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Ro
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(
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Vo
l.
5
,
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4
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Dec
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b
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2
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1
6
,
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.
25
5
~
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61
I
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4856
255
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L
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lizatio
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it
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r
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ased
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8
m
.
K
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d
:
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ca
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Co
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©
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6
In
s
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it
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all
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1
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.
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ased
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I
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2
0
8
9
-
4856
IJ
RA
Vo
l.
5
,
No
.
4
,
Dec
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b
er
2
0
1
6
:
25
5
–
2
61
256
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2
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2.
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O
N
SCH
E
M
E
I
n
th
e
l
o
ca
l
iza
ti
o
n
s
ch
em
e
[
3
]
,
a
s
in
g
le
m
o
b
ile
an
ch
o
r
n
o
d
e
m
o
v
es
r
an
d
o
m
ly
th
r
o
u
g
h
th
e
s
en
s
in
g
f
ield
b
r
o
ad
ca
s
t
in
g
p
e
r
i
o
d
ic
b
e
ac
o
n
m
ess
ag
es
co
n
t
ain
in
g
its
cu
r
r
en
t
c
o
o
r
d
in
ates
.
Fig
.
1
s
h
o
w
s
th
e
lo
ca
l
iz
ati
o
n
s
ch
em
e
b
as
e
d
o
n
p
e
r
p
en
d
icu
l
a
r
b
is
ec
t
o
r
o
f
ch
o
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.
Fig
u
r
e
1
.
B
ea
co
n
P
o
in
ts
an
d
C
h
o
r
d
C
o
n
s
tr
u
ctio
n
T
h
e
l
o
c
ati
o
n
s
o
f
th
e
in
d
iv
i
d
u
al
s
en
s
o
r
n
o
d
es
ar
e
d
e
te
r
m
in
ed
b
y
ex
p
l
o
it
in
g
th
e
f
a
c
t
th
at
th
e
p
e
r
p
en
d
icu
l
ar
b
is
e
ct
o
r
o
f
a
c
h
o
r
d
o
f
a
ci
r
c
le
p
ass
es
th
r
o
u
g
h
th
e
ce
n
ter
o
f
th
e
cir
cle
.
I
t
is
ass
u
m
ed
th
at
th
e
co
m
m
u
n
icatio
n
r
an
g
e
o
v
er
w
h
ich
a
s
en
s
o
r
n
o
d
e
ca
n
d
et
ec
t
b
r
o
a
d
c
asts
f
r
o
m
th
e
m
o
b
il
e
an
ch
o
r
n
o
d
e
is
b
o
u
n
d
e
d
b
y
a
cir
cle
an
d
th
e
s
en
s
o
r
n
o
d
e
is
lo
c
ate
d
at
th
e
c
en
te
r
o
f
th
is
cir
cle
.
A
s
th
e
an
ch
o
r
n
o
d
e
m
o
v
es
th
r
o
u
g
h
th
e
s
en
s
in
g
f
ield
,
it
b
r
o
ad
ca
s
ts
its
co
o
r
d
in
ates
p
e
r
i
o
d
i
ca
l
ly
,
an
d
e
ac
h
s
en
s
o
r
n
o
d
e
ch
o
o
s
es
a
p
p
r
o
p
r
i
at
e
lo
ca
ti
o
n
s
o
f
th
e
an
ch
o
r
n
o
d
e
(
ca
l
le
d
b
e
ac
o
n
p
o
in
ts
)
t
o
f
o
r
m
ch
o
r
d
s
o
f
i
ts
co
m
m
u
n
icati
o
n
ci
r
c
le
.
On
c
e
t
h
r
ee
b
ea
co
n
p
o
in
ts
(
i
.
e
.
tw
o
ch
o
r
d
s
)
h
av
e
b
ee
n
c
o
n
s
tr
u
ct
ed
,
th
e
s
en
s
o
r
n
o
d
e
d
et
er
m
in
es
it
lo
c
ati
o
n
b
y
ca
lcu
la
t
in
g
th
e
in
ter
s
e
cti
o
n
p
o
in
t
o
f
th
e
tw
o
p
e
r
p
en
d
icu
l
ar
b
is
e
ct
o
r
s
o
f
th
e
ch
o
r
d
s
.
T
h
is
m
eth
o
d
p
r
o
v
id
es
a
c
o
m
p
u
tati
o
n
ally
s
tr
aig
h
tf
o
r
w
ar
d
m
ea
n
s
o
f
d
et
er
m
in
in
g
th
e
s
en
s
o
r
l
o
c
ati
o
n
s
.
Ho
w
ev
er
,
th
e
a
cc
u
r
ac
y
o
f
th
e
lo
c
ali
za
t
io
n
r
esu
lts
is
d
ep
en
d
en
t
o
n
th
e
len
g
th
o
f
th
e
ch
o
r
d
s
.
I
n
r
ea
lis
ti
c
en
v
ir
o
n
m
en
ts
,
th
e
s
elec
te
d
b
ea
co
n
p
o
in
ts
m
ay
n
o
t b
e
ex
ac
t
o
n
th
e
co
m
m
u
n
icatio
n
ci
r
cl
e.
B
ase
d
o
n
th
e
au
th
o
r
s
’
o
b
s
e
r
v
ati
o
n
,
w
h
en
th
e
len
g
th
o
f
th
e
ch
o
r
d
is
t
o
o
s
h
o
r
t
,
th
e
p
r
o
b
a
b
il
ity
o
f
u
n
s
u
cc
ess
f
u
l lo
c
ali
z
ati
o
n
w
ill in
cr
ea
s
e
r
a
p
i
d
ly
.
T
h
u
s
,
th
e
au
th
o
r
s
s
u
g
g
este
d
th
at
th
e
l
en
g
th
o
f
ea
ch
ch
o
r
d
s
h
o
u
ld
ex
ce
e
d
a
c
e
r
ta
in
th
r
esh
o
l
d
in
o
r
d
er
t
o
m
in
i
m
ize
th
e
lo
ca
l
iza
ti
o
n
er
r
o
r
.
H
o
w
ev
er
,
in
th
ese
s
ch
em
e
th
e
m
o
b
ile
an
ch
o
r
m
o
v
es
r
an
d
o
m
ly
th
r
o
u
g
h
th
e
s
en
s
in
g
f
ield
(
i.
e.
,
in
ac
c
o
r
d
an
ce
w
ith
th
e
R
an
d
o
m
W
ay
p
o
in
t
m
o
d
el
)
,
an
d
th
u
s
it
is
p
o
s
s
ib
le
th
a
t
s
o
m
e
o
f
th
e
s
en
s
o
r
n
o
d
es
ca
n
n
o
t
b
e
l
o
c
ali
z
ed
.
T
h
e
r
ef
o
r
e,
th
e
m
o
d
if
ie
d
s
c
an
alg
o
r
ith
m
p
r
o
p
o
s
e
d
in
th
is
s
tu
d
y
is
s
p
ec
if
ica
lly
d
esig
n
e
d
to
b
o
th
m
in
i
m
ize
th
e
lo
ca
l
iz
ati
o
n
e
r
r
o
r
o
f
th
e
in
d
iv
i
d
u
al
s
en
s
o
r
n
o
d
es
an
d
t
o
m
ax
im
ize
th
e
n
u
m
b
er
o
f
s
en
s
o
r
n
o
d
e
s
w
h
ich
ca
n
d
ete
r
m
in
e
th
eir
l
o
ca
ti
o
n
s
.
3.
E
XI
ST
I
N
G
P
AT
H
P
L
A
NNI
NG
S
T
RA
T
E
G
I
E
S
I
n
th
i
s
s
ec
tio
n
,
it
is
e
x
p
lai
n
ed
th
e
r
esu
lts
o
f
r
esear
ch
an
d
at
th
e
s
a
m
e
ti
m
e
is
g
iv
e
n
t
h
e
co
m
p
r
e
h
en
s
iv
e
d
is
c
u
s
s
io
n
.
R
e
s
u
lt
s
ca
n
b
e
p
r
ese
n
ted
i
n
f
i
g
u
r
es,
g
r
ap
h
s
,
tab
le
s
a
n
d
o
th
er
s
t
h
at
m
a
k
e
t
h
e
r
ea
d
er
u
n
d
er
s
ta
n
d
ea
s
il
y
[
2
]
,
[
5
]
.
T
h
e
d
is
cu
s
s
io
n
ca
n
b
e
m
ad
e
in
s
e
v
er
al
s
u
b
-
c
h
ap
ter
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
A
n
ch
o
r
Mo
ve
men
t S
tr
a
teg
y
f
o
r
C
o
n
jectu
r
e
Geo
metry
B
a
s
ed
Lo
ca
liz
a
tio
n
S
ch
eme
in
...
(
N
ir
a
j B
K
a
p
a
s
e
)
257
3
.
1
.
Sca
n
I
n
SC
A
N,
th
e
m
o
b
ile
an
ch
o
r
n
o
d
e
t
r
av
e
ls
al
o
n
g
a
s
in
g
l
e
d
im
en
s
io
n
(
e
.
g
.
th
e
x
-
ax
is
o
r
y
-
ax
is
d
i
r
e
cti
o
n
)
,
an
d
th
e
d
is
tan
c
e
b
et
w
ee
n
t
w
o
n
eig
h
b
o
r
in
g
s
eg
m
en
ts
o
f
th
e
n
o
d
e
t
r
a
jec
to
r
y
d
ef
in
e
s
th
e
r
es
o
lu
ti
o
n
o
f
th
e
tr
a
j
e
ct
o
r
y
[
4
]
.
SC
A
N
is
s
im
p
le
an
d
p
r
o
v
i
d
es
u
n
if
o
r
m
co
v
e
r
ag
e
t
o
th
e
en
ti
r
e
n
etw
o
r
k
.
H
o
w
ev
er
,
th
e
co
l
lin
e
ar
i
ty
o
f
th
e
b
ea
c
o
n
s
d
e
g
r
a
d
es
th
e
a
cc
u
r
ac
y
o
f
th
e
lo
c
aliz
ati
o
n
r
esu
lts
.
SC
A
N
ca
n
n
o
t
g
u
ar
an
te
e
th
at
th
e
len
g
th
o
f
e
ac
h
ch
o
r
d
ex
ce
ed
s
a
ce
r
t
ain
th
r
esh
o
l
d
.
3
.
2
.
Do
ub
le
Sca
n
I
n
DOU
B
L
E
SC
A
N,
th
e
c
o
l
li
n
ea
r
ity
p
r
o
b
lem
is
r
es
o
lv
ed
b
y
d
r
iv
in
g
th
e
an
ch
o
r
in
b
o
th
th
e
x
-
an
d
th
e
y
-
d
ir
ec
ti
o
n
s
[
4
]
.
H
o
w
ev
er
,
w
h
ils
t
th
is
s
t
r
ateg
y
im
p
r
o
v
es
th
e
lo
c
ali
za
ti
o
n
p
er
f
o
r
m
an
ce
o
f
th
e
s
en
s
o
r
n
o
d
es,
th
e
p
ath
len
g
th
is
d
o
u
b
l
ed
c
o
m
p
ar
ed
t
o
th
at
o
f
SC
A
N,
an
d
t
h
u
s
th
e
en
e
r
g
y
o
v
e
r
h
ea
d
in
c
r
ea
s
es
a
cc
o
r
d
in
g
ly
.
DOU
B
L
E
SC
A
N
in
cr
ea
s
es
th
e
b
ea
co
n
o
v
er
h
e
a
d
d
u
e
t
o
th
e
g
e
n
er
a
ti
o
n
o
f
r
e
d
u
n
d
an
t
b
e
ac
o
n
p
o
in
ts
.
3
.
3
.
H
ilb
er
t
I
n
H
I
L
B
E
R
T
,
th
e
m
o
b
il
e
an
ch
o
r
n
o
d
e
is
d
r
iv
en
al
o
n
g
a
cu
r
v
ed
tr
a
j
e
ct
o
r
y
s
u
ch
th
at
th
e
s
e
n
s
o
r
n
o
d
es
ca
n
c
o
n
s
t
r
u
ct
n
on
-
co
l
lin
e
ar
b
ea
c
o
n
p
o
in
ts
an
d
th
e
to
tal
p
ath
len
g
th
is
r
e
d
u
c
ed
[
4
]
.
T
h
e
r
esu
lts
p
r
esen
t
e
d
s
h
o
w
ed
th
at
th
r
o
u
g
h
an
ap
p
r
o
p
r
iat
e
s
ett
in
g
o
f
th
e
cu
r
v
e
d
t
r
a
ject
o
r
y
p
ar
am
eter
s
,
a
s
ig
n
if
ica
n
t
r
e
d
u
cti
o
n
in
th
e
lo
c
ali
za
ti
o
n
e
r
r
o
r
co
u
l
d
b
e
o
b
t
ain
e
d
c
o
m
p
a
r
e
d
t
o
th
e
c
ase
in
w
h
ich
th
e
an
ch
o
r
n
o
d
e
s
im
p
l
y
m
o
v
ed
r
an
d
o
m
l
y
th
r
o
u
g
h
th
e
s
en
s
in
g
f
iel
d
.
H
I
L
B
E
R
T
c
an
n
o
t
g
u
a
r
an
te
e
th
at
ev
er
y
s
en
s
o
r
n
o
d
e
w
ill
o
b
tai
n
th
e
th
r
ee
o
r
m
o
r
e
b
e
ac
o
n
p
o
in
ts
r
eq
u
i
r
e
d
t
o
co
n
s
tr
u
ct
tw
o
ch
o
r
d
s
o
f
th
e
c
o
m
m
u
n
icati
o
n
ci
r
c
le
.
3
.
4
.
Circ
le
I
n
C
I
R
C
L
E
S
,
th
e
m
o
b
il
e
an
ch
o
r
f
o
ll
o
w
s
a
s
eq
u
en
ce
o
f
co
n
c
en
tr
i
c
ci
r
cu
l
ar
t
r
a
jec
to
r
i
es
ce
n
t
er
ed
a
t
th
e
ce
n
te
r
p
o
in
t
o
f
th
e
d
e
p
l
o
y
m
en
t
ar
ea
[
5
]
.
C
I
R
C
L
E
S c
an
o
n
ly
g
u
ar
an
te
e
th
at
th
e
f
o
u
r
c
o
r
n
e
r
s
o
f
th
e
s
en
s
in
g
f
i
el
d
ar
e
c
o
v
e
r
e
d
b
y
ex
p
an
d
in
g
th
e
d
iam
ete
r
o
f
th
e
c
o
n
ce
n
t
r
i
c
c
ir
cles
.
A
s
a
r
esu
l
t,
th
e
p
ath
l
en
g
th
is
ex
ten
d
e
d
,
an
d
th
e
en
er
g
y
c
o
n
s
u
m
p
tio
n
is
in
c
r
ea
s
e
d
.
3
.
5
.
S
-
Curv
es
I
n
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C
UR
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S,
th
e
an
ch
o
r
f
o
llo
w
s
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S
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s
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ap
ed
cu
r
v
e
r
ath
er
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an
a
s
im
p
le
s
t
r
aig
h
t
lin
e
as
in
th
e
SC
A
N
m
eth
o
d
[
5
]
.
T
h
e
r
esu
lts
s
h
o
w
ed
th
at
g
iv
en
a
tr
a
ject
o
r
y
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o
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ti
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n
m
u
ch
lar
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er
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an
th
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d
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p
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ef
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ec
tiv
ely
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ith
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e
co
ll
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ea
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id
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if
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r
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cy
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s
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n
S
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th
e
t
r
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cto
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o
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th
e
m
o
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i
le
an
ch
o
r
ca
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o
t g
u
a
r
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t
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at
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r
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e
ca
n
c
o
n
s
t
r
u
ct
t
w
o
v
al
id
ch
o
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d
s
.
4.
M
O
DIFIE
D
S
CAN
A
L
G
O
R
I
T
H
M
I
n
o
r
d
e
r
to
g
et
at
le
ast
th
r
e
e
b
ea
c
o
n
p
o
in
ts
o
n
th
e
c
o
m
m
u
n
i
ca
ti
o
n
ci
r
cl
e
o
f
s
en
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o
r
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o
d
e
t
o
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o
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m
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o
ch
o
r
d
s
it
is
n
ec
ess
a
r
y
th
at
an
ch
o
r
n
o
d
e
m
u
s
t th
r
o
u
g
h
ci
r
c
le
a
r
ea
at
le
ast
tw
o
tim
es.
Fig
u
r
e
2
.
Mo
d
if
ied
Scan
A
l
g
o
r
ith
m
In
th
e
m
o
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if
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Sca
n
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h
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ed
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th
is
s
t
u
d
y
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t
h
e
d
is
tan
ce
b
et
w
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n
t
w
o
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cc
e
s
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i
v
e
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tical
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m
e
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ts
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ec
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a
s
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,
w
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s
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e
co
m
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u
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icatio
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o
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h
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m
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g
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h
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I
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w
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n
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ta
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r
s
u
cc
es
s
i
v
e
v
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tical
s
eg
m
e
n
ts
is
le
s
s
t
h
an
t
h
e
d
ia
m
eter
o
f
th
e
co
m
m
u
n
icatio
n
cir
cle
(
i.e
.
2
R
)
.
A
s
a
r
esu
l
t,
th
e
m
o
b
ile
a
n
ch
o
r
n
o
d
e
w
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l
p
ass
t
h
r
o
u
g
h
t
h
e
cir
cle
m
o
r
e
t
h
an
t
h
r
ee
ti
m
es.
I
n
o
t
h
er
w
o
r
d
s
,
in
cr
ea
s
in
g
t
h
e
v
al
u
e
o
f
X
m
a
y
i
n
cu
r
r
ed
u
n
d
an
t
b
ea
co
n
p
o
in
t
s
.
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o
n
v
er
s
el
y
,
d
ec
r
ea
s
i
n
g
th
e
v
al
u
e
o
f
X
m
a
y
ca
u
s
e
t
h
e
ch
o
r
d
len
g
th
to
f
all
b
elo
w
t
h
e
m
i
n
i
m
u
m
t
h
r
es
h
o
ld
v
alu
e.
T
h
u
s
,
i
n
p
r
ac
tice,
a
ca
r
ef
u
l
ch
o
ic
e
o
f
X
is
r
eq
u
ir
ed
.
T
o
d
eter
m
i
n
e
th
e
p
o
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itio
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s
o
f
th
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s
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n
s
o
r
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o
d
es
clo
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e
to
th
e
b
o
u
n
d
ar
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o
f
t
h
e
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en
s
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g
f
ield
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th
e
d
i
m
en
s
io
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s
o
f
t
h
e
f
ield
ar
e
v
ir
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a
ll
y
e
x
te
n
d
ed
b
y
a
d
is
ta
n
ce
o
f
R
o
n
ea
c
h
s
id
e,
as
s
h
o
w
n
i
n
Fi
g
.
2
.
B
y
e
x
te
n
d
in
g
t
h
e
s
en
s
i
n
g
f
iel
d
,
an
d
ch
o
o
s
in
g
a
n
ap
p
r
o
p
r
iate
v
alu
e
o
f
X,
th
e
p
r
o
p
o
s
ed
p
ath
p
lan
n
in
g
s
c
h
e
m
e
en
s
u
r
es
t
h
at
th
e
m
o
b
ile
an
ch
o
r
n
o
d
e
p
ass
es
th
r
o
u
g
h
t
h
e
cir
cle
o
f
ea
c
h
s
en
s
o
r
n
o
d
e
eith
er
t
w
o
o
r
th
r
ee
ti
m
es.
As s
h
o
w
n
i
n
Fi
g
u
r
e
2
,
th
e
to
ta
l p
ath
len
g
t
h
D
is
g
iv
e
n
as
(
)
(
⌈
⌉
)
+
(
)
(
⌈
⌉
)
(
1
)
As
th
e
eq
u
a
tio
n
(
1
)
in
d
icate
s
,
th
e
to
tal
p
ath
le
n
g
th
co
n
s
is
ts
o
f
t
w
o
co
m
p
o
n
en
t
s
i.e
.
Ver
tical
p
ath
an
d
Ho
r
izo
n
tal
p
ath
.
T
h
e
v
er
tical
p
ath
co
m
p
r
is
e
s
⌈
⌉
s
eg
m
e
n
ts
o
f
len
g
t
h
(
)
an
d
h
o
r
izo
n
tal
p
at
h
co
m
p
r
is
e
s
⌈
⌉
s
eg
m
e
n
t
s
o
f
le
n
g
t
h
(
)
.
T
h
is
m
o
d
if
ied
s
ca
n
alg
o
r
it
h
m
s
f
o
r
m
o
b
ile
an
ch
o
r
b
ased
lo
ca
lizatio
n
g
u
ar
an
tees
f
o
llo
w
in
g
c
o
n
d
itio
n
s
I.
T
h
e
ch
o
r
d
len
g
th
e
x
ce
ed
s
2
R
/
3
II.
A
ll
s
en
s
o
r
n
o
d
es c
an
d
eter
m
i
n
e
t
h
eir
lo
ca
tio
n
5.
O
B
ST
ACL
E
R
E
SI
ST
A
NCE
ST
RA
T
E
G
Y
I
n
a
r
ea
lis
tic
e
n
v
ir
o
n
m
e
n
t,
o
b
s
tacle
s
m
a
y
ap
p
ea
r
in
t
h
e
s
en
s
i
n
g
f
ie
ld
an
d
th
u
s
o
b
s
tr
u
ct
th
e
r
ad
io
co
n
n
ec
ti
v
it
y
b
et
w
ee
n
th
e
a
n
c
h
o
r
n
o
d
e
an
d
th
e
s
en
s
o
r
n
o
d
es.
T
h
e
o
b
s
tacle
-
r
esis
tan
t
tr
aj
e
cto
r
y
o
f
th
e
a
n
c
h
o
r
n
o
d
e
is
i
n
tr
o
d
u
ce
d
in
Fig
.
3
.
h
en
th
e
a
n
c
h
o
r
n
o
d
e
m
o
v
i
n
g
a
lo
n
g
t
h
e
p
r
o
p
o
s
ed
tr
a
j
e
cto
r
y
d
i
s
co
v
er
s
a
n
o
b
s
tacle
,
.
Af
ter
d
eto
u
r
in
g
,
t
h
e
an
ch
o
r
n
o
d
e
r
etu
r
n
s
to
t
h
e
o
r
i
g
in
a
l
p
r
o
p
o
s
ed
tr
a
j
ec
to
r
y
.
Ho
w
e
v
er
,
th
e
o
b
s
tacle
-
r
esis
ta
n
t
tr
aj
ec
to
r
y
m
a
y
ca
u
s
e
th
at
s
e
n
s
o
r
n
o
d
es
o
b
tai
n
b
ea
co
n
p
o
in
ts
w
h
ic
h
ar
e
n
o
t
o
n
th
e
cir
cl
e.
T
h
e
lo
ca
lizatio
n
p
er
f
o
r
m
a
n
ce
w
ill
b
e
d
eg
r
ad
ed
d
u
e
to
in
co
r
r
ec
t b
ea
co
n
p
o
in
ts
.
Fig
u
r
e
3
.
Ob
s
tacle
R
esi
s
ta
n
ce
Stra
teg
y
6.
P
E
RF
O
RM
ANE E
VA
L
UA
T
I
O
N
T
h
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
m
o
d
if
ied
s
c
an
alg
o
r
ith
m
is
ev
alu
at
e
d
b
y
p
e
r
f
o
r
m
in
g
a
s
er
i
es
o
f
s
i
m
u
latio
n
s
o
n
th
e
ns
-
2
n
etw
o
r
k
s
im
u
lat
o
r
[
6
]
.
T
h
e
s
im
u
latio
n
ca
r
r
ie
d
o
u
t
f
o
r
v
a
r
y
in
g
v
alu
e
o
f
X.
1)
T
h
e
lo
ca
l
iza
ti
o
n
er
r
o
r
:
th
e
av
e
r
ag
e
d
is
c
r
e
p
an
cy
b
etw
ee
n
th
e
esti
m
ated
s
en
s
o
r
n
o
d
e
lo
ca
t
io
n
an
d
th
e
ac
tu
al
s
en
s
o
r
n
o
d
e
lo
ca
ti
o
n
f
o
r
all
th
e
s
en
s
o
r
n
o
d
es
;
2)
T
h
e
p
e
r
c
en
tag
e
o
f
l
o
c
ali
ze
d
s
e
n
s
o
r
n
o
d
e
:
th
e
r
at
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o
f
th
e
n
u
m
b
er
o
f
s
u
cc
ess
f
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lly
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es
t
o
th
e
t
o
t
al
n
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m
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er
o
f
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en
s
o
r
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o
d
es;
3)
T
h
e
ch
o
r
d
l
en
g
th
: th
e
av
e
r
ag
e
ch
o
r
d
l
en
g
th
c
o
n
s
t
r
u
cte
d
b
y
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e
s
en
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o
r
n
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u
r
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4
il
lu
s
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ates
th
e
l
o
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z
ati
o
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er
r
o
r
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f
th
e
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r
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ed
s
ch
em
e
f
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r
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s
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o
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X
in
th
e
r
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0
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0
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o
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3
R
.
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t
ca
n
b
e
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e
en
th
at
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e
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iza
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er
r
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t
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t
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2
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4
5
m
as
th
e
v
alu
e
o
f
X
is
in
c
r
e
ase
d
.
T
h
e
lo
w
v
alu
e
o
f
th
e
lo
c
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za
t
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er
r
o
r
a
r
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b
ec
au
s
e
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e
m
o
d
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f
ied
s
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an
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o
r
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th
m
g
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te
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at
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o
f
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p
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th
at
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ess
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R
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3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
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4856
A
n
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259
Fig
u
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r
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Vs X
Fig
.
5
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t (
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IJ
RA
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7.
CO
NCLU
SI
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I
n
th
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s
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ap
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,
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e
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e
p
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h
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g
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r
ith
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r
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a
n
ce
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th
e
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ith
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L
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,
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d
o
m
m
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m
en
t
s
tr
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.
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er
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,
th
e
s
i
m
u
latio
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r
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e
s
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th
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t
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m
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s
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ith
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et
h
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in
ter
m
s
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s
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h
e
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er
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y
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b
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Scan
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o
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m
is
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f
0
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2
to
0
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4
m
w
h
ic
h
is
q
u
ite
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a
n
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ex
is
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n
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m
e
n
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p
ath
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n
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s
tr
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s
p
r
o
d
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g
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er
r
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r
in
th
e
r
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n
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e
0
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6
to
1
.
8
m
8.
F
UT
UR
E
SCO
P
E
T
h
e
im
p
r
o
v
e
m
en
t
in
ch
o
r
d
len
g
t
h
v
ar
iat
io
n
f
o
r
o
b
s
tacle
en
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ir
o
n
m
en
t
ca
n
b
e
ac
h
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ed
with
f
u
r
t
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er
m
o
d
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f
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n
i
n
B
ea
co
n
p
o
in
t selec
tio
n
m
ec
h
an
i
s
m
.
RE
F
E
R
E
NC
E
S
[1
]
I.
F
.
A
k
y
il
d
iz,
W
.
S
u
,
Y.
S
a
n
k
a
ra
su
b
ra
m
a
n
ia
m
,
a
n
d
E.
Ca
y
irci,
"
A
su
rv
e
y
o
n
se
n
so
r
n
e
tw
o
rk
s,"
IEE
E
Co
mm
u
n
.
M
a
g
.
,
v
o
l
.
4
0
,
n
o
.
8
,
p
p
.
1
0
2
-
1
1
4
,
A
u
g
u
e
st 2
0
0
2
.
[2
]
Ch
ia
-
Ho
Ou
,
M
e
m
b
r,
IEE
E,
a
n
d
W
e
i
-
L
u
n
He
,
"
P
a
th
P
lan
n
i
n
g
A
lg
o
rit
h
m
f
o
r
M
o
b
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