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1
23
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No
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2
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J
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2
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2
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:
1
23
–
1
34
124
T
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ta
n
ce
v
al
u
es
f
r
o
m
UW
B
m
o
d
u
le
s
w
ir
eles
s
l
y
.
Fig
u
r
e
4
.
UW
B
m
o
d
u
les p
lace
m
en
t f
o
r
p
o
s
itio
n
i
n
g
in
d
u
c
t e
n
v
ir
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e
n
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
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n
t
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to
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l.
9
,
No
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2
,
J
u
n
e
2
0
2
0
:
1
23
–
1
34
126
2
.
2
.
Co
ntr
o
ller
co
nfig
ura
t
io
n
I
n
th
i
s
w
o
r
k
,
th
e
A
T
m
e
g
a2
5
6
0
b
ased
A
r
d
u
in
o
Me
g
a
w
a
s
u
s
ed
to
ac
q
u
ir
e
th
e
v
alu
e
s
o
f
t
h
e
n
in
e
P
SD
s
en
s
o
r
s
w
h
ic
h
ar
e
u
s
ed
to
id
en
ti
f
y
t
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e
i
n
ter
n
al
s
h
ap
e
o
f
t
h
e
d
u
ct.
T
o
s
i
m
p
lify
t
h
e
cir
cu
it,
a
P
C
B
co
m
p
atib
le
w
it
h
t
h
e
A
r
d
u
in
o
Me
g
a
w
as
cr
ea
ted
.
On
e
DC
m
o
to
r
f
o
r
ea
ch
w
h
ee
l
an
d
t
w
o
s
m
a
ller
DC
m
o
to
r
s
f
o
r
w
ir
e
co
n
tr
o
l
w
er
e
co
n
n
ec
ted
to
th
e
DC
m
o
to
r
d
r
iv
er
s
.
2
.
3
.
I
nfr
a
re
d sen
s
o
r
As
s
ta
ted
ea
r
lier
,
P
SD
s
e
n
s
o
r
s
ar
e
u
s
ed
to
id
en
ti
f
y
t
h
e
s
tr
u
ct
u
r
e
in
s
id
e
th
e
d
u
ct
w
h
ic
h
i
s
c
r
u
cial
f
o
r
an
a
u
to
n
o
m
o
u
s
d
r
iv
i
n
g
o
f
t
h
e
r
o
b
o
t.
T
h
e
in
f
r
ar
ed
s
e
n
s
o
r
s
w
i
th
a
r
a
n
g
e
o
f
2
c
m
to
1
5
c
m
ca
n
b
e
u
s
ed
to
d
etec
t
s
tr
u
ct
u
r
al
ch
a
n
g
es
in
s
id
e
th
e
d
u
ct
w
h
ile
t
h
e
r
o
b
o
t
i
s
d
r
iv
in
g
.
T
h
e
Kal
m
a
n
f
ilter
ca
n
b
e
u
s
ed
to
m
o
r
e
ef
f
ec
tiv
e
l
y
h
a
n
d
le
th
e
a
n
alo
g
v
alu
e
s
r
ec
ei
v
ed
th
r
o
u
g
h
th
e
i
n
f
r
ar
ed
s
e
n
s
o
r
,
s
i
n
ce
t
h
e
s
e
n
s
o
r
'
s
s
ig
n
al
it
s
el
f
is
p
ar
tly
ab
s
o
r
b
ed
in
to
t
h
e
d
u
ct
i
n
ter
n
al
m
etal
p
ar
ts
,
p
o
ten
tiall
y
d
is
to
r
tin
g
t
h
e
s
e
n
s
o
r
v
a
lu
e
s
.
T
h
e
Kal
m
an
f
ilter
eq
u
atio
n
s
u
s
ed
h
er
e
ar
e
as f
o
ll
o
w
s
.
(
2
)
̂
(
3
)
(
4
)
w
h
er
e
is
th
e
Kal
m
an
g
ai
n
,
is
th
e
er
r
o
r
co
v
ar
ian
ce
,
is
th
e
p
r
o
ce
s
s
n
o
i
s
e
v
ar
ia
n
ce
,
an
d
is
th
e
m
ea
s
u
r
e
m
e
n
t
n
o
is
e
v
ar
ian
ce
.
is
th
e
m
ea
s
u
r
ed
s
tate
v
ar
iab
le
an
d
is
th
e
esti
m
ated
s
t
ate
v
ar
iab
le
at
k
-
th
s
tep
,
r
esp
ec
tiv
el
y
.
B
ased
o
n
th
e
ab
o
v
e
eq
u
atio
n
s
(
2
-
4
)
,
w
e
ap
p
lied
th
e
p
r
o
p
o
s
ed
Kal
m
an
f
ilter
to
th
e
m
icr
o
co
n
tr
o
ller
.
I
n
Fi
g
u
r
e
4
,
th
e
o
u
t
p
u
t
d
ata
b
ef
o
r
e
an
d
a
f
ter
t
h
e
f
il
ter
p
ass
es
f
o
r
th
e
in
f
r
ar
ed
s
e
n
s
o
r
s
i
g
n
al
w
er
e
co
m
p
ar
ed
.
T
h
e
b
lu
e
lin
e
s
h
o
w
s
t
h
e
v
alu
e
o
f
th
e
d
ata
b
ef
o
r
e
g
o
i
n
g
th
r
o
u
g
h
t
h
e
f
ilter
,
an
d
t
h
e
r
ed
lin
e
s
h
o
w
s
t
h
e
v
al
u
e
o
f
th
e
d
ata
co
m
i
n
g
t
h
r
o
u
g
h
th
e
f
ilter
.
I
n
th
is
ca
s
e,
=0
.
2
5
,
=0
.
0
1
,
=0
.
0
9
w
er
e
u
s
ed
an
d
=1
.
0
w
a
s
u
s
ed
as
in
i
tial
v
a
lu
e.
T
h
e
ex
p
er
i
m
e
n
tal
r
es
u
lt
s
co
n
f
ir
m
ed
t
h
at
t
h
e
v
alu
e
th
at
ca
m
e
f
r
o
m
t
h
e
Kal
m
an
f
i
lter
w
as
m
o
r
e
s
tab
le
th
a
n
o
r
ig
i
n
al
s
i
g
n
al
(
Fig
u
r
e
5
)
.
Fig
u
r
e
5
.
Dis
tan
ce
d
ata
co
m
p
a
r
is
o
n
u
s
in
g
Kal
m
a
n
f
ilter
(x
-
a
x
is
: ti
m
e
[
m
s
]
,
y
-
a
x
is
: D
i
s
ta
n
ce
[
cm
]
)
3.
DIS
T
ANC
E
M
E
ASURE
M
E
NT
US
I
N
G
UWB
CO
M
M
U
NICA
T
I
O
N
3
.
1
.
UWB
co
m
m
u
nica
t
io
n
UW
B
(
Ultr
a
W
id
e
B
an
d
)
c
o
m
m
u
n
icatio
n
i
s
a
w
ir
eles
s
co
m
m
u
n
icatio
n
tec
h
n
o
lo
g
y
th
at
ca
n
g
u
ar
a
n
tee
tr
a
n
s
m
is
s
io
n
d
i
s
tan
ce
o
f
1
0
m
to
1
k
m
o
v
er
a
w
id
e
f
r
eq
u
e
n
c
y
r
a
n
g
e
f
r
o
m
3
.
1
GH
z
to
1
0
.
6
GHz
,
an
d
h
as
b
ee
n
d
e
v
elo
p
ed
an
d
ap
p
lied
f
o
r
s
p
ec
ial
p
u
r
p
o
s
es
b
y
th
e
m
ilit
ar
y
,
b
u
t
h
as
r
ec
en
tl
y
g
ain
ed
atten
tio
n
as
it
o
p
en
ed
to
th
e
p
r
iv
ate
s
ec
to
r
.
UW
B
,
w
h
ic
h
tr
an
s
m
it
s
lar
g
e
a
m
o
u
n
ts
o
f
in
f
o
r
m
atio
n
at
lo
w
p
o
w
er
,
is
a
n
e
w
tech
n
o
lo
g
y
w
it
h
a
v
er
y
w
id
e
ap
p
licatio
n
r
a
n
g
e,
in
cl
u
d
i
n
g
i
n
d
o
o
r
o
b
s
er
v
atio
n
,
s
p
o
r
ts
tr
ac
k
i
n
g
,
i
n
tr
u
d
er
d
etec
tio
n
s
y
s
te
m
,
a
n
d
p
r
ev
en
tio
n
o
f
h
ea
v
y
eq
u
ip
m
e
n
t
v
eh
icle
ac
cid
en
t
s
.
I
n
th
i
s
s
tu
d
y
,
th
e
UW
B
co
m
m
u
n
icatio
n
a
n
d
R
ea
l
-
T
im
e
L
o
ca
tin
g
S
y
s
te
m
s
(
R
T
L
S
)
w
er
e
ap
p
lied
to
im
p
le
m
en
t
a
s
y
s
te
m
t
h
at
co
u
ld
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2089
-
4856
C
o
n
tr
o
l sys
tem
d
esig
n
o
f d
u
ct
clea
n
in
g
r
o
b
o
t c
a
p
a
b
le
o
f
o
ve
r
co
min
g
L a
n
d
T
-
sh
a
p
ed
d
u
cts
(
Myeo
n
g
I
n
S
e
o
)
127
au
to
m
at
icall
y
id
en
ti
f
y
an
d
tr
ac
k
t
h
e
p
o
s
it
io
n
o
f
o
b
j
ec
ts
.
T
h
e
co
m
m
u
n
icat
io
n
m
o
d
u
l
es
u
s
ed
f
o
r
UW
B
co
m
m
u
n
icatio
n
ar
e
DW
M1
0
0
0
f
r
o
m
DE
C
A
W
A
VE
a
n
d
T
im
e
o
f
Fli
g
h
t
(
T
OF)
m
e
th
o
d
f
o
r
d
is
ta
n
ce
m
ea
s
u
r
e
m
e
n
t
i
s
a
m
ai
n
p
r
in
cip
le
o
f
th
e
s
e
n
s
o
r
.
Fig
u
r
e
6
is
a
r
ep
r
esen
tatio
n
o
f
t
h
e
T
OF
-
t
y
p
e
d
i
s
ta
n
ce
m
ea
s
u
r
e
m
e
n
t
p
r
o
ce
d
u
r
e,
w
h
ic
h
i
s
ch
ar
ac
ter
ized
b
y
DS
-
T
W
R
(
Do
u
b
le
-
s
id
ed
T
w
o
W
a
y
R
an
g
in
g
)
[
8
]
ex
te
n
d
in
g
th
e
m
ea
s
u
r
e
m
en
t
r
a
n
g
e
o
f
SS
-
T
W
R
(
Sin
g
le
Sid
ed
T
w
o
W
ay
R
an
g
i
n
g
)
,
i
n
w
h
ic
h
t
w
o
r
o
u
n
d
-
tr
ip
ti
m
e
m
ea
s
u
r
e
m
e
n
ts
ar
e
u
s
ed
to
o
b
tain
th
e
T
OF
r
es
u
lt
s
.
E
r
r
o
r
s
ar
e
r
ed
u
ce
d
d
esp
ite
s
ig
n
i
f
ica
n
tl
y
l
o
n
g
r
e
s
p
o
n
s
e
d
ela
y
s
a
n
d
t
h
e
T
OF
is
3
3
3
n
s
in
th
e
r
elati
v
el
y
lar
g
e
UW
B
o
p
er
atin
g
r
an
g
e
o
f
1
0
0
m
.
Fig
u
r
e
6
.
Seq
u
en
ce
o
f
T
W
R
u
s
in
g
T
O
F
3
.
2
.
E
s
t
i
m
a
t
ing
t
he
lo
ca
t
io
n o
f
t
h
e
ro
bo
t
by
t
rila
t
er
a
t
io
n m
ea
s
ure
m
ent
T
o
id
en
tify
t
h
e
p
o
s
itio
n
o
f
t
h
e
r
o
b
o
t
in
s
id
e
th
e
d
u
ct,
a
tr
ila
ter
atio
n
m
e
th
o
d
w
as
ap
p
lied
to
esti
m
a
te
th
e
ce
n
ter
p
o
s
itio
n
o
f
th
e
r
o
b
o
t
w
h
ile
it
m
o
v
e
s
ar
o
u
n
d
u
s
in
g
an
ch
o
r
s
t
h
at
ar
e
p
lace
d
o
u
ts
id
e
th
e
d
u
ct
an
d
a
tag
o
n
th
e
r
o
b
o
t
b
o
d
y
.
Her
e,
th
e
g
r
ad
ien
t
d
ec
en
t
m
et
h
o
d
is
ap
p
lied
to
r
ed
u
ce
th
e
er
r
o
r
b
etw
ee
n
t
h
e
ac
tu
al
a
n
d
th
e
e
s
ti
m
ated
v
alu
e
s
f
o
r
t
h
e
r
o
b
o
t
lo
ca
tio
n
.
Fi
g
u
r
e
7
s
h
o
w
s
th
e
b
asic
e
n
v
ir
o
n
m
en
t
f
o
r
ap
p
l
y
i
n
g
t
h
e
tr
ilater
atio
n
m
e
t
h
o
d
to
o
b
tain
th
e
r
o
b
o
t'
s
ce
n
tr
al
p
o
s
itio
n
(
x,
y
)
,
u
s
in
g
t
h
e
d
is
ta
n
ce
v
al
u
es
f
r
o
m
f
o
u
r
an
c
h
o
r
s
an
d
o
n
e
tag
.
T
h
e
tr
u
e
v
al
u
e
o
f
th
e
ce
n
ter
p
o
s
itio
n
o
f
t
h
e
r
o
b
o
t is co
n
s
tr
u
cted
b
y
th
e
f
o
llo
w
i
n
g
f
o
r
m
u
la.
(
5
)
w
h
er
e
is
th
e
n
u
m
b
er
o
f
an
c
h
o
r
s
,
an
d
is
m
ea
s
u
r
ed
d
is
ta
n
ce
b
et
w
ee
n
t
h
e
an
c
h
o
r
an
d
tag
.
Nex
t,
w
h
ic
h
is
th
e
es
ti
m
ated
d
is
tan
ce
to
t
h
e
r
o
b
o
t f
r
o
m
an
c
h
o
r
is
ex
p
r
ess
ed
as f
o
llo
w
.
√
(
6
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T
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9
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[
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[
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[
∑
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(
9
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Evaluation Warning : The document was created with Spire.PDF for Python.
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u
r
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8
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u
r
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.
Dis
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b
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ch
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u
r
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8
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x
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4.
O
P
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I
G
N
4
.
1
.
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s
driv
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T
h
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t b
asically
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Fig
u
r
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9
.
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c
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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129
Fig
u
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.
I
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Sen
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r
o
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F
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e
10
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F
ig
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r
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1
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t
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Fig
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10
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ak
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s
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t
m
o
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o
r
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ar
d
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ai
n
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t
h
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y
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n
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t
d
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e
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ct
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n
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u
to
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at
icall
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r
r
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Fig
u
r
e
1
1
.
Seq
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en
ce
o
f
L
-
s
h
a
p
ed
d
u
ct
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u
n
n
i
n
g
4
.
3
.
O
v
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co
m
ing
T
-
s
ha
ped d
uct
w
it
h T
i
m
er
s
I
n
t
h
e
T
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s
h
ap
ed
d
u
ct,
th
e
r
o
b
o
t
ca
n
m
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e
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ar
d
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d
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ig
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t.
I
n
o
r
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er
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o
r
th
e
r
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b
o
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to
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r
n
in
th
e
T
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ap
ed
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u
ct,
it
m
u
s
t
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e
tu
r
n
e
d
i
n
a
d
if
f
er
en
t
w
a
y
th
a
n
th
e
L
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s
h
ap
ed
d
u
ct
m
o
v
e
m
en
t
m
en
t
io
n
ed
ea
r
lier
.
W
h
en
t
u
r
n
i
n
g
o
n
a
T
-
s
h
ap
ed
d
u
ct,
th
e
w
h
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l
b
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d
y
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ill
u
n
f
o
ld
d
u
e
to
th
e
r
o
b
o
t'
s
s
p
r
in
g
s
tr
u
ctu
r
e
i
n
t
h
e
o
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en
s
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ac
e.
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n
o
th
er
w
o
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d
s
,
b
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s
e
o
n
e
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id
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o
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th
e
w
h
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l
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n
n
o
t
r
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ch
t
h
e
w
all
a
n
d
th
e
r
o
b
o
t'
s
w
h
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ca
n
g
et
s
tu
c
k
.
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h
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o
r
e,
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o
r
th
is
p
u
r
p
o
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e,
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e
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b
o
t
m
u
s
t
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e
co
n
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o
lled
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v
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e
t
u
r
n
.
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n
ca
s
e
o
f
u
s
i
n
g
i
n
f
r
ar
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s
en
s
o
r
s
f
o
r
s
el
f
-
d
r
i
v
in
g
,
as
s
h
o
w
n
in
Fi
g
u
r
e
1
2
,
wh
en
th
e
r
o
b
o
t
m
ee
ts
a
T
-
s
h
ap
ed
d
u
ct
it
ca
n
d
etec
t
a
s
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e
e
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p
t
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s
p
ac
e,
j
u
s
t
li
k
e
th
e
L
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s
h
ap
ed
d
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ct,
b
u
t
n
o
t
a
f
r
o
n
t
e
m
p
t
y
s
p
ac
e.
T
h
er
ef
o
r
e,
in
f
r
ar
ed
s
en
s
o
r
s
alo
n
e
ca
u
s
e
th
e
r
o
b
o
t
to
m
o
v
e
in
th
e
s
a
m
e
w
a
y
a
s
L
-
s
h
ap
e
d
d
u
ct,
w
h
ic
h
lets
th
e
r
o
b
o
t
g
et
s
tu
c
k
i
n
t
h
e
b
o
tto
m
o
f
t
h
e
T
-
s
h
ap
e
d
d
u
ct.
T
o
s
o
lv
e
t
h
i
s
p
r
o
b
lem
,
th
e
ac
c
u
r
ate
r
ec
o
g
n
itio
n
o
f
th
e
T
-
s
h
ap
ed
d
u
ct
s
h
o
u
ld
b
e
estab
lis
h
ed
.
I
f
T
-
s
h
ap
ed
d
u
ct
is
d
etec
ted
th
r
o
u
g
h
i
m
a
g
e
p
r
o
ce
s
s
in
g
w
i
th
o
u
t
th
e
u
s
e
o
f
d
is
tan
ce
s
en
s
o
r
s
,
th
e
r
o
b
o
t
r
ec
o
g
n
izes
t
h
at
t
h
er
e
i
s
a
T
-
s
h
ap
ed
d
u
ct
i
n
f
r
o
n
t.
T
h
e
d
etail
alg
o
r
ith
m
to
f
i
n
d
th
e
T
-
s
h
ap
e
d
u
ct
b
y
i
m
a
g
e
p
r
o
ce
s
s
in
g
i
s
ex
p
lai
n
ed
in
t
h
e
f
o
llo
w
in
g
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tio
n
.
W
h
en
a
n
in
f
r
ar
ed
s
e
n
s
o
r
d
et
ec
ts
e
m
p
t
y
s
p
ac
e,
T
1
ti
m
er
in
s
id
e
MCU
s
tar
t
s
.
An
d
w
h
i
le
d
r
iv
i
n
g
th
e
g
ea
r
ed
m
o
to
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h
e
w
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e
is
w
o
u
n
d
to
clo
s
e
th
e
f
r
o
n
t
o
f
th
e
th
r
ee
leg
s
.
T
h
e
r
o
b
o
t
m
o
v
es
f
o
r
w
ar
d
u
n
til
th
e
ti
m
er
r
ea
ch
e
s
a
p
r
ed
eter
m
in
ed
ti
m
e.
A
t
th
i
s
ti
m
e,
t
h
e
T
2
ti
m
er
(
Fi
g
u
r
e
1
2
)
s
tar
ts
,
r
o
tatin
g
t
h
e
w
h
ee
l
o
n
th
e
ax
i
s
o
f
tu
r
n
r
ev
er
s
el
y
,
as
s
h
o
w
n
i
n
(
4
)
.
W
h
en
th
e
T
2
tim
er
r
ea
ch
es
a
p
r
eset
ti
m
e,
th
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T
3
tim
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d
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r
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t.
W
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en
t
h
e
T
3
ti
m
er
r
ea
ch
es
a
p
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ed
eter
m
i
n
ed
ti
m
e,
all
th
e
w
h
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f
t
h
e
r
o
b
o
t
m
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v
e
f
o
r
w
ar
d
an
d
s
tar
ts
s
elf
-
d
r
iv
in
g
ag
ai
n
o
n
s
tr
ai
g
h
t
s
ec
tio
n
.
T
h
r
o
u
g
h
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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8
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1
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34
130
th
e
e
x
p
er
i
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e
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ts
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e
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6
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4
s
ec
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d
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a
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d
8
s
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esp
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ct
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cc
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ased
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m
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th
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m
er
s
ca
n
b
e
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s
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ac
co
r
d
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g
to
th
e
co
n
d
itio
n
s
o
f
th
e
d
u
ct.
Fig
u
r
e
1
2
.
Seq
u
en
ce
o
f
T
-
s
h
a
p
ed
d
u
ct
r
u
n
n
i
n
g
u
s
i
n
g
ti
m
er
s
4
.
4
.
Self
-
driv
ing
in T
-
s
ha
ped d
uc
t
us
ing
i
m
a
g
e
pro
ce
s
s
ing
As
m
e
n
tio
n
ed
ea
r
lier
,
th
e
d
u
ct
t
y
p
es
t
h
at
r
o
b
o
t
n
ee
d
s
to
o
v
e
r
co
m
e
ar
e
L
-
s
h
ap
ed
d
u
cts
a
n
d
T
-
s
h
ap
ed
d
u
cts,
w
h
ic
h
ar
e
d
if
f
er
en
t
in
th
e
d
r
iv
in
g
co
n
tr
o
l
m
et
h
o
d
to
o
v
er
co
m
e
th
e
t
w
o
t
y
p
es.
T
h
er
ef
o
r
e,
th
e
r
o
b
o
t's
u
lti
m
ate
g
o
al
is
to
ac
cu
r
atel
y
r
ec
o
g
n
ize
an
d
p
r
o
p
er
ly
o
v
er
co
m
e
t
h
e
f
le
x
io
n
s
.
T
h
e
u
s
e
o
f
d
is
ta
n
ce
s
e
n
s
o
r
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alo
n
e
m
a
y
r
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u
lt
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n
s
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tain
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e.
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i
m
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s
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elp
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l
f
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r
th
e
r
o
b
o
t
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r
atel
y
r
ec
o
g
n
ize
th
e
f
le
x
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n
w
h
eth
er
it
is
L
o
r
T
-
s
h
ap
ed
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d
to
ch
o
o
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e
t
h
e
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ig
h
t
m
et
h
o
d
to
o
v
er
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m
e
th
e
d
u
c
t sh
ap
e.
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f
th
e
i
m
a
g
e
i
n
f
o
r
m
atio
n
i
s
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s
ed
,
th
e
s
h
ap
es
o
f
t
h
e
t
w
o
d
u
cts
w
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ll
b
e
d
is
ti
n
g
u
i
s
h
ed
as
s
h
o
w
n
i
n
Fig
u
r
e
1
3
.
Dis
tan
ce
s
en
s
o
r
v
a
lu
es
ca
n
b
e
s
i
m
ilar
f
o
r
b
o
th
s
h
ap
es,
an
d
in
f
ac
t,
th
r
ee
w
h
ee
ls
to
u
ch
t
h
e
w
al
l
i
n
th
e
L
-
d
u
ct,
b
u
t
i
n
t
h
e
T
-
d
u
c
t,
o
n
e
w
h
ee
l
m
u
s
t
b
e
r
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n
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t
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c
h
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w
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D
u
e
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f
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t b
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le
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it
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e
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e
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s
ed
as s
h
o
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n
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n
F
i
g
u
r
e
1
4
.
(
a)
(
b
)
(
a)
(
b
)
Fig
u
r
e
1
3
.
I
m
a
g
e
d
if
f
er
en
ce
b
et
w
ee
n
(
a)
L
-
s
h
ap
ed
an
d
(
b
)
T
-
s
h
ap
ed
d
u
ct
Fig
u
r
e
1
4
.
R
o
b
o
t w
ir
e
attac
h
m
en
t d
r
a
w
i
n
g
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d
p
ictu
r
e,
(
a)
w
ir
e
an
d
w
ir
e
-
d
r
i
v
in
g
m
o
to
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,
(
b
)
s
h
ap
e
o
f
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lo
s
ed
f
r
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n
t p
ar
t o
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r
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b
o
t
T
h
er
e
ar
e
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ix
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e
s
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t
w
o
f
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g
.
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h
ese
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ir
e
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ar
e
u
s
ed
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o
ld
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h
e
f
r
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t
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d
r
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r
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ar
ts
o
f
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le
g
w
h
e
n
m
o
v
i
n
g
in
a
T
o
r
L
–
s
h
ap
ed
d
u
ct.
B
ef
o
r
e
th
e
r
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b
o
t
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ter
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t
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e
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ct,
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h
e
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g
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g
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h
e
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s
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n
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er
to
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g
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i
s
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L
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m
T
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y
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e
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t
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e
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T
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e
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is
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I
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s
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ates.
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Har
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[
1
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1
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if
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1
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132
5.
E
XP
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Af
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ap
ed
d
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cts,
t
h
e
r
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b
o
t
co
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ld
m
o
v
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o
r
m
all
y
w
it
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o
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t
f
all
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g
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n
to
th
e
d
u
ct
w
h
e
n
it
w
a
s
d
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en
w
i
t
h
th
e
f
r
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t
p
ar
ts
o
f
t
h
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w
h
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l
s
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ld
ed
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y
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ir
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n
s
o
m
e
ca
s
es,
th
e
m
o
v
e
m
e
n
t
f
ailed
in
t
h
e
T
-
s
h
ap
ed
d
u
ct,
m
ai
n
l
y
i
f
th
e
w
ir
e
s
w
er
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n
o
t
s
u
f
f
ic
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t
l
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g
h
t
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im
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g
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s
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w
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s
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s
ec
u
r
ed
.
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ab
le
2
r
ep
r
esen
ts
th
e
s
u
cc
es
s
r
ate
f
o
r
ea
ch
d
u
ct
s
eg
m
e
n
t.
Usi
n
g
t
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e
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m
a
n
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x
p
er
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m
e
n
ts
h
a
v
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ee
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co
n
d
u
cted
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o
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tify
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h
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o
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m
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ad
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d
p
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r
t
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tr
ilater
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ith
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ased
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ar
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th
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r
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les
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t
h
an
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m
.
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w
e
v
er
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w
ith
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h
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ap
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licatio
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ilater
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al
g
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ith
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h
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OF
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et
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h
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r
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r
ate
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o
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ith
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o
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m
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m
e
n
t
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m
ter
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s
h
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(
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ab
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3
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th
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m
ea
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r
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in
g
to
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m
a
te
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th
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d
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ab
le
4
s
h
o
w
s
th
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p
er
f
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r
m
a
n
ce
to
tr
an
s
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it
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e
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m
ag
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f
r
o
m
th
e
r
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b
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t’
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m
er
a
to
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to
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p
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m
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li
m
itatio
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f
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asp
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h
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g
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a
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ate
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n
ad
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itio
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v
id
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ld
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ta
n
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i
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et.
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w
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e
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ir
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ith
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i,
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t
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elay
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t
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a
n
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m
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a
u
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ize
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s
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p
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cc
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f
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r
T
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w
as a
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n
d
9
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%.
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m
e
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th
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r
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s
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r
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ail
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h
at
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s
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s
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t
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itted
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ail
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if
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illu
m
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ct,
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d
a
d
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m
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g
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les.
I
n
Fig
u
r
e
1
8
th
e
im
a
g
e
s
s
h
o
w
th
at
th
e
r
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b
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p
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ates
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tical
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ct
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at
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o
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ic
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g
u
r
e
1
9
s
h
o
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h
e
i
m
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s
th
at
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e
r
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g
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t
h
e
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ct
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d
th
e
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b
o
t
m
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v
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en
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n
t
h
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ap
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ct
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s
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o
w
n
i
n
Fi
g
u
r
e
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.
A
ll
m
o
v
i
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g
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er
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m
a
n
ce
f
o
r
th
r
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t
y
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es o
f
d
u
ct
ar
e
co
m
p
ar
ed
in
T
ab
le
5
.
Fin
all
y
,
T
ab
le
5
is
a
m
ea
s
u
r
e
o
f
d
r
iv
in
g
s
p
ee
d
m
ea
s
u
r
ed
a
cc
o
r
d
in
g
to
s
h
ap
e
o
f
d
u
cts.
T
h
e
r
o
b
o
t's
d
r
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in
g
s
p
ee
d
w
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m
o
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er
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te
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e
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s
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n
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T
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s
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ize
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.
T
ab
le
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.
Su
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T
ab
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r
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ater
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m
T
ab
le
4
.
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m
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ig
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r
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ab
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R
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r
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1
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.
Mo
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Fig
u
r
e
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Mo
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f
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d
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