T
E
L
KO
M
N
I
KA
T
e
lec
om
m
u
n
icat
ion
,
Com
p
u
t
i
n
g,
E
lec
t
r
on
ics
an
d
Cont
r
ol
Vol.
1
8
,
No.
3
,
J
une
2020
,
pp.
1546
~
1552
I
S
S
N:
1693
-
6930,
a
c
c
r
e
dit
e
d
F
ir
s
t
G
r
a
de
by
Ke
me
nr
is
tekdikti
,
De
c
r
e
e
No:
21/E
/KP
T
/2018
DO
I
:
10.
12928/
T
E
L
KO
M
NI
KA
.
v1
8
i
3
.
1488
5
1546
Jou
r
n
al
h
omepage
:
ht
tp:
//
jour
nal.
uad
.
ac
.
id/
index
.
php/T
E
L
K
OM
N
I
K
A
S
in
gl
e
c
am
e
r
a d
e
p
t
h
c
on
t
r
ol
i
n
m
ic
r
o c
la
ss ROV
S
im
on
S
ire
gar
,
M
u
h
a
m
m
ad
I
k
h
s
an
S
an
i
,
S
in
t
o
n
g
T
u
a
P
ar
l
in
d
u
n
gan
S
il
ala
h
i
Co
mp
u
t
er
E
n
g
i
n
eer
i
n
g
D
e
p
art
me
n
t
,
Facu
l
t
y
o
f
A
p
p
l
i
e
d
Sci
en
ce,
T
e
l
k
o
m
U
n
i
v
er
s
i
t
y
,
In
d
o
n
es
i
a
Ar
t
icle
I
n
f
o
AB
S
T
RA
CT
A
r
ti
c
le
h
is
tor
y
:
R
e
c
e
ived
S
e
p
1
,
2019
R
e
vis
e
d
F
e
b
4,
2020
Ac
c
e
pted
F
e
b
23
,
2020
N
av
i
g
a
t
i
o
n
i
s
o
n
e
o
f
t
h
e
ma
i
n
c
h
al
l
en
g
es
i
n
a
n
u
n
d
er
w
a
t
er
v
e
h
i
c
l
e.
To
meas
u
re
an
d
s
u
s
t
a
i
n
t
h
e
d
ep
t
h
i
n
t
h
e
mi
cro
c
l
as
s
remo
t
e
l
y
o
p
erat
e
d
v
eh
i
cl
e
(RO
V
)
ro
b
o
t
i
s
o
n
e
o
f
t
h
e
mai
n
d
eman
d
s
i
n
t
h
e
u
n
d
er
w
at
er
ro
b
o
t
co
mp
e
t
i
t
i
o
n
.
T
h
ere
are
man
y
s
e
n
s
o
rs
t
h
a
t
can
b
e
u
s
ed
t
o
mea
s
u
re
t
h
e
d
ep
t
h
;
o
n
e
o
f
t
h
e
s
en
s
o
r
s
i
s
u
s
i
n
g
a
s
i
n
g
l
e
came
ra
s
en
s
o
r.
In
t
h
i
s
w
o
r
k
s
,
camera
-
b
as
e
d
d
e
p
t
h
co
n
t
r
o
l
i
s
d
e
v
el
o
p
e
d
an
d
ev
a
l
u
a
t
ed
fo
r
mi
cro
c
l
as
s
RO
V
,
n
amel
y
as
f
i
t
o
p
l
a
n
k
t
o
n
SA
S
R
O
V
.
F
i
t
o
p
l
an
k
t
o
n
S
A
S
RO
V
i
s
a
mi
cr
o
RO
V
p
ro
t
o
t
y
p
e
w
i
t
h
s
i
x
t
h
r
u
s
t
ers
.
T
o
mai
n
t
a
i
n
t
h
e
d
ep
t
h
p
o
s
i
t
i
o
n
,
a
PID
co
n
t
r
o
l
s
y
s
t
em
w
i
t
h
a
camera
-
b
as
e
d
d
ep
t
h
s
en
s
o
r
a
s
t
h
e
i
n
p
u
t
o
f
t
h
e
s
et
p
o
i
n
t
i
s
u
s
ed
.
Mo
reo
v
er,
t
h
e
met
h
o
d
fo
r
t
h
e
camera
t
o
meas
u
re
t
h
e
d
i
s
t
a
n
ce
i
s
u
s
i
n
g
t
h
e
t
r
i
an
g
l
e
s
i
mi
l
ari
t
y
met
h
o
d
.
In
t
h
i
s
p
a
p
er,
t
h
e
ex
p
eri
men
t
al
s
ce
n
ari
o
i
s
u
s
i
n
g
t
h
e
rect
a
n
g
u
l
ar
mar
k
er
t
o
mea
s
u
re
t
h
e
d
i
s
t
a
n
c
e,
an
d
t
h
e
v
al
u
e
o
f
t
h
e
d
ep
t
h
i
s
p
ro
ces
s
i
n
g
i
n
t
h
e
g
ro
u
n
d
co
n
t
ro
l
s
t
a
t
i
o
n
(G
CS).
T
h
e
G
CS
w
i
l
l
s
en
d
t
h
e
t
h
ru
s
t
er
v
al
u
e
t
o
co
n
t
r
o
l
t
h
e
d
e
p
t
h
,
w
h
i
ch
d
ep
e
n
d
s
o
n
t
h
e
PID
co
n
t
ro
l
s
y
s
t
em.
T
h
e
e
x
p
er
i
men
t
res
u
l
t
s
s
h
o
w
an
a
v
era
g
e
o
f
d
e
p
t
h
accu
rac
y
o
f
9
5
.
7
4
%
t
o
t
h
e
d
e
p
t
h
s
e
t
p
o
i
n
t
.
K
e
y
w
o
r
d
s
:
Ar
dus
ub
C
a
mer
a
-
ba
s
e
d
de
pth
c
ontr
ol
dis
tanc
e
mea
s
ur
e
R
OV
T
r
iangle
s
im
il
a
r
it
y
Th
i
s
i
s
a
n
o
p
en
a
c
ces
s
a
r
t
i
c
l
e
u
n
d
e
r
t
h
e
CC
B
Y
-
SA
l
i
ce
n
s
e
.
C
or
r
e
s
pon
din
g
A
u
th
or
:
S
im
on
S
i
r
e
ga
r
,
C
omput
e
r
E
nginee
r
ing
De
pa
r
tm
e
nt,
F
a
c
ult
y
o
f
Ap
pli
e
d
S
c
ienc
e
,
T
e
lkom
Unive
r
s
it
y,
T
e
lekomunikas
i
S
t,
I
ndone
s
ia
.
E
mail:
s
im
on.
s
ir
e
ga
r
@tas
s
.
telkomuni
ve
r
s
it
y
.
a
c
.
id
1.
I
NT
RODU
C
T
I
ON
A
ve
hicle
that
c
a
n
maintain
it
s
pos
it
ion
in
r
un
ning
a
n
unde
r
wa
ter
mi
s
s
ion
in
the
S
ingapo
r
e
a
n
R
oboti
c
Ga
mes
c
ompetit
ion
is
a
ne
c
e
s
s
it
y.
S
ingapor
e
R
oboti
c
Ga
mes
(
S
R
G)
[
1]
2019
ha
ve
e
leve
n
e
ve
nts
a
r
e
planne
d
f
or
the
ga
mes
.
One
of
the
c
a
tegor
ies
pl
a
ye
d
in
thi
s
e
ve
nt
is
the
Unde
r
wa
ter
R
obot
C
o
mpetit
ion.
I
n
thi
s
c
a
tegor
y,
the
a
r
e
na
is
in
a
n
L
-
s
ha
pe
d
a
qua
r
ium
tank
with
obs
tac
le
a
nd
goa
l
pos
t
[
2]
.
T
he
w
a
ter
tank
de
pth
will
be
a
r
ound
40
c
m
.
T
he
r
obot
de
s
ign
in
t
his
c
ompetit
ion
s
hould
be
f
it
in
a
c
ube
of
30
c
m
o
f
width
,
30
c
m
o
f
length,
a
nd
30
c
m
of
he
ight
.
T
he
goa
ls
i
n
thi
s
c
ompetit
ion
invo
lve
picking
up
objec
ts
/ca
r
goe
s
f
r
om
the
mi
ddle
a
r
e
a
of
the
a
qua
r
ium
,
obs
tac
le
a
void
a
nc
e
f
r
om
the
a
c
c
e
s
s
or
ies
in
the
a
qua
r
ium
,
a
nd
dr
opping
the
c
a
r
goe
s
in
ba
s
ke
ts
a
t
both
e
nd
s
of
the
tank.
T
he
c
ha
ll
e
nge
in
thi
s
c
ompetioni
s
to
dir
e
c
t
the
r
obot
to
the
tank
mi
ddle
s
e
c
ti
on
while
maintaining
the
d
e
pth
to
a
void
other
obs
tac
les
in
the
tank.
I
n
thi
s
pa
pe
r
,
F
igur
e
1
s
hows
the
pr
opos
e
d
de
s
ign
of
f
it
oplan
kton
S
AS
r
e
mot
e
ly
ope
r
a
ted
ve
hicle
(
R
OV
)
.
I
n
pr
e
vious
r
e
s
e
a
r
c
h,
the
de
ve
lopm
e
nt
of
unde
r
wa
ter
R
OV
s
tar
ts
f
r
om
a
na
vigation
s
ys
tem
ba
s
e
d
on
a
s
mar
tphone
c
a
mer
a
[
3]
.
A
f
ter
that
,
the
r
e
s
e
a
r
c
h
c
onti
nue
s
with
r
e
s
e
a
r
c
hing
pr
e
f
e
r
a
ble
wir
e
les
s
da
ta
c
omm
unica
ti
on
f
or
s
mall
unde
r
wa
ter
wa
ter
R
OV
[
4,
5]
a
nd
c
onti
nue
s
with
tethe
r
e
d
wir
e
d
da
ta
c
omm
unica
ti
on
[
6]
.
M
or
e
ove
r
,
powe
r
dis
tr
ibut
ion
a
nd
c
ons
umpt
ion
on
R
OV
is
one
of
the
main
r
e
s
e
a
r
c
h
in
pr
e
vious
r
e
s
e
a
r
c
h
[
7]
T
he
s
tudi
e
s
on
main
taining
de
pth
is
a
c
c
ompl
is
he
d
in
s
e
ve
r
a
l
method
ba
s
e
d
on
the
a
c
tuator
,
s
uc
h
a
s
us
ing
thr
us
ter
[
8]
,
us
ing
e
leva
tor
[
9
]
a
nd
us
ing
a
bouya
nc
y
e
ngine
[
10
]
.
E
a
c
h
methods
ha
ve
s
upe
r
i
or
it
y
a
nd
we
a
kne
s
s
.
T
he
main
ga
ins
us
ing
thr
us
ter
[
11]
then
e
leva
tor
a
nd
buoya
nc
y
e
ngine
is
be
tt
e
r
c
ontr
ol
r
e
s
pons
e
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
Singl
e
c
ame
r
a
de
pth
c
ontr
ol
in
mic
r
o
c
las
s
R
OV
(
Simon
Sir
e
gar
)
1547
a
nd
be
tt
e
r
pr
e
s
s
is
ion
in
maintain
de
pth
but
c
ons
ume
the
highes
t
e
ne
r
gy.
T
he
bouya
nc
y
e
ngine
[
12]
ha
ve
be
tt
e
r
r
e
s
pons
e
th
e
n
e
leva
tor
but
c
ons
ume
mo
r
e
e
ne
r
gy
then
the
e
leva
tor
[
13]
.
T
he
r
e
a
r
e
s
e
ve
r
a
l
c
ontr
ol
s
ys
tem
s
uc
h
a
s
pr
opor
ti
ona
l,
de
r
ivative
,
a
nd
int
e
gr
a
l
s
c
he
mes
[
14]
,
L
QR
s
c
he
mes
[
15]
,
f
uz
z
y
lo
gic
[
16]
,
s
li
ding
mode
s
c
he
mes
[
9,
17]
.
M
os
t
of
thes
e
met
hods
a
r
e
us
e
d
c
omm
only
us
e
d
to
r
e
gulate
in
R
O
V.
T
he
s
e
de
pth
c
ontr
ol
ha
s
s
e
ve
r
a
l
input
f
e
e
dba
c
k.
M
os
t
c
o
mm
on
s
e
ns
or
to
mea
s
ur
e
the
de
pth
is
us
ing
pr
e
s
s
ur
e
s
e
ns
or
,
but
other
s
tudi
e
s
a
r
e
us
ing
s
ona
r
s
e
ns
or
a
nd
c
a
mer
a
.
I
n
thi
s
pa
pe
r
,
a
c
a
mer
a
is
c
hoos
e
n
a
s
the
main
s
e
ns
or
f
or
de
pth
c
ontr
ol
a
s
the
lowe
s
t
c
os
t
s
e
ns
or
f
or
s
ha
ll
ow
wa
ter
with
s
uf
f
icie
nt
a
mbi
e
nc
e
li
ght
.
•
J
o
y
s
t
i
c
k
Rem
o
t
el
y
O
p
er
a
t
ed
V
eh
i
c
l
e
•
P
o
w
er
S
y
s
t
em
•
P
ro
p
u
l
s
i
o
n
S
y
s
t
em
•
C
o
n
t
ro
l
S
y
s
t
em
•
S
t
ru
c
t
u
ra
l
F
ra
m
e
•
M
a
n
i
p
u
l
a
t
o
r
D
es
i
g
n
•
C
a
me
ra
S
y
s
t
em
W
i
r
el
es
s
C
o
m
m
u
n
i
c
a
t
i
o
n
F
igur
e
1
.
Ge
ne
r
a
l
de
s
ign
o
f
R
OV
s
ys
tem
in
S
R
G
c
ompetit
ion
2.
P
ROP
OS
E
D
M
I
CR
O
ROV
S
YST
E
M
T
he
de
s
ign
of
F
i
topl
a
nkton
S
AS
R
OV
is
ba
s
e
d
on
3
de
gr
e
e
of
f
r
e
e
dom
(
DO
F
)
c
ontr
ol
:
s
ur
ge
c
ontr
ol
,
he
a
ve
c
ontr
ol,
a
nd
ya
w
c
ontr
ol
.
I
n
thi
s
s
tudy,
f
it
o
plankton
S
AS
R
OV
is
de
s
igned
ba
s
e
d
on
5
DO
F
c
ontr
ol:
s
ur
ge
c
ontr
ol,
he
a
ve
c
ontr
o
l
,
pit
c
h
c
ontr
ol,
ya
w
c
ontr
ol
da
n
r
oll
c
ontr
ol,
us
ing
s
ix
mot
o
r
thr
us
ter
.
T
o
c
ontr
ol
ya
w
a
nd
s
ur
ge
mot
ion
,
mot
o
r
th
r
us
ter
number
s
5
a
nd
6
a
r
e
plac
e
d
pa
r
a
ll
e
l
to
the
hor
izonta
l
a
xis
.
M
e
a
nwhile,
to
c
ontr
ol
he
a
ve
,
pit
c
h,
a
nd
r
oll
mo
ti
on,
mot
or
number
1
,
2,
3
,
a
nd
4
a
r
e
plac
e
d
pa
r
a
ll
e
l
to
the
ve
r
ti
c
a
l
a
xis
.
T
he
de
tail
of
the
pos
it
ion
thr
u
s
ter
mot
or
c
a
n
be
s
e
e
n
in
F
igu
r
e
2.
T
he
dim
e
n
s
ions
of
the
de
s
ign
ve
hicle
a
r
e
25
c
m
in
length,
20
c
m
in
width
a
nd
15
c
m
in
he
ight
.
T
he
c
a
mer
a
pos
it
ion
on
the
ve
hicle
is
plac
e
d
in
the
c
e
nter
of
the
ve
hic
le.
I
t
is
int
e
nde
d
that
the
mar
ke
r
im
a
ge
to
be
c
a
ptur
e
d
by
the
c
a
mer
a
c
a
n
a
lwa
ys
be
c
a
ptur
e
d
by
the
c
a
me
r
a
.
M
o
t
o
r
2
M
o
t
o
r
4
M
o
t
o
r
6
R
a
s
p
b
erry
P
i
C
a
m
er
a
M
o
t
o
r
5
M
o
t
o
r
1
M
o
t
o
r
3
T
o
p
vi
e
w
F
i
t
o
p
l
a
n
k
t
o
n
S
A
S
R
O
V
M
o
t
o
r
2
M
o
t
o
r
4
M
o
t
o
r
6
R
a
s
p
b
erry
P
i
C
a
mera
S
i
d
e
vi
ew
F
i
t
o
p
l
a
n
k
t
o
n
S
A
S
R
O
V
F
igur
e
2
.
P
r
opos
e
d
de
s
ign
o
f
f
it
oplankton
S
A
S
R
O
V
mec
ha
nica
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
1
8
,
No
.
3
,
J
une
2020:
1546
-
1552
1548
T
he
f
it
oplankton
S
A
S
R
OV
s
ys
tem
is
us
ing
a
R
a
s
pbe
r
r
y
P
i
type
B
+
,
a
P
I
XH
AW
K,
a
nd
a
P
e
r
s
ona
l
C
omput
e
r
.
R
a
s
pbe
r
r
y
P
i
is
a
s
ingl
e
-
boa
r
d
c
omput
e
r
(
S
B
C
)
us
e
d
a
s
a
c
ompanion
c
omput
e
r
.
T
his
c
o
mpanion
c
omput
e
r
is
ba
s
e
d
on
AR
DU
S
UB
c
ompanion
c
om
puter
,
whic
h
f
unc
ti
ons
a
s
a
c
omm
unica
ti
on
br
idge
be
twe
e
n
P
I
XH
AW
K
a
nd
T
ops
ide
C
omput
e
r
f
or
tr
a
ns
mi
tt
in
g
the
tele
metr
y
in
f
or
mation
a
nd
the
c
omm
a
nd
.
T
o
mea
s
ur
e
the
de
pth
of
the
ve
hicle
,
a
c
a
mer
a
that
is
c
onne
c
ted
to
a
r
a
s
pbe
r
r
y
P
i
(
c
ompanion
c
omput
e
r
)
.
M
e
a
nwhile,
P
I
XH
AW
K
is
a
f
li
ght
c
o
ntr
oll
e
r
whic
h
is
us
e
d
t
o
a
c
quir
e
da
ta
f
r
om
int
e
r
na
l
e
mbedde
d
s
e
ns
or
s
(
I
M
U
a
nd
C
ompas
s
)
,
a
nd
e
xe
c
ute
a
c
ti
on
by
s
e
nding
puls
e
width
modul
a
ti
on
(
P
W
M
)
va
lues
to
e
ve
r
y
DC
mot
or
.
T
he
P
I
XH
AW
K
is
a
ls
o
us
e
d
to
c
ontr
ol
f
ive
DO
F
r
otational
a
nd
tr
a
ns
lational
mot
ion
.
T
he
de
s
c
r
i
pti
on
of
the
e
nti
r
e
s
ys
tem
block
is
s
hown
in
F
igur
e
3.
M
o
t
o
r
f
o
r
c
o
n
t
ro
l
l
i
n
g
H
ea
v
e,
P
i
t
c
h
&
R
o
l
l
M
o
t
o
r
f
o
r
c
o
n
t
ro
l
l
i
n
g
Y
a
w
a
n
d
S
u
rg
e
D
ri
v
er
M
o
t
o
r
1
-
4
P
IX
H
A
W
K
2
.8
.4
R
a
s
p
b
erry
P
i
3
B
+
T
o
p
s
i
d
e
C
o
mp
u
t
er
J
o
y
s
t
i
c
k
ROV
G
r
o
u
n
d
C
o
n
t
r
o
l
S
ta
ti
o
n
W
i
r
ed
R
a
s
p
b
e
rr
y
P
i
C
a
me
ra
D
ri
v
er
M
o
t
o
r
5
-
6
F
igur
e
3
.
P
r
opos
e
d
de
s
ign
o
f
f
it
oplankton
S
A
S
R
O
V
s
ys
tem
3.
RE
S
E
AR
CH
M
E
T
HO
D
3.
1.
Dis
t
a
n
c
e
m
e
as
u
r
e
m
e
n
t
s
ys
t
e
m
S
e
ve
r
a
l
s
tudi
e
s
on
the
us
e
of
c
a
mer
a
s
a
s
s
e
n
s
or
s
to
de
tec
t
dis
tanc
e
ha
ve
b
e
e
n
c
a
r
r
ied
out.
T
he
number
o
f
c
a
mer
a
s
us
e
d
in
s
ome
o
f
thes
e
s
tudi
e
s
va
r
ies
.
One
s
tudy
us
e
s
a
s
ingl
e
c
a
mer
a
c
a
ll
e
d
the
tr
iangle
s
im
il
a
r
it
y
f
or
objec
t
[
18
]
/
mar
ke
r
to
di
s
tanc
e
c
a
mer
a
method
[
19
-
22]
.
Othe
r
s
tudi
e
s
ha
ve
s
hown
the
us
e
of
mor
e
than
one
c
a
mer
a
,
known
a
s
a
s
ter
e
o
c
a
mer
a
[
23,
24]
.
S
e
ve
r
a
l
othe
r
s
tudi
e
s
ha
ve
s
hown
the
us
e
of
las
e
r
s
to
tr
iangula
te
dis
tanc
e
s
us
ing
a
s
ingl
e
c
a
mer
a
[
25]
.
T
he
r
e
s
e
a
r
c
h
that
ha
s
be
e
n
c
a
r
r
ied
out
a
c
c
or
ding
to
the
method
c
a
r
r
ied
out
in
thi
s
pa
pe
r
is
to
us
e
a
n
im
a
ge
mar
ke
r
s
uc
h
a
s
a
c
a
r
plate
to
mea
s
ur
e
the
dis
tanc
e
of
a
c
a
r
[
26
,
27
]
.
Us
ing
the
tr
iangul
a
te
dis
tanc
e
pr
inciple,
the
pa
r
a
mete
r
f
,
whic
h
is
a
f
oc
a
l
length
of
the
c
a
mer
a
lens
,
the
pa
r
a
mete
r
r
,
the
r
a
dius
of
the
mar
ke
r
in
the
im
a
ge
plane
,
a
nd
the
pa
r
a
mete
r
R
,
the
r
a
dius
of
the
mar
ke
r
in
the
objec
t
plane
a
nd
pa
r
a
mete
r
d
,
whic
h
is
the
dis
tanc
e
f
r
om
the
c
a
mer
a
to
the
objec
t.
T
he
dis
tanc
e
mea
s
ur
e
ment
f
r
om
the
c
a
mer
a
a
nd
the
objec
t
c
a
n
be
e
va
lu
a
ted
us
ing
in
(
1
-
3
)
.
F
igur
e
4
s
hows
how
the
wor
king
pr
inciple
o
f
thi
s
method
;
=
(
1)
=
×
(
2)
=
×
(
3)
M
or
e
ove
r
,
F
igur
e
5
s
hows
the
f
lowc
ha
r
t
of
thi
s
m
e
thod.
T
his
f
lowc
ha
r
t
is
r
unning
in
gr
ound
c
ont
r
ol
s
tation
(
GC
S
)
to
mea
s
ur
e
the
de
pth
a
nd
us
e
d
im
a
ge
s
tr
e
a
mi
ng
f
r
om
the
r
a
s
pbe
r
r
y
pi
c
a
mer
a
in
c
o
mpanion
c
omput
e
r
to
s
e
nd
im
a
ge
s
f
r
om
the
R
OV
to
GC
S
.
T
he
dis
tanc
e
de
tec
ti
on
a
ppli
c
a
ti
on
to
mea
s
ur
e
the
dis
tanc
e
be
twe
e
n
the
objec
t
to
the
ve
hicle
is
de
s
c
r
ibed
a
s
f
o
ll
ows
:
−
T
he
li
ve
im
a
ge
f
r
om
R
a
s
pbe
r
r
y
P
i
c
a
mer
a
is
c
a
p
tur
e
d
in
c
ompanion
c
omput
e
r
in
R
OV
is
s
tr
e
a
mi
ng
to
Gr
ound
C
ontr
ol
S
tation
via
Gs
tr
e
a
mer
a
ppli
c
a
ti
on.
−
I
nit
ialize
is
the
f
ir
s
t
p
r
oc
e
s
s
to
s
tar
t
the
s
ys
tem
a
nd
a
ll
li
b
r
a
r
y
in
f
or
mation
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
Singl
e
c
ame
r
a
de
pth
c
ontr
ol
in
mic
r
o
c
las
s
R
OV
(
Simon
Sir
e
gar
)
1549
−
Af
ter
in
it
ialize
,
a
c
a
li
br
a
ti
on
method
is
us
e
d
to
c
a
li
br
a
te
the
c
ur
r
e
ntl
y
known
pa
r
a
mete
r
with
the
e
nvir
onment
pa
r
a
mete
r
.
I
n
thi
s
e
xpe
r
im
e
nt
,
t
he
known
im
a
ge
pictur
e
,
dis
tanc
e
,
a
nd
dim
e
ns
ion
a
r
e
ins
e
r
ted
a
nd
pr
oc
e
s
s
e
d
to
know
the
f
oc
a
l
length.
−
F
ind
I
mage
mar
ke
r
is
the
ne
xt
s
tep
in
thi
s
a
lgor
it
h
m.
T
he
f
indi
ng
of
the
im
a
ge
mar
ke
r
pr
oc
e
s
s
c
ons
i
s
ts
of
c
onve
r
t
the
im
a
ge
to
gr
a
ys
c
a
le
a
nd
a
pply
e
dge
de
tec
ti
on.
W
it
h
thi
s
pr
oc
e
s
s
,
the
c
ontour
(
outl
in
e
)
of
the
im
a
ge
will
r
e
ve
a
l.
−
Af
ter
the
c
ontour
is
r
e
ve
a
led,
the
ne
xt
pr
oc
e
s
s
is
de
ter
mi
ning
the
lar
ge
s
t
a
r
e
a
.
C
ontour
a
ppr
ox
im
a
ti
o
n
c
a
n
be
a
ppli
e
d
to
the
a
lgor
i
thm
.
S
ome
other
r
e
s
e
a
r
c
h
is
uti
l
ize
d
c
olor
mar
ke
r
,
ke
ypoint
de
te
c
ti
on,
loca
l
invar
iant
de
s
c
r
ipt
or
,
a
nd
ke
ypoint
matc
hing
t
o
make
the
s
ys
tem
r
obus
t.
−
T
h
e
n
t
h
i
s
a
l
g
o
r
i
t
h
m
w
i
l
l
m
e
a
s
u
r
e
t
h
e
p
o
s
i
t
i
o
n
i
n
x
-
y
c
o
o
r
d
i
n
a
t
e
s
a
n
d
t
h
e
w
i
d
t
h
a
n
d
h
e
i
g
h
t
o
f
t
h
e
l
a
r
g
e
s
t
a
r
e
a
.
−
Ne
xt
pr
oc
e
s
s
is
e
xe
c
ute
a
f
unc
ti
on
whic
h
us
e
s
the
t
r
iangle
s
im
il
a
r
i
ty
in
(
1
-
3
)
that
c
omput
e
s
the
dis
tan
c
e
to
a
n
objec
t.
−
T
he
L
a
s
t
pr
oc
e
s
s
is
to
s
e
nd
the
va
lue
of
thr
us
ter
ba
s
e
d
on
the
c
a
lcula
ti
on
of
the
P
I
D
c
ontr
ol
s
ys
tem
to
the
c
ompanion
c
omput
e
r
in
R
OV
a
nd
e
xe
c
uted
by
P
I
XH
AW
K.
Fo
c
a
l
l
en
g
th
(
f
)
D
i
s
t
a
n
c
e
(
d
)
Im
a
g
e
C
a
p
tu
r
e
d
(
r
)
Rea
l
Im
a
g
e
(
R
)
F
igur
e
4
.
P
r
opos
e
d
dis
tanc
e
mea
s
ur
e
ment
method
f
or
f
it
oplankton
S
A
S
R
OV
In
i
t
i
a
l
i
z
e
C
a
l
i
b
ra
t
i
o
n
w
i
t
h
k
n
o
w
n
i
ma
g
e
(
t
o
mea
s
u
re
f
o
c
a
l
l
en
g
t
h
)
F
i
n
d
Ima
g
e
(
c
o
n
v
ert
i
ma
g
e
t
o
g
ra
y
s
c
a
l
e,
b
l
u
r,
d
e
t
ec
t
e
d
g
e
s
)
F
i
n
d
c
o
n
t
o
u
rs
a
n
d
k
ee
p
t
h
e
l
a
rg
es
t
o
n
e
R
et
u
rn
x
,y
C
o
o
rd
i
n
a
t
es
w
i
t
h
w
i
d
t
h
a
n
d
h
e
i
g
h
t
o
f
t
h
e
b
o
x
C
o
mp
u
t
e
t
h
e
o
b
j
ec
t
d
i
s
t
a
n
c
e
t
o
c
a
mera
R
e
t
u
rn
t
h
e
v
a
l
u
e
o
f
t
h
e
d
i
s
t
a
n
c
e
D
ep
t
h
M
ea
s
u
remen
t
T
ri
a
n
g
u
l
a
r
P
ID
C
o
n
t
ro
l
S
y
s
t
em
L
i
ve
i
m
a
g
e
s
t
re
a
m
i
n
g
f
ro
m
R
O
V
t
o
G
C
S
V
a
l
u
e
T
h
ru
s
t
er
v
i
a
P
yM
a
vl
i
n
k
P
IX
H
A
W
K
-
C
o
mp
a
n
i
o
n
(
C
o
n
t
ro
l
–
i
ma
g
e
c
a
p
t
u
red
)
R
O
V
G
ro
u
n
d
C
o
n
t
ro
l
S
t
a
t
i
o
n
(
G
C
S
)
G
s
t
r
ea
m
er
M
a
v
l
i
n
k
G
r
o
u
n
d
C
o
n
t
r
o
l
S
ta
ti
o
n
(
G
C
S)
F
igur
e
5
.
P
r
opos
e
d
dis
tanc
e
mea
s
ur
e
ment
method
f
or
f
it
oplankton
S
A
S
R
OV
3.
2.
De
p
t
h
c
on
t
r
ol
s
ys
t
e
m
Af
ter
a
s
s
e
mbl
ing
the
de
s
ign
of
the
f
it
oplank
R
OV
,
the
ve
hicl
e
tes
ted
it
s
a
bil
it
y
to
c
ontr
o
l
he
a
ve
to
maintain
the
de
pth.
T
he
a
ppli
c
a
ti
on
o
f
P
I
D
c
ont
r
ol
s
ys
tem
is
r
unning
in
g
r
ound
c
ontr
ol
s
tation
c
omput
e
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
S
N
:
1693
-
6930
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
,
Vol.
1
8
,
No
.
3
,
J
une
2020:
1546
-
1552
1550
T
he
va
lues
of
e
a
c
h
pa
r
a
mete
r
Kp
,
Kd,
a
nd
Ki
is
us
ing
the
va
lues
in
our
p
r
e
vious
r
e
s
e
a
r
c
h
[
3]
,
whic
h
a
r
e
s
e
t
to
15,
6,
a
nd
6
,
c
ons
e
c
uti
ve
ly.
T
he
p
r
opos
e
d
c
ontr
ol
s
ys
tem
in
thi
s
r
e
s
e
a
r
c
h
is
s
hown
in
F
igur
e
6.
F
igur
e
6.
P
r
opos
e
d
dis
tanc
e
mea
s
ur
e
ment
f
i
topl
a
nkton
S
AS
R
OV
4.
RE
S
UL
T
S
AN
D
AN
AL
YSI
S
4.
1.
As
s
e
m
b
ly
p
r
op
os
e
d
d
e
s
ign
Af
ter
de
s
igni
ng
the
hull
,
F
igur
e
7
s
hows
the
r
e
s
ult
s
of
the
a
s
s
e
mbl
y
of
the
S
AS
R
OV
P
hytopl
a
nkton
de
s
ign.
T
he
hull
mate
r
ial
us
e
d
in
the
S
AS
R
OV
P
hytopl
a
nkton
is
a
wa
ter
pr
oof
plas
ti
c
c
ontaine
r
,
while
the
f
r
a
me
o
f
the
mot
or
a
nd
p
r
op
e
ll
e
r
thr
us
ter
holder
is
p
r
int
e
d
us
ing
a
3D
p
r
int
e
r
.
F
igur
e
8
on
the
lef
t
s
hows
the
ve
hicle
'
s
view
f
r
om
the
s
ide,
the
c
e
nter
s
hows
the
R
OV
'
s
view
f
r
om
the
top,
a
nd
the
r
ig
ht
s
hows
the
R
OV
's
view
f
r
om
the
bott
om
s
ide.
At
the
bott
om
of
the
ve
hicle
,
the
r
e
is
a
t
r
a
ns
pa
r
e
nt
pa
r
t
that
i
s
us
e
d
to
plac
e
the
c
a
mer
a
.
F
igur
e
7.
M
e
c
ha
nica
l
a
s
s
e
mbl
y
of
f
it
oplankton
S
A
S
R
OV
4.
2.
E
xp
e
r
im
e
n
t
s
c
e
n
ar
io
I
n
thi
s
s
tudy,
the
ve
hicle
wa
s
tes
ted
by
plac
ing
a
ve
hicle
in
a
n
a
qua
r
ium
with
a
de
pth
of
40
c
m.
T
e
s
ti
ng
is
done
by
pr
ogr
a
mm
ing
the
de
pth
s
e
t
p
oint
on
the
c
ompanion
c
omput
e
r
.
T
he
P
I
XH
AW
K
f
li
ght
mode
will
s
e
t
to
S
T
AB
I
L
I
Z
E
M
OD
E
.
I
n
thi
s
mo
de
,
the
P
I
XH
AW
K
wil
l
maintain
the
pi
tch
a
nd
c
ontr
ol
of
the
R
OV
to
leve
l.
T
he
va
lue
of
the
s
e
tpoi
nt
us
e
d
i
s
5
c
m
dif
f
e
r
e
nc
e
f
r
om
35
to
10
c
m
,
a
nd
the
ti
me
int
e
r
va
l
be
twe
e
n
s
e
tpoi
nt
de
pths
is
10
s
e
c
onds
,
with
the
s
ize
of
the
im
a
ge
mar
ke
r
in
thi
s
s
c
e
na
r
io
is
5
c
m.
F
igur
e
8
s
h
ows
a
n
ove
r
v
iew
of
the
de
pth
leve
l
tes
ti
ng
f
r
om
the
s
ide
(
lef
t)
a
nd
f
r
om
the
uppe
r
s
ide
(
r
ig
ht)
.
M
a
rk
er
Ima
g
e
M
o
t
o
r
2
M
o
t
o
r
4
M
o
t
o
r
6
R
a
s
p
b
erry
P
i
C
a
mera
M
a
rk
er
Im
a
g
e
M
o
to
r
2
M
o
to
r
4
M
o
to
r
6
R
a
s
p
b
er
r
y
P
i
C
a
m
e
r
a
M
o
to
r
5
M
o
to
r
1
M
o
to
r
3
0
-
4
0
c
m
d
e
p
th
t
es
t
i
n
g
F
igur
e
8
.
M
e
c
ha
nica
l
a
s
s
e
mbl
y
of
f
it
oplankton
S
A
S
R
OV
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KO
M
NI
KA
T
e
lec
omm
un
C
omput
E
l
C
ontr
o
l
Singl
e
c
ame
r
a
de
pth
c
ontr
ol
in
mic
r
o
c
las
s
R
OV
(
Simon
Sir
e
gar
)
1551
4.
3.
E
xp
e
r
im
e
n
t
r
e
s
u
lt
an
d
an
alys
is
Af
ter
s
e
t
the
va
lues
of
the
c
ontr
ol
s
ys
tem
pa
r
a
me
ter
s
(
Kp,
Kd
,
a
nd
Ki
)
in
the
P
I
D
c
ontr
ol
s
ys
tem
,
the
R
OV
tes
ted
int
o
the
de
s
ignate
d
s
c
e
na
r
io.
T
he
de
pth
is
s
e
t
by
us
ing
a
pr
ogr
a
m
f
or
60
s
e
c
onds
.
I
n
one
loop
pr
ogr
a
mm
e
,
e
ve
r
y
10
s
e
c
onds
,
it
will
c
ha
nge
the
s
e
tpoi
nt
va
lue
to
the
s
pe
c
if
ied
de
pth.
T
he
R
OV
r
e
s
pons
e
in
the
e
xpe
r
im
e
nt
to
the
given
s
e
tpoi
nt
a
r
e
s
hown
in
F
igur
e
9.
T
he
g
r
a
ph
s
hows
the
R
OV
's
a
bil
it
y
to
r
e
s
pons
e
on
the
given
s
e
tpoi
nt
.
Due
to
the
s
e
ns
or
s
e
ns
it
ivi
ty
of
the
R
a
s
pbe
r
r
y
pi
c
a
mer
a
to
e
nvir
on
m
e
nt
li
gh
ti
ng
a
nd
the
e
r
r
or
of
di
mens
ion
mea
s
ur
e
ment
due
to
r
ol
l
a
nd
pit
c
h
e
f
f
e
c
t
of
the
R
OV
,
the
R
OV
mode
is
s
e
t
to
S
T
AB
I
L
I
Z
E
M
ode
,
a
nd
the
e
xpe
r
im
e
nt
is
c
o
nduc
ted
only
in
da
yli
ght
ti
me
.
M
or
e
ove
r
,
the
dis
tanc
e
mea
s
ur
e
ment
va
lue
is
ge
ne
r
a
ted
on
a
ve
r
a
ge
in
1
00
s
a
mpl
e
s
of
a
n
im
a
ge
to
r
e
duc
e
the
s
pike
o
f
dis
tanc
e
mea
s
ur
e
ment
e
r
r
or
.
T
he
va
lue
of
100
s
a
mpl
e
s
is
s
e
t
ba
s
e
d
on
the
r
e
s
pons
e
ti
me
a
nd
a
c
c
ur
a
c
y
o
f
dis
tanc
e
mea
s
ur
e
d.
T
he
a
ve
r
a
ge
e
r
r
or
a
f
ter
im
a
ge
pr
oc
e
s
s
ing
a
nd
c
ontr
ol
s
ys
tem
on
the
s
pe
c
if
ied
s
e
tpoi
nt
i
s
95
.
74%
.
F
igur
e
9
.
E
xpe
r
im
e
nt
r
e
s
ult
of
d
is
tanc
e
mea
s
ur
e
me
nt
F
it
oplankton
S
AS
R
OV
5.
CONC
L
USI
ON
T
his
pa
pe
r
pr
e
s
e
nted
a
mi
c
r
o
c
las
s
R
OV
with
the
a
bil
it
y
to
maintain
de
pth
with
a
s
ingl
e
c
a
mer
a
us
ing
the
tr
iangle
s
im
il
a
r
it
y
a
lgor
it
hm
.
T
he
leve
l
of
a
c
c
ur
a
c
y
of
de
pth
by
us
ing
thi
s
s
e
ns
or
is
be
tt
e
r
than
in
our
pr
e
vious
s
tudi
e
s
us
ing
pr
oxim
it
y
s
e
ns
or
s
.
F
or
f
ur
ther
de
ve
lopm
e
nt,
s
e
ve
r
a
l
other
s
e
ns
or
s
c
a
n
be
e
xplor
e
d
to
be
us
e
d
to
mea
s
ur
e
the
de
pth
a
nd
a
lt
it
ude
of
the
ve
hicle
,
s
uc
h
a
s
:
us
ing
a
s
ona
r
-
ba
s
e
d
s
e
ns
or
.
AC
KNOWL
E
DGE
M
E
NT
S
T
his
r
e
s
e
a
r
c
h
a
nd
e
xpe
r
im
e
nt
we
r
e
s
pons
or
s
hip
by
R
is
e
t
De
s
e
ntr
a
li
s
a
s
i
-
P
e
ne
li
ti
a
n
T
e
r
a
pa
n
Unggula
n
P
e
r
gur
ua
n
T
ingg
i
(
P
T
UPT
)
f
r
om
T
he
M
ini
s
tr
y
of
R
e
s
e
a
r
c
h,
T
e
c
hnology,
a
nd
Highe
r
E
duc
a
ti
on,
I
ndone
s
ia.
M
or
e
ove
r
,
thi
s
wor
k
wa
s
a
ls
o
a
s
s
is
tanc
e
a
nd
c
onduc
ted
in
E
NS
R
e
s
e
a
r
c
h
L
a
bor
a
tor
y
a
nd
ba
c
ke
d
by
R
oboti
c
S
AS
membe
r
,
F
a
c
ult
y
o
f
Applied
S
c
ienc
e
,
T
e
lkom
Unive
r
s
it
y.
RE
F
E
RE
NC
E
S
[1
]
W
an
g
D
.
,
"
Rep
o
rt
o
n
ro
b
o
t
i
c
s
an
d
a
u
t
o
mat
i
o
n
ac
t
i
v
i
t
i
e
s
i
n
S
i
n
g
ap
o
re
:
Reg
i
o
n
al
,"
IE
E
E
R
o
b
o
t
A
u
t
o
m
M
a
g
,
v
o
l
.
17
,
n
o
.
1
,
p
p
.
1
1
8
–
1
1
9
,
2
0
1
0
.
[2
]
2
0
1
8
SRG
.
U
n
d
e
r
wa
t
er
R
o
b
o
t
C
o
m
p
et
i
t
i
o
n
,
p
p
.
37
–
41
,
2
0
1
8
.
[3
]
San
i
M
.
I
.
,
et
al
.
,
"
N
av
i
g
a
t
i
o
n
s
y
s
t
em
fo
r
s
mart
p
h
o
n
e
-
b
as
e
d
au
t
o
n
o
mo
u
s
u
n
d
er
w
at
er
v
e
h
i
c
l
e
,
"
In
t
.
Co
n
f
S
m
a
r
t
Ci
t
i
es
,
A
u
t
o
m
In
t
el
l
Co
m
p
u
t
S
y
s
t
IC
O
N
-
S
O
NICS
,
p
p
.
24
–
29
,
2
0
1
8
.
[4
]
San
i
M
.
I
.
,
et
al
.
,
"
2
.
4
G
H
z
w
i
rel
e
s
s
d
at
a
ac
q
u
i
s
i
t
i
o
n
s
y
s
t
em
fo
r
FI
T
o
p
l
a
n
k
t
o
n
RO
V
,
"
6
t
h
In
t
.
Co
n
f
.
In
f
.
Co
m
m
u
n
.
Tech
n
o
l
.,
p
p
.
1
8
9
-
1
9
3
,
2
0
1
8
.
[5
]
San
i
M
.
I
.
,
et
al
.
,
"
FIT
o
p
l
a
n
k
t
o
n
:
W
i
re
l
es
s
co
n
t
r
o
l
l
ed
remo
t
e
l
y
-
o
p
era
t
ed
u
n
d
erw
a
t
er
v
eh
i
cl
e
(R
O
V
)
f
o
r
s
h
a
l
l
o
w
w
at
er
ex
p
l
o
rat
i
o
n
,"
In
t
J
E
l
ect
r
Co
m
p
u
t
E
n
g
,
v
o
l
.
8
,
n
o
.
5
,
p
p
.
3
3
2
5
-
3
3
3
2
,
2
0
1
8
.
[6
]
Si
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23
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.
Evaluation Warning : The document was created with Spire.PDF for Python.