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l
a
t
e
d
t
o
progra
m
m
i
ng
,
a
nd
c
urr
e
nt
l
y
i
n
c
re
a
s
i
ng
l
y
a
s
s
oc
i
a
t
e
d
w
i
t
h
t
h
e
fi
e
l
d
of
c
om
put
e
r
v
i
s
i
on
[8]
.
In
t
h
e
c
urr
e
nt
e
r
a
,
Robot
i
c
s
i
s
not
fa
r
a
w
a
y
fro
m
t
he
a
pp
l
i
c
a
t
i
on
of
a
rt
i
fi
c
i
a
l
i
nt
e
l
l
i
g
e
n
c
e
[
9]
a
s
w
e
l
l
i
n
pe
rfor
m
i
ng
fa
s
t
l
e
a
rn
i
ng
t
o
obt
a
i
n
d
e
c
i
s
i
on
opt
i
ons
ba
s
e
d
on
m
u
l
t
i
-
i
np
ut
m
u
l
t
i
-
out
put
pr
obl
e
m
s
[10
].
T
h
e
c
ont
r
ol
s
ys
t
e
m
t
he
or
y
w
hi
c
h
i
s
i
ns
e
p
a
ra
b
l
e
fro
m
m
a
t
he
m
a
t
i
c
s
i
s
a
l
s
o
a
pp
l
i
e
d
t
o
t
h
e
r
e
s
ul
t
s
of
t
h
i
s
l
e
a
rn
i
ng
.
B
a
s
i
c
a
l
l
y
,
t
he
r
e
a
re
a
l
ot
of
e
nt
hus
i
a
s
t
s
t
o
l
e
a
rn
a
bou
t
rob
ot
i
c
s
,
but
t
h
e
y
a
re
ha
m
pe
re
d
by
t
he
progr
a
m
m
i
ng
t
ha
t
i
s
c
ons
i
de
r
e
d
c
om
pl
i
c
a
t
e
d
[11].
A
s
a
s
t
udy
c
on
duc
t
e
d
a
t
t
he
D
e
p
a
rt
m
e
nt
o
f
S
c
h
ool
of
Com
put
e
r
S
c
i
e
nc
e
,
U
ni
v
e
rs
i
t
y
of
L
i
nc
ol
n
,
U
K
,
t
he
m
e
t
h
od
o
f
i
nt
e
gr
a
t
i
on
b
e
t
w
e
e
n
c
om
put
e
r
vi
s
i
o
n
a
nd
robo
t
i
c
s
i
s
v
e
ry
pos
s
i
b
l
e
t
o
b
e
t
a
ug
ht
[12]
.
In
a
dd
i
t
i
on
t
o
p
rogr
a
m
m
i
n
g,
t
he
n
um
b
e
r
of
s
e
ns
ors
t
h
a
t
n
e
e
d
t
o
be
i
m
pl
e
m
e
nt
e
d
i
n
robo
t
s
a
l
s
o
be
c
o
m
e
s
a
pr
obl
e
m
i
n
a
s
s
e
m
b
l
i
n
g
robo
t
s
.
T
h
i
s
i
s
b
e
c
a
us
e
i
f
t
he
re
i
s
on
e
s
e
ns
or
t
h
a
t
h
a
s
a
prob
l
e
m
,
i
t
c
a
n
c
a
us
e
a
f
a
t
a
l
e
rr
or
a
t
t
h
e
robo
t
'
s
ra
t
e
.
S
i
m
i
l
a
r
t
o
t
he
l
i
n
e
fo
l
l
ow
e
r
rob
ot
,
i
t
m
ov
e
s
b
a
s
e
d
on
l
i
ne
s
,
s
o
t
h
a
t
t
h
e
r
e
a
re
m
ore
t
ha
n
on
e
s
e
ns
or
ne
e
de
d
t
o
m
a
ke
t
h
e
r
obot
s
e
e
t
he
l
i
n
e
b
e
l
ow
i
t
[13
-
16]
.
F
or
t
hi
s
re
a
s
on,
t
hi
s
i
nt
e
gra
t
i
o
n
m
e
t
hod
i
s
propos
e
d
t
o
e
nc
ou
r
a
ge
t
he
fo
c
us
of
s
t
ud
e
nt
s
l
e
a
rni
n
g
a
bou
t
robot
pro
gra
m
m
i
ng
.
In
t
hi
s
s
t
ud
y,
t
he
ro
bot
i
s
i
m
pl
e
m
e
nt
e
d
a
s
a
l
i
n
e
fol
l
ow
e
r
robo
t
e
qu
i
pp
e
d
w
i
t
h
a
c
a
m
e
r
a
a
s
a
s
e
ns
or
,
Ra
s
pb
e
rry
P
i
a
s
a
n
e
m
be
d
de
d
s
ys
t
e
m
/
pro
c
e
s
s
or
,
IC
L
293d
a
s
a
m
ot
or
dri
v
e
r,
a
nd
2
D
C
12v
m
ot
ors
a
s
m
ove
rs
.
W
e
us
e
R
a
s
pbe
rry
P
i
a
s
a
n
e
m
be
dd
e
d
s
y
s
t
e
m
t
h
a
t
he
l
pe
d
i
n
d
a
t
a
p
roc
e
s
s
i
ng
be
c
a
us
e
i
t
c
o
ul
d
be
us
e
d
e
ff
e
c
t
i
v
e
l
y
a
nd
s
m
oo
t
hl
y
for
de
t
e
c
t
i
on
w
ork
[17
-
20]
.
W
e
r
e
pl
a
c
e
t
h
e
phot
o
di
od
a
s
e
ns
or
us
e
d
for
l
i
ne
fol
l
ow
e
r
r
obot
s
t
o
be
a
c
a
m
e
ra
be
c
a
us
e
i
n
a
dd
i
t
i
on
t
o
t
he
us
e
of
t
h
e
c
a
m
e
r
a
s
,
i
t
i
s
e
a
s
i
e
r
t
ha
n
m
a
ki
ng
s
e
ns
or
m
odu
l
e
s
.
S
t
ud
e
nt
s
c
a
n
l
e
a
rn
how
t
o
a
c
qu
i
re
i
m
a
g
e
s
,
a
nd
be
p
roc
e
s
s
e
d
i
n
s
uc
h
a
w
a
y
t
ha
t
t
h
e
y
c
a
n
be
da
t
a
t
ha
t
i
s
r
e
a
dy
t
o
be
pr
oc
e
s
s
e
d
a
s
a
re
f
e
r
e
nc
e
for
m
ov
i
ng
m
ot
o
rs
.
T
o
s
up
port
i
m
a
g
e
pro
c
e
s
s
i
ng
,
t
he
O
p
e
nCV
l
i
br
a
ry
i
s
us
e
d
i
n
t
h
i
s
s
t
udy
r
e
f
e
rs
t
o
m
a
n
y
pro
j
e
c
t
s
re
l
a
t
e
d
t
o
i
m
a
ge
p
roc
e
s
s
i
ng
t
ha
t
w
e
r
e
a
l
s
o
c
om
p
l
e
t
e
d
w
i
t
h
O
pe
nCV
[21
-
24
].
2.
R
ES
EA
R
C
H
M
ET
H
O
D
P
rogra
m
m
i
ng
c
o
m
pr
e
he
ns
i
on
re
c
e
i
v
e
s
p
e
c
i
a
l
a
t
t
e
n
t
i
o
n
a
n
d
h
a
s
b
e
e
n
a
ppl
i
e
d
t
o
t
h
e
e
du
c
a
t
i
on
a
l
c
urri
c
ul
um
i
n
m
a
ny
d
e
ve
l
op
e
d
c
oun
t
ri
e
s
.
H
ow
e
ve
r
,
prog
ra
m
m
i
n
g
h
a
s
n
ot
re
c
e
i
ve
d
m
uc
h
a
t
t
e
n
t
i
on
by
e
duc
a
t
i
on
a
l
i
ns
t
i
t
u
t
i
ons
i
n
Indo
ne
s
i
a
.
A
l
t
hough
t
h
e
r
e
a
r
e
a
l
r
e
a
dy
a
nu
m
be
r
of
i
ns
t
i
t
u
t
i
ons
t
ha
t
ho
l
d
progra
m
m
i
ng
c
l
u
b
a
c
t
i
vi
t
i
e
s
,
i
t
i
s
no
t
e
no
ugh
a
s
w
e
s
houl
d
c
ons
i
d
e
r
t
he
b
e
n
e
fi
t
s
o
f
progr
a
m
m
i
ng
t
o
t
ra
i
n
s
t
ude
n
t
'
s
c
ri
t
i
c
a
l
t
h
i
nki
ng.
E
ffo
rt
s
a
re
n
e
e
de
d
t
o
fu
rt
h
e
r
i
nt
r
oduc
e
progr
a
m
m
i
ng
t
o
s
t
ud
e
nt
s
.
T
he
r
e
for
e
,
t
h
i
s
s
t
udy
pr
opos
e
d
a
m
e
t
ho
d
i
n
w
hi
c
h
c
o
m
put
e
r
vi
s
i
o
n
a
nd
ro
bot
i
c
s
a
pp
roa
c
he
s
a
r
e
i
nt
e
gra
t
e
d
t
o
i
m
prov
e
s
t
ude
nt
’s
c
om
p
re
h
e
ns
i
on
of
pro
gra
m
m
i
ng
.
T
h
e
i
nt
e
gr
a
t
i
on
s
t
e
ps
c
a
n
b
e
s
e
e
n
i
n
t
h
e
fol
l
ow
i
n
g
F
i
gure
1
.
F
i
gure
1
s
how
s
t
ha
t
i
n
or
de
r
t
o
i
n
c
re
a
s
e
t
h
e
s
t
u
de
n
t
'
s
robot
pro
gra
m
m
i
ng
c
o
m
pr
e
he
ns
i
on
,
t
he
m
os
t
i
m
por
t
a
nt
t
h
i
ng
t
o
do
i
s
do
i
ng
s
t
udy
l
i
t
e
ra
t
ur
e
.
A
t
t
h
i
s
s
t
a
g
e
,
a
l
l
know
l
e
dg
e
a
bo
ut
robo
t
progr
a
m
m
i
ng
a
nd
c
om
p
ut
e
r
v
i
s
i
on
i
s
e
xp
l
or
e
d.
M
a
t
e
r
i
a
l
s
a
bout
pro
gra
m
m
i
ng
a
r
e
ob
t
a
i
n
e
d
by
us
i
ng
r
e
fe
re
n
c
e
books
,
s
ur
fi
ng
t
he
i
nt
e
rn
e
t
,
a
n
d
pr
e
s
e
nt
a
t
i
on
s
l
i
d
e
s
prov
i
de
d
by
t
he
i
ns
t
ru
c
t
o
r.
Bro
a
dl
y
s
pe
a
ki
ng,
t
hi
ngs
e
x
pl
or
e
d
i
nc
l
ud
e
how
t
he
ro
bot
c
a
n
re
c
ogni
z
e
l
i
ne
s
b
a
s
e
d
on
i
m
a
g
e
a
c
qui
s
i
t
i
on
fro
m
t
h
e
c
a
m
e
ra
,
how
t
o
pro
c
e
s
s
d
a
t
a
obt
a
i
ne
d
fr
om
da
t
a
a
c
qui
s
i
t
i
on
fro
m
t
he
c
a
m
e
r
a
,
a
nd
how
t
o
us
e
t
h
e
i
m
a
ge
a
c
qui
s
i
t
i
on
da
t
a
t
ha
t
h
a
s
be
e
n
pro
c
e
s
s
e
d
t
o
b
e
a
bl
e
t
o
m
ov
e
t
he
rob
ot
.
F
i
gure
1
.
C
om
pu
t
e
r
v
i
s
i
on
a
nd
r
obot
i
c
s
i
n
t
e
gr
a
t
i
on
prog
ra
m
m
i
ng
m
e
t
hods
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ri
e
s
ne
e
de
d
t
o
pro
gra
m
robo
t
ha
rdw
a
r
e
.
T
h
e
ope
r
a
t
i
ng
s
ys
t
e
m
us
e
d
i
n
t
hi
s
s
t
u
dy
i
s
R
a
s
pbi
a
n
S
t
r
e
t
c
h.
T
o
s
uppo
rt
t
he
robo
t
pro
gra
m
m
i
ng
proc
e
s
s
,
t
he
V
N
C
a
ppl
i
c
a
t
i
on
i
s
us
e
d
t
o
op
e
ra
t
e
Ra
s
pb
e
rry
P
i
r
e
m
o
t
e
l
y
t
hrough
a
l
a
pt
op
.
F
u
rt
h
e
rm
o
re
,
t
he
a
pp
l
i
c
a
t
i
on
us
e
d
t
o
c
r
e
a
t
e
c
ode
on
t
he
R
a
s
pbe
rr
y
P
i
i
s
t
he
de
f
a
ul
t
t
e
x
t
e
di
t
or
from
R
a
s
pbi
a
n.
T
h
e
l
a
s
t
but
no
t
t
h
e
l
e
a
s
t
s
of
t
w
a
r
e
i
s
O
pe
n
CV
l
i
br
a
ry
t
h
a
t
w
a
s
us
e
d
t
o
a
s
s
i
s
t
i
n
m
a
k
i
ng
c
ode
t
o
a
c
qu
i
re
i
m
a
ge
da
t
a
c
a
p
t
ure
d
b
y
c
a
m
e
r
a
s
.
3.
3
.
P
r
og
r
amm
i
n
g
In
t
hi
s
ph
a
s
e
,
P
y
t
hon
i
s
us
e
d
a
s
a
p
rogr
a
m
m
i
n
g
l
a
ngua
ge
t
o
m
a
k
e
ro
bo
t
s
func
t
i
o
n
a
s
l
i
ne
fo
l
l
ow
e
r
robot
s
.
T
he
r
e
a
r
e
2
ph
a
s
e
s
of
progr
a
m
m
i
n
g
c
a
rr
i
e
d
ou
t
on
t
hi
s
i
nt
e
gr
a
t
i
on
m
e
t
ho
d.
3.
3
.
1.
I
mag
e
d
at
a
a
c
q
u
i
s
i
t
i
on
Im
a
g
e
da
t
a
a
c
qui
s
i
t
i
on
i
s
us
e
d
t
o
pr
oc
e
s
s
i
m
a
g
e
s
c
a
p
t
ur
e
d
b
y
t
h
e
c
a
m
e
ra
a
nd
t
a
ke
d
a
t
a
e
ve
r
y
p
i
xe
l
i
n
t
h
e
i
m
a
ge
.
T
h
e
pur
pos
e
of
t
hi
s
p
roc
e
s
s
i
s
t
o
produ
c
e
t
he
m
i
dpo
i
nt
of
t
h
e
d
e
t
e
c
t
e
d
ob
j
e
c
t
,
i
n
t
h
i
s
c
a
s
e
a
b
l
a
c
k
l
i
ne
i
n
t
he
r
obot
'
s
p
a
t
h.
T
he
r
e
s
ul
t
s
of
t
he
prog
ra
m
m
i
ng
pr
oc
e
s
s
i
n
i
m
a
ge
d
a
t
a
a
c
qui
s
i
t
i
on
c
a
n
be
s
e
e
n
i
n
F
i
gure
2
.
F
i
gure
2
.
I
m
a
ge
da
t
a
a
c
qu
i
s
i
t
i
on
3.
3
.
2.
C
on
tr
ol
s
ys
te
m
an
d
d
at
a
d
e
l
i
ve
r
y
t
o
a
c
tu
ato
r
s
A
ft
e
r
t
he
c
e
nt
e
r
c
oord
i
na
t
e
da
t
a
of
t
he
o
bj
e
c
t
c
a
pt
ure
d
by
t
he
c
a
m
e
r
a
i
s
obt
a
i
n
e
d
,
t
h
e
d
a
t
a
i
s
t
h
e
n
us
e
d
t
o
b
e
pro
c
e
s
s
e
d
a
ga
i
n
us
i
ng
a
c
ont
ro
l
s
ys
t
e
m
t
o
be
a
v
a
l
u
e
t
o
c
ont
ro
l
t
h
e
r
ot
a
t
i
o
n,
di
re
c
t
i
on,
a
nd
s
pe
e
d
o
f
t
he
t
w
o
a
c
t
u
a
t
ors
.
T
he
c
on
t
rol
s
ys
t
e
m
us
e
d
i
n
t
hi
s
s
t
udy
i
s
t
he
P
-
D
c
ont
r
ol
l
e
r
.
T
he
s
t
a
g
e
s
of
i
m
pl
e
m
e
n
t
i
ng
da
t
a
from
t
h
e
c
e
nt
e
r
obj
e
c
t
re
a
di
n
g
i
nt
o
t
he
c
ont
rol
s
ys
t
e
m
a
re
a
s
f
ol
l
ow
s
.
T
he
fr
a
m
e
di
vi
d
e
d
i
n
t
o
9
pa
r
t
s
,
e
a
c
h
p
a
rt
ha
s
a
w
e
i
gh
t
va
l
ue
w
i
t
h
t
he
fo
l
l
ow
i
ng
de
t
a
i
l
s
s
t
a
t
e
d
i
n
T
a
b
l
e
2.
W
h
i
c
h
t
h
e
w
e
i
ght
va
l
u
e
w
i
l
l
b
e
c
ons
i
d
e
r
e
d
a
s
a
n
e
rror
v
a
l
u
e
o
f
t
he
X
va
l
ue
i
n
t
h
e
m
i
ddl
e
of
t
he
fr
a
m
e
.
T
a
b
l
e
2
.
T
he
w
e
i
gh
t
v
a
l
u
e
de
t
e
r
m
i
n
a
t
i
on
of
e
a
c
h
fr
a
m
e
T
h
e
Ra
n
g
e
o
f
X
(p
x
)
W
e
i
g
t
h
V
a
l
u
e
0
<
x
<
2
0
4
2
0
<
x
<
3
7
,
5
3
3
7
,
5
<
x
<
5
5
2
5
5
<
x
<
7
2
,
5
1
7
2
,
5
<
x
<
8
7
,
5
0
8
7
,
5
<
x
<
1
0
5
-
1
1
0
5
<
x
<
1
2
2
,
5
-
2
1
2
2
,
5
<
x
<
1
4
0
-
3
1
4
0
<
x
<
1
6
0
-
4
T
he
ne
x
t
s
t
a
g
e
i
s
t
h
e
a
ppl
i
c
a
t
i
on
of
t
he
w
e
i
ght
va
l
ue
ob
t
a
i
ne
d
fro
m
i
m
a
ge
pro
c
e
s
s
i
ng
i
n
t
o
t
he
c
ont
ro
l
s
ys
t
e
m
.
T
h
i
s
s
t
udy
a
ppl
i
e
s
P
D
c
on
t
rol
l
e
r
t
o
s
uppor
t
t
h
e
c
on
t
r
ol
s
ys
t
e
m
.
T
he
r
e
a
r
e
m
a
ny
s
t
u
di
e
s
t
ha
t
a
pp
l
y
P
D
c
ont
r
ol
l
e
rs
t
o
r
obot
s
[25
-
26]
a
nd
a
l
s
o
de
v
e
l
o
p
P
D
c
ont
rol
l
e
rs
s
o
t
ha
t
t
h
e
y
a
r
e
m
ore
ro
bus
t
[27]
.
T
he
P
D
c
ont
r
ol
l
e
r
s
ys
t
e
m
pa
r
a
m
e
t
e
r
i
s
ba
s
e
d
on
t
he
di
a
gr
a
m
w
hi
c
h
c
a
n
b
e
s
e
e
n
i
n
F
i
gur
e
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
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M
N
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e
l
e
c
om
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ont
r
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t
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r
obot
i
c
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No
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ud
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903
Ba
s
e
d
on
t
he
d
i
a
g
ra
m
bl
o
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k
i
n
F
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gur
e
3
,
a
n
a
l
gori
t
h
m
c
a
n
be
i
n
t
e
rpre
t
e
d
t
o
re
gul
a
t
e
robo
t
m
o
t
i
on
i
nt
o
ps
e
udo
c
ode
a
s
fo
l
l
ow
s
:
s
e
t
poi
nt
=
0
pre
vi
ous
_e
rr
or
=
0
K
p
=
(
t
uni
ng)
K
d
=
(
t
uni
ng)
e
rror
=
s
e
t
po
i
nt
–
w
e
i
ght
_v
a
l
ue
de
ri
v
a
t
i
ve
=
(
e
rror
–
pre
vi
ous
_
e
rror
)/
d
t
pd_out
=
(K
p
*
e
rr
or)
+
(K
d
*
d
e
ri
v
a
t
i
ve
)
pre
vi
ous
_e
rr
or
=
e
rror
w
a
i
t
(
dt
)
P
W
M
L
e
ft
(
c
ons
t
a
nt
_s
pe
e
d
+
pd_ou
t
)
P
W
M
Ri
gh
t
(
c
ons
t
a
nt
_s
p
e
e
d
-
pd_ou
t
)
By
us
i
ng
t
he
a
l
gor
i
t
h
m
a
bo
ve
,
t
he
rob
ot
’s
l
og
i
c
c
a
n
be
i
n
t
e
r
p
re
t
e
d
a
s
s
how
n
i
n
f
l
ow
c
ha
r
t
F
i
gur
e
4.
F
i
gure
3
. P
-
D
c
on
t
ro
l
l
e
r
d
i
a
gra
m
bl
o
c
k
F
i
gure
4
.
F
l
ow
c
h
a
rt
s
ys
t
e
m
3.
4
.
Eva
l
u
ati
on
3.
4
.
1.
R
ob
ot
te
s
t
i
n
g
r
e
s
u
l
t
T
he
re
s
u
l
t
s
of
c
o
m
pu
t
e
r
vi
s
i
on
a
nd
rob
ot
i
c
s
p
rog
r
a
m
m
i
n
g
i
nt
e
gra
t
i
o
n
t
e
s
t
i
ng
c
a
n
be
s
e
e
n
i
n
F
i
gur
e
5
.
F
i
gure
5
.
M
ob
i
l
e
robot
ru
nni
ng
t
e
s
t
re
s
u
l
t
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
1693
-
6930
T
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A
pri
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9
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3.
4
.
2.
Th
e
r
e
s
u
l
t
of
p
r
e
te
s
t
p
os
tte
s
t
T
he
r
e
s
ul
t
s
of
s
t
ud
e
nt
pro
gra
m
m
i
ng
c
o
m
pr
e
h
e
ns
i
on
i
m
pro
v
e
m
e
nt
a
r
e
a
s
s
e
s
s
e
d
b
a
s
e
d
on
t
h
e
pre
t
e
s
t
a
nd
pos
t
t
e
s
t
qu
e
s
t
i
ons
done
by
s
t
ude
n
t
s
a
t
t
he
be
gi
nn
i
ng
a
nd
t
he
e
nd
of
t
h
e
m
e
e
t
i
ng
.
P
r
e
t
e
s
t
a
n
d
pos
t
t
e
s
t
que
s
t
i
ons
w
e
re
done
by
s
t
ud
e
nt
s
a
m
ount
e
d
t
o
2
0
i
t
e
m
s
i
n
c
l
udi
ng
m
a
t
e
ri
a
l
a
bou
t
I
m
a
ge
P
r
oc
e
s
s
i
ng
,
P
yt
h
on
progra
m
m
i
ng
,
us
e
of
O
p
e
nCV
,
P
-
D
Con
t
rol
S
ys
t
e
m
,
a
nd
G
P
IO
P
rogra
m
m
i
ng
o
n
Ra
s
pb
e
rry
P
i
3
.
P
re
t
e
s
t
a
nd
pos
t
t
e
s
t
que
s
t
i
ons
w
e
re
don
e
for
50
m
i
nut
e
s
w
i
t
h
t
he
e
xpe
c
t
a
t
i
o
n
of
m
a
xi
m
u
m
re
s
u
l
t
s
.
B
a
s
e
d
o
n
t
h
e
da
t
a
obt
a
i
ne
d,
t
h
e
a
ve
ra
g
e
v
a
l
u
e
of
t
he
pr
e
t
e
s
t
a
nd
pos
t
t
e
s
t
of
a
l
l
s
t
ud
e
nt
s
ha
s
i
n
c
re
a
s
e
d
.
A
n
i
m
pr
ove
m
e
n
t
i
n
t
he
a
v
e
r
a
ge
pr
e
t
e
s
t
a
nd
pos
t
t
e
s
t
s
c
ore
s
c
a
n
b
e
s
e
e
n
i
n
F
i
gur
e
6.
F
i
gure
6
.
T
he
i
m
pro
ve
m
e
n
t
of
a
ve
ra
g
e
pre
-
t
e
s
t
a
nd
pos
t
-
t
e
s
t
re
s
ul
t
S
t
ude
n
t
progr
a
m
m
i
ng
c
om
p
re
h
e
ns
i
on
re
s
ul
t
s
i
m
prov
e
d
by
40
%
f
rom
a
v
e
ra
g
e
P
re
-
T
e
s
t
s
c
or
e
of
51
.
82
t
o
a
ve
ra
g
e
P
os
t
-
T
e
s
t
s
c
or
e
of
72
.
55.
B
a
s
e
d
on
t
hi
s
re
s
u
l
t
,
t
h
e
l
e
a
rn
i
ng
m
e
t
h
ods
o
f
C
om
p
ut
e
r
V
i
s
i
on
a
nd
Robot
i
c
s
i
nt
e
gr
a
t
i
on
a
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l
201
8
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8]
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.
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.
46,
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1
,
pp.
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-
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,
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e
b
r
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a
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03
.
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9]
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ne
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l
.
1
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pp
.
362
-
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,
201
9
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[
10]
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a
r
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l
O
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B
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e
t
a
l
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l
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t
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l
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o
l
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l
.
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,
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o.
1
,
pp
.
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-
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e
br
ua
r
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.
[
11]
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or
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h
B
.
,
M
a
r
c
o
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hy
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l
.
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,
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.
6,
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ov
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.
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12]
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E
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r
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s
ac
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ons
o
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duc
a
t
i
on
,
vol
.
56
,
no
.
1
,
pp
.
48
-
53
,
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e
b
r
ua
r
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201
3.
[
13]
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m
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.
S
.
,
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m
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n
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.
M,
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g
,
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.
127
-
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20
13
.
[
14]
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nj
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i
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i
s
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.
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T
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l
.
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e
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m
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r
20
14.
[
15]
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nupo
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u
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a
l
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e
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s
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J
E
A
I
S)
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vo
l
.
3
,
pp
.
42
-
47,
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a
nua
r
y
201
9.
[
16]
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e
h
r
a
n
P
.
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e
hdi
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.
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.
,
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L
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ol
l
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e
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m
s
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r
o
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d
di
ng
o
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n
t
e
r
na
t
i
ona
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i
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C
C
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E
)
.
S
i
ng
a
po
r
e
,
p
p.
5
-
9
,
2010
.
[
17]
S
um
a
r
d
i
,
M
uh
a
m
m
a
d
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.
,
M
un
a
w
a
r
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r
k
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r
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-
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E
L
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c
s
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nd
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o
nt
r
o
l
,
vol
.
16
,
pp
.
6
29
-
634
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2018
.
[
18]
O
nka
r
R
.
,
e
t
a
l
.
,
“
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bj
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t
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on
on
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a
s
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be
r
r
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na
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ona
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gi
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e
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c
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e
an
d
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om
p
ut
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ng
.
vol
.
7,
no
.
3,
2
017
.
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19]
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20]
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ha
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e
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pu
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[
21]
G
r
z
e
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or
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l
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-
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,
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017
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[
22]
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ndr
e
y
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.
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l
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di
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n
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of
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23
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015
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23]
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uobo
X
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e
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.
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une
20
13
.
[
24]
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oã
o
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.
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a
v
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,
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i
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,
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.
[
25]
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pp.
1
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4,
20
19
.
[
26]
A
dr
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a
n
P
.
,
“
T
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27]
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and
T
e
c
hn
ol
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gy
J
o
ur
na
l
,
vol
.
34
,
no
.
1
1,
20
16
.
BI
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