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l J
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urna
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lect
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Co
m
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(
I
J
E
CE
)
Vo
l.
8
,
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.
5
,
Octo
b
e
r
2
0
1
8
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p
p
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3
6
7
8
~
3
6
9
6
I
SS
N:
2
0
8
8
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
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e
.
v8
i
5
.
pp
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6
7
8
-
3696
3678
J
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I
n
t
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,
Co
P
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t
w
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s
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e
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h
a
f
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L
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to
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te
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riate
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d
t
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m
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t
a
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situ
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in
th
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p
a
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n
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d
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'
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o
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o
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tr
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l
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tro
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d
.
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in
a
ll
y
,
th
e
p
e
rf
o
r
m
a
n
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e
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o
f
th
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p
ro
p
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se
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m
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th
o
d
s
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v
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if
ied
w
it
h
18
-
d
e
g
re
e
s o
f
f
re
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d
o
m
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k
id
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siz
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b
ip
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d
a
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o
b
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K
ey
w
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d
:
B
ip
ed
al
r
o
b
o
t
C
en
ter
o
f
p
r
es
s
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r
e
Fu
zz
y
lo
g
ic
co
n
tr
o
ller
W
alk
in
g
s
tab
il
it
y
Co
p
y
rig
h
t
©
2
0
1
8
In
stit
u
te o
f
A
d
v
a
n
c
e
d
E
n
g
i
n
e
e
rin
g
a
n
d
S
c
ien
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e
.
Al
l
rig
h
ts
re
se
rv
e
d
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Af
r
izal
Ma
y
u
b
,
Gr
ad
u
ate
Sch
o
o
l o
f
Scie
n
ce
E
d
u
ca
tio
n
,
Un
i
v
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s
it
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o
f
B
en
g
k
u
l
u
,
W
.
R
.
Su
p
r
at
m
a
n
R
o
ad
,
3
8
3
7
1
,
B
en
g
k
u
l
u
,
I
n
d
o
n
esia.
E
m
ail: a
f
r
izal
m
a
y
u
b
@
u
n
ib
.
ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
co
n
tr
o
l
o
f
a
b
ip
ed
al
r
o
b
o
t
is
a
ch
allen
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e
to
th
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m
a
n
y
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eg
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ee
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o
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f
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d
o
m
in
v
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ed
an
d
th
e
n
o
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li
n
ea
r
an
d
h
ar
d
-
to
-
s
tab
ilize
d
y
n
a
m
ic
s
[
1
]
,
[
2
]
.
B
ip
ed
al
r
o
b
o
t
s
tr
u
ctu
r
e
is
o
n
e
o
f
th
e
m
o
s
t
f
le
x
ib
le
f
o
r
m
s
o
f
a
w
al
k
in
g
r
o
b
o
t.
A
b
ip
ed
al
r
o
b
o
t
h
as
th
e
s
a
m
e
m
ec
h
a
n
i
s
m
o
f
ac
tio
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as
a
h
u
m
an
a
n
d
ca
p
ab
le
o
f
w
al
k
i
n
g
i
n
a
n
en
v
ir
o
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m
e
n
t c
o
n
tai
n
in
g
u
n
e
v
e
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ter
r
ain
,
s
lo
p
e,
s
t
air
s
,
o
b
s
tacle
s
,
etc.
[
3
]
-
[
7
]
.
B
ip
ed
al
s
tab
ilit
y
d
u
r
i
n
g
w
a
lk
i
n
g
m
o
tio
n
is
a
cr
itical
f
ac
t
i
n
p
r
ev
en
ti
n
g
t
h
e
r
o
b
o
t
f
r
o
m
f
a
ll
in
g
d
o
w
n
an
d
ca
u
s
in
g
t
h
e
h
u
m
a
n
o
r
its
e
lf
d
a
m
a
g
e
s
.
T
h
e
Z
er
o
Mo
m
e
n
t
P
o
in
t
(
Z
MP
)
m
et
h
o
d
is
o
f
ten
u
s
ed
as
a
s
tab
ilit
y
cr
iter
io
n
f
o
r
a
w
alk
in
g
b
ip
ed
r
o
b
o
t
[
8
]
-
[
1
4
]
.
W
e
h
av
e
f
o
u
n
d
in
th
e
liter
atu
r
e
t
h
e
u
s
e
o
f
f
o
r
ce
s
en
s
o
r
s
p
lace
d
u
n
d
er
t
h
e
f
ee
t.
I
n
[
1
5
]
th
e
au
t
h
o
r
s
p
r
o
p
o
s
ed
a
Fu
zz
y
co
n
tr
o
l
s
ch
e
m
e
i
n
w
h
ich
th
e
co
n
tr
o
lled
v
ar
iab
le
is
th
e
co
o
r
d
in
ate
co
m
p
e
n
s
atio
n
o
f
t
h
e
tr
u
n
k
o
n
l
y
in
th
e
s
a
g
ittal
p
lan
e,
u
s
ed
to
m
o
v
e
t
h
e
m
ea
s
u
r
ed
Z
MP
to
th
e
d
esire
d
Z
MP
,
w
h
ich
i
s
o
b
tain
e
d
f
r
o
m
f
o
r
ce
s
en
s
o
r
s
p
lace
d
at
th
e
r
o
b
o
t’
s
f
ee
t.
An
o
th
er
r
elate
d
w
o
r
k
[
1
6
]
als
o
p
r
o
p
o
s
es a
co
o
p
er
ativ
e
co
n
tr
o
l sch
e
m
e
to
ac
h
iev
e
later
al
b
alan
ce
o
f
a
b
ip
ed
r
o
b
o
t
in
t
h
e
co
r
o
n
al
p
la
n
e,
tes
ted
u
n
d
er
d
is
t
u
r
b
in
g
co
n
d
itio
n
s
s
u
c
h
a
s
c
h
an
g
es
in
t
h
e
f
lo
o
r
in
cl
in
atio
n
an
d
ex
ter
n
al
f
o
r
ce
s
ap
p
lied
to
th
e
b
o
d
y
.
T
h
e
co
n
tr
o
l
s
y
s
te
m
i
s
co
m
p
o
s
ed
o
f
o
n
e
m
as
ter
co
n
tr
o
ller
in
ch
ar
g
e
o
f
co
m
m
a
n
d
in
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t
h
e
le
g
s
s
er
v
o
m
o
to
r
s
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d
t
w
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p
r
o
p
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tio
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Fu
zz
y
co
n
tr
o
ller
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,
o
n
e
f
o
r
ea
ch
f
o
o
t,
w
h
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m
p
u
te
th
e
C
e
n
ter
o
f
P
r
ess
u
r
e
(
C
o
P
)
u
n
d
er
ea
ch
f
o
o
t
an
d
g
e
n
e
r
ate
a
co
n
tr
o
l
ac
tio
n
to
m
o
v
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th
e
h
ip
s
-
an
k
le
s
s
er
v
o
m
o
to
r
s
i
n
o
r
d
er
to
r
etu
r
n
th
e
C
o
P
to
a
s
tab
le
r
eg
io
n
.
I
n
[
1
7
]
an
al
y
ze
d
Z
MP
w
a
s
an
al
y
ze
d
f
r
o
m
h
u
m
a
n
w
al
k
e
r
w
ea
r
in
g
r
o
b
o
t
f
ee
t
as
s
h
o
es.
So
m
e
r
esear
ch
er
s
p
r
o
p
o
s
ed
a
f
lex
ib
le
s
h
o
e
s
y
s
te
m
f
o
r
b
ip
ed
r
o
b
o
ts
to
an
o
p
ti
m
ized
e
n
er
g
y
c
o
n
s
u
m
p
tio
n
o
f
t
h
e
later
al
p
lan
e
m
o
tio
n
[
1
8
]
.
Kitti
Su
w
a
n
r
atc
h
ata
m
an
ee
et
a
l
.
[
1
9
]
p
r
o
p
o
s
ed
a
h
ap
tic
s
en
s
i
n
g
f
o
o
t
s
y
s
te
m
f
o
r
h
u
m
a
n
o
id
r
o
b
o
ts
.
T
h
e
y
in
v
e
s
t
ig
ate
t
w
o
d
if
f
er
e
n
t
k
in
d
s
o
f
i
m
p
le
m
e
n
tat
io
n
s
:
o
n
e
is
a
n
ac
tiv
e
tacti
le
s
e
n
s
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
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&
C
o
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p
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g
I
SS
N:
2
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8
8
-
8708
C
en
ter o
f P
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F
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b
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a
lkin
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B
ip
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l R
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s
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A
fr
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tech
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iq
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e
to
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ize
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co
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ac
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n
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er
is
to
b
alan
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th
e
r
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b
o
t
b
o
d
y
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it
h
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n
e
leg
f
o
r
h
u
m
a
n
-
r
o
b
o
t in
ter
ac
tio
n
.
R
ef
er
e
n
ce
[
2
0
]
p
r
o
p
o
s
ed
a
f
u
zz
y
co
n
tr
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ller
to
r
ea
lized
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ip
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alk
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n
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e
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t
h
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tr
aj
ec
to
r
y
.
I
n
[
2
1
]
p
r
o
p
o
s
ed
a
d
y
n
a
m
ic
b
ala
n
ce
co
n
tr
o
l
(
DB
C
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,
w
h
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h
in
cl
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d
es
Kal
m
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f
ilter
(
KF)
an
d
th
e
f
u
zz
y
m
o
tio
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n
tr
o
ller
(
FMC
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,
w
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ed
to
k
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alan
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ip
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i
n
g
f
o
llo
w
in
g
t
h
e
d
esire
d
Z
MP
r
ef
er
en
ce
.
I
n
ad
d
itio
n
,
KF
is
u
tili
ze
d
to
esti
m
ate
th
e
s
y
s
te
m
s
tat
es
an
d
r
ed
u
ce
d
th
e
ef
f
ec
t c
au
s
ed
b
y
n
o
is
e.
Stab
ilit
y
i
s
a
v
ital
cr
iter
io
n
o
f
b
ip
ed
al
r
o
b
o
ts
in
d
y
n
a
m
ic
o
r
s
tatic
w
a
lk
i
n
g
.
T
h
e
C
o
P
lo
ca
ted
at
th
e
p
o
s
itio
n
u
n
d
er
th
e
f
o
o
t
b
o
tto
m
s
h
o
u
ld
a
f
f
ec
t
b
ip
ed
al
w
al
k
i
n
g
s
tab
ilit
y
.
T
h
u
s
th
e
s
t
u
d
y
o
f
th
e
C
o
P
r
eg
io
n
f
o
r
w
h
ic
h
a
b
ip
ed
al
r
o
b
o
t
r
em
ai
n
s
s
tab
le
is
a
ch
ale
n
g
e.
Stab
le
w
al
k
in
g
o
f
a
b
ip
ed
al
r
o
b
o
t
ca
n
b
e
r
ea
lized
b
y
b
alan
cin
g
t
w
o
t
y
p
es
o
f
f
o
r
ce
.
First
is
t
h
e
r
es
u
lta
n
t
f
o
r
ce
o
f
g
r
av
it
y
an
d
th
e
i
n
er
tia
p
r
o
d
u
ce
d
b
y
th
e
m
o
tio
n
o
f
th
e
r
o
b
o
t.
T
h
e
o
th
er
is
th
e
g
r
o
u
n
d
r
ea
ctio
n
f
o
r
ce
ac
tin
g
o
n
b
o
th
f
ee
t
o
f
t
h
e
r
o
b
o
t.
I
n
th
is
p
ap
er
,
w
e
d
ev
e
lo
p
ed
s
tab
ilit
y
w
al
k
i
n
g
b
ip
ed
al
r
o
b
o
t
in
th
e
s
ec
o
n
d
p
er
s
p
ec
tiv
e.
W
e
r
ef
er
th
e
p
o
in
t
a
s
s
o
ciate
d
w
i
th
co
n
tac
t
f
o
r
ce
s
as
C
o
P
.
I
n
t
h
is
p
ap
er
,
w
e
p
r
o
p
o
s
e
a
m
et
h
o
d
to
co
n
tr
o
l
b
ip
ed
al
r
o
b
o
t
to
h
av
e
a
s
tab
le
w
al
k
i
n
g
o
n
u
n
e
v
en
ter
r
ain
.
T
h
r
o
u
g
h
an
i
n
tel
lig
e
n
t
co
n
tr
o
l
s
u
ch
a
s
f
u
zz
y
lo
g
ic
co
n
tr
o
l
(
FL
C
)
.
T
h
e
m
aj
o
r
c
o
n
tr
ib
u
tio
n
s
o
f
t
h
is
p
ap
er
ar
e
f
o
llo
w
s
:
1
)
d
ev
elo
p
m
en
t
an
d
i
m
p
r
o
v
e
m
e
n
t
o
f
walk
i
n
g
s
tab
ilit
y
o
f
b
ip
ed
al
r
o
b
o
t
b
ased
o
n
Fo
r
ce
Sen
s
iti
v
e
R
es
is
to
r
(
FS
R
)
s
en
s
o
r
;
2
)
d
ev
elo
p
m
en
t
o
f
a
f
o
o
t
p
ad
s
en
s
o
r
b
y
u
s
i
n
g
FS
R
;
3
)
d
esig
n
a
F
L
C
f
o
r
C
o
P
r
eg
io
n
'
s
s
tab
ilit
y
a
n
d
s
tab
le
c
o
m
p
lia
n
ce
co
n
tr
o
l;
an
d
4
)
p
r
esen
t
s
t
h
e
p
r
ac
tical
ef
f
ec
ti
v
e
n
es
s
o
f
t
h
is
co
n
tr
o
l
s
ch
e
m
e
b
y
e
x
p
er
i
m
e
n
ts
w
i
th
Hu
r
o
E
v
o
lu
tio
n
J
R
k
id
s
ize
b
ip
ed
al
r
o
b
o
t.
T
h
e
r
em
ai
n
d
er
o
f
t
h
is
p
ap
er
is
o
r
g
an
ized
as
f
o
llo
w
s
.
I
n
Secti
o
n
I
I
,
Strict
d
ef
i
n
itio
n
s
o
f
C
o
P
an
d
Z
MP
ar
e
s
p
ec
if
ied
a
n
d
b
o
d
y
p
o
s
t
u
r
e
co
n
tr
o
l
b
ip
ed
al
r
o
b
o
t
also
w
alk
in
g
m
et
h
o
d
o
f
a
b
ip
ed
al
r
o
b
o
t.
Sectio
n
I
I
I
elab
o
r
ates
th
e
co
n
tr
o
l
s
y
s
te
m
ar
ch
itect
u
r
es
e
s
p
ec
iall
y
o
n
a
f
u
zz
y
s
y
s
te
m
f
o
r
th
is
w
o
r
k
.
Sectio
n
I
V
p
r
ese
n
ts
s
ev
er
al
s
i
m
u
latio
n
r
es
u
lt
s
w
h
ich
s
h
o
w
th
e
e
f
f
ec
tiv
e
n
es
s
an
d
m
er
it
o
f
th
e
p
r
o
p
o
s
ed
m
et
h
o
d
s
.
Sectio
n
V
co
n
clu
d
es t
h
e
p
ap
er
w
it
h
r
e
m
a
r
k
s
an
d
s
u
g
g
e
s
tio
n
s
f
o
r
f
u
t
u
r
e
w
o
r
k
s
2.
RE
S
E
ARCH
M
E
T
H
O
D
2
.
1
.
Cent
er
o
f
p
re
s
s
ure
(
Co
P
)
a
nd
ze
ro
m
o
m
e
nt
po
int
(
Z
M
P
)
d
ef
ini
t
io
n
T
h
e
co
n
ce
p
t
o
f
Z
MP
[
22
]
is
in
tr
o
d
u
ce
d
u
n
d
er
th
e
a
s
s
u
m
p
t
i
o
n
th
at
a
r
o
b
o
t
w
alk
s
o
n
a
f
la
t
f
lo
o
r
an
d
th
e
f
r
ictio
n
al
f
o
r
ce
s
ar
e
s
tr
o
n
g
en
o
u
g
h
to
co
m
p
e
n
s
ate
t
h
e
g
r
o
u
n
d
r
ea
ctio
n
f
o
r
ce
s
tan
g
e
n
tial
to
th
e
g
r
o
u
n
d
.
Z
MP
,
is
t
h
e
p
o
in
t
o
n
t
h
e
s
u
r
f
a
ce
o
f
th
e
f
o
o
t
w
h
er
e
a
r
es
u
lta
n
t
f
o
r
ce
R
(
ca
n
r
ep
lace
th
e
f
o
r
ce
d
is
tr
ib
u
tio
n
s
h
o
w
n
i
n
Fi
g
u
r
e
1
.
Ma
th
e
m
ati
ca
ll
y
,
th
e
Z
MP
ca
n
b
e
ca
lcu
la
ted
f
r
o
m
a
g
r
o
u
p
o
f
co
n
tact
p
o
in
ts
f
o
r
i
=
1
,…,
N
w
it
h
ea
ch
f
o
r
ce
v
ec
to
r
ass
o
ciate
d
w
it
h
t
h
e
co
n
tact
p
o
in
t
.
11
1
NN
i
iz
i
iz
ii
N
z
iz
i
P
f
P
f
ZM
P
f
f
(
1
)
I
n
th
i
s
d
ef
in
itio
n
,
t
h
e
Z
MP
ca
n
n
e
v
er
leav
e
th
e
s
u
p
p
o
r
t
p
o
l
y
g
o
n
.
I
f
th
e
f
lo
o
r
is
ass
u
m
ed
h
o
r
izo
n
tal,
th
e
to
r
q
u
e
r
ed
u
ce
s
to
at
t
h
e
Z
MP
.
T
h
e
p
o
s
itio
n
o
f
C
o
P
,
w
h
ic
h
i
s
a
p
o
in
t
o
n
th
e
g
r
o
u
n
d
p
lan
e,
w
h
er
e
t
h
e
g
r
o
u
n
d
r
ea
ctio
n
f
o
r
ce
is
ap
p
li
ed
,
is
o
f
te
n
co
n
s
id
er
ed
to
b
e
an
eq
u
i
v
ale
n
t
o
f
Z
MP
,
s
i
n
ce
t
h
e
y
co
in
cid
e
w
h
i
l
e
th
e
r
o
b
o
t
is
b
alan
ce
d
.
T
h
er
ef
o
r
e,
th
e
ac
t
u
al
p
o
s
itio
n
o
f
Z
MP
ca
n
b
e
f
o
u
n
d
u
s
i
n
g
f
o
r
ce
s
en
s
o
r
s
lo
ca
ted
o
n
t
h
e
s
o
les
o
f
a
r
o
b
o
t.
W
ith
t
h
ese
s
e
n
s
o
r
s
,
t
h
e
ce
n
ter
o
f
p
r
ess
u
r
e
c
an
b
e
ca
lcu
la
ted
o
n
t
h
e
f
ee
t,
an
d
th
e
Z
MP
ca
n
b
e
d
ir
ec
tl
y
m
ea
s
u
r
ed
.
Fig
u
r
e
1
.
Su
p
p
o
r
t p
o
ly
g
o
n
an
d
C
o
P
p
o
s
itio
n
b
ased
o
n
th
e
to
tal
s
u
m
o
f
t
h
e
co
n
tact
f
o
r
ce
s
F
R
ac
ts
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
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n
g
,
Vo
l.
8
,
No
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5
,
Octo
b
er
2
0
1
8
:
36
78
–
3
6
9
6
368
0
2
.
2
.
Det
er
m
i
nin
g
Co
P
p
o
s
it
io
n
W
e
ca
n
ca
lc
u
late
t
h
e
r
es
u
lta
n
t
f
o
r
ce
b
y
u
s
in
g
t
h
e
ce
n
ter
o
f
a
r
ea
(
C
o
A
)
tec
h
n
iq
u
e.
I
n
t
h
is
p
ap
er
,
w
e
d
ev
elo
p
ed
f
o
u
r
f
o
r
ce
s
en
s
iti
v
e
r
esis
to
r
(
FSR
)
s
e
n
s
o
r
s
w
h
ic
h
w
er
e
attac
h
ed
to
th
e
s
o
le
o
f
th
e
f
o
o
t.
T
h
er
e
ar
e
t
w
o
s
tep
ca
lcu
lat
io
n
s
i
n
o
r
d
er
to
k
n
o
w
t
h
e
C
o
P
p
o
s
itio
n
w
h
i
ch
is
r
elate
d
to
th
e
g
ait
p
h
ases
,
i.e
,
s
in
g
le
s
u
p
p
o
r
t
p
h
ase
(
SS
P
)
an
d
d
o
u
b
le
s
u
p
p
o
r
t
p
h
ase
(
DSP
)
.
Fig
u
r
e
2
s
h
o
ws
th
e
C
o
P
p
o
s
itio
n
w
h
e
n
th
e
b
ip
ed
al
r
o
b
o
t
o
n
th
e
SS
P
.
T
h
e
co
o
r
d
in
ate
s
A
,
B
,
C
,
D
ar
e
d
escr
ib
ed
b
y
P
A
(x
PA
,
y
PA
)
,
P
B
(x
PB
,
y
PB
),
P
C
(x
PC
,
y
PC
)
an
d
P
D
(x
PD
,
y
PD
)
.
So
,
w
e
ca
n
ca
lc
u
late
t
h
e
C
o
P
p
o
s
itio
n
as f
o
llo
w
s
f
o
r
SS
P
p
h
ase
as in
d
icate
d
i
n
(
2
)
-
(
3
)
.
A
P
A
B
P
B
C
P
C
D
P
D
C
o
P
A
B
C
D
f
x
f
x
f
x
f
x
x
f
f
f
f
(
2
)
A
P
A
B
P
B
C
P
C
D
P
D
C
o
P
A
B
C
D
f
y
f
y
f
y
f
y
y
f
f
f
f
(
3
)
W
h
er
e
f
A
,
f
B
,
f
C
,
f
D
,
ar
e
th
e
f
o
r
ce
at
A
,
B
,
C
,
D
p
o
in
t a
ch
ie
v
ed
th
r
o
u
g
h
F
SR
s
e
n
s
o
r
s
an
d
ex
p
l
ain
ed
in
(
4
)
-
(
7
)
.
PA
x
F
L
d
x
A
;
PA
y
F
W
d
y
A
(
4
)
PB
x
F
L
d
x
B
;
PB
y
d
y
B
(
5
)
PC
x
d
x
C
;
PC
y
F
W
d
x
C
(
6
)
PD
x
d
x
D
;
PD
y
d
x
D
(
7
)
Fig
u
r
e
2
.
C
o
P
p
o
s
itio
n
w
h
e
n
t
h
e
b
ip
ed
al
r
o
b
o
t o
n
SS
P
p
h
ases
Fig
u
r
e
3
(
a)
s
h
o
w
s
DSP
g
a
it
p
h
ases
.
T
h
e
co
o
r
d
in
ate
A
1
,
B
1
,
C
1
,
D1
,
A
2
,
B
2
,
C
2
a
n
d
D2
ar
e
d
escr
ib
ed
b
y
P
A
1
(
x
P
A
1
,
y
P
A
1
)
,
P
B
1
(
x
PB1
,
y
PB1
)
,
P
C
1
(
x
P
C1
,
y
PC1
)
,
P
D1
(
x
PD1
,
y
PD1
)
,
P
A2
(
x
P
A
2
,
y
P
A2
)
,
P
B
2
(x
PB2
,
y
PB2
)
,
P
C
2
(
x
PC2
,
y
PC2
)
an
d
P
D2
(
x
PD2
,
y
PD2
).
W
h
en
t
h
e
b
ip
ed
al
r
o
b
o
t
o
n
s
tan
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I
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I
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[
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u
r
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m
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ase
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5
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78
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3684
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ig
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ased
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h
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s
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k
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atics
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ca
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F
L
C)
Or
ig
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ted
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y
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ad
eh
[
25
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an
d
Ma
m
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an
i
a
n
d
Ass
ilian
[
26
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,
f
u
zz
y
h
as
b
ec
o
m
e
a
m
ea
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o
f
co
llectin
g
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m
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k
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d
ex
p
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with
u
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ce
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ta
in
t
ies
i
n
t
h
e
co
n
tr
o
l
s
y
s
te
m
p
r
o
ce
s
s
as
s
h
o
w
n
in
F
ig
u
r
e
9
(
a)
.
T
h
e
d
esig
n
o
f
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
g
e
n
er
all
y
h
as t
h
e
f
o
llo
w
in
g
s
tep
s
:
a.
Desig
n
t
h
e
m
e
m
b
er
s
h
ip
f
u
n
c
ti
o
n
f
o
r
f
u
zz
if
icatio
n
i
n
p
u
t a
n
d
o
u
tp
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t v
ar
iab
le
s
.
b.
I
m
p
le
m
e
n
t t
h
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f
u
zz
y
in
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er
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ce
b
y
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er
ie
s
o
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I
F
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T
HE
N
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c.
I
n
f
er
e
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ce
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n
e
d
er
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a
co
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clu
s
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f
r
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m
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ase
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o
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s
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itted
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co
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l e
q
u
ip
m
e
n
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(
a)
(
b
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Fig
u
r
e
9
.
(
a)
Fu
zz
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ar
ch
itect
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r
es a
n
d
(
b
)
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i
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f
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te
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FIS)
f
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A
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MA
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B
®
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u
zz
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aid
in
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L
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esig
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a
s
s
h
o
w
n
i
n
F
ig
u
r
e
9
(
b
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.
T
h
e
to
o
lb
o
x
co
n
tain
s
f
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n
ctio
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r
ap
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ter
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ata
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m
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7
5
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s
T
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
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8
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8708
C
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o
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u
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f
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it t
ak
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f
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r
s
ta
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1.
Fu
zz
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f
icatio
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t
h
e
p
r
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ce
s
s
o
f
tr
an
s
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ip
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f
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m
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m
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in
f
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i
f
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r
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s
s
,
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e
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ted
as f
o
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w
s
.
a.
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h
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u
p
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f
u
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m
e
m
b
er
s
h
ip
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u
n
c
tio
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is
d
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in
F
i
g
u
r
e
1
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a)
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d
E
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atio
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1
4
)
.
0
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()
xa
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1
4
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b.
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h
e
d
o
w
n
w
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d
f
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zz
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m
e
m
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er
s
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ip
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ig
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d
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atio
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5
)
.
0
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b
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5
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c.
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h
e
m
e
m
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s
h
ip
f
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n
ct
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o
f
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g
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lar
f
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r
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a
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x
c
ba
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a
b
1
a
b
1
a
b
1
c
(
a)
(
b
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(
c)
Fig
u
r
e
1
0
.
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y
p
e
o
f
m
e
m
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er
s
h
i
p
f
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n
i
n
F
u
zz
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a)
u
p
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z
z
y
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b
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o
w
n
w
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d
f
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(
c)
tr
ian
g
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lar
f
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2.
T
h
e
f
u
zz
y
i
m
p
l
icatio
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i
s
to
ev
alu
ate
t
h
e
co
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eq
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e
n
t p
ar
t o
f
e
ac
h
r
u
le.
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g
v
ar
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li
ca
tio
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m
e
th
o
d
s
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ailab
le
in
t
h
e
liter
at
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r
e,
Ma
m
d
a
n
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m
p
licatio
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m
e
th
o
d
is
s
elec
ted
.
Af
ter
t
h
e
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en
t
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s
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tis
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ied
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h
e
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n
o
f
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m
d
an
i
m
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d
to
v
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if
y
th
e
f
u
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m
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licatio
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i
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in
(
1
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)
.
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m
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,
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(
)
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y
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r
k
k
e
r
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r
r
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r
j
(
1
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3.
Gen
er
ati
n
g
t
h
e
r
u
les
f
o
r
a
f
u
z
z
y
co
n
tr
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s
y
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m
is
o
f
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th
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t
d
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s
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i
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t
h
e
d
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ig
n
p
r
o
ce
s
s
.
I
t
u
s
u
all
y
r
eq
u
ir
es
s
o
m
e
e
x
p
er
t
k
n
o
w
led
g
e
o
f
th
e
p
lan
t
d
y
n
a
m
ics.
T
h
er
e
ar
e
th
r
ee
m
et
h
o
d
s
u
s
ed
in
f
u
zz
y
s
y
s
te
m
in
f
er
en
ce
,
n
a
m
el
y
:
m
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.
I
n
t
h
e
m
a
x
m
eth
o
d
,
th
e
f
u
zz
y
s
et
s
o
l
u
tio
n
is
o
b
tain
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b
y
r
etr
ie
v
in
g
th
e
r
u
le
m
a
x
i
m
u
m
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al
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t
h
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n
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n
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it
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zz
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r
eg
io
n
,
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n
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ap
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l
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n
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it to
th
e
o
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tp
u
t
u
s
in
g
t
h
e
OR
(
u
n
io
n
)
o
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er
ato
r
.
4.
W
e
p
r
o
p
o
s
ed
w
ei
g
h
t
a
v
er
ag
e
(
W
A
)
f
o
r
d
ef
u
zz
i
f
icatio
n
s
ta
g
e
[
2
7
]
.
T
h
e
W
A
ca
lcu
latio
n
is
d
escr
ib
ed
i
n
(
1
8
)
u
s
in
g
t
h
r
ee
s
i
n
g
leto
n
s
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
(
1
)
1
(
2
)
2
(
3
)
3
(
1
)
(
2
)
(
3
)
k
k
k
k
k
k
WA
k
k
k
(
1
8
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
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lec
&
C
o
m
p
E
n
g
,
Vo
l.
8
,
No
.
5
,
Octo
b
er
2
0
1
8
:
36
78
–
3
6
9
6
3686
3.
F
U
Z
Z
Y
SYS
T
E
M
ARCH
I
T
E
CT
URE
S
3
.
1
.
F
uzzy
lo
g
ic
co
ntr
o
ller
o
n Co
P
re
g
io
n sta
bil
it
y
T
h
e
FLC
i
s
o
n
e
o
f
t
h
e
e
f
f
ec
ti
v
e
m
et
h
o
d
s
to
co
n
tr
o
l
a
s
y
s
te
m
w
h
ic
h
i
s
h
ar
d
to
m
o
d
el
cle
ar
l
y
,
li
k
e
a
b
ip
ed
al
r
o
b
o
t
s
y
s
te
m
.
T
h
e
co
n
tr
o
l
alg
o
r
it
h
m
ca
n
b
e
in
ter
p
r
eted
an
d
f
o
r
m
u
lated
b
y
e
x
p
er
t
k
n
o
w
led
g
e.
B
ef
o
r
e
d
esig
n
in
g
t
h
e
F
L
C
,
t
h
e
d
esire
d
co
n
tr
o
l
g
o
al
s
h
o
u
ld
b
e
d
ef
i
n
ed
f
ir
s
t.
I
n
th
i
s
s
ec
t
io
n
,
w
e
d
e
s
cr
ib
ed
th
e
F
L
C
o
n
C
o
P
r
eg
io
n
’
s
s
tab
ilit
y
.
T
h
e
b
a
s
ic
id
ea
is
to
k
ee
p
b
alan
ce
t
h
e
C
o
P
p
o
s
itio
n
o
f
a
b
ip
ed
al
r
o
b
o
t
w
h
e
n
w
a
lk
s
.
I
n
SS
P
,
th
e
C
o
P
p
o
s
itio
n
s
h
o
u
ld
b
e
lo
ca
ted
in
s
id
e
th
e
s
o
le
o
f
th
e
f
o
o
t.
On
th
e
o
t
h
er
h
a
n
d
,
it
s
h
o
u
ld
b
e
lo
ca
ted
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et
w
ee
n
th
e
t
w
o
f
ee
t i
n
th
e
D
SP
as illu
s
tr
ated
in
Fi
g
u
r
e
1
1
.
F
u
z
z
i
f
i
c
a
t
i
o
n
M
e
c
h
a
n
i
s
m
I
n
f
e
r
e
n
c
e
R
u
l
e
B
a
s
e
D
e
f
u
z
z
i
f
i
c
a
t
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o
n
C
o
P
x
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a
x
i
s
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o
P
y
-
a
x
i
s
(
a)
(
b
)
Fig
u
r
e
1
1
.
(
a)
C
o
P
p
o
s
itio
n
o
f
b
ip
ed
al
r
o
b
o
t w
h
en
w
a
lk
s
at
D
SP
p
h
ase
an
d
(
b
)
th
e
FLC d
esi
g
n
i
n
s
tab
il
it
y
r
eg
io
n
Fig
u
r
e
1
2
.
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h
e
x
-
a
x
i
s
an
d
y
-
a
x
is
o
f
m
ar
g
in
s
tab
ilit
y
r
eg
io
n
(
c
m
)
(
c
m
)
(
a)
(
b
)
Fig
u
r
e
1
3
.
Fu
zz
if
ica
tio
n
(
a)
x
-
ax
is
,
(
b
)
y
-
a
x
i
s
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
C
o
P
r
eg
io
n
'
s
s
tab
ilit
y
Fro
m
th
e
r
es
u
lt
o
f
d
eter
m
i
n
i
n
g
C
o
P
p
o
s
itio
n
,
w
e
ar
e
ab
le
to
d
ef
in
e
t
h
e
ar
ea
o
f
C
o
P
p
o
s
itio
n
as
t
h
e
in
p
u
t
o
f
o
u
r
F
L
C
s
y
s
te
m
.
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n
x
-
ax
is
a
n
d
y
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a
x
i
s
o
f
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ar
g
i
n
s
ta
b
ilit
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r
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g
io
n
a
s
s
h
o
w
n
i
n
Fig
u
r
e
1
2
,
w
e
ca
n
d
ef
in
e
th
r
ee
m
e
m
b
er
s
h
ip
s
o
f
f
u
zz
y
s
ets,
N
(
Ne
g
ati
v
e)
,
Z
(
Z
er
o
)
an
d
P
(
P
o
s
itiv
e)
.
Af
ter
a
f
u
zz
if
icatio
n
p
r
o
ce
s
s
o
f
a
f
u
zz
y
s
e
t
x
-
a
x
is
a
n
d
y
-
a
x
is
,
we
co
n
s
tr
u
cted
r
u
le
b
ased
FLC
in
o
r
d
er
to
k
ee
p
th
e
C
o
P
p
o
s
itio
n
s
ti
ll
i
n
s
id
e
o
f
s
tab
ilit
y
r
e
g
io
n
s
.
T
h
e
r
elatio
n
s
h
ip
b
et
w
ee
n
C
o
P
p
o
s
itio
n
o
n
th
e
x
-
ax
i
s
an
d
y
-
a
x
is
w
ill
b
e
im
p
licated
b
y
u
s
i
n
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
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n
g
I
SS
N:
2
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8
8
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8708
C
en
ter o
f P
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u
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F
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ip
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(
A
fr
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l Ma
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3687
T
ab
le
2
.
T
h
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f
u
zz
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icatio
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d
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a
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e
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s
i
n
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ia
n
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le
m
e
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er
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ip
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n
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tio
n
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th
3
f
u
zz
y
s
e
ts
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
3
.
T
h
e
len
g
th
v
al
u
e
o
f
m
e
m
b
er
s
h
ip
f
u
n
cti
o
n
f
o
r
x
-
a
x
i
s
an
d
y
-
ax
i
s
ar
e
1
2
cm
a
n
d
2
0
cm
as
in
d
icate
d
th
e
to
tal
f
o
o
t le
n
g
th
o
f
th
e
r
o
b
o
t.
(
c
m
)
Fig
u
r
e
14
.
d
ef
u
zz
if
icatio
n
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
o
f
C
o
P
r
eg
i
o
n
's s
tab
il
it
y
T
ab
le
2
.
R
u
le
b
ase
f
o
r
C
o
P
r
e
g
io
n
's
S
tab
ilit
y
T
h
e
n
ex
t sta
g
e
is
d
e
f
u
zz
i
f
icat
i
o
n
.
T
h
e
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
o
f
th
i
s
s
ta
g
e
is
d
escr
ib
ed
in
Fi
g
u
r
e
1
4
.
T
h
e
r
esu
lt o
f
d
ef
u
zz
i
f
icatio
n
o
n
th
i
s
ca
s
e
i
s
th
e
le
n
g
th
o
f
h
ip
_
x
_
o
f
f
s
et.
T
h
is
len
g
t
h
w
ill
u
s
e
f
o
r
a
d
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u
s
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g
t
h
e
r
o
b
o
t
b
o
d
y
p
o
s
tu
r
e
ten
d
s
to
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an
b
ac
k
w
ar
d
o
r
f
o
r
w
ar
d
s
.
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h
en
th
e
r
o
b
o
t
w
al
k
i
n
g
o
n
u
n
ev
e
n
ter
r
ain
as s
h
o
w
n
in
Fi
g
u
r
e
1
5
,
th
e
f
ee
d
b
ac
k
o
f
C
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P
p
o
s
itio
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w
il
l b
e
ev
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ated
b
y
F
L
C
,
an
d
t
h
en
o
u
tp
u
t t
h
is
co
n
tr
o
ller
w
ill
ad
j
u
s
t th
e
h
ip
_
x
_
o
f
f
s
et
Fig
u
r
e
1
5
.
B
o
d
y
p
o
s
tu
r
e
c
h
an
g
es a
f
ter
C
o
P
f
ee
d
b
ac
k
3
.
2
.
F
uzzy
lo
g
ic
o
n sta
ble c
o
m
pli
a
nce
co
ntr
o
l
I
n
th
is
s
ec
tio
n
,
w
e
ex
p
lai
n
ed
t
h
e
co
m
p
lia
n
ce
co
n
tr
o
l
w
it
h
i
m
p
le
m
e
n
ti
n
g
u
s
i
n
g
F
L
C
.
T
h
e
b
asic
id
ea
is
to
k
ee
p
b
alan
ce
t
h
e
b
ip
ed
al
r
o
b
o
t
w
h
e
n
a
n
y
f
o
r
ce
ap
p
lied
o
n
th
e
f
ee
t.
Fo
r
an
ex
a
m
p
le,
wh
en
w
e
p
u
s
h
ed
th
e
r
o
b
o
t
f
r
o
m
t
h
e
b
ac
k
s
id
e.
T
h
e
m
ea
s
u
r
e
m
e
n
t
o
f
f
o
r
ce
s
en
s
o
r
o
n
f
r
o
n
t
s
id
e
f
ee
t
m
o
r
e
t
h
a
n
b
a
ck
as
i
llu
s
tr
ated
i
n
Fig
u
r
e
1
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.