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er
e
t
h
e
v
er
tices
r
ep
r
esen
t
t
h
e
p
lace
/s
p
ec
if
ic
p
o
s
itio
n
s
o
n
th
e
e
n
v
ir
o
n
m
e
n
t,
an
d
li
n
k
s
r
ep
r
esen
t
th
e
d
is
tan
ce
o
r
tr
av
el
ti
m
e
b
et
w
ee
n
th
e
t
w
o
n
o
d
e
s
[
1
0
]
,
[
1
1
]
.
T
h
e
n
ex
t
n
av
ig
at
io
n
s
y
s
te
m
is
m
ap
le
s
s
n
av
ig
at
io
n
s
y
s
t
e
m
s
w
h
ic
h
m
o
s
tl
y
i
n
clu
d
e
th
e
r
ea
cti
v
e
tech
n
iq
u
e
t
h
at
u
s
e
s
v
is
u
al
c
u
e
s
ar
e
b
u
ilt
f
r
o
m
i
m
ag
e
s
e
g
m
e
n
tatio
n
,
o
p
tical
f
lo
w
,
o
r
th
e
s
ea
r
ch
p
r
o
ce
s
s
f
ea
t
u
r
es
b
et
w
ee
n
i
m
ag
e
f
r
a
m
es
o
b
tai
n
ed
.
T
h
er
e
is
n
o
r
ep
r
esen
tat
io
n
o
f
t
h
e
e
n
v
ir
o
n
m
e
n
t
o
n
t
h
ese
s
y
s
te
m
s
,
a
n
d
en
v
ir
o
n
m
e
n
t
s
s
ee
n
/
p
er
ce
iv
ed
to
n
av
i
g
ate
t
h
e
s
y
s
te
m
,
r
ec
o
g
n
ize
o
b
j
ec
ts
,
o
r
b
r
o
w
s
e
la
n
d
m
ar
k
[
5
]
.
On
e
o
f
t
h
e
m
o
s
t
i
m
p
o
r
tan
t
p
ar
ts
o
f
t
h
e
p
r
o
ce
s
s
o
f
v
i
s
io
n
-
b
ased
r
o
b
o
t
n
av
ig
a
tio
n
i
s
h
o
w
to
p
r
o
ce
s
s
th
e
d
ata
o
b
t
ain
ed
f
r
o
m
th
e
ca
m
er
a
s
e
n
s
o
r
u
s
ed
in
to
u
s
ef
u
l
in
f
o
r
m
a
tio
n
f
o
r
a
p
ar
ticu
lar
r
o
b
o
t
t
o
n
av
ig
ate
to
w
ar
d
a
s
p
ec
if
ic
p
o
in
t
o
n
th
e
en
v
ir
o
n
m
en
t
o
r
ce
r
tain
s
p
ec
if
ied
ar
en
a.
On
th
is
o
cc
asi
o
n
,
th
e
n
av
ig
at
io
n
is
d
o
n
e
b
y
a
h
u
m
a
n
o
id
r
o
b
o
t
s
o
cc
er
p
lay
er
s
is
h
o
w
to
o
b
j
ec
t
o
r
an
g
e
b
alls
[
1
2
]
,
u
s
in
g
d
ata
o
b
tain
ed
r
ea
d
in
g
s
f
r
o
m
s
e
n
s
o
r
s
u
s
ed
C
MU
ca
m
5
p
ix
y
ca
m
er
a.
T
h
en
it
w
ill
b
e
an
al
y
ze
d
m
o
r
e
s
p
ec
if
ical
l
y
t
h
e
co
m
p
le
x
it
y
o
f
t
h
e
alg
o
r
it
h
m
s
u
s
ed
to
r
ea
d
th
e
r
esu
lt
s
o
f
t
h
e
d
etec
tio
n
o
f
t
h
e
o
b
j
ec
t
[
1
3
]
.
Vis
u
a
l
-
b
ased
n
av
i
g
atio
n
m
et
h
o
d
d
iv
i
d
ed
in
to
th
r
ee
ca
teg
o
r
ies,
i.e
.
m
ap
-
b
ased
,
m
ap
b
u
ild
in
g
,
an
d
m
ap
les
n
a
v
i
g
atio
n
.
On
e
o
f
m
a
p
-
b
ased
n
a
v
i
g
atio
n
m
eth
o
d
w
a
s
d
escr
ib
ed
in
[
1
4
]
th
at
u
s
es a
s
ter
eo
ca
m
er
a
o
n
a
w
h
ee
led
r
o
b
o
t
as
a
g
o
l
f
b
all
c
o
llecto
r
.
I
t’
s
a
s
s
o
ciate
d
w
i
th
a
w
id
e
-
a
n
g
le
ca
m
er
a
m
o
u
n
ted
o
n
to
p
o
f
t
h
e
g
o
l
f
co
u
r
s
e
w
ith
a
v
ie
w
i
n
g
ar
ea
co
v
er
s
ar
ea
2
0
m
x
2
0
m
,
w
ith
a
v
ie
w
in
g
a
n
g
le
o
f
8
0
v
er
t
ical
an
d
h
o
r
izo
n
tal
v
ie
w
i
n
g
a
n
g
le
o
f
5
5
w
it
h
t
h
e
ca
m
er
a
in
s
tallat
io
n
h
e
ig
h
t i
s
7
m
ab
o
v
e
t
h
e
g
r
o
u
n
d
.
R
eso
l
u
ti
o
n
ca
p
ab
le
ca
p
tu
r
ed
b
y
t
h
is
ca
m
er
a
is
eq
u
al
to
1
2
8
0
x
7
8
0
p
ix
els.
T
h
e
ca
m
er
a
ca
tch
es
t
h
e
i
m
a
g
e
is
t
h
en
p
r
o
ce
s
s
ed
b
y
a
co
m
p
u
ter
s
er
v
er
w
h
ic
h
t
h
en
b
u
ild
s
n
a
v
ig
atio
n
m
ap
g
r
id
-
s
h
ap
ed
o
r
th
er
e
is
a
ca
ll
later
w
it
h
q
u
es
tio
n
s
o
f
o
cc
u
p
a
n
c
y
(
o
cc
u
p
an
c
y
f
o
ld
er
)
th
at
ca
n
in
d
icate
w
h
er
e
to
p
o
s
itio
n
t
h
e
r
o
b
o
t
m
ak
er
s
b
all
o
n
th
e
g
o
l
f
co
u
r
s
e,
a
n
d
w
h
er
e
th
e
b
all
p
o
s
itio
n
to
b
e
ta
k
en
of
f
t
h
e
m
ap
,
is
d
eter
m
i
n
ed
b
y
t
h
e
s
e
r
v
er
an
d
t
h
e
r
o
b
o
t
ca
n
m
o
v
e
t
o
a
ce
r
tain
p
o
s
itio
n
b
ased
o
n
th
e
in
f
o
r
m
atio
n
s
e
n
t
w
ir
eles
s
l
y
[
1
4
]
,
[
1
5
]
.
T
h
e
n
ex
t
ca
teg
o
r
y
o
f
n
av
ig
atio
n
m
et
h
o
d
is
m
ap
b
u
ild
in
g
n
av
i
g
atio
n
d
escr
ib
ed
i
n
[
1
1
]
,
[
12]
.
A
n
e
w
al
g
o
r
ith
m
t
h
at
w
a
s
d
ev
elo
p
ed
u
s
i
n
g
a
s
ter
eo
ca
m
er
a
[
1
6
]
.
T
h
e
ai
m
is
to
esti
m
ate
t
h
e
f
r
ee
s
p
ac
e
o
f
th
e
v
e
h
icle
(
ca
r
)
w
h
ic
h
is
in
f
r
o
n
t
o
f
w
h
er
e
th
e
s
y
s
te
m
i
s
r
u
n
,
p
ar
ticu
lar
l
y
f
o
r
n
av
i
g
atio
n
o
n
th
e
h
i
g
h
w
a
y
.
B
y
u
ti
lizi
n
g
t
h
e
d
if
f
er
en
ce
m
ap
(
d
is
p
ar
ity
m
ap
)
[
1
7
]
,
it
w
ill
o
b
tain
i
n
f
o
r
m
atio
n
o
n
w
h
et
h
er
th
e
co
n
d
itio
n
o
f
t
h
e
v
eh
icle
i
n
f
r
o
n
t o
f
h
i
m
w
a
s
'so
li
d
'
o
r
'
r
ar
el
y
'
.
Fu
r
t
h
er
to
th
e
d
ev
elo
p
m
e
n
t
o
f
s
co
r
es
f
o
ld
er
,
b
ec
au
s
e
th
e
s
en
s
o
r
u
s
ed
is
a
s
ter
eo
ca
m
er
a,
w
h
ich
i
s
ca
r
r
ied
o
u
t
n
e
x
t
i
s
a
s
ter
eo
m
atch
i
n
g
p
r
o
ce
s
s
b
ased
o
n
i
m
a
g
e
d
ata
t
h
at
is
p
as
s
ed
lo
n
g
it
u
d
in
al
r
o
ad
s
u
r
f
ac
e.
Dete
ctio
n
o
f
f
r
ee
s
p
ac
e
is
d
o
n
e
b
y
ex
tr
ac
ti
n
g
th
e
r
o
ad
s
u
r
f
ac
e
w
it
h
o
u
t
an
y
o
b
s
tacle
.
T
h
e
last
ca
te
g
o
r
y
i
s
m
ap
less
n
av
i
g
atio
n
m
et
h
o
d
.
Op
tical
f
lo
w
i
s
o
n
e
o
f
t
h
e
b
es
t
m
e
th
o
d
s
th
a
t
m
i
m
ics
h
o
w
t
h
e
v
i
s
u
a
l
b
eh
a
v
io
r
o
f
an
i
m
als,
b
ee
s
,
w
h
ic
h
ar
e
d
eter
m
in
ed
b
y
th
e
b
asic
r
o
b
o
t
m
o
v
e
m
e
n
t
s
p
ee
d
d
if
f
er
e
n
ce
b
et
wee
n
th
e
i
m
a
g
e
s
ee
n
b
y
t
h
e
e
y
e
(
ca
m
er
a)
an
d
th
e
r
i
g
h
t
i
m
a
g
e
s
ee
n
b
y
t
h
e
e
y
e
le
f
t
,
an
d
th
e
r
o
b
o
t
w
ill
m
o
v
e
to
t
h
e
s
id
e
o
f
t
h
e
s
p
ee
d
ch
an
g
e
is
t
h
e
s
m
allest
i
m
a
g
e
[
5
]
.
T
h
is
m
eth
o
d
is
w
id
el
y
u
s
e
d
to
d
etec
t
an
o
b
s
tacle
,
an
d
f
o
llo
w
i
n
g
th
i
s
m
et
h
o
d
d
ev
elo
p
ed
f
u
r
t
h
er
in
m
a
n
y
a
lg
o
r
ith
m
s
,
in
cl
u
d
i
n
g
th
e
Ho
m
-
Se
h
u
n
e
k
al
g
o
r
ith
m
(
HS
A
)
an
d
Lu
c
as
-
Kan
ad
e
alg
o
r
ith
m
(
L
K
A
)
.
I
n
t
h
e
HS
A
,
p
r
o
p
o
s
ed
an
E
q
u
atio
n
o
f
t
h
e
o
p
tical
f
lo
w
m
et
h
o
d
th
at
m
ee
ts
th
e
co
n
s
tr
ai
n
t
s
an
d
s
m
o
o
t
h
n
e
s
s
co
n
s
tr
ai
n
ts
g
l
o
b
ally
.
W
h
ile
L
K
A
p
r
o
p
o
s
ed
q
u
ad
r
at
E
q
u
atio
n
o
f
o
p
tical
f
l
o
w
w
it
h
t
h
e
s
m
alle
s
t
w
ei
g
h
t
[
1
8
-
20]
.
Fu
r
t
h
er
m
o
r
e,
th
e
o
p
tical
f
lo
w
is
th
e
in
s
ta
n
tan
eo
u
s
v
elo
cit
y
o
f
ea
ch
p
i
x
el
i
n
t
h
e
i
m
ag
e
at
a
ce
r
tain
p
o
in
t.
Op
tical
f
lo
w
f
ield
i
s
d
e
s
cr
ib
ed
as
a
f
ield
o
f
g
r
a
y
o
f
a
ll
p
ix
el
s
i
n
t
h
e
i
m
a
g
e
o
f
th
e
o
b
s
er
v
e
d
f
ield
.
T
h
is
o
p
tical
f
lo
w
f
ield
r
ef
lect
s
t
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
th
e
ti
m
e
d
o
m
a
in
a
n
d
t
h
e
p
o
s
itio
n
o
f
ad
j
ac
en
t
f
r
a
m
e
s
o
f
t
h
e
s
a
m
e
p
ix
el
p
o
s
itio
n
[
1
8
]
.
I
n
co
n
s
is
ten
cie
s
b
et
w
ee
n
t
h
e
d
ir
e
ctio
n
s
o
f
o
p
tical
f
lo
w
f
ield
a
n
d
o
p
tical
f
lo
w
a
n
d
m
aj
o
r
m
o
v
e
m
e
n
ts
ca
n
b
e
u
s
e
d
to
d
etec
t
an
o
b
s
tacle
.
Uses
o
p
tical
f
lo
w
f
ie
ld
co
m
p
u
ted
m
u
lti
-
i
m
ag
e
o
b
tain
ed
f
r
o
m
t
h
e
s
a
m
e
ca
m
er
a
at
d
if
f
er
en
t
ti
m
e
s
,
an
d
th
e
m
ai
n
m
o
v
e
m
e
n
t
o
f
t
h
e
ca
m
er
a
i
n
th
e
esti
m
atio
n
b
ased
o
n
OFF
.
Op
tical
f
lo
w
ca
n
b
e
g
e
n
er
ated
f
r
o
m
t
w
o
ca
m
er
a
m
o
v
e
m
en
ts
t
h
at
f
lo
w
er
an
d
f
lo
w
er
p
o
t,
if
th
e
d
i
s
ta
n
ce
o
f
th
e
o
b
j
ec
t
in
th
e
f
ield
o
f
v
ie
w
a
n
d
th
e
ca
m
er
a
i
s
d
an
d
t
h
e
an
g
le
b
et
w
ee
n
t
h
e
o
b
j
ec
t
an
d
th
e
d
ir
ec
tio
n
o
f
tr
an
s
latio
n
al
m
o
v
e
m
e
n
t
i
s
θ,
th
e
n
t
h
e
ca
m
er
a
w
il
l
m
o
v
e
w
ith
tr
an
s
latio
n
al
v
elo
cit
y
(
TV
)
v
an
d
an
g
u
lar
v
elo
cit
y
(
AV
)
ω
.
Nex
t
o
p
tic
f
l
o
w
g
e
n
er
ated
b
y
th
e
o
b
j
ec
t c
an
b
e
ca
lcu
lated
b
y
E
q
u
atio
n
(
1
)
[
1
8
]
:
(
)
(
1)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
Dis
ta
n
ce
E
s
tima
tio
n
b
a
s
ed
o
n
C
o
lo
r
-
B
lo
ck
:
A
S
imp
le
B
ig
-
O
A
n
a
lysi
s
(
B
u
d
i R
a
h
ma
n
i
)
2171
W
h
er
e:
F =
T
h
e
am
o
u
n
t o
f
o
p
tical
f
lo
w
v
=
v
elo
cit
y
o
r
d
is
p
lace
m
en
t tr
an
s
lat
io
n
(
tr
an
s
latio
n
al
v
elo
cit
y
)
d
=
o
b
j
ec
t in
th
e
f
ield
o
f
v
ie
w
o
f
th
e
ca
m
er
a
ω
=
an
g
u
lar
v
elo
cit
y
θ
=
th
e
d
ir
ec
tio
n
o
f
tr
an
s
latio
n
al
m
o
v
e
m
e
n
t
2.
RE
S
E
ARCH
M
E
T
H
O
D
Her
e
is
th
e
alg
o
r
ith
m
w
h
ich
will
d
etec
t
th
e
p
r
esen
ce
o
f
o
b
j
ec
ts
w
i
th
s
p
ec
i
f
ic
co
lo
r
b
y
u
s
i
n
g
th
e
ca
m
er
a
p
ix
y
C
MU
ca
m
5
w
h
o
s
e
o
u
t
p
u
t
is
f
ed
to
th
e
co
n
tr
o
ller
(
A
r
d
u
i
n
o
Na
n
o
w
it
h
A
T
m
eg
a3
2
8
)
v
ia
s
er
ial
co
m
m
u
n
icatio
n
li
n
es.
T
h
e
p
r
o
g
r
a
m
co
d
e
is
e
x
ec
u
ted
b
y
t
h
e
co
n
tr
o
ller
co
n
ti
n
u
o
u
s
l
y
r
e
ad
s
er
ial
d
ata,
th
e
ex
is
te
n
ce
o
f
an
o
b
j
ec
t
w
it
h
a
s
p
ec
if
ic
co
lo
r
(
in
s
ig
n
at
u
r
e
o
r
an
g
e
1
)
,
i
f
t
h
e
o
b
j
ec
t
in
q
u
es
tio
n
t
h
en
it
i
s
d
etec
ted
as
th
e
'
b
lo
ck
s
'
o
f
th
o
s
e
co
lo
r
s
.
E
v
er
y
b
lo
ck
is
d
etec
ted
b
y
t
h
e
ca
m
er
a
w
ill
b
e
s
e
n
t
t
h
e
d
ata
to
th
e
co
n
tr
o
ller
w
it
h
a
s
p
ee
d
o
f
5
0
f
r
a
m
es
p
er
s
ec
o
n
d
[
2
1
]
.
Hen
ce
t
h
e
co
n
tr
o
ller
w
ill
a
ls
o
cr
ea
te
d
ela
y
s
th
e
p
r
o
ce
s
s
o
f
r
ea
d
in
g
th
at
m
u
c
h
,
t
h
is
i
s
d
o
n
e
f
o
r
as
y
n
ch
r
o
n
o
u
s
d
ata
s
e
n
t
b
y
th
e
ca
m
er
a
an
d
t
h
e
d
ata
r
ec
eiv
ed
b
y
th
e
co
n
tr
o
ller
.
T
h
e
co
n
tr
o
ller
w
ill
t
h
en
co
m
m
u
n
ic
ate
b
ac
k
th
e
r
ec
eiv
ed
d
ata
to
t
h
e
u
s
er
v
ia
th
e
u
n
i
v
er
s
al
s
er
ial
b
us
(
USB
)
p
o
r
t
to
th
e
u
s
er
t
h
at
t
h
e
in
f
o
r
m
at
io
n
it
co
n
tai
n
s
'
b
lo
ck
s
'
co
l
o
r
o
f
t
h
e
o
b
j
ec
t d
etec
ted
b
y
t
h
e
ca
m
er
a,
th
e
n
it
s
p
o
s
itio
n
i
n
th
e
f
ield
o
f
x
a
n
d
y
,
as
w
ell
a
s
t
h
e
s
ize
o
f
t
h
e
w
id
th
a
n
d
h
e
ig
h
t
o
f
th
e
b
lo
ck
T
h
e.
Dia
g
r
a
m
o
f
a
s
y
s
te
m
b
u
il
t
p
r
esen
ted
in
Fi
g
u
r
e
1
f
it th
e
ab
o
v
e
d
escr
ip
tio
n
.
Fig
u
r
e
1
.
B
lo
ck
d
iag
r
a
m
s
y
s
te
m
B
elo
w
is
s
h
o
w
n
a
n
al
g
o
r
ith
m
t
h
at
r
ea
d
s
th
e
d
ata
o
f
t
h
e
d
etec
tio
n
o
b
j
ec
t
o
r
an
g
e
b
alls
[
2
1
]
,
[
2
2
]
.
vo
id
lo
o
p
(
)
{
s
ta
tic
in
t i
= 0
;
/
/
in
itia
liz
in
g
th
e
va
r
ia
b
le
y
is
z
ero
w
ith
s
ta
tic
d
a
ta
typ
e
in
teg
er
in
t j;
//
j v
a
r
ia
b
le
d
ec
la
r
a
tio
n
u
in
t1
6
_
t b
lo
ck
s
;
//
b
lo
ck
s
is
th
e
n
u
mb
er o
f p
ixel
s
o
f c
o
lo
r
o
f th
e
o
b
ject
to
b
e
d
etec
ted
ch
a
r
b
u
f
[
3
2
]
;
//
b
u
ffer
va
r
ia
b
le
d
ec
la
r
a
tio
n
w
ith
3
2
a
r
r
a
y
ch
a
r
a
cters
typ
e
// '
b
lo
ck
s
'
va
r
ia
b
le
d
ec
l
a
r
a
tio
n
to
a
cc
o
mmo
d
a
te
th
e
r
esu
lts
o
f th
e
fu
n
ctio
n
p
ixy.
g
etB
l
o
ck
s
(
)
b
lo
ck
s
= p
ixy.
g
etB
lo
ck
s
(
)
;
// I
f th
e
b
lo
ck
s
o
r
o
b
ject
a
r
e
fo
u
n
d
// P
r
in
t th
e
r
esu
lts
o
f b
lo
ck
s
ev
ery
5
0
fr
a
mes
// A
n
d
s
u
b
s
eq
u
e
n
tly
fed
to
a
r
d
u
in
o
if i
mo
d
u
lo
5
0
= zero
if (
b
lo
ck
s
)
{
i++;
if (
i%5
0
==0
)
{
s
p
r
in
tf(
b
u
f,
"
Dete
cted
%d
:
\
n
"
,
b
lo
ck
s
)
;
S
eria
l.p
r
in
t(
b
u
f)
;
fo
r
(
j=0
;
j<b
lo
ck
s
;
j++
)
{
s
p
r
in
tf(
b
u
f,
"
b
lo
ck
%d
:
"
,
j)
;
S
eria
l.p
r
in
t(
b
u
f)
;
S
in
g
le
Ca
m
e
ra
Co
n
tr
o
ll
e
r_
1
M
o
ti
o
n
Co
n
tr
o
ll
e
r_
2
T
il
t
se
rv
o
1
8
DO
F
b
o
d
y
se
rv
o
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
J
E
C
E
Vo
l.
7
,
No
.
4
,
A
u
g
u
s
t
2
0
1
7
:
2
1
6
9
–
2
1
7
5
2172
p
ixy.
b
lo
ck
s
[
j
]
.
p
r
in
t(
)
;
}
}
}
}
3.
RE
SU
L
T
S
A
ND
AN
AL
Y
SI
S
(
1
0
P
T
)
Her
e
ar
e
th
e
r
esu
lt
s
d
is
p
la
y
o
n
th
e
p
er
s
o
n
al
co
m
p
u
ter
(
P
C
)
o
v
er
th
e
d
ata
th
a
t is r
ea
d
b
y
t
h
e
co
n
tr
o
ller
s
h
o
w
n
in
F
ig
u
r
e
2
.
Fig
u
r
e
2
.
R
esu
lts
o
f
co
lo
r
ed
o
b
j
ec
t
d
etec
tio
n
(
v
ia
USB
)
T
h
e
ab
o
v
e
alg
o
r
ith
m
w
i
ll b
e
an
al
y
ze
d
o
n
e
b
y
o
n
e
in
a
w
a
y
t
h
at
is
[
2
3
]
:
a.
Nu
m
b
er
o
f
i
n
s
tr
u
ctio
n
T
h
e
n
u
m
b
er
o
f
i
n
s
tr
u
ctio
n
f
r
o
m
th
e
al
g
o
r
it
h
m
i
s
:
st
a
t
i
c
i
n
t
i
=
0
;
1
i
n
s
t
ru
c
t
i
o
n
i
n
t
j
;
1
i
n
s
t
ru
c
t
i
o
n
u
i
n
t
1
6
_
t
b
l
o
c
k
s;
1
i
n
s
t
ru
c
t
i
o
n
c
h
a
r
b
u
f
[3
2
];
1
i
n
s
t
ru
c
t
i
o
n
b
l
o
c
k
s =
p
i
x
y
.
g
e
t
B
l
o
c
k
s(
)
;
2
i
n
s
t
ru
c
t
i
o
n
i
f
(
b
l
o
c
k
s)
1
i
n
s
t
ru
c
t
i
o
n
{
i
+
+
;
1
i
n
s
t
ru
c
t
i
o
n
if
(
i
%
5
0
=
=
0
)
1
i
n
s
t
ru
c
t
i
o
n
{
sp
r
i
n
t
f
(
b
u
f
,
"
D
e
t
e
c
t
e
d
%
d
:
\
n
",
b
l
o
c
k
s)
;
S
e
ri
a
l
.
p
r
i
n
t
(
b
u
f
)
;
f
o
r (j
=
0
;
j
<
b
l
o
c
k
s;
j
+
+
)
2
ins
tr
uc
ti
on
in
loop
{
sp
r
i
n
t
f
(
b
u
f
,
"
b
l
o
c
k
%
d
:
",
j
)
;
S
e
r
i
a
l
.
p
ri
n
t
(
b
u
f
)
;
p
i
x
y
.
b
l
o
c
k
s
[
j
].
p
ri
n
t
(
)
;
}
}
}
b.
Dete
r
m
i
n
e
f
u
n
ctio
n
o
f
ab
o
v
e
alg
o
r
ith
m
I
f
th
e
in
s
tr
u
ct
io
n
b
ef
o
r
e
t
h
e
lo
o
p
f
o
r
ca
lcu
lated
,
it
w
o
u
ld
a
m
o
u
n
t
to
ap
p
r
o
x
i
m
a
tel
y
9
in
s
tr
u
ctio
n
s
,
th
er
ef
o
r
e
its
f
u
n
ct
io
n
is
f
(
n
)
=9
+2
n
.
Fro
m
th
e
f
u
n
ctio
n
ca
n
b
e
s
ee
n
t
h
at
it is
a
li
n
ea
r
f
u
n
ctio
n
.
ignored
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2
0
8
8
-
8708
Dis
ta
n
ce
E
s
tima
tio
n
b
a
s
ed
o
n
C
o
lo
r
-
B
lo
ck
:
A
S
imp
le
B
ig
-
O
A
n
a
lysi
s
(
B
u
d
i R
a
h
ma
n
i
)
2
173
c.
Dete
r
m
i
n
e
th
e
co
m
p
lex
it
y
o
f
t
h
e
f
u
n
ctio
n
o
b
tain
ed
B
ased
o
n
th
e
f
u
n
c
tio
n
o
b
tain
e
d
f
r
o
m
th
e
ab
o
v
e
al
g
o
r
ith
m
,
we
f
o
u
n
d
th
e
co
m
p
le
x
it
y
o
f
t
h
e
f
u
n
ctio
n
(
)
w
it
h
is
(
)
.
T
o
en
s
u
r
e
th
at
th
e
al
g
o
r
it
h
m
a
n
al
y
s
is
p
r
ev
io
u
s
l
y
co
n
d
u
cted
in
ac
co
r
d
an
ce
w
it
h
t
h
e
r
es
u
lts
o
f
ex
p
er
i
m
e
n
tal
m
ea
s
u
r
e
m
en
ts
o
f
t
h
e
d
i
s
tan
ce
th
e
b
all
a
n
d
r
o
b
o
ts
in
r
ea
l
-
ti
m
e,
th
e
n
t
h
e
e
x
p
er
im
e
n
t
m
ea
s
u
r
i
n
g
th
e
d
is
ta
n
ce
t
h
e
b
all
an
d
r
o
b
o
t
r
e
-
d
o
n
e.
T
h
e
s
k
etc
h
p
r
o
to
t
y
p
e
o
f
r
o
b
o
t
s
u
s
ed
an
d
t
h
e
r
es
u
lts
o
b
tain
ed
,
s
h
o
w
n
in
Fi
g
u
r
e
3
an
d
T
a
b
le
1
,
r
e
s
p
e
ctiv
el
y
.
I
n
T
ab
le
1
ar
e
s
h
o
w
n
th
e
r
es
u
lts
o
f
ex
p
er
i
m
en
ta
l
m
ea
s
u
r
e
m
en
ts
o
f
t
h
e
d
is
ta
n
ce
th
e
b
all
to
th
e
r
o
b
o
t
in
r
ea
l
-
ti
m
e.
B
ased
o
n
ex
p
er
i
m
en
ts
co
n
d
u
cted
f
o
u
n
d
a
tr
e
n
d
o
f
r
is
i
n
g
p
i
x
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3
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Earl,
“
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4
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C.
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Yu
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,
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S
.
M
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,
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Y.
K
o
,
“
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.
[1
5
]
R.
L
.
Kla
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F
.
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.
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W
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,
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6
]
K.
-
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L
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,
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-
M
.
P
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rk
,
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-
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.
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,
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Evaluation Warning : The document was created with Spire.PDF for Python.