I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA
)
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
201
5
,
p
p
.
311
~
315
I
SS
N:
2089
-
4856
311
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
jo
u
r
n
a
l.c
o
m/o
n
lin
e/in
d
ex
.
p
h
p
/I
J
RA
Autono
m
o
us La
v
a
tory
Cleaning
Sys
te
m
A.
Adithy
a
B
ha
ra
d
w
a
j
,
C.
Arun K
u
m
a
r,
R.
B
a
la
s
ub
ra
m
a
nia
n,
P
.
G
o
w
t
ha
m
ECE
De
p
a
rtm
e
n
t,
S
S
N C
o
l
leg
e
o
f
En
g
in
e
e
rin
g
,
In
d
ia
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
l
1
8
,
2
0
1
5
R
ev
i
s
ed
Oct
2
9
,
2
0
1
5
A
cc
ep
ted
No
v
19
,
2
0
1
5
T
h
e
a
p
p
li
c
a
ti
o
n
o
f
in
teg
ra
ted
ro
b
o
t
ics
is
b
e
c
o
m
in
g
in
c
re
a
sin
g
l
y
c
o
m
m
o
n
p
lac
e
in
d
a
y
to
d
a
y
a
p
p
li
c
a
ti
o
n
s.T
h
e
id
e
a
p
re
se
n
ted
in
th
is
p
a
p
e
r
se
e
k
s
to
p
ro
v
id
e
a
c
o
n
v
e
n
ie
n
t
a
n
d
a
h
a
ss
le
-
f
re
e
m
e
a
n
s
o
f
c
lea
n
in
g
p
u
b
li
c
to
il
e
ts
w
h
il
st
m
a
in
tain
in
g
h
y
g
ien
i
c
a
n
d
sa
n
it
a
r
y
sta
n
d
a
rd
s.
B
y
u
sin
g
a
c
o
u
n
ter
to
re
c
o
rd
th
e
n
u
m
b
e
r
o
f
ti
m
e
s
o
f
u
sa
g
e
,
a
li
n
e
f
o
ll
o
w
e
r
m
e
c
h
a
n
ism
to
g
u
id
e
th
e
ro
b
o
t
a
n
d
a
n
R
F
ID
m
o
d
u
le
to
in
it
iate
th
e
f
lu
sh
in
g
,
th
e
c
lea
n
in
g
o
p
e
ra
ti
o
n
is
f
u
ll
y
a
u
to
m
a
ted
a
n
d
re
q
u
ire
s
lo
w
o
p
e
ra
ti
o
n
a
l
p
o
w
e
r.
F
u
rt
h
e
r
m
o
re
,
a
ro
b
o
ti
c
a
rm
is
p
a
rt
o
f
th
e
m
o
d
u
l
e
,
so
a
s
to
th
o
ro
u
g
h
ly
c
lea
n
th
e
to
il
e
t
b
o
w
l.
S
u
c
h
a
p
r
o
v
isio
n
w
il
l
c
u
rtail
th
e
ro
le
o
f
m
a
n
p
o
w
e
r
in
m
a
in
ten
a
n
c
e
o
f
p
u
b
li
c
to
il
e
ts
t
o
a
g
re
a
t
d
e
g
re
e
,
a
n
d
th
u
s,
se
rv
e
s
a
s
a
w
in
-
w
in
situ
a
ti
o
n
;
a
re
v
o
lt
in
g
o
b
jec
ti
v
e
is
a
c
c
o
m
p
li
sh
e
d
w
it
h
c
o
n
sid
e
ra
b
le ea
se
.
K
ey
w
o
r
d
:
Au
to
n
o
m
o
u
s
L
a
v
ato
r
y
C
lean
in
g
S
y
s
te
m
R
FID
Co
p
y
rig
h
t
©
201
5
In
s
t
it
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
c
e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
A.
A
d
it
h
y
a
B
h
ar
ad
w
aj
,
E
C
E
Dep
ar
t
m
en
t,
SS
N
C
o
lle
g
e
o
f
E
n
g
i
n
ee
r
i
n
g
,
C
h
e
n
n
ai
,
I
n
d
ia.
E
m
ail:
g
o
w
th
a
m
p
1
5
1
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
Ur
b
an
s
an
itatio
n
is
o
f
p
r
i
m
e
i
m
p
o
r
ta
n
ce
i
n
to
d
a
y
’
s
s
o
ciet
y
a
n
d
th
er
e
e
x
is
t
a
n
u
m
b
er
o
f
o
b
s
tacle
s
t
h
at
n
ee
d
to
b
e
co
n
q
u
er
ed
.
A
n
ea
s
y
to
i
m
p
le
m
e
n
t,
y
et
e
f
f
ec
ti
v
e
m
et
h
o
d
to
f
ac
ilit
ate
t
h
e
p
r
eser
v
atio
n
o
f
h
y
g
ien
ic
s
tan
d
ar
d
s
w
o
u
ld
b
e
a
w
elco
m
e
id
ea
,
an
d
h
elp
o
v
er
co
m
e
th
e
v
ar
io
u
s
h
u
r
d
les
f
a
ce
d
,
s
u
c
h
a
s
h
u
m
an
r
el
u
cta
n
ce
to
en
g
ag
e
i
n
s
u
c
h
a
task
.
W
ith
th
is
in
m
i
n
d
,
a
v
iab
le
id
ea
w
o
u
ld
b
e
to
d
esig
n
a
r
o
b
o
t
th
at
is
f
u
ll
y
au
to
m
ated
in
f
u
n
ctio
n
i
n
g
is
co
m
p
ete
n
t
i
n
p
er
f
o
r
m
an
ce
.
O
th
er
co
n
s
id
er
atio
n
s
i
n
clu
d
e
ea
s
e
o
f
o
p
er
atio
n
,
p
o
w
er
r
eq
u
ir
e
m
en
ts
an
d
f
i
n
a
n
cial
e
f
f
ec
ti
v
en
e
s
s
.
U
s
in
g
a
lo
w
p
o
w
er
m
icr
o
co
n
tr
o
ller
an
d
a
s
i
m
p
le
y
et
ad
eq
u
ate
l
in
e
f
o
llo
w
er
r
o
b
o
t,
th
is
id
ea
is
v
er
y
m
u
ch
p
r
ac
tica
ll
y
r
ea
lizab
le.
2.
RE
L
AT
E
D
WO
RK
S
T
h
e
co
n
ce
p
t
o
f
u
s
in
g
a
r
o
b
o
t
f
o
r
th
e
p
u
r
p
o
s
e
o
f
s
a
n
itat
io
n
ca
n
d
r
a
w
m
a
n
y
p
ar
allels
to
p
r
es
en
t
d
a
y
tech
n
o
lo
g
ies:
r
o
b
o
ts
ar
e
n
o
w
u
s
ed
to
s
er
v
e
a
r
an
g
e
o
f
p
u
r
p
o
s
es,
s
u
ch
as
f
ir
ef
ig
h
ti
n
g
,
d
is
h
w
a
s
h
i
n
g
,
s
ea
r
ch
an
d
r
escu
e
m
i
s
s
io
n
,
to
n
a
m
e
s
o
m
e.
A
t
p
r
esen
t,
th
e
clea
n
in
g
p
r
o
ce
s
s
is
en
tire
l
y
m
a
n
u
a
l
an
d
n
o
t
v
er
y
p
r
o
d
u
ctiv
e.
T
h
er
e
ex
is
t v
er
y
f
e
w
m
et
h
o
d
s
s
i
m
ilar
to
th
e
o
n
e
p
r
o
p
o
s
ed
.
3.
I
M
P
L
E
M
E
NT
AT
I
O
N
T
h
e
r
o
b
o
t
is
r
ea
lized
w
ith
t
h
e
h
elp
o
f
t
w
o
m
icr
o
co
n
tr
o
ller
u
n
it
s
(
b
o
th
MSP
4
3
0
)
.
T
h
e
f
ir
s
t
o
n
e
(
r
ef
er
r
ed
to
asMC
U
-
1
)
is
p
r
es
en
t
o
n
t
h
e
r
o
b
o
t
an
d
h
elp
s
i
n
th
e
m
o
v
e
m
en
t
an
d
clea
n
in
g
a
ctio
n
o
f
t
h
e
r
o
b
o
t.
T
h
e
s
ec
o
n
d
MCU
(
r
ef
er
r
ed
to
asMC
U
-
2
)
is
i
n
ter
f
ac
ed
w
i
th
all
t
h
e
4
cu
b
icle
s
an
d
h
elp
s
k
ee
p
tr
ac
k
o
f
t
h
e
co
u
n
ter
s
.
T
o
in
itiate
th
e
clea
n
in
g
m
ec
h
a
n
i
s
m
o
n
ce
t
h
e
r
o
b
o
t
r
ea
ch
es
th
e
d
esire
d
cu
b
icle,
a
n
R
FID
m
o
d
u
le
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
201
5
:
3
1
1
–
3
1
5
312
u
s
ed
.
T
h
e
r
o
b
o
t
is
p
o
w
er
ed
b
y
a
1
2
V
DC
b
atter
y
an
d
ea
c
h
o
f
th
e
M
C
Us
b
y
i
n
d
ep
en
d
en
t
5
V
s
o
u
r
ce
s
.
T
h
e
w
o
r
k
i
n
g
o
f
t
h
is
r
o
b
o
t c
an
b
e
s
p
lit in
to
f
o
u
r
m
o
d
u
le
s
as f
o
llo
w
s
:
Fig
u
r
e
1
.
B
lo
ck
Diag
r
a
m
3
.
1
.
M
o
du
le
1
:
Cubi
cle
Select
io
n
Def
i
n
e
T
h
e
cu
b
icle
to
b
e
clea
n
ed
is
s
elec
ted
b
ased
o
n
th
e
f
r
eq
u
en
c
y
o
f
u
s
ag
e
o
f
th
at
c
u
b
icle.
T
h
e
n
u
m
b
er
o
f
p
eo
p
le
v
is
iti
n
g
a
p
ar
ticu
lar
cu
b
icle
is
s
e
n
s
ed
b
y
a
n
I
n
f
r
ar
ed
tr
an
s
m
itter
-
r
ec
e
iv
er
p
air
w
h
ich
is
p
lace
d
at
th
e
d
o
o
r
w
a
y
.
W
h
e
n
ev
er
a
p
er
s
o
n
en
ter
s
a
c
u
b
i
cle,
h
e
cr
o
s
s
es
th
is
in
f
r
ar
ed
s
en
s
o
r
,
ca
u
s
i
n
g
it
to
b
ec
o
m
e
lo
w
.
I
n
all
s
u
ch
in
s
tan
ce
s
,
th
e
co
u
n
ter
co
r
r
esp
o
n
d
in
g
to
th
at
c
u
b
icle
i
s
i
n
cr
e
m
e
n
ted
.
A
l
l
s
u
ch
in
f
r
ar
ed
s
en
s
o
r
s
in
s
talled
i
n
ea
c
h
o
f
t
h
e
d
o
o
r
w
a
y
s
i
s
in
ter
f
ac
ed
w
it
h
an
MSP
4
3
0
MCU.
T
h
is
M
C
U
-
2
m
o
n
ito
r
s
t
h
e
co
u
n
ter
v
al
u
es
a
n
d
w
h
en
o
n
e
(
o
r
m
o
r
e)
o
f
t
h
e
co
u
n
ter
s
b
ec
o
m
e
s
g
r
ea
ter
t
h
an
o
r
eq
u
al
to
5
,
it
s
e
n
d
s
t
h
e
in
f
o
r
m
atio
n
r
eg
ar
d
in
g
t
h
at
c
u
b
icle
to
th
e
r
o
b
o
t
(
MCU
-
1
)
v
ia
an
R
F
tr
a
n
s
m
i
s
s
io
n
m
o
d
u
l
e.
W
h
en
m
o
r
e
th
a
n
o
n
e
co
u
n
ter
v
al
u
e
b
ec
o
m
es
g
r
ea
ter
th
an
o
r
eq
u
al
to
5
,
th
e
n
t
h
e
cu
b
icle
w
i
th
th
e
lar
g
est co
u
n
t
v
alu
e
i
s
s
elec
ted
.
I
f
m
o
r
e
th
a
n
o
n
e
co
u
n
ter
h
as
th
e
lar
g
est
v
alu
e,
t
h
en
o
n
e
o
f
th
o
s
e
c
u
b
icles
is
s
e
lecte
d
at
r
an
d
o
m
.
Af
ter
,
th
e
cu
b
icle
is
s
elec
ted
,
its
co
u
n
ter
v
alu
e
i
s
r
eset to
ze
r
o
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
u
to
n
o
mo
u
s
La
va
to
r
y
C
lea
n
in
g
S
ystem
(
A
.
A
d
ith
ya
B
h
a
r
a
d
w
a
j)
313
Fig
u
r
e
2
.
L
o
co
m
o
tio
n
Seq
u
en
ce
3
.
2
.
M
o
du
le
2
:
L
o
co
m
o
t
io
n
T
h
e
p
ath
f
r
o
m
t
h
e
s
tar
tin
g
p
o
in
t
to
ea
c
h
o
f
t
h
e
c
u
b
icles
i
s
l
aid
as
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
B
ased
o
n
th
e
d
ata
r
ec
eiv
ed
f
r
o
m
M
C
U
-
2
,
th
e
c
u
b
icle
a
n
d
its
co
r
r
esp
o
n
d
in
g
p
ath
ar
e
c
h
o
s
en
.
T
h
e
r
o
b
o
t
u
s
es
lin
e
f
o
llo
w
e
r
tech
n
iq
u
e
to
tr
av
el
in
t
h
e
s
ele
cted
p
ath
.
T
h
e
r
o
b
o
t
h
a
s
t
h
r
ee
w
h
ee
ls
,
t
w
o
o
f
w
h
ic
h
ar
e
co
n
n
ec
ted
to
t
w
o
1
2
-
V
DC
m
o
to
r
s
(
m
o
to
r
-
1
a
n
d
m
o
to
r
-
2
)
.
T
h
e
th
ir
d
w
h
ee
l i
s
a
f
r
ee
w
h
ee
l.
T
h
ese
D
C
m
o
to
r
ar
e
in
ter
f
ac
ed
w
it
h
MC
U
-
1
.
B
y
co
n
tr
o
llin
g
t
h
e
t
w
o
m
o
to
r
s
,
th
e
r
o
b
o
t
ca
n
b
e
m
ad
e
to
m
o
v
e
f
o
r
w
ar
d
s
,
b
ac
k
w
ar
d
s
,
le
f
t
o
r
r
ig
h
t.
T
h
e
p
ath
is
a
b
lack
li
n
e
o
f
t
h
ick
n
es
s
5
c
m
.
T
h
e
r
o
b
o
t
h
as
7
in
f
r
ar
ed
s
en
s
o
r
s
o
n
its
f
ac
e.
W
h
e
n
a
s
e
n
s
o
r
f
ac
es
th
e
b
lac
k
li
n
e
,
it
s
en
d
s
a
lo
w
o
u
tp
u
t.
B
ased
o
n
th
e
d
ata
r
ec
eiv
ed
f
r
o
m
a
ll
th
e
s
ev
e
n
s
e
n
s
o
r
s
,
th
e
r
o
b
o
t
is
ca
lib
r
ated
an
d
p
r
ev
en
ts
i
t
f
r
o
m
d
i
g
r
ess
in
g
.
T
h
e
r
o
b
o
t
s
en
s
e
th
e
s
tar
ti
n
g
/
en
d
in
g
p
o
in
t
w
h
en
al
l
its
s
e
v
en
s
e
n
s
o
r
s
g
o
lo
w
.
B
ased
o
n
th
e
p
ath
ch
o
s
en
,
t
h
e
r
o
b
o
t
m
a
k
es
a
ca
ll
o
n
w
h
at
tu
r
n
to
tak
e
at
in
ter
s
ec
t
io
n
s
.
Fo
r
ex
a
m
p
le,
if
th
e
p
ath
ch
o
s
e
n
is
‘
P
ath
I
I
’
,
T
h
en
th
e
r
o
b
o
t
tak
es
a
lef
t
tu
r
n
o
n
th
e
f
ir
s
t
in
ter
s
ec
tio
n
an
d
a
r
ig
h
t
t
u
r
n
o
n
th
e
s
ec
o
n
d
.
B
y
t
h
i
s
p
r
o
ce
d
u
r
e,
th
e
r
o
b
o
t
r
ea
ch
es th
e
d
esire
d
cu
b
i
cle.
Fig
u
r
e
3
.
C
lean
i
n
g
Me
c
h
a
n
is
m
3
.
3
.
M
o
du
le
3
:
Clea
nin
g
On
ce
t
h
e
r
o
b
o
t r
ea
ch
es th
e
d
es
tin
atio
n
it i
n
itiate
s
th
e
clea
n
i
n
g
s
eq
u
e
n
ce
.
An
R
FID
s
en
s
i
n
g
an
ten
n
a
i
s
af
f
ix
ed
o
n
to
t
h
e
r
o
b
o
t;
th
is
s
e
n
s
e
s
th
e
R
FID
ta
g
p
lace
d
o
n
t
h
e
to
ilet
b
o
w
l,
s
o
as
to
tr
ig
g
er
ti
m
er
s
T
1
an
d
T
2
s
i
m
u
lta
n
eo
u
s
l
y
,
a
s
s
o
ciate
d
w
i
th
ti
m
er
s
M
C
U
-
1
an
d
MC
U
-
2
r
esp
ec
tiv
el
y
.
O
n
ce
t
h
e
ti
m
e
r
s
ar
e
tr
ig
g
er
ed
,
th
e
clea
n
i
n
g
p
r
o
ce
d
u
r
e
is
in
itiated
,
as e
x
p
lain
ed
b
elo
w
.
a.
T
h
e
to
ilet
is
au
to
m
atica
ll
y
f
l
u
s
h
ed
w
it
h
th
e
h
elp
o
f
a
s
o
l
en
o
id
v
al
v
e
co
n
n
ec
ted
to
t
h
e
w
ater
s
u
p
p
l
y
(
in
ter
f
ac
ed
w
it
h
MC
U
-
2
)
.
b.
T
h
e
ar
m
co
n
tai
n
i
n
g
th
e
b
r
u
s
h
is
lo
w
er
ed
w
it
h
th
e
h
elp
o
f
a
1
2
-
v
D
C
m
o
to
r
(
m
o
to
r
-
3
)
.
c.
A
clea
n
in
g
liq
u
id
is
d
is
p
en
s
e
d
in
to
th
e
w
al
ls
o
f
t
h
e
clo
s
et
an
d
th
e
ax
el
co
n
ta
in
i
n
g
th
e
b
r
u
s
h
es
is
r
o
t
ated
u
s
i
n
g
m
o
to
r
4
(
1
2
V
-
DC
)
to
p
er
f
o
r
m
clea
n
in
g
.
T
h
is
ac
tio
n
h
ap
p
en
s
f
o
r
3
5
s
ec
o
n
d
s
.
d.
Af
ter
3
5
s
ec
o
n
d
s
,
th
e
b
r
u
s
h
i
s
r
e
m
o
v
ed
an
d
t
h
e
to
ilet is a
u
to
m
atica
ll
y
f
lu
s
h
ed
ag
ai
n
.
e.
T
h
e
b
r
u
s
h
is
a
g
ain
lo
w
er
ed
in
to
th
e
to
ilet a
n
d
r
o
tated
f
o
r
2
5
s
ec
o
n
d
s
to
p
er
f
o
r
m
th
o
r
o
u
g
h
clea
n
i
n
g
.
f.
Af
ter
2
5
s
ec
o
n
d
s
,
th
e
b
r
u
s
h
i
s
r
e
m
o
v
ed
an
d
th
e
to
ilet
f
l
u
s
h
ed
ag
ain
.
Up
o
n
th
e
co
m
p
let
io
n
o
f
th
e
ab
o
v
e
s
i
x
s
tep
s
,
t
h
e
ti
m
er
r
u
n
s
o
u
t
in
d
icat
in
g
th
e
co
m
p
let
io
n
o
f
t
h
e
clea
n
i
n
g
ac
tio
n
.
T
h
e
co
u
n
ter
f
o
r
th
is
p
ar
ticu
lar
c
u
b
icle
is
m
ad
e
ze
r
o
.
3
.
4
.
M
o
du
le
4
:
G
o
B
a
ck
a
nd
Rep
ea
t
Af
ter
t
h
e
clea
n
in
g
ac
t
io
n
is
c
o
m
p
leted
,
th
e
r
o
b
o
t
tu
r
n
s
ar
o
u
n
d
a
n
d
tr
ac
e
s
it
s
p
at
h
b
ac
k
t
o
its
i
n
it
ial
p
o
s
itio
n
.
T
h
e
ab
o
v
e
p
r
o
ce
s
s
is
r
ep
ea
ted
f
o
r
as lo
n
g
as th
e
r
o
b
o
t is ac
tiv
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
201
5
:
3
1
1
–
3
1
5
314
T
h
e
s
y
s
te
m
atic
w
o
r
k
in
g
o
f
t
h
e
ab
o
v
e
m
o
d
u
les
ca
n
b
e
p
i
cto
r
iall
y
r
ep
r
esen
ted
u
s
i
n
g
a
s
s
h
o
w
n
in
Fig
u
r
e
3
.
Fig
u
r
e
3
.
S
y
s
te
m
atic
W
o
r
k
i
n
g
3
.
4
.
1
.
F
uture
Adv
a
nce
m
ent
s
Af
ter
t
h
e
r
o
b
o
t
is
i
m
p
le
m
e
n
t
ed
s
u
cc
es
s
f
u
ll
y
,
t
h
e
r
o
b
o
t
ca
n
b
e
i
m
p
r
o
v
ed
b
y
ad
d
in
g
o
t
h
er
clea
n
in
g
m
o
d
u
les
to
clea
n
th
e
o
t
h
er
p
ar
ts
o
f
t
h
e
b
at
h
r
o
o
m
li
k
e
t
h
e
w
a
s
h
b
asi
n
s
an
d
w
al
ls
.
T
h
is
ad
d
e
d
f
ea
tu
r
e
w
i
ll
m
ak
e
th
e
r
o
b
o
t
a
co
m
p
lete
p
ac
k
ag
e
an
d
th
e
n
t
h
e
r
o
b
o
t
ca
n
b
e
co
m
m
er
ciall
y
s
o
ld
as
a
w
h
o
leso
m
e
p
ac
k
a
g
e
to
s
u
b
s
t
itu
te
m
a
n
u
a
l c
lean
i
n
g
o
f
r
estro
o
m
s
.
3
.
4
.
2
.
Adv
a
nta
g
es
a.
L
o
w
p
o
w
er
an
d
co
s
t e
f
f
ec
tiv
e
m
o
d
u
les
:
T
h
e
MSP
4
3
0
u
s
ed
co
n
s
u
m
es
lo
w
p
o
w
er
an
d
is
h
i
g
h
l
y
co
s
t
ef
f
ec
ti
v
e
co
m
p
ar
ed
to
th
e
h
i
g
h
er
en
d
A
T
ME
GA
co
n
tr
o
ller
s
u
s
ed
in
A
r
d
u
i
n
o
p
latf
o
r
m
.
b.
Hig
h
l
y
a
u
to
m
ated
s
y
s
te
m
:
T
h
e
h
u
m
a
n
ele
m
en
t
in
th
e
s
y
s
te
m
is
m
i
n
i
m
ized
to
t
h
e
le
v
e
l
o
f
t
h
e
s
p
o
r
ad
ic
clea
n
i
n
g
o
f
t
h
e
b
r
u
s
h
es
an
d
r
ef
illi
n
g
o
f
th
e
clea
n
i
n
g
l
iq
u
id
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
u
to
n
o
mo
u
s
La
va
to
r
y
C
lea
n
in
g
S
ystem
(
A
.
A
d
ith
ya
B
h
a
r
a
d
w
a
j)
315
c.
I
m
p
le
m
e
n
ti
n
g
R
FID
m
o
d
u
le
i
s
h
i
g
h
l
y
b
en
e
f
icial
in
a
n
u
m
b
er
o
f
w
a
y
s
;
i
t
is
co
s
t
e
f
f
ec
ti
v
e
an
d
d
o
es
n
o
t
r
eq
u
ir
e
a
lin
e
-
of
-
s
ig
h
t
co
m
m
u
n
ica
tio
n
,
p
o
s
s
e
s
s
e
s
h
ig
h
s
p
e
ed
s
o
f
o
p
er
atio
n
an
d
i
s
b
est
s
u
ited
i
n
to
u
g
h
en
v
ir
o
n
m
e
n
t
s
.
RE
F
E
R
E
NC
E
S
[1
]
Mo
h
a
m
m
ed
I
s
k
a
tu
l
I
s
la
m
,
De
s
ig
n
a
n
d
Fab
r
icatio
n
O
f
A
L
i
n
e
Fo
llo
w
er
R
o
b
o
t,
2011.
[2
]
J
o
h
n
H.
Dav
i
s
,
MSP
4
3
0
Mic
r
o
co
n
tr
o
ller
b
asics
,
Ne
w
n
es,
2
0
0
8
.
[3
]
J
o
n
g
-
H
w
an
Ki
m
,
E
r
ic
T
.
Ma
ts
o
n
,
H
y
u
n
M
y
u
n
g
,
P
eter
Xu
,
F
ak
h
r
i
Kar
r
a
y
,
R
o
b
o
t
I
n
telli
g
en
ce
T
ec
h
n
o
lo
g
y
An
d
A
p
p
licatio
n
s
2
:
R
es
u
lt
s
f
r
o
m
t
h
e
2
n
d
I
n
ter
n
a
tio
n
al
C
o
n
f
er
en
ce
O
n
R
o
b
o
t
I
n
telli
g
e
n
ce
T
ec
h
n
o
lo
g
y
An
d
A
p
p
licatio
n
s
,
2
0
1
4
Evaluation Warning : The document was created with Spire.PDF for Python.