o
r
co
n
d
itio
n
s
h
ad
e
x
is
ted
;
o
th
er
w
i
s
e,
it
w
o
u
ld
n
o
t
b
e
ab
le
to
co
r
r
ec
t
it.
I
n
m
o
s
t
e
n
g
in
ee
r
i
n
g
d
esi
g
n
s
,
t
h
e
f
i
n
al
i
m
p
le
m
en
ta
tio
n
al
w
a
y
s
a
s
s
u
m
e
t
h
e
p
r
o
d
u
ct
w
ill
o
p
er
ate
as
e
x
p
ec
ted
ac
co
r
d
in
g
to
d
es
ig
n
.
Ho
w
ev
er
,
th
i
s
ass
u
m
p
tio
n
m
a
y
n
o
t
b
e
v
alid
in
t
h
e
r
ea
l
w
o
r
ld
b
ec
au
s
e
if
t
h
er
e
w
er
e
d
esig
n
f
la
w
s
,
h
o
w
w
o
u
ld
th
e
m
ac
h
in
e
k
n
o
w
it
s
el
f
is
er
r
o
n
eo
u
s
?
1
.
5
.
Det
ec
t
io
n o
f
Unex
pect
ed
F
a
ult
Co
nd
it
io
ns
Mo
s
t
o
f
te
n
,
th
e
d
esi
g
n
f
la
w
s
ar
e
d
is
co
v
er
ed
an
d
d
etec
ted
b
y
s
o
m
e
o
th
er
ex
ter
n
al
s
o
u
r
ce
s
o
th
er
th
a
n
th
e
i
m
p
le
m
en
ted
p
r
o
d
u
ct
its
el
f
.
T
h
at
i
s
,
i
f
t
h
e
a
u
to
n
o
m
o
u
s
p
r
o
d
u
ct
is
a
r
o
b
o
t
o
r
a
s
o
f
t
w
ar
e
p
r
o
g
r
a
m
,
it
w
o
u
ld
r
ar
ely
d
is
co
v
er
its
o
w
n
b
u
g
—
th
e
b
u
g
s
ar
e
o
f
te
n
d
is
co
v
er
ed
b
y
s
o
m
e
e
x
ter
n
al
s
o
u
r
ce
,
s
u
ch
as a
n
o
th
er
h
u
m
a
n
.
On
t
h
e
o
t
h
er
h
an
d
,
i
f
th
e
au
t
o
n
o
m
o
u
s
b
ein
g
is
a
li
v
i
n
g
o
r
g
an
i
s
m
(
s
u
c
h
as
h
u
m
a
n
o
r
an
i
m
al)
,
t
h
e
o
r
g
a
n
i
s
m
its
el
f
o
f
te
n
d
o
es
n
o
t
k
n
o
w
i
ts
in
tr
in
s
ic
f
a
u
lt
co
n
d
itio
n
s
—
th
o
s
e
f
la
w
s
ar
e
o
f
te
n
d
is
co
v
e
r
ed
b
y
s
o
m
e
o
t
h
er
h
u
m
a
n
s
.
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
2
0
1
6
:
26
2
–
27
6
264
T
h
is
p
ap
er
is
f
o
cu
s
ed
o
n
ad
d
r
ess
in
g
h
o
w
to
d
esi
g
n
a
u
to
n
o
m
o
u
s
s
y
s
te
m
s
t
h
at
ca
n
s
el
f
-
d
is
co
v
er
u
n
f
o
r
eseea
b
le
f
au
lt
co
n
d
itio
n
s
;
n
o
t
j
u
s
t
f
o
r
eseea
b
le
er
r
o
r
s
in
in
ter
ac
ti
n
g
w
i
th
th
e
ex
ter
n
al
w
o
r
ld
,
b
u
t
a
ls
o
u
n
f
o
r
eseea
b
le
in
ter
n
al
f
a
u
lts
a
n
d
b
u
g
s
co
n
d
itio
n
s
.
I
t
is
ad
d
r
ess
i
n
g
t
h
e
n
e
x
t
-
g
e
n
er
atio
n
d
es
ig
n
o
f
a
u
to
n
o
m
o
u
s
s
y
s
te
m
s
t
h
at
ar
e
ca
p
ab
le
o
f
s
elf
-
d
is
co
v
er
u
n
f
o
r
eseea
b
le
er
r
o
r
co
n
d
itio
n
s
.
1
.
6
.
Co
rr
ec
t
io
n o
f
Self
-
Dis
co
v
er
e
d E
rr
o
r
Co
nd
it
io
ns
I
n
th
e
d
esi
g
n
o
f
t
h
e
n
e
x
t
-
g
en
er
atio
n
au
to
n
o
m
o
u
s
s
el
f
-
co
r
r
ec
tiv
e
s
y
s
te
m
s
,
n
o
t
o
n
l
y
d
o
th
e
y
n
ee
d
to
d
is
co
v
er
u
n
ex
p
ec
ted
er
r
o
r
c
o
n
d
itio
n
s
,
b
u
t
a
ls
o
co
r
r
ec
t
th
e
s
el
f
-
d
is
co
v
er
ed
er
r
o
r
co
n
d
itio
n
s
w
it
h
o
u
t
a
n
y
ex
ter
n
al
h
elp
.
T
h
at
is
,
it
r
eq
u
ir
es
a
t
w
o
-
s
tep
p
r
o
ce
s
s
in
er
r
o
r
-
r
ec
o
v
er
y
.
T
h
e
f
ir
s
t
s
tep
is
to
d
is
co
v
er
an
d
id
en
ti
f
y
th
e
s
o
u
r
ce
o
f
er
r
o
r
co
n
d
itio
n
s
w
it
h
o
u
t
a
n
y
ex
ter
n
al
ass
is
tan
ce
.
T
h
e
s
ec
o
n
d
s
tep
is
to
co
r
r
ec
t
th
e
er
r
o
r
co
n
d
i
tio
n
s
a
n
d
r
ec
o
v
er
f
r
o
m
t
h
e
f
au
l
t
co
n
d
itio
n
au
to
n
o
m
o
u
s
l
y
w
it
h
o
u
t
a
n
y
ex
ter
n
al
g
u
id
an
ce
.
Fo
r
in
s
ta
n
ce
,
an
au
to
n
o
m
o
u
s
s
o
f
t
w
ar
e
s
y
s
te
m
co
u
ld
b
e
ab
le
to
d
is
co
v
er
it
s
o
w
n
b
u
g
s
an
d
co
r
r
ec
t
th
e
b
u
g
s
in
t
h
e
s
o
f
t
w
ar
e
co
d
e
w
ith
o
u
t
an
y
e
x
ter
n
al
a
s
s
is
ta
n
ce
.
Si
m
ilar
l
y
,
in
a
li
v
i
n
g
o
r
g
an
i
s
m
,
s
u
ch
a
s
h
u
m
an
,
it
w
o
u
ld
b
e
ab
le
to
d
is
co
v
er
an
d
id
en
tify
its
o
wn
f
la
w
s
,
th
e
n
co
r
r
ec
t
its
f
au
l
ts
w
ith
o
u
t
g
ett
in
g
h
elp
f
r
o
m
s
o
m
eo
n
e
else
(
i.e
.
,
w
it
h
o
u
t c
o
u
n
s
eli
n
g
b
y
an
o
t
h
er
p
er
s
o
n
)
.
2.
M
E
T
H
O
D
S
T
o
w
ar
d
s
th
e
g
o
al
o
f
d
esig
n
i
n
g
a
s
el
f
-
co
r
r
ec
tiv
e
a
u
to
n
o
m
o
u
s
s
y
s
te
m
,
t
h
e
f
ir
s
t
tas
k
is
to
d
etec
t
th
e
u
n
e
x
p
ec
ted
er
r
o
r
co
n
d
itio
n
s
.
T
h
e
s
ec
o
n
d
task
is
to
co
r
r
ec
t
s
u
c
h
d
is
co
v
er
ed
th
e
er
r
o
r
co
n
d
itio
n
th
at
it
en
co
u
n
ter
s
.
I
n
o
r
d
er
to
d
is
co
v
er
an
y
u
n
ex
p
ec
ted
/u
n
f
o
r
eseea
b
le
er
r
o
r
w
it
h
o
u
t
e
x
te
r
n
al
g
u
id
a
n
ce
,
w
e
i
m
p
le
m
en
t
o
n
e
o
f
th
e
b
io
l
o
g
icall
y
in
s
p
ir
ed
m
et
h
o
d
s
t
o
d
is
co
v
er
an
d
co
r
r
ec
t
th
e
u
n
e
x
p
ec
ted
er
r
o
r
s
au
to
n
o
m
o
u
s
l
y
.
Si
n
ce
b
io
lo
g
ic
al
o
r
g
an
is
m
s
ar
e
au
to
n
o
m
o
u
s
b
y
n
at
u
r
e,
m
o
s
t
o
f
t
h
e
p
r
in
cip
les
o
f
au
to
n
o
m
o
u
s
o
p
er
atio
n
h
av
e
o
f
ten
alr
ea
d
y
b
ee
n
d
is
co
v
er
e
d
in
ev
o
lu
t
io
n
.
I
n
b
io
lo
g
ical
an
i
m
al
s
y
s
te
m
s
,
e
s
p
ec
iall
y
i
n
h
i
g
h
er
-
an
i
m
als,
i
n
clu
d
i
n
g
h
u
m
a
n
s
,
th
e
ev
o
l
u
tio
n
o
f
e
m
o
tio
n
al
r
esp
o
n
s
es
i
s
o
n
e
o
f
th
e
i
n
tr
i
n
s
ic
s
e
lf
-
co
r
r
ec
tiv
e
p
r
in
cip
les d
is
co
v
er
ed
in
n
atu
r
e
to
id
en
tify
u
n
e
x
p
ec
ted
er
r
o
r
co
n
d
itio
n
s
a
n
d
r
ec
o
v
er
f
r
o
m
t
h
e
m
[
1
2
,
1
3
]
.
2
.
1
.
B
io
lo
g
ica
lly
I
ns
pired A
uto
no
m
o
u
s
E
rr
o
r
Rec
o
v
er
y
P
ro
ce
s
s
A
cc
o
r
d
in
g
to
th
i
s
th
eo
r
y
o
f
e
m
o
tio
n
al
p
r
o
ce
s
s
i
n
g
,
e
m
o
tio
n
is
ev
o
l
v
ed
as
an
in
ter
n
al
f
ee
d
b
ac
k
s
y
s
te
m
th
at
id
en
ti
f
ie
s
er
r
o
r
c
o
n
d
itio
n
s
,
w
h
ic
h
is
ex
p
r
ess
ed
as
u
n
h
ap
p
y
e
m
o
tio
n
s
[
1
4
]
.
T
h
e
er
r
o
r
r
ec
o
v
er
y
p
r
o
ce
s
s
is
ess
e
n
tiall
y
t
h
e
i
n
ter
n
al
e
m
o
tio
n
al
r
eso
l
u
tio
n
p
r
o
ce
s
s
to
r
ea
ch
th
e
co
n
te
n
ted
s
ta
te
o
f
h
ap
p
in
e
s
s
,
w
h
ich
s
i
g
n
if
ie
s
th
e
co
n
g
r
u
en
t
s
tat
e
b
et
w
ee
n
th
e
e
x
p
ec
ted
o
u
tco
m
e
a
n
d
th
e
ac
tu
al
o
u
tco
m
e
i
n
t
h
e
r
ea
l
w
o
r
ld
[
1
5
]
.
I
t
is
ess
e
n
tiall
y
a
n
o
p
ti
m
izatio
n
p
r
o
ce
s
s
to
m
i
n
i
m
ize
th
e
d
is
p
ar
it
y
b
et
w
ee
n
th
e
ex
p
ec
ted
an
d
th
e
ac
tu
al
o
u
tco
m
es
s
o
th
at
w
h
e
n
t
h
e
co
n
g
r
u
e
n
c
y
b
et
w
ee
n
t
h
e
e
x
p
ec
ted
an
d
ac
tu
a
l
o
u
tco
m
e
s
is
r
ea
c
h
ed
,
it
is
i
n
d
icate
d
b
y
th
e
s
tate
o
f
h
ap
p
i
n
ess
i
n
ter
n
all
y
.
T
h
e
u
s
e
o
f
m
i
n
i
m
izat
io
n
[
1
6
]
as t
h
e
f
ir
s
t
an
d
s
ec
o
n
d
o
r
d
er
s
elf
-
co
r
r
ec
tin
g
m
eth
o
d
h
ad
b
ee
n
ex
p
lo
r
ed
th
eo
r
etica
ll
y
i
n
o
th
er
p
h
y
s
ical
s
y
s
te
m
s
.
I
n
o
th
er
w
o
r
d
s
,
th
e
er
r
o
r
co
n
d
itio
n
is
s
el
f
-
d
is
co
v
er
ed
au
to
n
o
m
o
u
s
l
y
b
y
th
e
d
is
p
ar
it
y
b
e
t
w
ee
n
t
h
e
ex
p
ec
ted
an
d
th
e
ac
tu
a
l
o
u
tco
m
es,
w
h
ic
h
i
s
ex
p
r
es
s
e
d
as
t
h
e
u
n
h
ap
p
y
e
m
o
tio
n
al
s
tate.
T
h
at
i
s
,
th
e
u
n
h
ap
p
y
e
m
o
tio
n
is
a
n
i
n
ter
n
al
f
ee
d
b
ac
k
t
h
at
i
n
d
icate
s
s
o
m
e
er
r
o
r
co
n
d
itio
n
s
h
a
v
e
o
cc
u
r
r
ed
th
at
n
e
ed
to
b
e
f
ix
ed
.
T
h
is
p
r
o
v
id
es
th
e
au
to
n
o
m
o
u
s
p
r
o
ce
s
s
i
n
er
r
o
r
r
ec
o
v
er
y
,
u
s
in
g
e
m
o
tio
n
as
a
n
i
n
ter
n
al
f
ee
d
b
ac
k
t
o
g
u
id
e
t
h
e
er
r
o
r
co
r
r
ec
tio
n
p
r
o
ce
s
s
to
m
i
n
i
m
iz
e
th
e
er
r
o
r
s
th
at
it d
is
co
v
er
ed
.
T
h
er
ef
o
r
e,
o
n
e
o
f
th
e
m
et
h
o
d
o
lo
g
ies
to
id
en
t
if
y
t
h
e
e
x
is
te
n
ce
o
f
er
r
o
r
co
n
d
itio
n
s
i
s
to
co
m
p
ar
e
t
h
e
d
if
f
er
e
n
ce
b
et
w
ee
n
t
h
e
p
r
ed
ic
ted
o
u
tco
m
e
s
o
f
th
e
s
y
s
te
m
a
n
d
th
e
ac
tu
al
o
u
tco
m
e
s
in
r
ea
l
it
y
.
T
h
is
p
ap
er
w
i
ll
d
er
iv
e
a
s
et
o
f
o
p
ti
m
izatio
n
p
r
o
ce
s
s
in
au
to
n
o
m
o
u
s
r
ec
o
v
er
y
o
f
er
r
o
r
s
b
ased
o
n
t
h
e
p
r
in
cip
les
o
f
o
p
er
atio
n
in
s
p
ir
ed
b
y
th
e
b
io
lo
g
ical
e
m
o
tio
n
al
r
eso
lu
t
io
n
p
r
o
ce
s
s
.
2
.
2
.
Self
-
Dis
co
v
er
y
o
f
Unex
pect
ed
E
rr
o
r
Co
nd
it
io
ns
B
ased
o
n
t
h
e
p
r
in
c
ip
le
o
f
s
u
r
v
iv
al,
t
h
e
s
u
r
v
i
v
ab
ilit
y
o
f
a
s
y
s
t
e
m
i
s
d
ep
en
d
e
n
t o
n
t
h
e
ab
ili
t
y
to
p
r
ed
ict
th
e
o
u
tco
m
es
p
r
o
d
u
ce
d
b
y
t
h
e
s
y
s
te
m
ar
e
as
ac
c
u
r
atel
y
as
p
o
s
s
ib
le.
T
h
at
is
,
th
e
o
u
tco
m
es
p
r
o
d
u
ce
d
b
y
th
e
s
y
s
te
m
s
h
o
u
ld
co
r
r
esp
o
n
d
to
th
e
ac
t
u
al
o
u
tco
m
es
in
th
e
r
ea
l
w
o
r
ld
e
n
v
ir
o
n
m
e
n
t.
I
f
t
h
er
e
ar
e
d
is
cr
ep
an
cie
s
b
et
w
ee
n
th
e
p
r
ed
icted
/ex
p
ec
ted
o
u
tco
m
e
s
an
d
th
e
ac
tu
a
lit
y
i
n
th
e
r
ea
l
w
o
r
ld
,
th
e
n
th
e
s
y
s
t
e
m
m
a
y
n
o
t
s
u
r
v
i
v
e
as
w
ell
as
a
s
y
s
te
m
th
a
t
ca
n
p
r
o
d
u
ce
th
e
o
u
tco
m
e
ac
cu
r
at
el
y
.
T
h
er
ef
o
r
e,
th
e
s
u
r
v
i
v
ab
ili
t
y
o
f
th
e
s
y
s
te
m
i
s
d
ep
en
d
en
t
o
n
t
h
e
ac
cu
r
ac
y
o
f
p
r
o
d
u
cin
g
o
u
tco
m
es
th
at
co
r
r
e
s
p
o
n
d
to
th
e
r
ea
l
w
o
r
ld
en
v
ir
o
n
m
e
n
t.
T
h
e
h
ig
h
er
th
e
d
eg
r
ee
o
f
co
n
g
r
u
e
n
c
y
b
et
w
ee
n
t
h
e
p
r
ed
icted
an
d
th
e
ac
tu
al
o
u
tco
m
es,
th
e
g
r
ea
ter
t
h
e
s
u
r
v
iv
ab
il
it
y
o
f
t
h
e
s
y
s
te
m
w
i
ll
b
e.
Su
r
v
iv
ab
ili
t
y
is
d
ef
i
n
ed
as
th
e
p
r
o
b
ab
ilit
y
o
f
s
u
r
v
i
v
al
f
o
r
an
a
u
to
n
o
m
o
u
s
s
y
s
te
m
to
o
p
er
ate
an
d
to
f
u
n
ctio
n
in
t
h
e
r
ea
l
w
o
r
ld
w
it
h
o
u
t c
ata
s
tr
o
p
h
ic
f
a
ilu
r
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
elf
-
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o
r
r
ec
tive
A
u
to
n
o
mo
u
s
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s
in
g
Op
timiz
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tio
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ce
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es fo
r
Dete
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and
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la
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ie
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265
2
.
3
.
P
rinciple o
f
Su
rv
iv
a
bil
it
y
f
o
r
O
pti
m
iz
ing
t
he
Aut
o
no
m
o
us
Sy
s
t
e
m
Usi
n
g
t
h
i
s
s
u
r
v
iv
ab
ili
t
y
p
r
in
ci
p
le,
th
e
g
o
al
o
f
t
h
e
d
es
ig
n
o
f
t
h
e
a
u
to
n
o
m
o
u
s
s
y
s
te
m
i
s
to
i
n
cr
ea
s
e
it
s
ch
an
ce
o
f
s
u
r
v
i
v
al.
I
n
o
r
d
er
w
o
r
d
s
,
an
y
f
a
u
lt
co
n
d
itio
n
s
wo
u
ld
d
ec
r
ea
s
e
its
c
h
a
n
ce
o
f
s
u
r
v
i
v
al
a
s
a
s
y
s
te
m
.
T
h
u
s
,
i
n
d
esi
g
n
i
n
g
a
tr
u
l
y
a
u
t
o
n
o
m
o
u
s
s
y
s
te
m
,
th
e
p
r
o
b
le
m
to
s
o
lv
e
is
to
u
s
e
th
e
s
u
r
v
i
v
a
b
ilit
y
o
f
t
h
e
s
y
s
te
m
as
a
m
etr
ic
f
o
r
o
p
ti
m
izatio
n
.
I
n
o
t
h
er
w
o
r
d
s
,
th
e
g
o
al
is
to
o
p
ti
m
ize
t
h
e
s
u
r
v
i
v
al
o
f
t
h
e
s
y
s
te
m
as
a
w
h
o
le
i
n
its
o
p
er
atin
g
p
r
in
cip
le
s
,
s
o
t
h
at
th
e
s
y
s
te
m
ca
n
d
i
s
co
v
er
u
n
ex
p
ec
ted
er
r
o
r
s
w
i
th
o
u
t
r
elia
n
ce
o
n
a
n
y
ex
ter
n
al
ass
is
tan
ce
.
I
t
w
ill
b
e
s
h
o
w
n
b
elo
w
t
h
at
b
io
lo
g
ical
a
u
to
n
o
m
o
u
s
s
y
s
te
m
s
,
s
u
c
h
a
s
h
ig
h
er
-
a
n
i
m
als
an
d
h
u
m
a
n
s
,
u
s
e
e
m
o
t
io
n
as
a
f
ee
d
b
ac
k
s
y
s
te
m
to
s
el
f
-
d
i
s
co
v
er
an
d
s
e
lf
-
co
r
r
ec
t
an
y
u
n
e
x
p
ec
ted
er
r
o
r
co
n
d
itio
n
s
,
ev
en
th
o
u
g
h
t
h
o
s
e
er
r
o
r
co
n
d
itio
n
s
ar
e
u
n
f
o
r
esee
n
a
n
d
u
n
p
r
ed
icta
b
le,
w
i
th
o
u
t a
n
y
a
p
r
io
r
i
k
n
o
w
led
g
e
o
f
t
h
e
r
ea
li
t
y
in
th
e
r
ea
l
w
o
r
ld
.
2
.
4
.
Dis
cr
epa
ncy
M
ea
s
ure
a
s
a
M
e
t
ric
t
o
Self
-
Dis
co
v
er
E
rr
o
r
Co
nd
it
io
ns
I
n
o
r
d
er
to
d
is
co
v
er
u
n
ex
p
ec
te
d
er
r
o
r
s
w
it
h
o
u
t
e
x
ter
n
a
l
g
u
id
an
ce
,
o
n
e
o
f
t
h
e
m
et
h
o
d
o
lo
g
ies
i
s
to
u
s
e
th
e
d
is
cr
ep
an
c
y
b
et
w
ee
n
t
h
e
p
r
ed
icted
o
u
tco
m
es
o
f
t
h
e
s
y
s
te
m
a
n
d
th
e
ac
tu
a
l
o
u
tco
m
es
i
n
th
e
r
ea
l
w
o
r
ld
as
a
m
ea
s
u
r
e
o
f
th
e
ex
i
s
te
n
ce
o
f
an
y
er
r
o
r
co
n
d
itio
n
.
T
h
e
d
if
f
er
en
ce
b
et
w
ee
n
th
e
s
e
t
w
o
o
u
tco
m
es
w
o
u
ld
in
d
icate
s
o
m
e
er
r
o
r
s
m
u
s
t
h
av
e
e
x
is
te
d
th
at
ca
u
s
ed
t
h
e
s
y
s
te
m
to
p
r
o
d
u
ce
th
e
in
a
cc
u
r
ate
o
u
tco
m
e.
T
h
u
s
,
u
s
i
n
g
th
i
s
d
is
p
ar
it
y
m
ea
s
u
r
e,
th
e
s
y
s
te
m
is
ab
le
to
s
elf
-
d
is
co
v
er
an
y
u
n
ex
p
ec
ted
o
r
u
n
f
o
r
eseen
er
r
o
r
co
n
d
itio
n
s
,
w
it
h
o
u
t
r
el
y
in
g
o
n
an
y
ex
ter
n
al
g
u
id
a
n
ce
.
I
t
w
ill
b
e
d
er
iv
ed
b
elo
w
t
h
at
th
i
s
d
is
p
ar
it
y
m
ea
s
u
r
e
also
co
r
r
esp
o
n
d
s
to
th
e
u
n
h
ap
p
y
e
m
o
tio
n
in
a
n
i
m
als
as
an
au
to
n
o
m
ic
r
esp
o
n
s
e
to
th
e
d
etec
tio
n
o
f
er
r
o
r
co
n
d
itio
n
s
g
e
n
er
ated
in
ter
n
a
ll
y
b
y
th
e
a
n
i
m
al
as a
f
ee
d
b
ac
k
to
co
r
r
ec
t th
e
u
n
ex
p
e
cted
er
r
o
r
co
n
d
itio
n
s
.
3.
SE
L
F
-
DIS
CO
V
E
RY
O
F
UN
E
XP
E
C
T
E
D/UNF
O
R
E
S
E
E
AB
L
E
E
RRO
R
CO
NDI
T
I
O
NS
L
et
u
(
t
)
b
e
t
h
e
t
i
m
e
-
d
ep
en
d
e
n
t
m
u
lti
-
d
i
m
en
s
io
n
a
l
v
ec
to
r
r
ep
r
esen
tin
g
th
e
p
r
ed
icted
o
u
t
co
m
e
p
r
o
d
u
ce
d
b
y
th
e
a
u
to
n
o
m
o
u
s
s
y
s
te
m
,
an
d
ˆ
u
(
t
)
th
e
ti
m
e
-
d
ep
en
d
en
t
m
u
lti
-
d
i
m
e
n
s
io
n
al
v
ec
to
r
r
ep
r
esen
tin
g
ac
tu
al
o
u
tco
m
e
i
n
t
h
e
r
ea
l
wo
r
ld
,
th
en
th
e
ti
m
e
-
d
ep
en
d
en
t
d
is
p
ar
it
y
,
v
(
t
)
,
b
et
w
ee
n
t
h
e
e
x
p
ec
ted
an
d
t
h
e
ac
tu
al
o
u
tco
m
es i
s
g
i
v
e
n
b
y
th
e
m
u
l
ti
-
d
i
m
e
n
s
io
n
al
v
ec
to
r
:
v
(
t
)
=
ˆ
u
(
t
)
-
u
(
t
)
(
1
)
E
ac
h
o
f
t
h
e
d
i
m
en
s
io
n
s
o
f
t
h
e
v
ec
to
r
s
,
u
(
t
)
an
d
ˆ
u
(
t
)
,
co
r
r
esp
o
n
d
s
to
th
e
p
h
y
s
ica
l
d
i
m
e
n
s
io
n
o
f
th
e
s
en
s
o
r
y
in
p
u
t,
t
h
e
m
o
to
r
o
u
tp
u
t
o
r
th
e
ab
s
tr
ac
t
m
at
h
e
m
atica
l
d
i
m
en
s
io
n
i
n
t
h
e
eq
u
ati
o
n
s
r
ep
r
esen
tin
g
t
h
e
s
e
n
s
o
r
y
o
r
o
u
tp
u
t
s
ig
n
al
s
.
Fo
r
in
s
ta
n
ce
,
t
h
e
p
h
y
s
ica
l
d
i
m
e
n
s
io
n
ca
n
b
e
lig
h
t
i
n
te
n
s
i
t
y
(
f
o
r
v
i
s
io
n
)
,
s
o
u
n
d
i
n
ten
s
it
y
(
f
o
r
h
ea
r
in
g
)
o
r
ch
e
m
ical
i
n
te
n
s
i
t
y
(
f
o
r
s
m
e
lli
n
g
)
.
I
t
ca
n
also
b
e
an
y
ab
s
tr
ac
t
m
at
h
e
m
atica
l
d
im
e
n
s
io
n
(
s
u
ch
as
p
ain
,
w
h
ich
is
a
n
ab
s
tr
ac
tio
n
o
f
t
h
e
alar
m
s
ig
n
al
e
x
tr
ac
ted
f
r
o
m
t
h
e
v
ar
io
u
s
s
en
s
o
r
y
d
i
m
e
n
s
io
n
s
to
r
ep
r
esen
t
a
n
e
w
ab
s
tr
ac
t
s
e
n
s
o
r
y
d
i
m
e
n
s
i
o
n
ca
lled
―
p
ain
,
‖
w
h
ich
s
i
g
n
if
ies
a
n
y
p
o
ten
tial
f
o
r
ti
s
s
u
e
d
a
m
ag
e
i
n
b
io
lo
g
ica
l
o
r
g
an
is
m
s
o
r
t
h
e
p
r
o
b
ab
ilit
y
f
o
r
s
y
s
te
m
d
es
tr
u
ct
io
n
t
h
at
en
d
an
g
er
s
an
au
to
n
o
m
o
u
s
r
o
b
o
t’
s
s
u
r
v
iv
al)
.
I
f
t
h
e
ex
p
ec
ted
a
n
d
t
h
e
ac
t
u
a
l
o
u
tco
m
e
s
ar
e
t
h
e
s
a
m
e,
t
h
e
r
e
is
n
o
d
i
s
cr
ep
an
c
y
b
et
w
ee
n
th
e
m
;
t
h
e
au
to
n
o
m
o
u
s
s
y
s
te
m
i
s
f
u
n
ctio
n
in
g
ac
c
u
r
atel
y
w
it
h
o
u
t
a
n
y
er
r
o
r
s
.
T
h
is
is
i
n
d
icate
d
b
y
v
(
t
)
=
0
.
Ho
w
e
v
er
,
if
th
er
e
is
a
d
is
cr
ep
a
n
c
y
b
et
w
ee
n
t
h
e
o
u
tco
m
e
s
,
i.e
.
,
v
(
t
)
is
n
o
n
-
z
er
o
(
v
(
t
)
¹
0
)
;
th
en
s
o
m
e
er
r
o
r
s
m
u
s
t
h
av
e
ex
is
ted
.
T
h
er
ef
o
r
e,
th
e
d
is
p
a
r
it
y
v
ec
to
r
,
v
(
t
)
,
ca
n
b
e
u
s
ed
as
th
e
s
el
f
-
d
is
co
v
er
y
er
r
o
r
in
d
icato
r
f
o
r
an
au
to
n
o
m
o
u
s
s
y
s
te
m
to
d
etec
t th
e
ex
i
s
te
n
ce
o
f
er
r
o
r
co
n
d
itio
n
s
w
ith
o
u
t a
n
y
e
x
ter
n
al
a
s
s
i
s
tan
ce
,
i.e
.
,
v
(
t
)
¹
0
Þ
E
r
r
o
r
c
ondi
t
i
o
n
h
a
s
d
i
s
c
ove
re
d
(
2
)
T
h
is
m
u
lti
-
d
i
m
e
n
s
io
n
al
d
is
p
ar
it
y
v
ec
to
r
is
cr
u
cial
i
n
d
etec
tin
g
an
d
id
en
t
if
y
i
n
g
t
h
e
e
x
is
te
n
c
e
o
f
er
r
o
r
co
n
d
itio
n
th
at
an
a
u
to
n
o
m
o
u
s
s
y
s
te
m
e
n
co
u
n
ter
ed
.
3
.
1
.
B
io
lo
g
ica
l Self
-
Det
ec
t
io
n o
f
E
rr
o
r
us
ing
E
m
o
t
io
n a
s
t
he
I
nte
rna
l F
ee
db
a
c
k
I
n
b
io
lo
g
ical
e
v
o
lu
tio
n
,
t
h
is
d
i
s
p
ar
it
y
v
ec
to
r
is
e
v
o
lv
ed
a
s
th
e
e
m
o
tio
n
,
w
h
ic
h
s
ig
n
i
f
ie
s
to
an
a
n
i
m
a
l
th
at
s
o
m
et
h
i
n
g
is
w
r
o
n
g
,
i.e
.
,
s
o
m
et
h
i
n
g
is
in
co
n
g
r
u
e
n
t
w
i
th
t
h
e
e
x
p
ec
ted
r
ea
l
w
o
r
ld
co
n
d
itio
n
s
.
T
h
at
is
,
an
i
m
als
h
a
v
e
e
v
o
lv
ed
to
u
s
e
e
m
o
tio
n
as
a
g
u
id
e
to
d
etec
t
s
o
m
et
h
i
n
g
w
e
n
t
w
r
o
n
g
a
u
t
o
n
o
m
o
u
s
l
y
w
it
h
o
u
t
n
ee
d
in
g
a
n
y
ex
ter
n
al
ass
is
ta
n
c
e
o
r
g
u
id
an
ce
.
W
it
h
o
u
t
e
m
o
ti
o
n
,
an
an
i
m
al
is
o
b
liv
io
u
s
to
t
h
e
er
r
o
r
co
n
d
itio
n
s
,
an
d
w
o
u
ld
n
o
t
b
e
ab
le
to
r
e
s
p
o
n
d
to
th
e
er
r
o
n
eo
u
s
co
n
d
itio
n
s
f
o
r
s
u
b
s
eq
u
e
n
t
co
r
r
ec
tio
n
.
W
ith
e
m
o
tio
n
,
an
i
m
als ar
e
ab
le
to
r
esp
o
n
d
to
th
e
f
a
u
lt c
o
n
d
itio
n
,
an
d
d
o
s
o
m
et
h
in
g
to
co
r
r
ec
t it.
T
h
is
also
ex
e
m
p
li
f
ies
tr
ad
itio
n
al
r
o
b
o
ts
w
ith
o
u
t
e
m
o
tio
n
s
ca
n
n
o
t
r
esp
o
n
d
to
a
n
y
f
a
u
lt
co
n
d
itio
n
s
au
to
n
o
m
o
u
s
l
y
u
n
le
s
s
th
e
f
au
l
t
co
n
d
itio
n
s
a
n
d
co
r
r
ec
tiv
e
ac
t
io
n
s
w
er
e
ex
p
lic
itl
y
i
n
s
tr
u
cte
d
b
y
s
o
m
e
e
x
ter
n
al
s
o
u
r
ce
s
,
w
h
ic
h
is
u
s
u
all
y
b
e
y
o
n
d
th
e
r
ea
ch
(
o
r
th
e
ab
ili
ty
)
o
f
th
e
r
o
b
o
t
to
s
elf
-
d
is
co
v
er
an
d
/o
r
s
elf
-
co
r
r
ec
t
s
u
c
h
u
n
e
x
p
ec
ted
/u
n
f
o
r
esee
n
e
r
r
o
r
s
.
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
2
0
1
6
:
26
2
–
27
6
266
3
.
2
.
I
dentif
ica
t
io
n o
f
So
urce
o
f
E
rr
o
rs
On
ce
t
h
e
er
r
o
r
co
n
d
itio
n
s
ar
e
s
elf
-
d
is
co
v
er
ed
,
th
e
n
e
x
t
s
tep
in
t
h
e
p
r
o
ce
s
s
o
f
s
el
f
-
co
r
r
ec
tin
g
er
r
o
r
i
s
to
id
en
tify
w
h
er
e
th
e
s
o
u
r
ce
o
f
er
r
o
r
s
is
co
m
i
n
g
f
r
o
m
.
I
t
is
cr
u
cial
to
id
en
tify
th
e
s
o
u
r
ce
o
f
er
r
o
r
if
co
r
r
ec
tiv
e
ac
tio
n
s
w
er
e
d
o
n
e
to
m
in
i
m
i
ze
th
e
er
r
o
r
s
o
f
t
h
e
s
y
s
te
m
a
u
to
n
o
m
o
u
s
l
y
.
I
n
g
e
n
er
al,
t
h
er
e
ar
e
th
r
ee
p
o
s
s
ib
l
e
s
o
u
r
ce
s
o
f
er
r
o
r
s
:
(
a)
in
p
u
t e
r
r
o
r
s
(
s
en
s
o
r
y
er
r
o
r
s
)
,
(
b
)
o
u
tp
u
t e
r
r
o
r
s
(
ex
ec
u
tio
n
er
r
o
r
s
)
,
an
d
(
c)
in
ter
n
a
l
m
o
d
eli
n
g
er
r
o
r
s
(
p
r
ed
ictio
n
er
r
o
r
s
)
.
L
et
x
b
e
t
h
e
m
u
lti
-
d
i
m
e
n
s
io
n
a
l
v
ec
to
r
r
ep
r
ese
n
ti
n
g
t
h
e
i
n
p
u
t
o
f
th
e
s
y
s
te
m
,
y
th
e
v
ec
to
r
r
ep
r
esen
tin
g
th
e
o
u
tp
u
t
o
f
t
h
e
s
y
s
te
m
,
a
n
d
z
b
e
th
e
v
ec
to
r
r
ep
r
esen
ti
n
g
th
e
in
ter
n
al
p
r
ed
ictio
n
;
t
h
e
n
t
h
e
in
p
u
t
er
r
o
r
,
o
u
tp
u
t
x
y
z
,
r
esp
ec
tiv
el
y
.
No
te
th
at
a
n
y
o
f
th
e
ab
o
v
e
t
h
r
ee
d
if
f
er
e
n
t
s
o
u
r
ce
s
o
f
er
r
o
r
s
ca
n
co
n
tr
ib
u
te
to
t
h
e
o
v
er
all
er
r
o
r
s
t
h
at
r
es
u
lt
i
n
p
r
o
d
u
cin
g
a
d
is
cr
ep
an
c
y
b
et
w
ee
n
th
e
e
x
p
ec
ted
a
n
d
th
e
ac
t
u
al
o
u
tco
m
es.
Sin
ce
i
n
t
h
e
r
ea
l
w
o
r
ld
,
th
er
e
is
u
s
u
all
y
n
o
a
p
r
io
r
i
k
n
o
w
led
g
e
o
f
w
h
er
e
t
h
e
er
r
o
r
s
m
a
y
co
m
e
f
r
o
m
,
it
i
s
o
n
e
o
f
th
e
m
o
s
t
d
if
f
ic
u
lt
ta
s
k
s
to
id
en
tify
t
h
e
s
o
u
r
ce
o
f
er
r
o
r
co
n
d
itio
n
s
au
to
n
o
m
o
u
s
l
y
.
E
v
e
n
t
h
o
u
g
h
t
h
er
e
m
a
y
n
o
t
b
e
a
n
y
cl
u
es
f
o
r
id
en
tify
i
n
g
t
h
e
s
o
u
r
ce
o
f
e
r
r
o
r
w
ith
o
u
t
a
n
y
a
p
r
io
r
i
k
n
o
w
led
g
e,
it
is
n
o
t
n
ec
ess
ar
il
y
i
n
s
u
r
m
o
u
n
tab
le
to
f
i
g
u
r
e
o
u
t
t
h
e
p
o
s
s
ib
le
s
o
u
r
c
e
o
f
er
r
o
r
.
W
e
w
ill
in
tr
o
d
u
ce
th
e
m
et
h
o
d
o
lo
g
ies
f
o
r
d
etec
tin
g
an
d
id
en
ti
f
y
i
n
g
t
h
e
s
o
u
r
ce
s
o
f
er
r
o
r
s
.
3
.
3
.
I
dentif
y
ing
t
he
So
urce
o
f
E
rr
o
r
On
e
o
f
th
e
m
et
h
o
d
o
lo
g
ies
to
id
en
ti
f
y
t
h
e
er
r
o
r
s
o
u
r
ce
is
to
m
ak
e
an
a
s
s
u
m
p
t
io
n
o
f
w
h
er
e
th
e
er
r
o
r
m
a
y
co
m
e
f
r
o
m
.
Si
n
ce
t
h
e
er
r
o
r
s
co
u
ld
co
m
e
f
r
o
m
a
n
y
o
n
e
o
f
th
e
ab
o
v
e
th
r
ee
s
o
u
r
ce
s
;
th
er
ef
o
r
e,
b
y
u
s
in
g
a
n
ex
h
a
u
s
tiv
e
s
ea
r
ch
m
et
h
o
d
,
it c
an
n
ar
r
o
w
d
o
w
n
th
e
s
o
u
r
ce
o
f
er
r
o
r
o
n
e
b
y
o
n
e.
T
h
at
is
,
b
y
a
s
s
u
m
in
g
t
h
e
s
o
u
r
ce
o
f
er
r
o
r
is
co
m
in
g
f
r
o
m
o
n
e
(
o
r
m
o
r
e)
o
f
t
h
e
ab
o
v
e
s
o
u
r
ce
s
,
th
en
co
r
r
ec
ti
v
e
ac
tio
n
s
ca
n
b
e
tak
e
n
to
m
in
i
m
iz
e
th
e
e
n
co
u
n
ter
ed
er
r
o
r
s
.
E
v
en
th
o
u
g
h
t
h
is
m
a
y
s
ee
m
lik
e
a
b
r
u
te
-
f
o
r
ce
ap
p
r
o
ac
h
to
s
o
lv
e
th
e
p
r
o
b
le
m
;
i
t
is
,
ess
e
n
tiall
y
,
w
h
at
e
v
o
lu
tio
n
h
ad
co
m
e
u
p
w
i
th
to
s
o
lv
e
t
h
e
a
u
to
n
o
m
o
u
s
er
r
o
r
-
r
ec
o
v
er
y
p
r
o
b
le
m
i
n
t
h
e
e
m
o
tio
n
al
r
eso
l
u
tio
n
p
r
o
ce
s
s
in
in
tellect
u
al
h
ig
h
er
-
a
n
i
m
al
s
.
T
h
is
is
also
o
n
e
o
f
t
h
e
r
ea
s
o
n
s
w
h
y
i
t
is
o
f
te
n
d
if
f
ic
u
lt to
r
eso
l
v
e
u
n
r
eso
lv
ed
e
m
o
tio
n
s
(
ev
en
i
n
h
u
m
a
n
s
)
wh
en
t
h
e
s
o
u
r
ce
o
f
u
n
h
ap
p
i
n
ess
is
u
n
id
en
ti
f
ied
.
Fu
r
t
h
er
m
o
r
e,
m
an
y
o
f
t
h
e
m
e
th
o
d
o
lo
g
ies
i
n
ar
tific
ial
i
n
tel
li
g
en
ce
(
A
I
)
ar
e
es
s
en
t
iall
y
u
s
i
n
g
b
r
u
te
-
f
o
r
ce
ap
p
r
o
ac
h
s
o
lu
tio
n
s
to
s
o
lv
e
h
ar
d
p
r
o
b
lem
s
w
i
th
o
u
t
an
y
e
x
p
licit
s
o
l
u
tio
n
s
.
T
h
ese
b
r
u
te
-
f
o
r
ce
ap
p
r
o
ac
h
es
ar
e
g
en
er
aliza
b
le
i
m
p
licit
m
et
h
o
d
s
u
s
in
g
i
n
telli
g
e
n
t
s
ea
r
c
h
e
s
,
ev
e
n
w
it
h
o
u
t
e
x
p
licit
m
at
h
e
m
atica
l
s
o
lu
t
io
n
s
to
s
o
lv
e
co
m
p
le
x
a
n
d
ill
-
d
ef
in
e
d
p
r
o
b
lem
s
.
T
h
e
w
id
el
y
u
s
e
d
A
I
m
et
h
o
d
s
f
o
r
s
o
l
v
i
n
g
t
h
ese
h
ar
d
p
r
o
b
le
m
s
w
it
h
o
u
t
ex
p
licit
s
o
lu
t
io
n
s
i
n
cl
u
d
e,
b
u
t
n
o
t
li
m
ited
to
,
g
en
e
ti
c
alg
o
r
ith
m
[
1
7
-
19]
,
ev
o
lu
tio
n
ar
y
al
g
o
r
ith
m
[
2
0
-
22]
,
ar
tif
icial
n
e
u
r
al
n
et
w
o
r
k
[
2
3
-
29]
,
s
im
u
lated
an
n
ea
lin
g
[
3
0
-
32]
,
o
r
f
u
zz
y
lo
g
ic
ap
p
r
o
a
ch
[
3
3
-
36]
.
E
ac
h
o
f
th
ese
s
ea
r
c
h
alg
o
r
it
h
m
s
ess
e
n
t
iall
y
u
s
es
b
est
-
g
u
e
s
s
ap
p
r
o
ac
h
es
to
s
ea
r
ch
f
o
r
p
o
s
s
ib
le
s
o
lu
t
io
n
,
an
d
th
en
u
s
e
s
an
iter
ati
v
e
ap
p
r
o
ac
h
to
m
i
n
i
m
iz
e
th
e
er
r
o
r
s
in
th
e
s
ea
r
ch
i
n
o
r
d
er
t
o
ar
r
iv
e
at
s
o
m
e
o
p
ti
m
a
l so
lu
tio
n
s
.
Sin
ce
n
u
m
er
o
u
s
s
ea
r
c
h
al
g
o
r
ith
m
s
f
o
r
ex
p
lo
r
in
g
p
o
s
s
ib
l
e
o
p
ti
m
al
s
o
l
u
tio
n
s
h
a
v
e
alr
ea
d
y
b
ee
n
in
v
e
s
ti
g
ated
in
th
e
s
e
s
u
b
f
ield
s
o
f
A
I
,
in
cl
u
d
in
g
g
e
n
etic
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o
r
ith
m
,
ar
tif
icia
l
n
eu
r
al
n
e
t
w
o
r
k
an
d
s
i
m
u
lated
an
n
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l
in
g
,
t
h
e
ch
o
ice
o
f
i
m
p
l
e
m
en
tin
g
an
y
o
f
t
h
ese
s
ea
r
c
h
m
et
h
o
d
s
d
ep
en
d
s
o
n
th
e
i
m
p
le
m
e
n
tatio
n
o
f
t
h
e
s
p
ec
if
ic
au
to
n
o
m
o
u
s
s
y
s
te
m
.
T
h
er
ef
o
r
e,
th
e
f
o
cu
s
o
f
th
is
p
ap
er
is
to
ex
p
lo
r
e
th
e
m
et
h
o
d
o
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ies
in
au
to
n
o
m
o
u
s
l
y
d
etec
tin
g
a
n
d
c
o
r
r
ec
tin
g
s
elf
-
d
is
co
v
er
ed
er
r
o
r
s
r
ath
er
t
h
a
n
f
o
cu
s
in
g
o
n
s
e
lec
tin
g
w
h
ic
h
s
p
ec
i
f
ic
co
r
r
ec
tiv
e
alg
o
r
it
h
m
to
u
s
e,
as
t
h
e
y
h
ad
b
ee
n
ex
a
m
i
n
e
d
ex
ten
s
i
v
el
y
else
w
h
er
e
i
n
t
h
e
r
esp
ec
ti
v
e
s
u
b
-
d
is
cip
lin
es o
f
A
I
m
e
n
tio
n
ed
a
b
o
v
e.
3
.
4
.
O
pti
m
iza
t
io
n P
ro
ce
s
s
f
o
r
Dis
co
v
er
y
a
nd
M
ini
m
iza
t
i
o
n o
f
E
rr
o
rs
T
o
w
ar
d
th
e
g
o
al
o
f
id
e
n
ti
f
y
i
n
g
th
e
s
o
u
r
ce
o
f
u
n
id
en
ti
f
ie
d
er
r
o
r
s
in
an
au
to
n
o
m
o
u
s
s
y
s
te
m
,
we
in
tr
o
d
u
ce
t
h
e
m
et
h
o
d
o
lo
g
y
f
o
r
tr
o
u
b
lesh
o
o
tin
g
i
ts
o
w
n
s
y
s
t
e
m
b
y
th
e
u
s
e
o
f
th
e
d
is
p
ar
it
y
v
ec
to
r
,
v
(
t
)
,
as
a
m
etr
ic
f
o
r
s
el
f
-
d
i
s
co
v
er
i
n
g
er
r
o
r
o
f
th
e
s
y
s
te
m
au
to
n
o
m
o
u
s
l
y
.
T
h
e
d
is
p
ar
it
y
v
ec
to
r
is
a
ti
m
e
-
v
ar
y
in
g
,
m
u
lti
-
d
i
m
en
s
io
n
al
v
ec
to
r
th
at
r
ep
r
esen
ts
t
h
e
r
ea
l
-
ti
m
e
d
is
cr
ep
an
c
y
b
et
w
ee
n
th
e
ex
p
ec
ted
an
d
th
e
ac
tu
al
o
u
tco
m
e
s
in
th
e
r
ea
l
w
o
r
ld
.
T
h
e
ex
is
ten
ce
o
f
er
r
o
r
co
n
d
itio
n
s
i
s
d
is
co
v
er
ed
b
y
t
h
e
d
i
s
p
ar
it
y
b
et
w
ee
n
t
h
e
ex
p
ec
ted
an
d
t
h
e
ac
tu
al
o
u
tco
m
es
in
ac
tu
a
lit
y
.
T
h
u
s
,
t
h
e
au
to
n
o
m
o
u
s
p
r
o
ce
s
s
f
o
r
s
el
f
-
co
r
r
ec
tin
g
t
h
e
e
n
c
o
u
n
ter
ed
er
r
o
r
is
a
m
i
n
i
m
izatio
n
p
r
o
ce
s
s
to
m
in
i
m
ize
t
h
e
d
is
p
ar
it
y
.
T
h
e
p
r
o
b
a
b
ilit
y
o
f
s
u
r
v
i
v
al
o
f
t
h
e
s
y
s
te
m
i
s
d
ep
en
d
en
t
o
n
t
h
e
ac
cu
r
ac
y
o
f
its
p
r
ed
ictio
n
s
.
T
h
e
ac
cu
r
ac
y
o
f
i
ts
p
r
ed
ictio
n
ca
n
b
e
d
eter
m
i
n
ed
b
y
th
e
d
e
g
r
ee
o
f
co
n
g
r
u
e
n
c
y
b
et
w
ee
n
th
e
p
r
ed
icted
o
u
tco
m
e
an
d
th
e
ac
tu
a
l o
u
tco
m
e.
T
h
e
d
is
p
ar
ity
v
ec
to
r
is
a
m
ea
s
u
r
e
o
f
th
e
i
n
co
n
g
r
u
en
ce
b
et
w
ee
n
t
h
e
p
r
ed
icted
an
d
ac
tu
al
o
u
tco
m
es
.
T
h
en
th
e
g
o
al
o
f
t
h
e
au
to
n
o
m
o
u
s
s
y
s
te
m
i
s
to
m
in
i
m
ize
th
e
d
is
p
ar
it
y
v
ec
to
r
s
u
c
h
th
a
t c
o
n
g
r
u
e
n
ce
b
et
w
ee
n
th
e
p
r
ed
ictio
n
an
d
th
e
ac
tu
alit
y
ca
n
b
e
r
ea
ch
ed
.
I
f
th
er
e
is
co
n
g
r
u
e
n
ce
b
et
w
ee
n
t
h
e
p
r
ed
icted
an
d
ac
tu
al
o
u
tco
m
es,
th
e
er
r
o
r
s
ar
e
m
i
n
i
m
ized
,
an
d
t
h
e
p
r
o
b
ab
ilit
y
o
f
s
u
r
v
iv
al
i
n
cr
ea
s
es.
I
n
o
th
er
wo
r
d
s
,
th
is
p
r
o
ce
s
s
i
s
ess
e
n
tiall
y
a
n
o
p
ti
m
iza
tio
n
p
r
o
ce
s
s
to
m
i
n
i
m
ize
th
e
er
r
o
r
to
o
b
tain
an
o
p
ti
m
al
s
o
lu
tio
n
f
o
r
th
e
s
y
s
te
m
to
in
cr
ea
s
e
it
s
p
r
o
b
ab
ilit
y
o
f
s
u
r
v
iv
a
l.
T
h
is
o
p
ti
m
izatio
n
p
r
o
ce
s
s
i
s
t
h
e
eq
u
i
v
al
e
n
t
o
f
t
h
e
―
s
u
r
v
iv
al
o
f
t
h
e
f
itte
s
t‖
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
elf
-
C
o
r
r
ec
tive
A
u
to
n
o
mo
u
s
S
ystems
u
s
in
g
Op
timiz
a
tio
n
P
r
o
ce
s
s
es fo
r
Dete
ctio
n
and
...
(
N
ico
la
d
ie
Ta
m
)
267
p
r
in
cip
le
in
b
io
lo
g
ical
ev
o
l
u
t
io
n
b
y
u
s
in
g
an
iter
ati
v
e
s
ea
r
ch
alg
o
r
ith
m
to
eli
m
in
a
te
u
n
f
it
s
o
lu
tio
n
s
t
h
at
d
ec
r
ea
s
e
its
s
u
r
v
i
v
ab
ilit
y
.
T
h
u
s
,
th
e
o
p
ti
m
izat
io
n
p
r
o
ce
s
s
is
an
iter
ati
v
e
p
r
o
ce
s
s
,
th
r
o
u
g
h
tr
ial
-
an
d
-
er
r
o
r
to
o
b
tain
an
o
p
ti
m
al
s
o
lu
tio
n
,
s
i
m
ilar
to
th
e
tr
ial
-
a
n
d
-
er
r
o
r
ap
p
r
o
ac
h
to
u
s
e
ex
h
au
s
ti
v
e
s
ea
r
c
h
i
n
g
e
n
etic
al
g
o
r
ith
m
an
d
ar
ti
f
icial
n
eu
r
al
n
e
t
w
o
r
k
.
No
te,
it
i
s
w
ell
k
n
o
w
n
t
h
at
t
h
ese
A
I
m
eth
o
d
s
d
o
n
o
t
n
ec
ess
ar
il
y
g
u
ar
an
tee
t
h
e
s
o
lu
t
io
n
r
ea
ch
es
ei
th
er
a
g
lo
b
al
m
in
i
m
u
m
o
r
a
lo
ca
l
m
i
n
i
m
u
m
.
T
h
e
y
m
er
el
y
p
r
o
v
id
e
a
s
o
l
u
tio
n
t
h
at
m
i
n
i
m
ize
s
t
h
e
er
r
o
r
co
n
d
itio
n
s
b
ec
au
s
e,
m
o
s
t
o
f
te
n
,
th
e
g
lo
b
al
m
i
n
i
m
u
m
i
s
an
u
n
k
n
o
w
n
i
n
t
h
e
r
ea
l
w
o
r
l
d
.
T
h
at
is
,
th
e
m
o
s
t
o
p
tim
a
l
s
o
l
u
tio
n
m
a
y
n
o
t
b
e
k
n
o
w
n
w
it
h
a
n
y
a
p
r
io
r
i
k
n
o
w
led
g
e.
T
h
e
b
est
o
n
e
co
u
ld
d
o
is
to
f
i
n
d
a
m
i
n
i
m
u
m
,
w
h
ich
i
s
o
f
te
n
a
lo
ca
l
m
in
i
m
u
m
.
E
v
e
n
th
o
u
g
h
it
m
a
y
b
e
a
lo
ca
l
m
i
n
i
m
u
m
,
it
is
a
s
o
lu
t
io
n
;
r
eg
ar
d
less
o
f
w
h
et
h
er
it is
t
h
e
m
o
s
t o
p
ti
m
a
l so
lu
t
io
n
o
r
n
o
t.
3
.
5
.
T
o
po
lo
g
y
o
f
t
he
So
lutio
n Spa
ce
in Sea
rc
h f
o
r
t
he
O
pti
m
a
l So
lutio
n
Fi
g
.
1
illu
s
tr
ates
th
e
to
p
o
lo
g
y
o
f
th
e
s
o
lu
tio
n
s
p
ac
e
in
t
h
e
er
r
o
r
m
i
n
i
m
izatio
n
p
r
o
ce
s
s
,
in
wh
ich
t
h
er
e
m
a
y
b
e
m
u
ltip
le
m
i
n
i
m
a
in
t
h
e
m
u
lt
i
-
d
i
m
e
n
s
io
n
al
s
o
l
u
tio
n
s
p
ac
e.
Sin
ce
m
o
s
t
s
ea
r
ch
al
g
o
r
ith
m
s
,
in
cl
u
d
i
n
g
ar
tif
icial
n
eu
r
al
n
e
t
w
o
r
k
,
u
s
e
g
r
ad
ien
t
-
d
esce
n
t
as
o
n
e
o
f
th
e
f
ee
d
b
ac
k
cr
iter
ia
in
th
e
iter
ativ
e
s
ea
r
ch
f
o
r
an
o
p
tim
a
l so
l
u
tio
n
,
Fi
g
.
1
p
r
o
v
id
es a
n
ill
u
s
tr
atio
n
o
f
t
h
e
lo
ca
l
m
i
n
i
m
a
v
s
.
t
h
e
g
lo
b
al
m
i
n
i
m
a
in
t
h
e
s
ea
r
ch
s
p
ac
e.
Usi
n
g
g
r
ad
ien
t
-
d
escen
t,
th
e
s
e
ar
ch
alg
o
r
ith
m
ca
n
o
f
te
n
b
e
s
tu
ck
i
n
a
lo
ca
l
m
i
n
i
m
u
m
.
W
h
ic
h
lo
ca
l
m
i
n
i
m
u
m
i
t
is
s
t
u
ck
o
n
o
f
te
n
d
ep
en
d
s
o
n
t
h
e
in
i
tial c
o
n
d
itio
n
s
an
d
o
th
er
s
ea
r
ch
p
ar
a
m
eter
s
.
No
n
eth
ele
s
s
,
a
s
lo
n
g
as
t
h
er
e
is
a
r
ed
u
ctio
n
o
f
er
r
o
r
,
i.e
.
,
e
r
r
o
r
m
i
n
i
m
izatio
n
,
i
t
is
co
r
r
ec
tin
g
its
e
l
f
au
to
n
o
m
o
u
s
l
y
w
i
th
o
u
t
an
y
ex
ter
n
al
g
u
id
an
ce
.
S
i
m
i
lar
l
y
,
i
n
b
io
lo
g
ical
ev
o
lu
tio
n
,
th
e
a
u
t
o
n
o
m
o
u
s
s
o
lu
t
io
n
s
f
o
u
n
d
i
n
b
io
lo
g
ical
s
y
s
te
m
s
a
r
e
n
o
t
n
ec
ess
ar
il
y
th
e
m
o
s
t
o
p
ti
m
al
s
o
lu
t
io
n
,
w
h
ic
h
i
s
w
h
y
d
i
f
f
er
e
n
t
a
n
i
m
als
h
av
e
ev
o
l
v
ed
w
it
h
d
i
f
f
er
en
t
o
p
ti
m
al
s
o
lu
t
io
n
s
to
s
i
m
i
lar
p
r
o
b
le
m
s
,
a
n
d
ca
m
e
u
p
w
it
h
d
i
f
f
e
r
en
t
s
e
lf
-
co
r
r
ec
tiv
e
s
tr
ateg
ie
s
.
I
n
o
th
er
w
o
r
d
s
,
th
e
s
ea
r
ch
alg
o
r
it
h
m
d
o
es
n
o
t
n
ec
es
s
ar
il
y
f
in
d
a
u
n
iq
u
e
s
o
l
u
tio
n
;
m
o
s
t
o
f
te
n
,
i
t
f
i
n
d
s
d
if
f
er
en
t
s
o
l
u
tio
n
s
d
ep
en
d
in
g
o
n
t
h
e
s
ea
r
c
h
p
ath
.
As
lo
n
g
a
s
a
s
o
l
u
tio
n
i
s
f
o
u
n
d
th
at
r
ed
u
ce
s
th
e
er
r
o
r
,
th
en
t
h
e
s
y
s
te
m
is
ab
le
to
r
ec
o
v
er
f
r
o
m
th
e
s
el
f
-
d
is
co
v
er
ed
er
r
o
r
au
to
n
o
m
o
u
s
l
y
w
it
h
o
u
t
a
n
y
e
x
ter
n
a
l
ass
is
tan
ce
.
I
n
r
ea
l
w
o
r
ld
ap
p
licatio
n
,
it
i
s
o
f
te
n
u
s
e
f
u
l
to
f
in
d
a
p
r
ac
tical
s
o
lu
tio
n
,
r
ath
e
r
th
an
a
n
ab
s
o
l
u
t
e
s
o
lu
tio
n
,
i
n
d
ea
li
n
g
w
it
h
r
ea
l
w
o
r
ld
p
r
o
b
le
m
s
.
T
h
u
s
,
t
h
i
s
p
a
p
er
is
f
o
cu
s
ed
o
n
d
er
i
v
in
g
th
e
p
r
ag
m
atic
s
o
l
u
tio
n
s
to
s
elf
-
d
is
co
v
er
a
n
d
s
el
f
-
co
r
r
ec
t
an
y
u
n
ex
p
ec
ted
/
u
n
f
o
r
esee
ab
le
er
r
o
r
c
o
n
d
itio
n
s
t
h
at
an
au
to
n
o
m
o
u
s
s
y
s
te
m
h
as e
n
co
u
n
ter
ed
.
Fig
u
r
e
1
.
A
g
r
ap
h
ical
i
llu
s
t
r
atio
n
o
f
t
h
e
m
u
lti
-
d
i
m
en
s
i
o
n
al
s
o
l
u
tio
n
s
p
ac
e
t
h
at
m
o
s
t
s
ea
r
ch
alg
o
r
ith
m
s
u
s
e
in
f
in
d
i
n
g
a
n
o
p
tim
a
l
s
o
lu
tio
n
u
s
i
n
g
g
r
ad
ien
t
-
d
escen
t
m
et
h
o
d
s
i
n
t
h
e
o
p
t
i
m
izatio
n
p
r
o
ce
s
s
to
s
ea
r
ch
f
o
r
er
r
o
r
m
in
i
m
a.
No
te
th
at
t
h
er
e
ca
n
b
e
m
u
l
tip
le
er
r
o
r
m
i
n
i
m
a
i
n
t
h
e
to
p
o
lo
g
y
.
T
h
u
s
,
th
e
o
p
ti
m
izatio
n
p
r
o
ce
s
s
m
a
y
d
is
co
v
er
a
lo
ca
l
m
i
n
i
m
u
m
r
at
h
er
th
a
n
a
g
lo
b
al
m
i
n
i
m
u
m
.
No
n
et
h
ele
s
s
,
it
i
s
an
o
p
ti
m
al
s
o
l
u
tio
n
,
ev
en
t
h
o
u
g
h
it
m
a
y
n
o
t b
e
th
e
m
o
s
t o
p
ti
m
a
l so
lu
t
io
n
.
4.
P
RIOR
I
T
I
Z
AT
I
O
N
O
F
E
R
RO
R
CO
NDIT
I
O
NS
F
O
R
C
O
RREC
T
I
O
N
Giv
e
n
th
at
t
h
e
d
is
p
ar
it
y
v
ec
to
r
,
v
(
t
)
,
ca
n
d
etec
t
th
e
ex
i
s
te
n
ce
o
f
er
r
o
r
co
n
d
itio
n
s
,
th
er
e
co
u
l
d
b
e
m
an
y
d
if
f
er
e
n
t
er
r
o
r
co
n
d
itio
n
s
th
at
e
x
is
t
s
i
m
u
lta
n
eo
u
s
l
y
in
an
y
s
y
s
te
m
.
So
m
e
o
f
t
h
e
er
r
o
r
co
n
d
itio
n
s
m
a
y
b
e
cr
itical,
w
h
ile
o
t
h
er
s
m
a
y
b
e
l
ess
cr
itica
l.
T
h
er
ef
o
r
e,
it
i
s
i
m
p
o
r
tan
t
to
p
r
io
r
itize
w
h
ic
h
er
r
o
r
co
n
d
itio
n
n
ee
d
s
to
b
e
ad
d
r
ess
ed
f
ir
s
t.
I
n
o
r
d
er
to
p
r
i
o
r
itize
w
h
ic
h
er
r
o
r
co
n
d
itio
n
i
s
m
o
r
e
i
m
p
o
r
tan
t
t
h
an
o
th
er
s
,
t
h
en
t
h
e
s
y
s
te
m
h
as
to
h
a
v
e
a
m
ec
h
an
is
m
to
au
to
m
ate
t
h
e
p
r
io
r
itizatio
n
p
r
o
ce
s
s
.
Mo
s
t
i
m
p
o
r
tan
tl
y
,
if
all
t
h
e
er
r
o
r
s
w
er
e
ad
d
r
ess
ed
s
i
m
u
lta
n
eo
u
s
l
y
,
all
th
e
d
if
f
er
en
t
co
r
r
ec
tiv
e
ac
tio
n
s
m
a
y
in
ter
f
er
e
w
it
h
ea
ch
o
th
er
,
r
esu
ltin
g
in
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
2
0
1
6
:
26
2
–
27
6
268
a
m
o
r
e
ch
ao
tic
s
y
s
te
m
t
h
a
n
i
t
w
as.
T
h
u
s
,
it
i
s
es
s
e
n
tial
to
p
r
io
r
itize
th
e
co
r
r
ec
tiv
e
ac
ti
o
n
s
i
n
t
h
e
o
r
d
er
o
f
i
m
p
o
r
tan
ce
,
i.e
.
,
cr
u
cial
to
th
e
s
u
r
v
iv
a
l
o
f
t
h
e
s
y
s
te
m
as
a
wh
o
le.
I
f
t
h
e
er
r
o
r
s
ar
e
m
i
n
o
r
,
t
h
e
y
ca
n
b
e
i
g
n
o
r
ed
w
it
h
o
u
t
ca
u
s
in
g
s
y
s
te
m
f
ai
lu
r
e.
Ho
w
ev
er
,
i
f
t
h
e
er
r
o
r
s
ar
e
m
aj
o
r
,
an
d
if
th
e
y
w
er
e
ig
n
o
r
ed
,
th
en
it
w
o
u
ld
lik
el
y
lead
to
ca
tast
r
o
p
h
ic
s
y
s
t
e
m
f
a
ilu
r
e,
d
ec
r
ea
s
in
g
it
s
s
u
r
v
iv
al
as a
s
y
s
te
m
.
4
.
1
.
P
rio
ri
t
iza
t
io
n by
t
he
Size
o
f
E
rr
o
r
T
h
e
s
ee
m
i
n
g
l
y
lo
g
ical
ap
p
r
o
a
ch
is
to
p
r
io
r
itize
th
e
i
m
p
o
r
tan
ce
o
f
th
e
er
r
o
r
co
n
d
itio
n
is
to
ad
d
r
ess
th
e
lar
g
er
d
is
p
ar
it
y
f
ir
s
t
—
b
ase
d
o
n
t
h
e
s
ize
o
f
th
e
er
r
o
r
it
p
r
o
d
u
ce
d
(
w
h
ich
co
n
tr
ib
u
te
s
m
o
s
t
to
t
h
e
er
r
o
r
co
n
d
itio
n
s
)
.
Ho
w
e
v
er
,
in
r
ea
li
t
y
,
t
h
e
s
ize
o
f
d
is
p
ar
it
y
i
n
o
n
e
d
i
m
en
s
io
n
ca
n
n
o
t
b
e
d
ir
ec
tly
co
m
p
ar
ed
to
th
e
s
ize
o
f
an
o
t
h
er
d
is
p
ar
it
y
in
a
n
o
th
er
d
i
m
e
n
s
io
n
i
n
th
e
m
u
lt
i
-
d
i
m
en
s
io
n
al
s
p
ac
e.
Fo
r
in
s
t
an
ce
,
u
s
in
g
s
e
n
s
o
r
y
(
in
p
u
t)
er
r
o
r
as
an
ex
a
m
p
le,
er
r
o
r
s
m
a
y
e
x
is
t
i
n
b
o
th
t
h
e
v
is
u
al
d
i
m
e
n
s
io
n
(
in
v
is
io
n
)
an
d
th
e
au
d
ito
r
y
d
i
m
en
s
io
n
(
in
h
ea
r
i
n
g
)
.
T
h
er
e
f
o
r
e,
co
m
p
ar
in
g
t
h
e
s
ize
o
f
t
h
e
v
i
s
u
al
(
li
g
h
t)
s
i
g
n
a
l
w
it
h
th
e
s
ize
o
f
t
h
e
a
u
d
ito
r
y
(
s
o
u
n
d
)
s
ig
n
al
i
s
m
ea
n
in
g
le
s
s
b
ec
au
s
e
lig
h
t
an
d
s
o
u
n
d
s
i
g
n
a
ls
ar
e
co
m
p
letel
y
d
i
f
f
er
en
t
f
r
o
m
e
ac
h
o
th
er
in
t
h
e
p
h
y
s
ical
d
i
m
e
n
s
io
n
.
I
n
o
th
er
w
o
r
d
s
,
th
e
b
r
ig
h
t
n
ess
o
f
l
ig
h
t
ca
n
n
o
t
b
e
co
m
p
ar
ed
to
th
e
lo
u
d
n
es
s
o
f
s
o
u
n
d
.
T
h
u
s
,
it i
s
n
o
t p
o
s
s
ib
le
to
p
r
io
r
itize
w
h
eth
er
to
ad
d
r
ess
th
e
v
i
s
u
al
d
i
s
p
ar
it
y
o
r
t
h
e
a
u
d
ito
r
y
d
is
p
ar
it
y
f
ir
s
t
b
ased
o
n
th
e
s
ize
o
f
th
e
er
r
o
r
s
ig
n
al
i
ts
elf
.
I
n
b
io
lo
g
ical
a
u
to
n
o
m
o
u
s
s
y
s
t
e
m
s
,
th
e
p
r
io
r
itizatio
n
o
f
w
h
i
ch
er
r
o
r
co
n
d
itio
n
s
to
b
e
ad
d
r
ess
ed
f
ir
s
t
is
also
a
s
i
m
ilar
is
s
u
e
as
i
n
au
to
n
o
m
o
u
s
r
o
b
o
ts
.
Mo
s
t
o
f
te
n
,
th
e
e
m
o
tio
n
al
f
ee
d
b
ac
k
s
i
g
n
i
f
ies
to
t
h
e
an
i
m
a
l
th
at
s
o
m
et
h
i
n
g
i
s
w
r
o
n
g
,
y
et
th
er
e
m
a
y
b
e
m
u
ltip
le
er
r
o
r
c
o
n
d
itio
n
s
th
a
t
ca
ll
t
h
e
atte
n
tio
n
f
o
r
t
h
e
a
n
i
m
al
to
ad
d
r
ess
.
T
h
u
s
,
t
h
e
p
r
o
b
lem
o
f
p
r
io
r
itizin
g
t
h
e
s
e
v
er
it
y
o
f
th
e
er
r
o
r
is
an
i
m
p
o
r
ta
n
t
i
s
s
u
e
to
ad
d
r
ess
in
au
to
n
o
m
o
u
s
co
r
r
ec
tio
n
o
f
er
r
o
r
s
.
T
h
at
is
,
if
t
h
e
a
u
to
n
o
m
o
u
s
s
y
s
te
m
s
p
en
d
s
to
o
m
u
c
h
t
i
m
e
i
n
ad
d
r
ess
in
g
m
i
n
o
r
p
r
o
b
lem
s
to
s
o
lv
e
in
s
t
ea
d
o
f
co
r
r
ec
tin
g
t
h
e
m
aj
o
r
er
r
o
r
s
o
f
th
e
s
y
s
te
m
,
th
e
n
it
c
o
u
ld
b
e
s
t
u
c
k
i
n
t
h
e
u
n
r
e
s
o
lv
ed
s
tate.
F
u
r
t
h
er
m
o
r
e
,
it
ca
n
o
v
er
w
h
el
m
th
e
s
y
s
te
m
i
f
ev
er
y
m
i
n
o
r
er
r
o
r
is
tr
ea
ted
eq
u
all
y
b
ec
au
s
e
m
i
n
o
r
er
r
o
r
s
alw
a
y
s
e
x
i
s
t in
t
h
e
r
ea
l
w
o
r
ld
; n
o
s
y
s
te
m
is
i
m
m
u
n
e
to
er
r
o
r
s
.
T
h
is
is
s
i
m
ilar
to
t
h
e
tr
ia
g
e
s
y
s
te
m
i
n
e
m
er
g
e
n
c
y
ca
r
e
at
m
o
s
t
h
o
s
p
ital
’
s
e
m
er
g
e
n
c
y
r
o
o
m
ca
r
e
s
y
s
te
m
.
T
h
e
p
r
io
r
itizatio
n
u
s
in
g
a
tr
ia
g
e
s
y
s
te
m
w
ill
a
llo
w
th
e
m
o
s
t
u
r
g
en
t
e
m
er
g
e
n
c
y
co
n
d
itio
n
s
to
b
e
tr
ea
ted
f
ir
s
t
b
ef
o
r
e
t
h
e
le
s
s
u
r
g
en
t
ca
r
e
i
s
p
er
f
o
r
m
ed
.
T
h
i
s
i
n
cr
ea
s
es
t
h
e
s
u
r
v
iv
al
o
f
t
h
e
p
atien
t
s
b
ein
g
ca
r
ed
f
o
r
.
B
y
th
e
s
a
m
e
to
k
e
n
,
w
h
e
n
t
h
e
p
r
in
cip
le
o
f
a
tr
iag
e
s
y
s
te
m
is
u
s
ed
i
n
a
u
to
n
o
m
o
u
s
r
ec
o
v
er
y
o
f
er
r
o
r
,
it
co
u
ld
in
cr
ea
s
e
t
h
e
p
r
o
b
ab
ilit
y
o
f
s
u
r
v
i
v
al
o
f
t
h
e
s
y
s
te
m
b
y
p
r
io
r
itizin
g
t
h
e
m
o
s
t
u
r
g
e
n
t
er
r
o
r
co
n
d
itio
n
s
to
b
e
ad
d
r
ess
ed
f
ir
s
t b
ef
o
r
e
co
r
r
ec
tin
g
t
h
e
m
in
o
r
er
r
o
r
co
n
d
itio
n
s
.
4
.
2
.
P
rio
rit
iza
t
io
n by
Unex
pect
ed
Cha
ng
es
I
f
it
is
n
o
t
p
o
s
s
ib
le
to
p
r
io
r
it
ize
b
ased
o
n
th
e
in
te
n
s
it
y
o
f
th
e
er
r
o
r
co
n
d
itio
n
d
u
e
to
th
e
d
if
f
er
en
t
p
h
y
s
ical
d
i
m
en
s
io
n
s
,
an
o
t
h
er
m
et
h
o
d
o
lo
g
y
i
s
to
u
s
e
t
h
e
u
n
ex
p
ec
ted
ch
a
n
g
e
as
o
n
e
o
f
th
e
cr
iter
ia
to
s
i
g
n
if
y
u
r
g
e
n
c
y
to
ad
d
r
ess
th
e
er
r
o
r
.
T
h
at
is
,
r
ath
er
th
a
n
co
m
p
ar
i
n
g
th
e
ab
s
o
lu
te
m
a
g
n
it
u
d
e
o
f
er
r
o
r
,
u
s
e
th
e
r
elati
v
e
er
r
o
r
as
a
m
ea
s
u
r
e
f
o
r
co
m
p
ar
is
o
n
.
I
n
o
t
h
er
w
o
r
d
s
,
b
y
u
s
in
g
t
h
e
r
elati
v
e
er
r
o
r
as
a
m
e
tr
ic
id
en
ti
f
y
in
g
t
h
e
s
ev
er
it
y
o
f
er
r
o
r
,
it
is
c
o
m
p
a
r
in
g
t
h
e
s
a
m
e
p
h
y
s
ical
d
i
m
e
n
s
io
n
b
ased
o
n
h
o
w
th
e
er
r
o
r
h
as
p
r
o
g
r
ess
ed
—
w
h
et
h
er
th
e
er
r
o
r
h
as in
cr
ea
s
e
d
o
r
d
ec
r
ea
s
ed
.
I
f
t
h
e
er
r
o
r
h
as
d
ec
r
ea
s
ed
b
as
ed
o
n
th
e
d
is
p
ar
it
y
v
ec
to
r
,
v
(
t
)
,
th
en
t
h
er
e
is
les
s
u
r
g
e
n
c
y
to
ad
d
r
ess
th
e
er
r
o
r
.
Ho
w
ev
er
,
i
f
th
e
er
r
o
r
h
as
in
cr
ea
s
ed
,
th
e
n
th
e
p
r
io
r
it
y
s
h
o
u
ld
b
e
p
lace
d
h
ig
h
er
in
t
h
e
u
r
g
e
n
c
y
l
is
t
f
o
r
ad
d
r
ess
in
g
.
T
h
u
s
,
th
e
r
ate
o
f
c
h
an
g
e
o
f
er
r
o
r
w
o
u
ld
b
e
an
ap
p
r
o
p
r
iate
m
ea
s
u
r
e
to
b
e
u
s
ed
as o
n
e
o
f
t
h
e
cr
iter
ia
f
o
r
p
r
io
r
itizin
g
t
h
e
u
r
g
en
c
y
to
ad
d
r
ess
th
e
er
r
o
r
co
n
d
itio
n
s
.
Usi
n
g
th
is
p
r
io
r
itizatio
n
p
r
in
cip
le,
th
e
u
n
e
x
p
ec
ted
ch
an
g
e
in
er
r
o
r
c
o
n
d
itio
n
s
ca
n
b
e
q
u
an
ti
f
ied
b
y
th
e
r
ate
o
f
c
h
a
n
g
e
o
f
t
h
e
d
is
p
a
r
it
y
v
ec
to
r
,
v
(
t
)
,
w
h
ic
h
i
s
g
i
v
en
b
y
t
h
e
ti
m
e
d
er
iv
at
iv
e
o
f
th
e
d
i
s
p
ar
it
y
v
ec
to
r
,
¶
v
(
t
)
¶
t
.
I
f
t
h
e
r
ate
o
f
c
h
an
g
e
o
f
t
h
e
d
is
p
ar
it
y
v
ec
to
r
is
p
o
s
it
iv
e
(
¶
v
(
t
)
¶
t
>
0
)
,
it
in
d
icate
s
t
h
at
th
e
er
r
o
r
h
as i
n
cr
ea
s
ed
:
¶
v
(
t
)
¶
t
>
0
Þ
E
r
r
o
r
h
a
s
i
nc
re
a
s
e
d
(
3
)
Usi
n
g
th
i
s
m
ea
s
u
r
e
a
s
o
n
e
o
f
th
e
cr
iter
ia
f
o
r
p
r
io
r
itizin
g
,
t
h
en
t
h
is
w
o
u
ld
in
d
icate
u
r
g
en
c
y
i
n
ad
d
r
ess
i
n
g
t
h
e
er
r
o
r
c
o
n
d
itio
n
.
I
n
b
io
lo
g
ical
a
u
to
n
o
m
o
u
s
s
y
s
t
e
m
s
,
th
i
s
u
r
g
e
n
c
y
to
ad
d
r
ess
t
h
e
er
r
o
r
co
n
d
itio
n
is
o
f
te
n
i
n
d
icate
d
b
y
th
e
u
n
h
ap
p
y
e
m
o
tio
n
,
w
h
ic
h
s
ig
n
i
f
ies
s
o
m
et
h
i
n
g
h
as
g
o
n
e
w
r
o
n
g
[
1
4
]
.
T
h
u
s
,
th
e
o
p
ti
m
i
za
tio
n
g
o
al
f
o
r
t
h
e
an
i
m
al
is
to
in
cr
ea
s
e
th
e
h
ap
p
in
es
s
lev
el
w
h
ile
d
ec
r
ea
s
in
g
th
e
u
n
h
ap
p
in
e
s
s
le
v
el,
in
o
r
d
er
to
r
e
d
u
ce
th
e
s
elf
-
d
is
co
v
er
ed
er
r
o
r
co
n
d
itio
n
.
T
h
is
is
an
au
to
n
o
m
ic
r
esp
o
n
s
e
in
an
i
m
al
s
,
w
h
ic
h
is
a
b
u
ilt
-
in
m
ec
h
an
i
s
m
(
i
n
-
b
o
r
n
tr
ait)
f
o
r
a
n
i
m
als
to
r
esp
o
n
s
e
au
to
m
at
icall
y
to
d
i
s
tr
ess
s
i
g
n
als.
Si
n
ce
th
e
s
u
r
v
iv
al
o
f
an
an
i
m
al
i
s
o
f
u
t
m
o
s
t
i
m
p
o
r
tan
ce
f
o
r
an
an
i
m
al,
t
h
is
p
r
in
cip
le
o
f
s
elf
-
p
r
eser
v
a
ti
o
n
h
as
b
ee
n
ev
o
l
v
ed
as
a
h
ar
d
w
ir
ed
f
ee
d
b
ac
k
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
elf
-
C
o
r
r
ec
tive
A
u
to
n
o
mo
u
s
S
ystems
u
s
in
g
Op
timiz
a
tio
n
P
r
o
ce
s
s
es fo
r
Dete
ctio
n
and
...
(
N
ico
la
d
ie
Ta
m
)
269
s
y
s
te
m
i
n
th
e
a
u
to
n
o
m
ic
n
er
v
o
u
s
s
y
s
te
m
in
m
o
s
t
h
ig
h
er
-
an
i
m
als.
B
ec
au
s
e
th
e
au
to
n
o
m
ic
n
er
v
o
u
s
s
y
s
te
m
h
a
s
b
ee
n
ev
o
lv
ed
as
a
n
au
to
m
atic
s
elf
-
p
r
eser
v
at
io
n
s
u
r
v
i
v
al
f
ee
d
b
ac
k
s
y
s
te
m
,
m
o
s
t
a
n
i
m
als
ar
e
n
o
t
ev
en
a
w
ar
e
o
f
s
u
c
h
a
u
to
n
o
m
ic
r
esp
o
n
s
e
co
n
s
cio
u
s
l
y
.
R
at
h
er
,
th
e
y
r
esp
o
n
d
au
to
m
at
icall
y
as
a
n
a
u
to
n
o
m
ic
r
e
f
le
x
w
it
h
o
u
t
r
ea
ch
in
g
th
e
co
n
s
cio
u
s
n
ess
le
v
el,
b
ec
au
s
e
it
i
s
s
o
ess
e
n
tial
t
o
s
u
r
v
i
v
al
t
h
at
a
r
ap
id
r
esp
o
n
s
e
is
n
ee
d
ed
w
it
h
o
u
t
r
eq
u
ir
in
g
t
h
e
co
m
p
le
x
it
y
o
f
t
h
e
p
r
o
ce
s
s
in
g
i
n
h
ig
h
er
-
co
g
n
iti
o
n
.
4
.
3
.
Crit
er
io
n f
o
r
I
nd
ica
t
ing
Co
rr
ec
t
iv
e
Act
io
ns
a
re
E
f
f
ec
t
iv
e
in Re
du
ci
ng
E
rr
o
rs
C
o
n
v
er
s
el
y
,
i
f
th
e
r
ate
o
f
ch
an
g
e
o
f
th
e
d
is
p
ar
it
y
v
ec
to
r
is
n
e
g
ati
v
e
(
¶
v
(
t
)
¶
t
<
0
)
,
it
in
d
icate
s
th
at
th
e
er
r
o
r
h
as d
ec
r
ea
s
ed
:
¶
v
(
t
)
¶
t
<
0
Þ
E
r
r
o
r
h
a
s
d
e
c
re
a
s
e
d
(
4
)
T
h
is
in
d
icate
s
t
h
at
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
e
f
f
ec
ti
v
e
i
n
r
ed
u
cin
g
t
h
e
er
r
o
r
.
T
h
er
ef
o
r
e,
it
ca
n
co
n
tin
u
e
t
h
e
co
r
r
ec
tiv
e
ac
t
io
n
s
u
n
til t
h
e
er
r
o
r
r
ea
ch
es a
m
i
n
i
m
u
m
.
T
h
is
w
o
u
ld
al
s
o
in
d
icat
e
a
lo
w
er
p
r
io
r
it
y
i
n
th
e
u
r
g
e
n
c
y
lis
t
co
m
p
ar
ed
to
th
e
s
u
d
d
en
l
y
d
is
co
v
er
ed
er
r
o
r
s
(
¶
2
v
(
t
)
¶
t
2
>
0
,
s
ee
s
ec
tio
n
b
elo
w
)
,
w
h
ic
h
s
h
o
u
ld
b
e
h
ig
h
er
in
t
h
e
p
r
io
r
ity
lis
t.
I
n
b
io
lo
g
ical
a
u
to
n
o
m
o
u
s
s
y
s
t
e
m
s
,
a
r
ed
u
ctio
n
o
f
er
r
o
r
co
n
d
itio
n
i
s
o
f
ten
i
n
d
icate
d
b
y
a
r
elief
in
th
e
u
n
h
ap
p
y
e
m
o
t
io
n
,
w
h
ich
s
er
v
es
as
an
e
m
o
t
io
n
al
f
ee
d
b
ac
k
t
o
th
e
an
i
m
al
to
r
elax
an
d
n
o
t
w
o
r
r
y
s
o
m
u
c
h
ab
o
u
t
th
e
er
r
o
r
c
o
n
d
itio
n
b
ec
au
s
e
th
i
n
g
s
ar
e
s
tar
tin
g
to
g
o
in
th
e
r
ig
h
t
d
ir
ec
tio
n
.
T
h
is
also
r
ed
u
ce
s
th
e
d
is
tr
ess
s
i
g
n
al
e
m
o
tio
n
all
y
to
t
h
e
an
i
m
a
l,
s
o
th
at
it
d
o
es
n
o
t
n
ee
d
to
p
a
y
a
s
m
u
c
h
atte
n
tio
n
to
t
h
e
er
r
o
r
co
n
d
itio
n
as
i
t
w
as
b
ef
o
r
e.
T
h
is
o
f
ten
o
f
f
lo
ad
s
t
h
e
u
r
g
e
n
c
y
in
th
e
p
r
io
r
it
y
lis
t,
s
o
th
at
at
ten
t
io
n
ca
n
b
e
p
aid
to
o
th
er
m
o
r
e
u
r
g
en
t
an
d
s
ev
er
e
er
r
o
r
co
n
d
itio
n
th
a
n
th
e
o
n
e
t
h
at
i
s
s
tar
ti
n
g
to
s
h
o
w
a
r
elie
f
.
5.
CRIT
E
R
I
A
F
O
R
DE
T
E
C
T
I
NG
E
F
F
E
C
T
I
V
E
O
R
I
N
E
F
F
E
CT
I
VE
CO
RREC
T
I
VE
S
T
RA
T
E
G
Y
On
ce
t
h
e
er
r
o
r
co
n
d
itio
n
s
h
a
v
e
b
ee
n
d
etec
ted
an
d
p
r
io
r
itized
,
th
en
t
h
e
er
r
o
r
co
r
r
ec
tio
n
p
h
ase
is
d
ep
lo
y
ed
to
co
r
r
ec
t
th
e
en
co
u
n
ter
ed
er
r
o
r
.
T
h
e
s
y
s
te
m
n
e
ed
s
to
h
av
e
s
o
m
e
f
o
r
m
o
f
f
e
ed
b
ac
k
to
in
d
icate
w
h
et
h
er
th
e
co
r
r
ec
tiv
e
ac
t
io
n
s
ar
e
p
r
o
ce
ed
in
g
to
m
in
i
m
ize
th
e
er
r
o
r
s
.
Sin
ce
i
n
d
e
p
lo
y
i
n
g
b
est
-
g
u
es
s
alg
o
r
ith
m
s
o
r
ex
h
au
s
ti
v
e
s
ea
r
c
h
s
tr
ate
g
ies
i
n
s
el
f
-
co
r
r
ec
tio
n
,
th
er
e
is
n
o
g
u
a
r
an
tee
th
at
s
u
c
h
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
ef
f
ec
ti
v
e.
T
h
er
ef
o
r
e,
it
is
i
m
p
o
r
tan
t
to
h
av
e
s
o
m
e
cr
iter
ia
f
o
r
d
etec
ti
n
g
w
h
et
h
er
t
h
e
d
ep
lo
y
ed
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
ef
f
ec
ti
v
e
o
r
n
o
t.
I
n
o
r
d
er
to
q
u
an
ti
f
y
t
h
e
e
f
f
ec
t
i
v
en
e
s
s
o
f
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
,
s
o
m
e
cr
iter
ia
ar
e
n
ee
d
ed
to
s
ig
n
i
f
y
to
th
e
s
y
s
te
m
w
h
et
h
er
to
co
n
tin
u
e
th
e
p
r
ev
io
u
s
co
r
r
ec
tiv
e
ac
tio
n
o
r
to
ch
an
g
e
to
s
o
m
e
o
th
er
alter
n
ate
co
r
r
ec
tiv
e
ac
tio
n
s
.
O
n
e
o
f
th
e
cr
i
ter
ia
f
o
r
d
etec
tin
g
t
h
e
ef
f
ec
ti
v
e
n
es
s
o
f
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
is
t
h
e
r
a
te
o
f
ch
a
n
g
e
o
f
th
e
d
is
p
a
r
it
y
v
ec
to
r
(
¶
v
(
t
)
¶
t
)
b
ec
au
s
e
it
r
ep
r
esen
ts
w
h
et
h
er
th
e
er
r
o
r
(
d
is
p
ar
it
y
)
is
in
cr
ea
s
i
n
g
,
d
ec
r
e
asin
g
o
r
co
n
s
ta
n
t (
n
o
ch
a
n
g
e)
.
5
.
1
.
Crit
er
io
n f
o
r
a
Cha
ng
e
o
f
C
o
rr
ec
t
iv
e
Str
a
t
e
g
y
is
Nee
ded
I
f
th
e
r
ate
o
f
c
h
an
g
e
o
f
t
h
e
d
is
p
ar
ity
v
ec
to
r
is
ze
r
o
(
¶
v
(
t
)
¶
t
=
0
)
,
th
en
th
er
e
is
n
o
ch
an
g
e
i
n
er
r
o
r
:
¶
v
(
t
)
¶
t
=
0
Þ
N
o
c
ha
nge
i
n
e
r
r
o
r
(
5
)
T
h
er
ef
o
r
e,
if
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
d
id
n
o
t
m
ak
e
an
y
c
h
an
g
es
to
t
h
e
er
r
o
r
co
n
d
itio
n
,
t
h
en
it
s
u
g
g
es
ts
th
at
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
in
ef
f
ec
ti
v
e.
T
h
u
s
,
it
m
a
y
n
ee
d
to
d
ep
l
o
y
o
th
er
co
r
r
ec
tiv
e
s
tr
ateg
ies
to
co
r
r
ec
t
s
u
c
h
an
er
r
o
r
.
So
a
ze
r
o
in
th
e
d
is
p
ar
it
y
v
ec
t
o
r
(
¶
v
(
t
)
¶
t
=
0
)
ca
n
b
e
u
s
ed
as
th
e
cr
iter
i
o
n
(
m
etr
ic)
th
at
in
d
icate
s
th
e
co
r
r
ec
tiv
e
s
tr
ateg
y
i
s
i
n
e
f
f
ec
ti
v
e.
T
h
is
s
h
o
u
ld
s
e
n
d
a
f
e
ed
b
ac
k
s
i
g
n
a
l
to
th
e
s
y
s
te
m
t
h
at
a
ch
a
n
g
e
to
an
alter
n
ate
co
r
r
ec
tiv
e
ac
tio
n
i
s
n
ee
d
ed
in
o
r
d
er
to
s
ea
r
ch
f
o
r
s
o
m
e
o
th
er
m
o
r
e
e
f
f
ec
t
iv
e
co
r
r
ec
tiv
e
ac
tio
n
s
.
5
.
2
.
Crit
er
ia
f
o
r
Cha
ng
ing
t
he
Di
re
ct
io
n o
f
E
rr
o
r
Co
rr
ec
t
i
o
n
I
f
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
p
r
o
ce
ed
in
g
i
n
t
h
e
co
r
r
ec
t
d
ir
ec
t
io
n
,
th
e
er
r
o
r
s
s
h
o
u
ld
r
ed
u
ce
.
Ho
w
e
v
er
,
if
t
h
e
co
r
r
ec
tiv
e
ac
t
io
n
s
w
er
e
in
cr
ea
s
i
n
g
t
h
e
er
r
o
r
s
,
th
e
n
a
ch
an
g
e
o
f
d
ir
ec
tio
n
w
o
u
ld
b
e
n
ee
d
ed
f
o
r
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
.
T
h
u
s
,
t
h
e
r
ate
o
f
c
h
a
n
g
e
o
f
th
e
d
is
p
ar
it
y
v
ec
to
r
(
¶
v
(
t
)
¶
t
)
ca
n
al
s
o
b
e
u
s
ed
to
in
d
icate
w
h
eth
er
th
e
co
r
r
ec
tiv
e
ef
f
o
r
ts
ar
e
s
u
cc
es
s
f
u
l
in
r
ed
u
ci
n
g
th
e
er
r
o
r
.
I
n
o
th
er
w
o
r
d
s
,
w
h
atev
er
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e,
th
e
y
m
a
y
o
r
m
a
y
n
o
t
b
e
r
ed
u
cin
g
t
h
e
er
r
o
r
s
.
T
h
u
s
,
it
is
i
m
p
o
r
tan
t
to
d
esig
n
a
n
a
u
to
n
o
m
o
u
s
s
y
s
te
m
t
h
at
i
s
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
2
0
1
6
:
26
2
–
27
6
270
ca
p
ab
le
o
f
id
en
tify
i
n
g
w
h
e
th
er
its
o
w
n
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
ap
p
r
o
p
r
iate
o
r
n
o
t
in
m
i
n
i
m
izi
n
g
t
h
e
er
r
o
r
s
w
it
h
o
u
t
an
y
e
x
ter
n
al
cu
e
s
.
I
f
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
m
ax
i
m
izi
n
g
t
h
e
er
r
o
r
s
in
s
tead
o
f
m
i
n
i
m
izi
n
g
t
h
e
er
r
o
r
s
,
th
en
s
u
c
h
co
r
r
ec
tiv
e
ac
tio
n
s
h
av
e
to
b
e
r
ev
er
s
ed
.
T
h
er
ef
o
r
e,
in
d
esi
g
n
i
n
g
a
n
i
n
t
ellig
e
n
t
s
y
s
te
m
,
an
au
to
n
o
m
o
u
s
f
ee
d
b
ac
k
ca
n
b
e
b
u
ild
in
to
th
e
s
y
s
te
m
s
o
as
to
in
f
o
r
m
th
e
s
y
s
te
m
w
h
eth
er
to
co
n
tin
u
e
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
(
to
m
i
n
i
m
ize
th
e
er
r
o
r
s
)
o
r
r
ev
er
s
e
th
e
d
ir
ec
tio
n
o
f
th
e
co
r
r
ec
tiv
e
ac
t
i
o
n
s
(
if
t
h
e
er
r
o
r
s
is
in
cr
ea
s
i
n
g
in
s
tead
o
f
d
ec
r
ea
s
i
n
g
)
.
5
.
3
.
Crit
er
ia
f
o
r
Rev
er
s
ing
t
he
D
irec
t
io
n o
f
E
rr
o
r
Co
rr
ec
t
io
n
T
h
e
cr
iter
ia
f
o
r
d
eter
m
i
n
in
g
t
h
e
d
ir
ec
tio
n
o
f
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
p
r
o
v
id
ed
b
y
th
e
r
ate
o
f
ch
a
n
g
e
o
f
th
e
d
i
s
p
ar
it
y
v
ec
to
r
,
i.e
.
,
¶
v
(
t
)
¶
t
.
T
h
at
i
s
,
i
f
th
e
r
ate
o
f
c
h
an
g
e
o
f
t
h
e
d
is
p
ar
it
y
v
ec
to
r
i
s
p
o
s
itiv
e
(
¶
v
(
t
)
¶
t
>
0
)
,
th
en
th
e
er
r
o
r
h
as
in
cr
ea
s
ed
,
s
o
th
e
co
u
r
s
e
o
f
co
r
r
ec
tiv
e
ac
tio
n
s
n
ee
d
s
to
b
e
r
ev
er
s
ed
in
o
r
d
er
to
m
in
i
m
ize
t
h
e
er
r
o
r
:
¶
v
(
t
)
¶
t
>
0
Þ
Re
ve
rs
e
t
he
d
i
re
c
t
i
o
n
o
f
c
o
r
r
e
c
t
i
ve
a
c
t
i
ons
(
6
)
T
h
e
d
ir
ec
tio
n
o
f
th
e
co
u
r
s
e
o
f
ac
tio
n
in
co
r
r
ec
tin
g
t
h
e
er
r
o
r
ca
n
b
e
r
ev
er
s
ed
b
y
a
c
h
a
n
g
e
in
s
ig
n
o
f
th
e
co
r
r
ec
tiv
e
ac
tio
n
m
at
h
e
m
a
ticall
y
,
i.e
.
,
m
u
ltip
lied
b
y
–
1.
I
n
b
io
lo
g
ical
a
u
to
n
o
m
o
u
s
s
y
s
t
e
m
s
,
t
h
e
i
n
cr
ea
s
e
i
n
t
h
e
s
ize
o
f
er
r
o
r
co
n
d
itio
n
is
o
f
te
n
s
i
g
n
i
f
ied
b
y
a
n
in
cr
ea
s
e
in
t
h
e
u
n
h
ap
p
y
e
m
o
t
io
n
al
i
n
te
n
s
it
y
.
T
h
e
u
n
h
ap
p
ier
an
an
i
m
al
f
ee
ls
,
th
e
m
o
r
e
i
t
s
ig
n
i
f
ies
i
n
ter
n
al
l
y
th
at
s
o
m
et
h
i
n
g
is
g
o
in
g
w
r
o
n
g
f
u
r
t
h
er
an
d
f
u
r
th
er
.
T
h
e
e
m
o
tio
n
al
f
ee
d
b
ac
k
is
tel
lin
g
t
h
e
an
i
m
al
i
m
p
licitl
y
th
at
i
t
is
n
o
t
g
o
i
n
g
in
th
e
r
ig
h
t
d
ir
ec
tio
n
to
r
eso
l
v
e
t
h
e
e
m
o
tio
n
;
s
o
m
et
h
i
n
g
m
u
s
t
b
e
d
o
n
e
to
co
r
r
ec
t
it
ev
e
n
th
o
u
g
h
it
m
a
y
b
e
a
w
ar
e
o
f
e
x
ac
tl
y
w
h
at
n
ee
d
s
to
b
e
d
o
n
e
t
o
co
r
r
ec
t
th
e
er
r
o
n
eo
u
s
co
r
r
ec
tiv
e
ac
tio
n
s
.
S
u
c
h
u
n
h
ap
p
y
(
s
ad
)
e
m
o
tio
n
o
f
ten
k
ee
p
s
t
h
e
a
n
i
m
al
f
r
o
m
co
n
tin
u
e
w
ith
th
e
p
r
e
v
io
u
s
l
y
a
tte
m
p
te
d
s
o
lu
tio
n
,
w
h
ic
h
i
s
an
atte
m
p
t
to
r
ev
er
s
e
th
e
d
ir
ec
tio
n
o
f
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
.
I
t
is
o
f
ten
s
t
u
ck
i
n
t
h
is
s
tate
o
f
in
ac
tio
n
w
h
e
n
th
e
an
i
m
al
is
e
x
p
er
ien
ci
n
g
t
h
e
s
ta
t
e
o
f
s
ad
n
es
s
[
3
7
]
.
5
.
4
.
Crit
er
ia
f
o
r
K
ee
pin
g
t
he
Sa
m
e
D
irec
t
io
n o
f
Co
rr
ec
t
iv
e
Act
io
ns
On
th
e
o
t
h
er
h
an
d
,
if
t
h
e
r
ate
o
f
ch
an
g
e
o
f
t
h
e
d
is
p
ar
it
y
v
ec
to
r
is
n
eg
ati
v
e
(
¶
v
(
t
)
¶
t
<
0
)
,
th
en
t
h
e
er
r
o
r
h
as
d
ec
r
ea
s
ed
.
T
h
is
in
d
icate
s
t
h
at
t
h
e
o
p
ti
m
izatio
n
p
r
o
ce
s
s
is
p
r
o
ce
ed
in
g
in
th
e
c
o
r
r
ec
t
d
ir
ec
tio
n
to
m
i
n
i
m
ize
t
h
e
er
r
o
r
.
T
h
er
ef
o
r
e,
it
ca
n
s
ta
y
t
h
e
s
a
m
e
co
u
r
s
e
o
f
ac
tio
n
an
d
p
r
o
ce
ed
as
u
s
u
a
l
w
it
h
o
u
t
c
h
a
n
g
in
g
th
e
d
ir
ec
tio
n
o
f
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
:
¶
v
(
t
)
¶
t
<
0
Þ
S
t
a
y
t
he
c
o
u
r
s
e
o
f
d
i
re
c
t
i
o
n
i
n
c
o
r
r
e
c
t
i
ve
a
c
t
i
ons
(
7
)
T
h
is
in
d
icate
s
t
h
at
t
h
e
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
ef
f
ec
tiv
e
i
n
r
ed
u
cin
g
t
h
e
er
r
o
r
s
.
I
n
b
io
lo
g
ical
au
to
n
o
m
o
u
s
s
y
s
te
m
s
,
th
i
s
ef
f
ec
ti
v
e
co
r
r
ec
tiv
e
ac
tio
n
is
in
d
icate
d
b
y
th
e
em
o
tio
n
al
f
ee
d
b
ac
k
as
a
s
tate
o
f
co
n
ten
t
o
r
s
atis
f
ac
tio
n
th
a
t
th
i
n
g
s
a
r
e
g
o
in
g
i
n
t
h
e
r
ig
h
t
d
ir
ec
tio
n
.
W
h
en
a
n
an
i
m
a
l
ex
p
er
ien
ce
s
t
h
e
f
ee
li
n
g
o
f
co
n
ten
t,
th
er
e
i
s
n
o
n
ee
d
to
ch
a
n
g
e
a
n
y
o
f
it
s
co
u
r
s
e
s
o
f
ac
ti
o
n
.
T
h
er
ef
o
r
e,
th
ese
au
to
n
o
m
o
u
s
cr
iter
ia
ar
e
co
n
s
is
ten
t
w
it
h
th
e
p
r
in
cip
les
o
f
o
p
er
atio
n
in
an
i
m
al
s
th
at
h
ad
d
is
c
o
v
er
ed
in
an
i
m
a
l’
s
s
elf
-
co
r
r
ec
tiv
e
s
tr
ateg
ie
s
in
ev
o
lu
tio
n
,
ev
e
n
th
o
u
g
h
t
h
e
an
i
m
al
m
a
y
n
o
t
b
e
a
w
ar
e
o
f
s
u
c
h
s
tr
ate
g
ie
s
co
n
s
cio
u
s
l
y
.
T
h
at
is
b
ec
a
u
s
e
c
o
n
s
cio
u
s
a
w
ar
en
e
s
s
r
eq
u
ir
es
c
o
g
n
iti
v
e
p
r
o
ce
s
s
i
n
g
to
e
v
alu
a
t
e
th
e
e
f
f
ec
ti
v
en
e
s
s
o
f
s
u
c
h
s
tr
ate
g
y
u
s
in
g
lo
g
ical
an
al
y
s
is
.
O
n
t
h
e
o
th
er
h
a
n
d
,
th
e
e
m
o
tio
n
al
r
esp
o
n
s
es
i
n
t
h
e
au
to
n
o
m
ic
n
er
v
o
u
s
s
y
s
te
m
o
f
an
i
m
a
ls
o
f
te
n
d
o
n
o
t
r
ea
ch
co
n
s
cio
u
s
a
w
ar
en
e
s
s
d
u
e
to
th
e
u
r
g
en
c
y
i
n
t
h
e
au
to
m
atic
tr
i
g
g
er
i
n
g
o
f
th
e
h
ar
d
w
ir
ed
r
esp
o
n
s
e
to
ad
d
r
ess
th
e
er
r
o
r
co
n
d
itio
n
s
f
o
r
s
u
r
v
i
v
al.
T
h
ese
r
esp
o
n
s
es
ar
e
o
f
ten
ev
o
l
v
ed
as
ap
p
r
o
p
r
iate
r
esp
o
n
s
es
to
d
et
ec
t
an
d
s
elf
-
co
r
r
ec
t
th
e
er
r
o
r
co
n
d
itio
n
s
.
T
h
ey
ar
e
h
ar
d
w
ir
ed
as
au
to
m
ati
c
r
ef
lex
e
s
in
an
i
m
a
ls
w
it
h
o
u
t
n
ee
d
in
g
co
n
s
cio
u
s
a
w
ar
e
n
ess
.
T
h
e
h
ar
d
w
ir
ed
r
esp
o
n
s
e
d
ec
r
ea
s
es
th
e
r
ea
ctio
n
ti
m
e,
s
o
t
h
at
t
h
e
a
n
i
m
al
ca
n
a
d
d
r
ess
th
e
er
r
o
r
co
n
d
itio
n
s
a
s
f
ast
a
s
p
o
s
s
ib
le
f
o
r
s
u
r
v
i
v
al.
On
t
h
e
o
th
er
h
an
d
,
i
f
it
r
ea
ch
es
co
n
s
cio
u
s
lev
el,
it
w
o
u
ld
r
eq
u
ir
e
m
u
c
h
lo
n
g
er
p
r
o
ce
s
s
in
g
ti
m
e
to
ass
ess
t
h
e
s
it
u
atio
n
.
I
t
co
u
ld
b
e
to
o
late
to
r
esp
o
n
d
a
p
p
r
o
p
r
iate
l
y
i
f
th
e
er
r
o
r
co
n
d
itio
n
s
ar
e
cr
itical
to
th
e
s
u
r
v
i
v
al
o
f
t
h
e
a
n
i
m
al.
6.
CRIT
E
R
I
A
F
O
R
DE
T
E
C
T
I
NG
WH
E
T
H
E
R
M
I
NIM
A
O
R
M
AXI
M
A
H
AD
RE
ACH
ED
Giv
e
n
t
h
at
t
h
e
d
ir
ec
tio
n
o
f
th
e
co
r
r
ec
tiv
e
ac
tio
n
h
a
s
b
ee
n
i
d
en
tifie
d
an
d
s
elec
ted
to
m
i
n
i
m
ize
th
e
er
r
o
r
s
,
th
en
th
e
n
e
x
t
s
tep
i
s
to
id
en
ti
f
y
w
h
et
h
er
th
e
m
in
i
m
a
o
r
th
e
m
ax
i
m
a
h
ad
r
ea
c
h
ed
.
On
e
o
f
t
h
e
cla
s
s
ical
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
S
elf
-
C
o
r
r
ec
tive
A
u
to
n
o
mo
u
s
S
ystems
u
s
in
g
Op
timiz
a
tio
n
P
r
o
ce
s
s
es fo
r
Dete
ctio
n
and
...
(
N
ico
la
d
ie
Ta
m
)
271
m
et
h
o
d
s
to
id
en
ti
f
y
in
g
t
h
e
m
ax
i
m
a
an
d
t
h
e
m
i
n
i
m
a
is
t
h
e
u
s
e
o
f
th
e
s
ec
o
n
d
ti
m
e
d
er
iv
a
tiv
e
o
f
th
e
d
i
s
p
ar
it
y
v
ec
to
r
,
i.e
.
,
¶
2
v
(
t
)
¶
t
2
.
I
f
a
m
a
x
i
m
u
m
h
as r
ea
ch
ed
,
th
en
¶
2
v
(
t
)
¶
t
2
>
0
,
¶
2
v
(
t
)
¶
t
2
>
0
Þ
M
a
xi
m
um
h
a
s
r
e
a
c
he
d
(
8
)
Ho
w
e
v
er
,
if
a
m
in
i
m
u
m
h
a
s
r
ea
ch
ed
,
th
en
¶
2
v
(
t
)
¶
t
2
<
0
,
¶
2
v
(
t
)
¶
t
2
<
0
Þ
M
i
ni
m
um
h
a
s
r
e
a
c
he
d
(
9
)
Mo
r
eo
v
er
,
if
a
p
o
in
t o
f
in
f
lecti
o
n
h
as r
ea
ch
ed
,
t
h
en
¶
2
v
(
t
)
¶
t
2
=
0
,
¶
2
v
(
t
)
¶
t
2
=
0
Þ
A
p
o
i
nt
o
f
i
n
f
l
e
c
t
i
o
n
h
a
s
r
e
a
c
he
d
(
10
)
T
h
er
ef
o
r
e,
u
s
in
g
t
h
ese
cr
iter
ia
,
th
e
s
y
s
te
m
w
o
u
ld
b
e
ab
le
to
id
en
ti
f
y
w
h
et
h
er
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
h
av
e
b
ee
n
s
u
cc
e
s
s
f
u
l to
m
i
n
i
m
ize
th
e
er
r
o
r
.
6
.
1
.
Crit
er
ia
F
o
r
Sto
pp
ing
Co
rr
e
ct
iv
e
Act
io
ns
T
o
P
re
v
ent
O
v
er
-
Co
rr
ec
t
io
n
Mo
s
t
i
m
p
o
r
tan
tl
y
,
t
h
e
s
y
s
te
m
h
as
to
b
e
ab
le
to
s
to
p
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
o
n
ce
t
h
e
er
r
o
r
s
h
as
b
ee
n
m
i
n
i
m
ized
.
Oth
er
w
i
s
e,
t
h
e
s
y
s
te
m
ca
n
o
v
er
-
co
r
r
ec
t
th
e
er
r
o
r
s
,
m
a
k
i
n
g
t
h
e
s
it
u
atio
n
w
o
r
s
e
t
h
a
n
b
ef
o
r
e.
T
h
er
ef
o
r
e,
th
e
s
y
s
te
m
h
as
to
h
a
v
e
a
b
u
ild
-
i
n
p
r
o
ce
s
s
th
a
t
in
d
icate
s
w
h
et
h
er
co
r
r
ec
tiv
e
ac
tio
n
s
n
ee
d
to
b
e
s
to
p
p
ed
if
th
e
er
r
o
r
s
h
ad
r
ea
ch
ed
a
m
i
n
i
m
u
m
.
O
n
e
o
f
t
h
e
cr
iter
ia
to
s
to
p
its
o
w
n
co
r
r
ec
tiv
e
ac
tio
n
i
s
w
h
en
th
e
o
p
ti
m
izatio
n
p
r
o
ce
s
s
h
as
r
ea
ch
ed
it
s
m
i
n
i
m
u
m
in
er
r
o
r
r
ed
u
ctio
n
.
T
h
er
ef
o
r
e,
th
e
―sto
p
‖
s
i
g
n
al
f
o
r
th
e
s
y
s
te
m
to
s
elf
-
co
r
r
ec
t
its
el
f
i
s
t
h
e
m
etr
i
c
in
d
icate
d
b
y
¶
2
v
(
t
)
¶
t
2
<
0
,
w
h
ic
h
r
ep
r
esen
ts
a
m
i
n
i
m
u
m
h
as
r
ea
ch
ed
(
s
o
th
at
it
w
o
u
ld
n
o
t
o
v
er
-
co
r
r
ec
t
th
e
er
r
o
r
s
)
.
T
h
er
ef
o
r
e,
th
e
cr
iter
io
n
(
m
e
tr
ic)
f
o
r
d
eter
m
i
n
i
n
g
th
a
t
a
m
i
n
i
m
u
m
h
a
s
r
ea
c
h
ed
is
g
iv
e
n
b
y
¶
2
v
(
t
)
¶
t
2
<
0
,
i.e
.
,
¶
2
v
(
t
)
¶
t
2
<
0
Þ
E
r
r
o
r
m
i
ni
m
um
h
a
s
r
e
a
c
he
d
(
11
)
so
th
at
t
h
e
s
y
s
te
m
ca
n
s
to
p
th
e
co
r
r
ec
tiv
e
ac
tio
n
s
.
Oth
er
w
i
s
e,
it
co
u
ld
o
v
er
-
co
r
r
ec
t
it,
r
es
u
lti
n
g
i
n
u
n
n
ec
es
s
ar
y
er
r
o
r
co
n
d
itio
n
s
.
T
h
u
s
,
it
i
s
i
m
p
o
r
tan
t
to
d
etec
t
s
u
ch
a
s
tate
w
h
e
n
it
r
ea
c
h
es
th
e
er
r
o
r
m
in
i
m
u
m
to
p
r
ev
en
t o
v
er
-
co
r
r
ec
tio
n
,
w
h
ich
ca
n
r
es
u
lt
i
n
p
r
o
d
u
cin
g
o
s
c
illato
r
y
co
r
r
ec
tiv
e
ac
tio
n
s
.
I
n
b
io
lo
g
ical
au
to
n
o
m
o
u
s
s
y
s
t
e
m
s
,
w
h
en
t
h
e
an
i
m
al
d
etec
ts
th
e
er
r
o
r
h
ad
r
ea
ch
ed
a
m
i
n
i
m
u
m
,
it
is
s
ig
n
i
f
ied
b
y
th
e
s
tate
o
f
co
n
t
en
t
(
h
ap
p
in
e
s
s
)
s
o
th
at
it
w
o
u
ld
s
to
p
w
o
r
r
y
i
n
g
ab
o
u
t
a
n
y
er
r
o
r
s
th
at
it
h
ad
co
r
r
ec
te
d
.
T
h
u
s
,
it
s
er
v
e
s
as
a
s
ig
n
al
to
tell
th
e
an
i
m
al
s
to
p
f
ix
i
n
g
w
h
en
it
h
as
r
eso
l
v
ed
its
u
n
h
ap
p
y
e
m
o
tio
n
s
.
T
h
u
s
,
th
e
s
tate
o
f
co
n
te
n
t
f
e
elin
g
o
f
te
n
r
elax
es
t
h
e
an
i
m
a
l
s
o
th
e
an
i
m
al
w
o
u
ld
s
to
p
tr
y
in
g
to
m
ak
e
a
n
y
co
r
r
ec
tiv
e
ac
tio
n
,
b
ec
au
s
e
t
h
er
e
is
n
o
th
in
g
e
ls
e
to
f
ix
,
a
n
d
s
ta
r
t to
en
j
o
y
lif
e
a
s
it is
.
6
.
2
.
Da
m
pin
g
o
f
O
s
cilla
t
o
ry
O
v
e
r
-
Co
rr
ec
t
iv
e
a
nd
Under
-
Co
rr
ec
t
iv
e
Act
io
ns
Oscill
ato
r
y
b
e
h
av
io
r
s
co
u
ld
ex
h
ib
it
if
co
r
r
ec
tiv
e
ac
tio
n
s
ar
e
n
o
t
s
to
p
p
ed
as
s
o
o
n
as
th
e
er
r
o
r
m
i
n
i
m
u
m
h
as
b
ee
n
r
ea
ch
ed
.
W
h
en
co
r
r
ec
tiv
e
ac
t
io
n
s
co
n
ti
n
u
e
s
af
ter
t
h
e
er
r
o
r
m
i
n
i
m
u
m
h
as
r
ea
ch
ed
,
th
e
n
i
t
w
il
l
o
v
er
-
co
r
r
ec
t,
an
d
th
e
n
u
n
d
er
-
co
r
r
ec
t
s
u
b
s
eq
u
e
n
tl
y
w
h
e
n
it
d
etec
ts
er
r
o
r
s
tar
ts
to
in
cr
ea
s
e
ag
ai
n
af
ter
t
h
e
m
i
n
i
m
u
m
h
as
r
ea
ch
ed
.
T
h
u
s
,
if
t
h
e
er
r
o
r
m
i
n
i
m
u
m
i
s
n
o
t
d
etec
ted
s
o
o
n
en
o
u
g
h
,
it
w
i
l
l
p
r
o
d
u
ce
th
e
class
ical
o
v
er
-
co
r
r
ec
t a
n
d
u
n
d
er
-
co
r
r
ec
t o
s
cillato
r
y
b
eh
av
io
r
in
f
ee
d
b
a
ck
co
n
tr
o
l.
Fu
r
t
h
er
m
o
r
e,
ti
m
e
d
ela
y
s
al
wa
y
s
ex
is
t
i
n
a
f
ee
d
b
ac
k
s
y
s
te
m
s
u
ch
t
h
at
t
h
e
s
i
g
n
al
(
m
etr
ic
)
in
d
icatin
g
th
at
t
h
e
m
i
n
i
m
izatio
n
o
f
er
r
o
r
s
h
a
s
r
ea
ch
ed
m
a
y
co
m
e
to
o
l
a
te
(
d
u
e
to
ti
m
e
d
ela
y
s
)
,
s
o
m
e
o
v
er
-
co
r
r
ec
tio
n
s
o
f
er
r
o
r
m
a
y
b
e
in
e
v
itab
le.
T
h
er
ef
o
r
e,
in
o
r
d
er
t
o
r
eso
lv
e
th
e
o
s
cillato
r
y
co
r
r
ec
tiv
e
ac
tio
n
s
,
d
am
p
i
n
g
m
a
y
b
e
n
ee
d
ed
in
th
e
co
r
r
ec
tiv
e
d
i
f
f
er
en
tial e
q
u
at
io
n
s
to
r
ed
u
ce
t
h
e
o
s
cillato
r
y
co
r
r
ec
tio
n
s
:
m
¶
2
v
(
t
)
¶
t
2
+
b
¶
v
(
t
)
¶
t
+
k
v
(
t
)
=
0
,
w
i
t
h
m
>
0
,
b
³
0
a
nd
k
>
0
(
12
)
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