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I
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8708
R
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m
p
r
o
v
e
s
t
h
e
co
n
tr
o
l
as
it
ten
d
s
to
m
o
d
er
ate
t
h
e
ef
f
ec
t
o
f
t
h
e
P
an
d
I
ter
m
s
d
u
e
to
its
ab
ilit
y
to
p
r
ed
ict
ah
ea
d
[
3
]
.
Z
ieg
ler
-
Nic
h
o
ls
b
ased
P
I
D
co
n
tr
o
ller
is
u
s
ed
p
r
ec
is
ely
in
a
teleo
p
er
atio
n
s
ch
e
m
e
[
4
]
.
Ho
w
e
v
er
,
to
en
s
u
r
e
g
o
o
d
s
y
s
te
m
r
e
s
p
o
n
s
e,
th
e
p
ar
a
m
eter
s
t
h
at
d
eter
m
i
n
e
t
h
e
s
tr
en
g
t
h
o
f
t
h
ese
3
co
n
tr
o
l
ac
tio
n
s
n
ee
d
to
b
e
p
r
o
p
er
ly
t
u
n
ed
.
B
ec
au
s
e
o
f
t
h
e
d
if
f
ic
u
lt
y
in
d
er
iv
i
n
g
a
m
at
h
e
m
atica
l
m
o
d
el
o
f
a
v
is
io
n
f
ee
d
b
ac
k
b
ased
telep
o
in
ter
s
y
s
te
m
,
t
u
n
in
g
m
et
h
o
d
s
b
ased
o
n
th
e
p
r
o
ce
s
s
m
o
d
el
o
f
t
h
e
s
y
s
te
m
ca
n
n
o
t
b
e
u
s
ed
.
W
h
ile
a
“
tr
ial
an
d
er
r
o
r
”
m
et
h
o
d
ca
n
b
e
u
s
ed
to
o
b
tain
t
h
e
co
n
tr
o
ller
p
ar
am
eter
s
,
th
e
tu
n
i
n
g
p
r
o
ce
s
s
ca
n
tak
e
a
lo
n
g
ti
m
e.
Fo
r
th
is
r
ea
s
o
n
,
w
e
h
a
v
e
ad
o
p
ted
a
m
o
r
e
s
y
s
te
m
atic
alt
h
o
u
g
h
e
m
p
ir
ical,
tu
n
i
n
g
th
e
P
I
D
co
n
tr
o
ller
p
ar
am
eter
s
u
s
i
n
g
cl
o
s
ed
lo
o
p
Z
ieg
ler
-
Nic
h
o
ls
m
et
h
o
d
.
2.
VI
SI
O
N
F
E
E
DB
ACK
B
ASE
D
T
E
L
E
P
O
I
NT
E
R
SY
ST
E
M
Fig
u
r
e
1
s
h
o
w
s
o
v
er
all
telec
o
n
s
u
ltatio
n
s
y
s
te
m
w
i
th
r
e
m
o
tel
y
co
n
tr
o
lled
L
P
,
w
h
ich
is
u
s
ed
as
a
telep
o
in
ter
.
T
h
is
s
y
s
te
m
m
ai
n
l
y
co
n
s
is
t
t
w
o
P
C
s
lo
ca
ted
in
t
w
o
d
i
f
f
er
e
n
t lo
ca
tio
n
s
.
T
h
e
cli
en
t P
C
i
s
at
th
e
b
ase
s
tatio
n
a
n
d
th
e
s
er
v
er
P
C
is
a
t
th
e
w
o
r
k
s
tatio
n
.
B
o
th
P
C
s
ar
e
eq
u
ip
p
ed
w
it
h
n
o
r
m
a
l
w
e
b
c
am
er
a
an
d
a
u
d
io
v
is
u
al
s
y
s
te
m
.
T
h
e
clien
t
P
C
an
d
th
e
s
er
v
er
P
C
ar
e
co
n
n
ec
ted
v
ia
I
n
ter
n
et
/
L
A
N(
L
o
ca
l
A
r
ea
Net
w
o
r
k
)
to
estab
lis
h
a
r
ea
l
t
i
m
e
a
u
d
io
,
v
i
d
eo
,
an
d
d
ata
s
tr
ea
m
in
g
.
T
h
e
s
er
v
o
m
o
u
n
ted
L
P
is
in
ter
f
a
ce
d
w
it
h
t
h
e
s
er
v
er
P
C
th
r
o
u
g
h
a
USB
p
o
r
t.
T
h
i
s
h
ar
d
w
ar
e
s
y
s
te
m
co
n
s
is
t
s
o
f
a
DAC
(
Dig
ita
l
to
A
n
a
lo
g
C
o
n
v
er
ter
)
an
d
a
t
elep
o
in
ter
.
A
t
t
h
e
w
o
r
k
s
tatio
n
th
e
p
atie
n
t
is
p
o
s
itio
n
ed
in
t
h
e
f
ield
o
f
v
ie
w
o
f
t
h
e
w
eb
c
a
m
an
d
w
it
h
i
n
th
e
r
an
g
e
o
f
t
h
e
LP
.
A
g
e
n
er
al
p
h
y
s
icia
n
i
s
n
o
r
m
all
y
p
r
esen
t
to
o
p
er
ate
th
e
tr
ea
t
m
e
n
t
at
th
e
w
o
r
k
s
tatio
n
.
A
t
t
h
e
r
e
m
o
te
b
ase
s
tatio
n
lo
ca
tio
n
,
a
s
u
b
s
p
ec
iali
s
t
p
h
y
s
ic
ian
i
s
p
r
esen
t
to
co
m
m
u
n
icate
w
it
h
t
h
e
g
en
er
al
p
h
y
s
icia
n
co
n
ce
r
n
i
n
g
t
h
e
o
p
er
ativ
e
tech
n
iq
u
e
v
ia
t
h
e
v
id
eo
co
n
f
er
en
c
e
lin
k
an
d
telep
o
in
ter
.
I
n
t
h
is
o
v
er
all
s
y
s
te
m
at
th
e
b
ase
s
tatio
n
,
t
h
e
r
e
m
o
te
s
u
b
s
p
ec
ialis
t
p
h
y
s
icia
n
is
ca
lled
t
h
e
p
r
o
cto
r
in
g
p
h
y
s
icia
n
a
n
d
at
t
h
e
w
o
r
k
s
ta
tio
n
th
e
g
en
er
al
p
h
y
s
icia
n
i
s
ca
lled
t
h
e
p
r
o
cto
r
ed
p
h
y
s
ic
ian
.
At
t
h
e
w
o
r
k
s
tatio
n
t
h
e
p
atie
n
t i
s
p
o
s
iti
o
n
ed
in
t
h
e
f
ield
o
f
v
ie
w
o
f
t
h
e
w
eb
ca
m
a
n
d
w
ith
in
th
e
r
a
n
g
e
o
f
t
h
e
LP
.
Fig
u
r
e
1
.
Ov
er
all
T
elec
o
n
s
u
lta
tio
n
S
y
s
te
m
w
it
h
R
e
m
o
tel
y
C
o
n
tr
o
lled
LP
Vis
io
n
f
ee
d
b
ac
k
is
a
f
ee
d
b
ac
k
b
ased
o
n
in
f
o
r
m
atio
n
d
er
iv
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f
r
o
m
t
w
o
-
d
i
m
en
s
io
n
al
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m
a
g
es
s
u
c
h
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tak
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u
s
i
n
g
ca
m
er
a.
T
h
e
i
n
f
o
r
m
atio
n
d
er
iv
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f
r
o
m
t
h
ese
i
m
ag
e
s
r
eq
u
ir
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o
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i
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s
s
i
n
g
o
r
co
m
p
u
ter
v
is
io
n
tec
h
n
iq
u
es
[
5
]
.
T
h
e
g
o
al
o
f
al
l
v
is
io
n
f
ee
d
b
ac
k
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n
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o
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m
s
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to
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alize
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r
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s
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all
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d
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i
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(
t
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(
m
(
t
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a
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(
1
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w
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s
(
m
(
t)
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a)
is
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m
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g
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f
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t
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m
(
t)
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s
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m
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d
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ates
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alu
e
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t
h
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m
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f
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r
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s
[
6
]
.
Fig
u
r
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2
s
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it
iv
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to
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is
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t
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et
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h
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o
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ce
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t,
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r
t
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n
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at
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ig
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aser
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ea
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ix
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p
er
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it
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e
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ir
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ter
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ir
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h
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ef
lecte
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lled
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ir
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Fig
u
r
e
4
.
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d
w
ar
e
P
latf
o
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m
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.
2
.
So
f
t
wa
re
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la
t
f
o
rm
I
n
T
h
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er
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C
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o
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t
w
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e
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latf
o
r
m
co
n
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o
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teg
r
ated
t
h
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ee
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elo
p
ed
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s
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g
C
#
.
A
r
ea
l
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e
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V
D
(
Au
d
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Vid
eo
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Data
)
s
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ea
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etu
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L
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ctio
n
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licatio
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I
n
t
h
i
s
m
o
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u
le,
An
d
r
e
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Kir
illo
v
's
m
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tio
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t
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s
ed
a
n
d
t
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e
AFo
r
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e.
NE
T
f
r
a
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e
w
o
r
k
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2088
-
8708
R
o
b
u
s
t Co
n
tr
o
ller
fo
r
a
V
is
io
n
F
ee
d
b
a
ck
B
a
s
ed
Telep
o
in
ter
(
S
h
a
h
N
ewa
z
Mo
h
a
mma
d
A
b
d
u
l Ka
d
er
)
2873
is
u
s
ed
f
o
r
i
m
ag
e
p
r
o
ce
s
s
i
n
g
.
T
h
e
laser
p
o
in
t
d
etec
tio
n
alg
o
r
ith
m
is
b
ased
o
n
f
i
n
d
i
n
g
t
h
e
b
r
ig
h
te
s
t
p
ix
el
i
n
t
h
e
w
eb
ca
m
's
f
ield
.
T
h
is
s
i
m
p
le
alg
o
r
ith
m
i
s
ch
o
s
e
n
to
en
ab
le
d
etec
tio
n
to
b
e
d
o
n
e
q
u
ick
l
y
w
it
h
o
u
t
in
c
u
r
r
in
g
s
ig
n
i
f
ica
n
t
p
r
o
ce
s
s
in
g
ti
m
e,
h
en
ce
d
ela
y
in
t
h
e
f
ee
d
b
ac
k
.
T
o
f
u
r
th
er
in
cr
ea
s
e
th
e
i
m
ag
e
p
r
o
ce
s
s
in
g
s
p
ee
d
,
Un
s
a
f
eB
it
m
ap
class
w
a
s
u
s
ed
to
ac
ce
s
s
an
y
p
ix
el
d
ata
i
n
a
s
h
o
r
t
ti
m
e
[
7
]
.
T
h
e
th
ir
d
m
o
d
u
le
is
t
h
e
co
n
tr
o
l
m
o
d
u
le
w
h
er
e
co
n
tr
o
l
s
i
g
n
al
is
co
m
p
u
ted
u
s
i
n
g
d
is
cr
ete
ti
m
e
P
I
D
co
n
tr
o
ller
.
T
h
e
im
p
le
m
en
ta
tio
n
o
f
t
h
e
d
is
cr
ete
ti
m
e
P
I
D
co
n
tr
o
ller
u
s
ed
in
th
i
s
m
o
d
u
le
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s
d
escr
ib
ed
u
s
i
n
g
th
e
p
s
e
u
d
o
co
d
e
[
8
]
b
elo
w
:
previous_error = 0
integral = 0
start:
error = Target laser coordinate
–
Current laser coordinate
integral = integral + error*dt
derivative = (error
-
previous_error)/dt
output = Kp*error + Ki*integral + Kd*derivative
previous_error = error
wait(dt)
goto start
w
h
er
e
,
d
t is
s
a
m
p
l
in
g
ti
m
e.
2.
3
.
P
I
D
Co
ntr
o
ller
Desig
n
Fig
u
r
e
5
s
h
o
w
s
t
h
e
b
lo
c
k
d
ia
g
r
a
m
o
f
th
e
co
n
tr
o
l
s
y
s
te
m
.
Her
e,
C
(
z)
is
t
h
e
co
n
tr
o
ller
a
n
d
P
(
z)
is
telep
o
in
ter
s
y
s
te
m
.
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h
e
ac
tu
al
s
y
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te
m
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t
w
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D
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s
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o
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n
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o
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s
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e
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I
D
alg
o
r
it
h
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s
,
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t
)
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e
(
t
)
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∫
e
(
)
t
n
d
d
d
dt
e
(
t
)
(
2
)
Fig
u
r
e
5
.
C
o
n
tr
o
l
Sy
s
te
m
w
h
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e
e
(
t
)
r
(
t
)
-
t
,
y
is
o
u
tp
u
t
v
al
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e
(
C
u
r
r
en
t
laser
co
o
r
d
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ate
X
c
,
Yc
),
r
is
in
p
u
t
v
alu
e
(
T
ar
g
et
lase
r
co
o
r
d
in
ate
X
t
,Y
t
),
is
P
r
o
p
o
r
tio
n
al
g
ain
;
i
is
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n
te
g
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ai
n
,
d
is
Der
iv
ati
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g
a
in
,
t
n
is
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i
m
e
,
i
s
Var
iab
le
o
f
in
te
g
r
atio
n
w
h
ic
h
ta
k
e
s
v
al
u
es
f
r
o
m
t
i
m
e
0
to
t
h
e
p
r
ese
n
t
t
n
.
.
W
ith
a
a
m
p
li
n
g
ti
m
e
δt
t
h
e
d
i
cr
etize
d
f
o
r
m
o
f
th
e
P
I
D
alg
o
r
ith
m
is
,
(
t
n
)
p
e
t
n
i
∑
e
t
i
n
i
δ
t
d
e
(
t
n
)
-
e
t
n
-
δ
t
(
3
)
L
et
T
s
b
e
th
e
s
a
m
p
lin
g
ti
m
e.
T
h
e
d
is
cr
et
e
ti
m
e
Z
tr
a
n
s
f
er
f
u
n
ctio
n
o
f
t
h
e
P
I
D
co
n
tr
o
ller
is
(
z
)
p
i
z
z
-
d
z
-
z
(
4
)
T
h
er
e
ar
e
s
ev
er
al
m
eth
o
d
s
th
a
t
ca
n
b
e
u
s
ed
to
d
eter
m
i
n
e
th
e
ab
o
v
e
co
n
tr
o
ller
p
ar
am
eter
s
k
p
,
k
i
an
d
k
d
[
9
]
.
If
th
e
tr
an
s
f
er
f
u
n
ctio
n
o
f
th
e
p
lan
t
is
k
n
o
w
n
,
th
er
e
ar
e
m
an
y
a
v
ailab
le
d
esi
g
n
tec
h
n
iq
u
es
ca
n
b
e
u
s
ed
eith
e
r
b
ased
o
n
class
ical
co
n
tr
o
l,
o
p
ti
m
al
co
n
tr
o
l
o
r
ar
tif
icial
i
n
te
llig
e
n
ce
s
u
ch
as
f
u
zz
y
lo
g
ic
.
I
f
th
e
p
lan
t
m
o
d
el
P
(
z)
is
u
n
k
n
o
w
n
t
h
en
t
h
o
s
e
c
o
n
tr
o
ller
s
ca
n
b
e
t
u
n
ed
m
a
n
u
all
y
b
y
tr
ial
an
d
er
r
o
r
,
o
r
u
s
i
n
g
t
h
e
o
p
en
lo
o
p
o
r
clo
s
ed
lo
o
p
Z
ieg
ler
–
Nic
h
o
ls
t
u
n
i
n
g
m
et
h
o
d
.
T
h
e
clo
s
ed
lo
o
p
m
et
h
o
d
is
u
s
ed
h
er
e
b
ec
au
s
e
th
e
tu
n
in
g
m
eth
o
d
w
il
l
a
u
to
m
at
icall
y
a
n
d
i
n
tr
i
n
s
ical
l
y
in
co
r
p
o
r
ate
all
t
h
e
d
y
n
a
m
ic
s
a
s
s
o
ciate
d
w
i
th
th
e
d
is
cr
ete
ti
m
e
i
m
p
le
m
en
ta
tio
n
.
Si
n
ce
t
h
is
t
u
n
in
g
m
et
h
o
d
o
r
ig
in
a
ted
f
r
o
m
h
e
u
r
is
tic
p
r
in
c
ip
le,
it
d
o
es
n
o
t
al
w
a
y
s
g
i
v
e
th
e
b
es
t
p
er
f
o
r
m
a
n
ce
in
all
ca
s
e
s
,
b
u
t
ca
n
s
er
v
e
as
u
s
e
f
u
l
s
tar
ti
n
g
p
o
in
t
f
o
r
f
u
r
t
h
er
tu
n
in
g
.
T
h
e
f
ir
s
t
s
tep
is
to
test
w
h
et
h
er
th
e
p
r
o
p
o
r
tio
n
al
co
n
t
r
o
l
g
ain
i
s
p
o
s
iti
v
e
o
r
n
e
g
ati
v
e.
T
h
en
,
k
i
a
n
d
k
d
ar
e
s
et
to
z
er
o
an
d
k
p
v
alu
e
is
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.
6
,
No
.
6
,
Decem
b
er
201
6
:
2
8
7
0
–
2
8
7
7
2874
in
cr
ea
s
ed
u
n
ti
l
it
g
en
er
ate
s
a
p
er
io
d
ic
o
s
cillatio
n
at
th
e
o
u
t
p
u
t
r
esp
o
n
s
e.
T
h
is
cr
it
ical
k
p
v
al
e
i
th
e
„
lti
m
ate
g
ain
‟
k
u
.
T
h
e
p
er
io
d
w
h
er
e
th
e
o
s
cillatio
n
o
cc
u
r
s
i
s
ca
lled
T
u
„
lti
m
ate
p
er
io
d
‟
B
a ed
o
n
th
e
v
al
u
e
o
f
t
h
ese
t
w
o
p
ar
a
m
eter
s
,
t
h
e
P
I
D
co
n
tr
o
ller
p
ar
am
e
ter
s
k
p
,
k
i
,
k
d
ar
e
ca
lcu
lated
ac
co
r
d
in
g
to
th
e
T
ab
le
1
[
1
0
]
.
Fo
r
th
e
d
esig
n
ed
co
n
tr
o
ller
C
(
z)
,
th
r
ee
d
esire
d
p
er
f
o
r
m
an
ce
cr
iter
ia
ar
e
r
i
e
ti
m
e
≤
5
ettlin
g
ti
m
e
≤
an
d
n
o
o
v
er
s
h
o
o
t.
T
ab
le
1
.
Z
ieg
ler
-
N
ich
o
l
s
Me
th
o
d
C
o
n
t
r
o
l
l
e
r
Ty
p
e
p
i
d
P
0
.
5
*
-
-
PI
0
.
4
5
*
1
.
2
*
p
-
P
I
D
0
.
6
*
2*
p
/T
u
p
*T
u
/8
2
.
4
.
P
I
D
Co
ntr
o
ller
T
un
ing
T
h
e
s
er
v
o
m
o
to
r
s
f
o
r
t
h
e
x
a
n
d
y
a
x
es
we
r
e
co
n
tr
o
lled
b
y
t
w
o
i
n
d
ep
en
d
en
t
P
I
D
co
n
tr
o
ller
s
C
x
(
z)
an
d
C
y
(
z)
r
esp
ec
tiv
el
y
.
B
ased
o
n
th
e
s
y
s
te
m
co
n
f
ig
u
r
atio
n
a
n
d
i
m
a
g
e
co
o
r
d
in
ates s
y
s
te
m
,
w
h
e
n
p
o
s
itiv
e
s
tep
co
n
tr
o
l
s
ig
n
als
D
C
v
o
lta
g
e
s
V
x
an
d
V
y
w
er
e
g
iv
e
n
as
i
n
p
u
t
s
to
th
e
s
y
s
te
m
,
th
e
laser
b
e
a
m
w
as
d
ef
lecte
d
to
n
eg
at
iv
e
d
ir
ec
tio
n
s
in
x
an
d
y
ax
es.
He
n
ce
,
t
h
e
DC
g
ain
o
f
th
e
s
y
s
te
m
w
as
n
e
g
at
i
v
e.
T
h
e
s
a
m
p
li
n
g
ti
m
e
w
a
s
ch
o
s
en
T
s
=0
.
0
0
2
s
.
T
h
is
w
as
t
h
e
f
a
s
tes
t
s
a
m
p
lin
g
ti
m
e
t
h
at
ca
n
b
e
u
s
ed
to
allo
w
f
o
r
all
th
e
v
id
eo
p
r
o
ce
s
s
i
n
g
an
d
o
th
er
p
r
o
ce
s
s
es
r
elate
d
to
th
e
i
m
p
le
m
e
n
tat
io
n
o
f
t
h
e
co
n
tr
o
ller
an
d
co
m
m
u
n
icatio
n
to
b
e
co
m
p
leted
.
T
h
e
tu
n
i
n
g
p
r
o
ce
s
s
f
o
r
th
e
co
n
tr
o
ller
C
x
(
z)
w
a
s
s
tar
ted
w
it
h
all
th
e
v
al
u
es
o
f
k
i
an
d
k
d
s
et
to
ze
r
o
.
T
h
e
v
alu
e
o
f
k
p
w
a
s
in
i
tiall
y
s
et
to
-
1
an
d
r
es
u
lted
in
th
e
o
u
tp
u
t
to
b
e
u
n
s
tab
le.
T
h
en
th
e
v
al
u
e
o
f
k
p
w
as
g
r
ad
u
all
y
d
ec
r
ea
s
ed
u
n
t
il a
t t
h
e
v
alu
e
o
f
k
p
=
-
0
.
0
0
1
th
e
s
y
s
te
m
o
u
tp
u
t b
ec
a
m
e
s
ta
b
le
.
T
h
e
v
alu
e
o
f
k
p
w
a
s
th
e
n
g
r
ad
u
all
y
i
n
cr
ea
s
ed
to
-
0
.
0
0
3
u
n
til it c
r
ea
ted
an
o
s
cillatio
n
at
t
h
e
o
u
tp
u
t r
esp
o
n
se
.
A
lt
h
o
u
g
h
t
h
e
Z
ie
g
ler
-
Nic
h
o
l
s
clo
s
ed
lo
o
p
tu
n
i
n
g
m
et
h
o
d
r
eq
u
ir
es
t
h
e
s
y
s
t
e
m
to
h
a
v
e
co
n
s
ta
n
t
a
m
p
lit
u
d
e
o
s
cillatio
n
s
to
d
eter
m
in
e
th
e
u
lti
m
ate
g
ai
n
an
d
t
h
e
o
s
cillatio
n
p
er
io
d
,
w
e
h
a
v
e
f
o
u
n
d
th
at
i
t
w
a
s
s
u
f
f
icie
n
t to
o
b
tai
n
t
h
e
g
ai
n
t
h
at
y
ie
ld
d
a
m
p
ed
o
s
cilla
tio
n
w
i
th
5
c
y
cle
s
b
ef
o
r
e
t
h
e
o
u
tp
u
t
s
ettled
.
T
h
is
m
et
h
o
d
av
o
id
ed
th
e
d
if
f
ic
u
lt
y
i
n
o
b
tain
i
n
g
th
e
cr
it
ical
s
tab
ili
t
y
c
o
n
d
itio
n
a
n
d
also
th
e
p
o
te
n
t
ial
d
a
m
a
g
e
to
th
e
eq
u
ip
m
e
n
t.
T
h
is
cr
itical
p
v
alu
e
w
as
a
ig
n
ed
to
b
e
„
lti
m
ate
g
ain
‟
.
Fro
m
th
i
s
o
u
tp
u
t
r
esp
o
n
s
e
th
e
„
lti
m
ate
p
er
io
d
‟
T
u
w
a
s
m
ea
s
u
r
ed
to
b
e
0
.
0
0
4
s
.
Si
m
i
l
ar
l
y
,
t
h
e
s
a
m
e
p
r
o
ce
s
s
w
as
d
o
n
e
f
o
r
t
h
e
y
-
ax
is
co
n
tr
o
ller
C
y
(
z)
.
Fo
r
th
is
co
n
t
r
o
ller
,
th
e
v
al
u
e
o
f
a
f
o
u
n
d
to
b
e
-
an
d
th
e
„
lti
m
ate
p
er
io
d
‟
T
u
w
as
m
ea
s
u
r
ed
0
.
0
0
4
s
.
Fig
u
r
e
6
.
(
a)
A
d
a
m
p
ed
Osc
ill
atio
n
in
t
h
e
x
-
a
x
is
Ou
tp
u
t
w
h
e
n
k
p
=
-
0
.
0
0
3
,
(
b
)
A
Da
m
p
ed
O
s
cillatio
n
in
t
h
e
y
-
a
x
i
s
Oc
cu
r
r
ed
w
h
e
n
k
p
=
-
0
.
0
0
4
Fig
u
r
e
6
(
a)
an
d
Fig
u
r
e
6
(
b
)
r
esp
ec
tiv
el
y
s
h
o
w
th
e
d
a
m
p
ed
o
s
cillatio
n
s
o
cc
u
r
r
ed
in
th
e
x
-
a
x
i
s
an
d
y
-
a
x
i
s
o
u
tp
u
t
s
,
w
h
e
n
v
alu
e
o
f
k
p
i
n
C
x
(
z)
w
a
s
g
r
ad
u
all
y
i
n
cr
ea
s
ed
to
-
0
.
0
0
3
an
d
v
alu
e
o
f
k
p
i
n
C
y
(
z)
w
as
g
r
ad
u
all
y
in
cr
ea
s
ed
to
-
0
.
0
0
4
.
Fro
m
t
h
e
s
e
o
u
tp
u
t
r
esp
o
n
s
e
s
th
e
„
lt
i
m
a
te
p
er
io
d
‟
T
u
w
a
s
m
ea
s
u
r
ed
to
b
e
0
.
0
0
4
s
b
o
th
f
o
r
C
x
(
z)
an
d
C
y
(
z)
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
C
E
I
SS
N:
2088
-
8708
R
o
b
u
s
t Co
n
tr
o
ller
fo
r
a
V
is
io
n
F
ee
d
b
a
ck
B
a
s
ed
Telep
o
in
ter
(
S
h
a
h
N
ewa
z
Mo
h
a
mma
d
A
b
d
u
l Ka
d
er
)
2875
3.
RE
SUL
T
S
A
ND
ANA
L
YS
I
S
B
ased
o
n
th
e
v
al
u
e
o
f
k
u
a
n
d
T
u
th
e
co
n
tr
o
ller
p
ar
a
m
eter
s
k
p
,
k
i
,
k
d
w
er
e
ca
lc
u
lated
ac
co
r
d
in
g
to
th
e
tu
n
in
g
r
u
le
s
g
i
v
e
n
in
T
ab
le
1
.
T
h
e
s
u
m
m
ar
y
o
f
th
e
co
n
tr
o
ll
er
p
ar
am
eter
s
a
n
d
th
eir
co
r
r
esp
o
n
d
in
g
r
is
e
ti
m
e
s
,
s
etti
n
g
ti
m
e
s
an
d
o
v
er
s
h
o
o
t a
r
e
g
iv
e
n
i
n
T
ab
le
2
.
T
ab
le
2
.
C
o
n
tr
o
ller
P
a
r
am
eter
s
an
d
P
er
f
o
r
m
an
ce
P
a
r
a
me
t
e
r
s
k
u
T
u
k
p
k
i
k
d
R
i
se
t
i
me
S
e
t
t
l
i
n
g
t
i
me
O
v
e
r
sh
o
o
t
C
o
n
t
r
o
l
l
e
r
C
x
(
z
)
-
0
.
0
0
3
-
0
.
0
0
4
-
0
.
0
0
1
8
-
0
.
9
-
0
.
0
0
0
0
0
0
9
0
.
0
4
se
c
0
.
0
7
4
se
c
N
o
o
.
s
C
o
n
t
r
o
l
l
e
r
C
y
(
z
)
-
0
.
0
0
4
-
0
.
0
0
4
-
0
.
0
0
2
4
-
1
.
2
-
0
.
0
0
0
0
0
1
2
0
.
0
4
se
c
0
.
0
7
2
se
c
N
o
o
.
s
Fig
u
r
e
7
.
(
a)
Sy
s
te
m
Ou
tp
u
t R
esp
o
n
s
e
f
o
r
C
o
n
tr
o
ller
s
T
u
n
ed
Usi
n
g
Z
-
N
M
eth
o
d
(
b
)
S
y
s
te
m
O
u
tp
u
t
R
esp
o
n
s
e
f
o
r
th
e
Det
u
n
ed
C
o
n
tr
o
ller
s
Fig
u
r
e
7
(
a)
s
h
o
w
t
h
e
clo
s
ed
l
o
o
p
r
esp
o
n
s
es
u
s
i
n
g
t
h
ese
s
et
o
f
k
p
,
k
i
,
k
d
v
al
u
e
s
f
o
r
C
x
(
z)
an
d
C
y
(
z)
co
n
tr
o
ller
s
.
A
l
l
th
r
ee
p
e
r
f
o
r
m
an
ce
cr
iter
ia
r
i
e
ti
m
e
≤
5
;
ettli
n
g
t
i
m
e
≤
0
.
1
s
an
d
n
o
o
v
er
s
h
o
o
t)
w
er
e
m
e
t
w
it
h
t
h
e
Z
N
m
et
h
o
d
.
W
e
f
o
u
n
d
th
at
f
u
r
t
h
er
f
i
n
e
tu
n
i
n
g
o
f
t
h
ese
co
n
tr
o
ller
p
ar
am
eter
s
d
id
n
o
t
r
esu
lt
i
n
b
etter
co
n
tr
o
l p
er
f
o
r
m
a
n
ce
.
Fig
u
r
e
7
(
b
)
s
h
o
w
t
h
e
o
u
tp
u
t
r
es
p
o
n
s
e
s
w
h
en
t
h
e
co
n
tr
o
ller
s
ar
e
d
etu
n
e
d
.
T
o
g
et
s
o
m
e
i
n
d
icatio
n
o
n
th
e
tu
n
i
n
g
m
et
h
o
d
ef
f
ec
ti
v
en
ess
,
th
e
co
n
tr
o
ller
p
ar
am
eter
s
g
iv
e
n
i
n
T
ab
le
2
w
er
e
d
etu
n
ed
b
y
d
o
u
b
lin
g
th
e
v
alu
e
s
o
f
k
i
a
n
d
h
al
v
ed
t
h
e
v
alu
es
o
f
k
d
i
n
t
h
e
C
x
(
z)
a
n
d
C
y
(
z)
co
n
tr
o
ller
s
.
C
x
(
z)
g
av
e
s
lo
w
er
r
is
e
ti
m
e
a
n
d
s
ettli
n
g
ti
m
e
w
i
th
7
.
5
%
o
v
er
s
h
o
o
t,
C
y
(
z)
g
av
e
f
aster
r
is
e
ti
m
e,
s
lo
w
er
s
ettli
n
g
ti
m
e
w
it
h
3
3
.
6
%
o
v
er
s
h
o
o
t.
R
es
u
lts
s
h
o
w
t
h
at
Z
-
N
m
e
th
o
d
ca
n
b
e
ef
f
ec
t
iv
el
y
u
s
ed
to
tu
n
e
th
e
co
n
tr
o
ller
f
o
r
th
e
tele
p
o
i
n
ter
s
y
s
te
m
.
3
.
1
.
Ro
bu
s
t
nes
s
ag
a
ins
t
Cha
ng
es
in
Sa
m
p
lin
g
T
i
m
e
T
h
e
ch
o
ice
o
f
s
a
m
p
lin
g
ti
m
e
is
cr
u
cial
in
t
h
e
i
m
p
le
m
e
n
tati
o
n
o
f
d
is
cr
ete
ti
m
e
co
n
tr
o
l
s
y
s
te
m
.
T
h
e
s
elec
tio
n
o
f
t
h
e
s
a
m
p
l
in
g
ti
m
e
n
ee
d
to
tak
e
co
n
s
id
er
atio
n
o
f
th
e
clo
s
ed
lo
o
p
s
y
s
te
m
ti
m
e
co
n
s
tan
t
a
n
d
also
ti
m
e
r
eq
u
ir
ed
to
co
m
p
u
te
th
e
co
n
tr
o
l
s
ig
n
al.
T
h
e
m
ain
co
m
p
u
tatio
n
al
lo
ad
in
i
m
p
le
m
e
n
ti
n
g
t
h
e
co
n
tr
o
ller
is
th
e
i
m
a
g
e
p
r
o
ce
s
s
i
n
g
to
lo
ca
te
th
e
laser
s
p
o
t.
T
h
is
p
r
o
ce
s
s
i
n
g
ti
m
e
w
i
ll
b
e
d
ep
en
d
e
n
t
o
n
t
h
e
s
p
ee
d
o
r
co
m
p
u
ti
n
g
p
o
w
er
o
f
t
h
e
co
m
p
u
ter
u
s
ed
.
Hen
ce
,
th
er
e
i
s
a
n
ee
d
to
s
tu
d
y
t
h
e
ef
f
ec
t
o
n
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
t
h
e
s
y
s
te
m
w
h
e
n
d
if
f
er
en
t
s
a
m
p
l
in
g
ti
m
e
s
ar
e
u
s
ed
.
T
o
s
tu
d
y
th
e
r
o
b
u
s
tn
es
s
o
f
th
e
s
y
s
te
m
a
g
ai
n
s
t
d
i
f
f
er
e
n
t
s
a
m
p
li
n
g
ti
m
e,
d
ela
y
w
as p
u
r
p
o
s
el
y
i
n
tr
o
d
u
ce
d
in
th
e
p
r
o
g
r
a
m
co
d
e
o
f
th
e
co
n
tr
o
ller
.
Fig
u
r
e
8
.
S
y
s
te
m
O
u
t
p
u
t Res
p
o
n
s
e
w
it
h
Di
f
f
er
e
n
t Sa
m
p
li
n
g
T
im
es
(
a)
T
s
=0
.
1
s
an
d
b
)
T
s
=1
s
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.
6
,
No
.
6
,
Decem
b
er
201
6
:
2
8
7
0
–
2
8
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7
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