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(
I
J
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V
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9
,
No
.
3
,
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201
9
, p
p
.
1656
~
166
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SSN
:
2088
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8708
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D
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201
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A
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B
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ha
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s
C
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s
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f
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s
C
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r
i
g
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©
201
9
I
ns
t
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t
ut
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o
f
A
d
v
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d E
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ne
e
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d
Sc
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A
l
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s re
se
rv
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C
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t
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:
T
r
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T
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VNU,
Ha
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v
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1.
I
NT
RO
D
UCT
I
O
N
D
e
m
a
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d
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cl
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b
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co
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m
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ld
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g
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d
V
I
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T
N
A
M
in
p
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r
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is
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cr
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T
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d
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q
u
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d
a l
a
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v
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t
m
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[1
]
.
H
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[2
]
.
A
w
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m
p
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ce o
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t
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V
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c
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T
H
t
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I
s
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s
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(A
F
IM
I
L
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).
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n
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w
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m
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m
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m
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d
at
a o
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r
[3
]
,
[4
]
.
T
h
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s
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at
accel
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j
ect
ch
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g
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t
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t
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[5
]
,
[6
]
.
T
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ss
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f
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b
eh
av
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o
r
,
w
e n
eed
t
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-
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l
go
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m
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m
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la
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tio
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[7
]
,
[8
]
,
[9
]
.
H
o
w
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t
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co
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p
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at
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be
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[
10]
.
T
h
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ev
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t
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at
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d
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ith
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m
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I
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1657
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s
o
r
[
11]
an
d
t
h
e s
eco
n
d
i
s
t
h
e
v
i
d
eo
r
eco
r
d
ed
c
o
w
’
s
act
i
v
i
t
i
e
s
f
r
o
m
a ca
m
er
a.
D
at
a
f
r
o
m
t
h
es
e s
t
r
ea
m
s
ar
e t
h
en
s
y
n
ch
r
o
n
i
zed
f
o
r
t
h
e p
er
f
o
r
m
a
n
c
e ev
al
u
at
i
o
n
.
F
i
gu
r
e
1.
B
l
o
ck
d
i
ag
r
a
m
o
f
t
h
e an
al
y
zi
n
g
s
y
s
t
e
m
F
i
g
ur
e
2
s
ho
w
s
t
he
d
ev
i
ce
t
h
at
acq
u
i
r
es
t
h
e
accel
er
at
i
o
n
d
at
a
f
r
o
m
t
h
e
c
o
w
’
s
ne
c
k.
M
P
U
6050 i
s
u
s
ed
t
o
s
en
s
e t
h
e accel
er
at
i
o
n
f
r
o
m
t
h
e co
w
’
s
m
o
v
e
m
en
t
,
an
d
s
en
d
t
o
t
h
e
m
i
cr
o
co
n
t
r
o
l
l
er
P
I
C
1
8
F
4
5
K
2
0
[
1
2]
.
P
I
C
18F
45K
2
0 s
e
n
d
t
h
e d
at
a t
o
a m
o
b
i
l
e p
h
o
n
e v
i
a a B
l
u
et
o
o
t
h
m
o
d
u
l
e.
T
h
e ca
m
er
a t
h
at
r
eco
r
d
e
d
t
h
e co
w
’
s
a
c
tiv
itie
s
is
a
l
s
o
f
r
o
m
b
u
il
t
-
i
n
ca
m
er
a o
f
t
h
i
s
m
o
b
i
l
e p
h
o
n
e.
T
h
e d
ev
i
ce i
s
q
u
i
t
e co
m
p
act
a
nd
lig
h
t
,
th
u
s
,
it i
s
s
u
i
t
ab
l
e
f
o
r
t
h
e co
w
t
o
w
ear
.
A
f
t
er
t
h
e a
n
al
y
zi
n
g
p
r
o
ced
ur
e
,
a
c
la
s
s
if
y
i
n
g
a
l
g
o
r
ith
m
w
ill
b
e
e
m
b
e
d
d
e
d
in
to
P
I
C
18F
45K
2
0 i
n
or
de
r
t
o p
r
o
v
i
de
t
h
e
r
e
a
l
-
t
i
m
e
s
t
a
t
us
o
f
t
he
c
o
w
(
s
t
a
nd
i
n
g,
l
y
i
n
g,
f
e
e
d
i
ng,
a
nd
w
a
l
ki
ng)
.
F
i
gu
r
e
2.
A
ph
ot
o of
t
h
e
de
v
i
c
e
2.
1.
D
a
t
a
p
ro
ces
s
i
n
g
F
ir
s
tl
y
,
th
e
a
c
c
e
le
r
a
tio
n
s
i
g
n
a
l
is
b
r
o
u
g
h
t t
o
a l
o
w
p
as
s
f
i
l
t
er
(
L
P
F
)
t
o
s
m
o
o
t
h
t
h
e accel
er
a
t
i
o
n
d
at
a.
T
h
e accel
er
at
i
o
n
d
at
a can
b
e d
i
v
i
d
ed
i
n
t
o
t
h
e
s
t
at
i
c a
n
d
t
h
e d
y
n
a
m
i
c co
m
p
o
n
e
n
t
s
.
T
h
e s
t
at
i
c co
m
p
o
n
en
t
o
f
t
h
e
accel
er
at
i
o
n
i
s
ca
u
s
ed
b
y
t
h
e o
r
i
en
t
at
i
o
n
o
f
t
h
e s
e
n
s
o
r
r
el
at
i
v
e t
o
t
h
e
g
r
av
i
t
y
f
i
e
l
d
o
f
t
he
e
a
r
t
h
w
hi
c
h
d
et
er
m
i
n
e t
h
e b
o
d
y
p
o
s
t
u
r
e.
W
e ex
t
r
act
t
h
e s
t
at
i
c accel
er
at
i
o
n
co
m
p
o
n
en
t
f
o
r
each
ax
i
s
µ
,
(
i
=
X,
Y,
Z
)
b
y
us
i
n
g a
r
un
ni
n
g
m
e
a
n f
i
l
t
e
r
:
µ
,
=
1
_
∗
+
_
2
−
_
2
(1
)
w
h
e
r
e
t i
s
ti
m
e
in
d
e
x
,
w
i
n
_
s
i
ze i
s
t
h
e
w
i
n
d
o
w
s
i
ze,
an
d
,
∗
i
s
t
h
e
accel
er
at
i
o
n
d
at
a,
r
es
p
ect
i
v
el
y
.
T
h
e d
y
n
a
m
i
c co
m
p
o
n
en
t
o
f
t
h
e accel
er
at
i
o
n
A
i
,
t
i
s
cau
s
ed
d
i
r
ect
l
y
b
y
t
h
e
m
o
v
e
m
e
n
t
o
f
t
h
e
co
w
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
:
2088
-
8708
In
t
J
E
l
e
c
&
C
o
m
p
E
n
g
,
V
o
l.
9
, N
o
.
3
,
J
une
201
9
:
16
44
-
1
662
1658
A
i,
t =
,
∗
−
µ
,
(2
)
T
h
e
L
2
-
n
or
m
o
f
A
x
,
t
,
A
y
,
t
,
a
n
d A
z
,
t
pr
ov
i
de
us
,
=
,
2
+
,
2
+
,
2
(3
)
I
n
t
h
i
s
s
t
u
d
y
,
w
e u
s
e t
w
o
f
eat
u
r
es
µ
,
a
nd
,
t
o
cl
as
s
s
i
f
y
t
h
e co
w
’
s
b
eh
av
i
o
r
.
2.
2.
F
l
o
w
ch
a
rt
F
o
u
r
d
i
f
f
er
e
n
t
s
t
at
e
s
o
f
t
h
e co
w
ar
e cl
as
s
i
f
i
ed
b
y
u
s
i
n
g
t
he
f
l
o
w
c
ha
r
t
a
s
s
ho
w
n
i
n F
i
g
ur
e
3
.
T
h
is
is
a
d
eci
s
i
o
n
t
r
ee al
g
o
r
i
t
h
m
w
h
er
e
t
w
o
f
eat
u
r
e
s
µ
,
a
nd
,
ar
e ap
p
l
i
e
d
.
,
i
s
u
s
ed
t
o
cl
as
s
i
f
y
b
et
w
een
t
he
hi
gh
a
nd
t
he
l
o
w
d
yna
m
i
c
a
c
t
i
vi
t
i
e
s
.
I
f
t
he
c
o
w
i
s
i
n
t
he
hi
gh
d
yna
m
i
c
,
t
he
m
e
a
n
o
f
µ
,
is
a
p
p
lie
d
to
cl
as
s
i
f
y
b
et
w
een
t
h
e
f
eed
i
n
g
an
d
t
h
e
w
al
k
i
n
g
s
t
at
u
s
.
I
n
t
h
e
cas
e
o
f
a
l
o
w
act
i
v
i
t
y
,
w
e co
m
p
ar
e
t
h
e
v
al
u
es
o
f
µ
,
.
T
o pr
e
de
f
i
n
e
opt
i
m
a
l
t
h
r
e
s
h
ol
ds
B
1,
B
2 f
or
c
l
a
s
s
i
f
y
i
ng
t
h
e
s
t
a
n
di
ng
a
n
d l
y
i
n
g
s
t
a
t
us
.
F
i
g
u
r
e 3
.
D
eci
s
i
o
n
t
r
ee
a
lg
o
r
it
h
m
f
lo
w
c
h
a
r
t
3.
R
ES
U
LT
S
A
ND
D
I
SC
U
SS
I
O
N
F
i
g
u
r
e 4
s
h
o
w
s
t
h
e p
o
s
i
t
i
o
n
o
f
t
h
e
d
ev
i
ce o
n
t
h
e
co
w
’
s
n
eck
.
T
h
e d
ev
i
ce h
a
s
s
m
al
l
s
i
ze,
l
i
g
h
t
w
e
i
gh
t
s
,
a
n
d i
t
'
s
c
o
m
f
or
t
i
ng
t
o t
h
e
c
ow
.
F
i
g
u
r
e 5
p
r
es
en
t
s
t
h
e s
a
m
p
l
e
s
o
f
accel
er
at
i
o
n
,
∗
,
∗
,
∗
acq
u
i
r
ed
f
r
o
m
t
he
e
xp
e
r
i
m
e
nt
s
w
h
i
c
h i
nc
l
ud
e
s
s
t
a
nd
i
ng,
l
yi
n
g,
f
e
e
d
i
ng
a
nd
w
a
l
k
i
n
g a
c
t
i
vi
t
i
e
s
.
W
e
c
a
n
s
e
e
t
ha
t
w
he
n
t
he
c
o
w
i
s
s
t
a
nd
i
n
g o
r
l
y
i
ng,
t
he
s
i
gna
l
o
n e
a
c
h a
xi
s
ha
ve
c
h
a
nge
d
a
l
i
t
t
l
e
b
e
c
a
u
s
e
b
o
t
h b
e
ha
vi
o
r
s
s
ho
w
s
m
a
l
l
m
o
ve
m
e
nt
.
I
f
t
he
c
o
w
i
s
f
e
d
o
r
w
al
k
i
n
g
,
i
t
s
m
o
v
e
m
e
n
t
i
s
l
ar
g
er
.
S
p
eci
f
i
cal
l
y
,
h
ea
d
o
f
t
h
e co
w
w
i
l
l
co
n
t
i
n
u
o
u
s
l
y
s
h
a
k
e l
e
f
t
,
r
i
g
h
t
.
T
h
u
s
,
w
e ca
n
cl
ear
l
y
o
b
s
er
v
e
t
h
e c
h
an
g
e o
f
accel
er
at
i
o
n
.
T
h
er
e i
s
al
s
o
t
h
e
l
ar
g
e
d
i
f
f
e
r
e
nc
e
i
n t
he
c
o
m
p
o
ne
nt
o
f
y
-
a
xi
s
b
e
t
w
e
e
n l
yi
n
g a
nd
s
t
a
nd
i
n
g,
f
e
e
d
i
ng
a
n
d w
a
l
ki
ng
.
F
i
g
u
r
e 6
s
h
o
w
n
t
w
o
f
eat
u
r
es
µ
,
a
nd
,
w
h
i
c
h
c
or
r
e
s
pon
ds
t
o
t
h
e
accel
er
at
i
o
n
d
at
a i
n
F
i
g
u
r
e
5.
W
e s
ee t
h
at
t
h
e
v
al
u
e o
f
,
i
n
s
t
a
nd
i
ng a
nd
l
y
i
n
g o
f
s
t
a
t
e
i
s
s
m
a
l
l
e
r
t
ha
n i
n f
e
e
d
i
ng a
n
d
w
a
l
ki
n
g
a
c
tiv
itie
s
.
T
h
e
v
a
l
u
e
s
o
f
µ
,
i
n
f
e
e
d
i
ng a
nd
w
a
l
ki
n
g a
r
e
c
l
e
a
r
l
y
d
i
f
f
e
r
e
nt
,
t
he
va
l
ue
o
f
µ
,
i
n f
e
e
d
i
ng i
s
l
a
r
ge
r
t
h
an
0
m
g
w
h
i
l
e i
n
w
a
l
k
i
n
g
i
s
s
m
al
l
er
t
h
a
n
0
m
g
)
.
T
h
er
ef
o
r
e,
w
e
ca
n
cl
as
s
i
f
y
q
u
i
t
e
ac
cu
r
at
e
b
eh
av
i
o
r
s
o
f
c
o
w
s
b
y
c
ho
o
s
i
ng o
p
t
i
m
a
l
t
hr
e
s
ho
l
d
va
l
ue
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
E
l
ec &
C
o
m
p
E
n
g
I
SSN
:
2088
-
8708
C
l
as
s
i
f
i
c
at
i
on of
c
ow
’
s
be
hav
i
or
s
bas
e
d on
3
-
D
o
F
ac
c
e
l
e
r
a
t
i
o
n
s f
r
o
m
c
o
w’
s…
(
P
hung C
ong P
hi
K
ha
nh
)
1659
F
i
gu
r
e
4.
A
co
w
i
s
w
ear
i
n
g
t
h
e d
ev
i
ce o
n
i
t
s
n
eck
F
i
g
u
r
e 5
.
E
x
p
er
i
m
en
t
al
accel
e
r
at
i
o
n
d
at
a i
n
X
,
Y
,
Z
a
x
es
F
i
g
u
r
e 6
.
V
eD
B
A
,
S
C
A
Y
v
a
l
u
e u
n
d
er
f
o
u
r
act
i
v
i
t
i
es
T
h
r
ee t
h
r
es
h
o
l
d
s
A
,
B
1
an
d
B
2
d
et
er
m
i
n
e
t
h
e cl
a
s
s
i
f
i
cat
i
o
n
p
er
f
o
r
m
an
ce.
T
h
u
s
,
w
e
n
eed
t
o
f
i
n
d
t
h
es
e
o
p
t
i
m
al
v
al
u
es
f
o
r
t
h
es
e t
h
r
es
h
o
l
d
s
[
13]
,
[
14]
.
I
n t
hi
s
s
t
ud
y
,
R
O
C
c
ur
ve
i
s
u
s
e
d
t
o
c
ho
o
s
e
A
,
B
1
a
nd
B
2
.
F
i
g
ur
e
7
s
ho
w
s
t
he
R
O
C
c
ur
ve
o
b
t
a
i
ne
d
w
i
t
h t
he
r
e
s
o
l
ut
i
o
n o
f
1
m
g (
1
m
g=
10
-
3 g
)
.
T
h
e
opt
i
m
a
l
t
h
r
e
s
h
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[
1]
P
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ps
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C
.
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a
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2]
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a
r
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, M
., M
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a
, N
., H
a
v
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, P
. J
., S
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, A
. K
.,
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o
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. A
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60
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lying
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Evaluation Warning : The document was created with Spire.PDF for Python.
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1661
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3]
G
i
a
n Q
uoc
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nh,
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g
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hi
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r
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01
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3)
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13
77
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5]
Q
a
s
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m
, L
,
C
a
r
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e
w
, A
, W
i
l
s
o
n
,
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?” 2
0
1
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.
[
6]
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he
n,
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. Y
.
, &
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A
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T
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.
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xe
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.
37,
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o.
11
,
pp.
S
49
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50
0
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05
.
[
7]
M
a
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ni
,
A
.
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&
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a
ba
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A.
M
.
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a
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10,
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2
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p
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11
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-
11
75
,
20
10
.
[
8]
M
a
r
t
i
s
k
a
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n
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n
, P
.,
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ä
r
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n
, M
., S
k
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,
J
. P
.,
T
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i
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k
a
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n
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n
, J
.,
K
o
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e
hm
a
i
ne
n,
M
.
,
&
M
on
one
n,
J
.
“
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ow
be
ha
v
i
our
pa
t
t
e
r
n r
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c
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ni
t
i
o
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hav
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.
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1
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1
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p.
32
-
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09
.
[
9]
Ho
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n
g
,
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-
T
., P
h
i
K
h
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n
h
, P
.
C
., T
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n
h
,
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.
,
P
hu
ong
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u
ng
,
C
.
T
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,
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ol
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2
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1
10
-
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20
18.
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1
0]
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at
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l
,
R
.
,
&
T
a
m
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S
.
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C
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18
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015
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[
1
2]
M
i
k
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ons
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a
nd J
o
uni
T
e
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s,
"
I
n 201
2 5t
h I
nt
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nat
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on
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o
nf
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nc
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on N
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w
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hnol
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s
,
M
obi
l
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t
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and Se
c
ur
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(
N
T
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S)
,
pp.
1
-
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I
E
EE
,
20
12.
[
1
3]
S
ax
en
a,
A
b
h
i
n
av
,
et
al
.
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et
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ogn
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nt
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.
1
-
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,
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00
8.
[
1
4]
R
es
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ef
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eh
ezk
el
S
.
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et
al
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c
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t
s
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i
n M
ov
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m
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c
ol
ogy
, V
o
l
. 2
, N
o
.1
,
pp
.
1
-
7,
2
014
.
[
1
5]
K
h
a
n
h
, P
.
C
. P
.,
Lo
n
g
,
T.
T
., C
h
i
n
h
, N
. D
., &
D
u
c
-
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n
,
T
.
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e cl
as
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n
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w
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n R
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e
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dv
anc
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s
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n Si
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s
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ng
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l
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c
om
m
uni
c
at
i
ons
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C
om
put
i
n
g (
Si
gT
e
l
C
om
)
,
201
8 2n
d
I
n
t
e
r
nat
i
on
al
C
on
f
e
r
e
nc
e
on
I
E
E
E
,
(
pp
.
1
21
-
125
)
,
J
a
n
ua
r
y
2018
.
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In
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9
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201
9
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