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I
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2
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r
o
b
lem
s
e.
g
.
i)
lar
g
e
p
r
o
c
ess
i
n
g
ti
m
e
an
d
ii)
h
ig
h
r
e
s
o
u
r
ce
u
tili
za
t
io
n
.
B
o
t
h
o
f
t
h
ese
t
w
o
p
o
in
ts
ar
e
d
etr
i
m
e
n
tal
to
e
n
s
u
r
e
co
m
p
u
tat
io
n
al
p
er
f
o
r
m
an
ce
o
f
s
y
s
te
m
.
Alt
h
o
u
g
h
,
a
n
s
ig
n
i
f
ica
n
t
g
r
o
w
t
h
i
n
r
esear
c
h
-
b
a
s
ed
tech
n
iq
u
es
r
elate
d
to
h
u
m
a
n
ac
ti
v
it
y
r
ec
o
g
n
itio
n
i
s
ex
is
t
,
b
u
t
d
ec
is
io
n
to
s
elec
ti
o
n
s
ef
f
ec
ti
v
e
f
ea
t
u
r
es
u
s
in
g
co
s
t
ef
f
ec
ti
v
e
co
m
p
u
tatio
n
a
l
m
o
d
el
is
h
i
g
h
l
y
o
v
er
lo
o
k
ed
.
Hen
ce
,
th
er
e
is
a
n
ee
d
o
f
a
s
y
s
te
m
w
h
ic
h
ca
n
en
s
u
r
e
th
e
s
ig
n
i
f
ica
n
t
id
en
ti
f
icat
i
o
n
f
o
r
g
iv
e
n
i
n
p
u
t.
T
h
is
p
ap
er
in
tr
o
d
u
ce
s
a
n
o
v
el
m
ec
h
a
n
i
s
m
w
h
ic
h
is
co
s
t
-
e
f
f
ec
ti
v
e
id
en
ti
f
icatio
n
o
f
f
ea
tu
r
es
in
th
e
f
o
r
m
o
f
s
ig
n
i
f
ica
n
t j
o
in
ts
co
n
s
id
er
in
g
s
k
eleta
l
m
o
d
a
li
ties
f
o
r
ef
f
ec
tiv
e
d
esig
n
o
f
r
ec
o
g
n
i
tio
n
s
y
s
te
m
o
f
h
u
m
a
n
ac
tio
n
s
.
T
h
e
r
ec
en
t
p
ast
h
as
w
it
n
e
s
s
ed
lo
t
o
f
r
esear
ch
es
to
w
ar
d
s
ad
d
r
ess
in
g
th
e
h
u
m
a
n
ac
tiv
i
t
y
r
ec
o
g
n
itio
n
s
y
s
te
m
r
elate
d
p
r
o
b
lem
s
.
T
h
e
cu
r
r
en
t
s
ec
tio
n
g
i
v
es
s
o
m
e
o
f
th
e
r
ec
en
t
r
esear
ch
es
p
er
f
o
r
m
e
d
in
th
is
f
ield
.
I
n
th
e
w
o
r
k
o
f
C
h
en
et
al.
[
1
1
]
an
d
[
1
2
]
g
iv
en
a
w
a
v
elet
s
b
ase
d
alg
o
r
it
m
w
h
ic
h
h
elp
s
to
id
en
tify
an
d
clas
s
i
f
y
th
e
d
etec
ted
h
u
m
a
n
ac
ti
v
it
y
b
y
u
s
in
g
s
u
p
er
v
i
s
ed
lear
n
i
n
g
a
n
d
tr
ain
i
n
g
ap
p
r
o
ac
h
f
o
r
tr
ai
n
in
g
.
I
n
De
et
al.
[
1
3
]
,
a
d
ictio
n
ar
y
lear
n
in
g
-
b
ased
tech
n
iq
u
e
b
y
u
tili
zi
n
g
s
p
ar
s
e
s
i
g
n
al
r
ep
r
ese
n
tatio
n
f
o
r
ac
tiv
it
y
r
ec
o
g
n
itio
n
.
A
q
u
alitati
v
e
a
n
d
ex
p
er
i
m
en
ta
l
-
b
ased
h
u
m
a
n
ac
ti
v
it
y
a
n
al
y
s
is
b
y
Fu
ller
to
n
et
al.
[
1
4
]
in
w
h
ic
h
k
-
n
ea
r
es
t
n
eig
h
b
o
r
in
g
clas
s
i
f
ier
is
u
s
e
d
to
en
h
a
n
ce
ac
cu
r
ac
y
s
co
r
e.
Au
t
h
o
r
Gav
r
ilo
v
a
et
a
l.
[
8
]
p
er
f
o
r
m
ed
a
n
in
v
e
s
ti
g
at
io
n
o
n
s
i
m
i
lar
ac
tiv
it
y
f
r
o
m
t
h
e
v
s
en
s
o
r
.
I
n
,
Hb
ali
et
al.
[
1
5
]
s
k
eleto
n
b
ased
ap
p
r
o
ac
h
is
u
tili
ze
d
f
o
r
j
o
in
ts
f
o
r
s
i
m
ilar
ac
tiv
it
y
r
ec
o
g
n
i
tio
n
s
y
s
te
m
.
F
u
th
er
,
B
a
y
es
ian
b
ased
ap
p
r
o
ac
h
is
in
tr
o
d
u
ce
d
in
Her
n
an
d
ez
et
al.
[
1
6
]
to
co
n
s
tr
u
ct
a
s
eg
m
en
tatio
n
tech
n
iq
u
e
f
o
r
g
ait
r
ec
o
g
n
itio
n
s
y
s
te
m
.
T
h
e
w
o
r
k
o
f
J
ain
an
d
Kan
h
an
g
ad
[1
7
]
h
as
u
s
ed
g
y
r
o
s
co
p
e
an
d
ac
ce
ler
o
m
eter
s
to
ad
d
r
ess
th
e
c
lass
if
ica
tio
n
p
r
o
b
le
m
s
in
h
u
m
an
ac
tiv
it
y
r
ec
o
g
n
itio
n
s
y
s
te
m
.
C
o
r
r
elati
o
n
-
b
ased
ap
p
r
o
ac
h
w
as
f
o
u
n
d
in
Kh
a
n
et
al.
[
1
8
]
to
m
i
n
i
m
iz
e
th
e
d
i
m
e
n
s
io
n
al
attr
ib
u
tes
i
n
v
o
lv
ed
i
n
it
alo
n
g
w
i
th
u
s
a
g
e
o
f
f
ea
t
u
r
e
v
ec
to
r
.
Ma
n
zi
et
al.
[
1
9
]
h
av
e
o
f
f
er
e
d
a
Sk
eleto
n
-
b
ased
h
u
m
a
n
ac
tiv
it
y
id
en
ti
f
icatio
n
s
y
s
t
em
.
A
u
n
iq
u
e
co
n
tex
t
to
war
d
s
ap
p
r
o
ac
h
is
g
iv
e
n
in
No
o
r
an
d
Ud
d
in
[
2
0
]
to
i
m
p
r
o
v
e
th
e
ac
c
u
r
ac
y
le
v
el
o
f
th
e
ac
ti
v
it
y
r
ec
o
g
n
it
io
n
b
y
u
s
in
g
n
e
u
r
al
n
e
t
w
o
r
k
b
ase
d
tr
ain
in
g
.
Fu
r
t
h
er
,
Sav
v
ak
i
et
al.
[
2
1
]
u
tili
ze
d
a
h
an
k
el
s
tr
u
ctu
r
e
to
r
ep
r
esen
t
im
ag
e
s
tr
ea
m
s
f
o
r
f
ac
ilit
ati
n
g
b
etter
class
if
icat
io
n
p
er
f
o
r
m
a
n
ce
.
Si
k
d
er
an
d
Sar
k
ar
[
2
2
]
u
tili
ze
d
a
d
is
tan
ce
-
b
ased
ap
p
r
o
ac
h
o
n
m
o
tio
n
d
at
a
alo
n
g
w
i
th
l
in
ea
r
r
eg
r
ess
io
n
ap
p
r
o
ac
h
to
id
en
tify
t
h
e
d
y
n
a
m
ic
h
u
m
a
n
ac
tiv
itie
s
a
n
d
ac
h
ie
v
ed
h
ig
h
er
ac
cu
r
ac
y
in
its
class
i
f
icatio
n
p
er
f
o
r
m
a
n
ce
.
T
h
e
w
o
r
k
o
f
Ulh
aq
et
al.
[
2
3
]
u
s
ed
a
s
p
ac
e
-
ti
m
e
co
r
r
elatio
n
b
a
s
ed
m
ec
h
an
is
m
f
o
r
th
r
ee
d
i
m
en
s
io
n
al
te
n
s
o
r
s
tr
u
c
tu
r
es
to
p
er
f
o
r
m
id
en
ti
f
icat
io
n
o
f
th
e
h
u
m
an
ac
tio
n
s
.
W
ith
th
e
ex
p
er
i
m
e
n
tatio
n
on
v
id
eo
d
ataset
it
h
as
ac
h
ie
v
ed
in
cr
ea
s
ed
ac
cu
r
ac
y
.
Vis
h
w
a
k
ar
a
an
d
Sin
g
h
[
2
4
]
u
s
ed
an
en
er
g
y
-
f
ac
to
r
s
ass
o
ciate
d
w
it
h
s
il
h
o
u
ette
i
m
a
g
e
w
h
ich
u
s
e
s
te
m
p
o
r
al
co
n
te
n
ts
o
f
th
e
d
atase
t u
s
in
g
tr
an
s
f
o
r
m
-
b
ased
ap
p
r
o
ac
h
.
T
h
e
w
o
r
k
ass
o
ciate
d
w
ith
W
a
n
g
et
al.
[
2
5
]
g
iv
es
co
n
te
x
t
-
b
ased
m
eth
o
d
o
lo
g
y
b
ased
o
n
p
r
ed
ictiv
e
ap
p
r
o
ac
h
f
o
r
ac
tiv
it
y
m
o
n
ito
r
i
n
g
s
y
s
te
m
.
T
h
e
n
et
w
o
r
k
ch
a
n
n
el
b
ased
h
u
m
a
n
ac
tiv
it
y
id
en
ti
f
ica
n
t
s
y
s
te
m
w
as
d
is
c
u
s
s
ed
in
W
an
g
et
al.
[
2
6
]
.
T
h
e
w
o
r
k
o
f
X
u
et
al.
[
2
7
]
g
iv
e
n
h
ier
ar
ch
ical
-
b
a
s
ed
ap
p
r
o
ac
h
u
s
i
n
g
b
o
th
d
is
ta
n
ce
a
n
d
ti
m
e
f
o
r
h
u
m
a
n
ac
ti
v
it
y
m
o
n
ito
r
in
g
s
y
s
te
m
.
I
n
,
Ya
n
g
et
a
l.
[
2
8
]
s
u
p
er
n
o
r
m
al
v
ec
to
r
i
s
u
s
ed
t
o
p
er
f
o
r
m
ag
g
r
e
g
atio
n
o
f
t
h
e
d
if
f
er
en
t
d
is
cr
i
m
i
n
ati
v
e
v
ar
iab
les
f
o
r
id
e
n
ti
f
icatio
n
o
f
h
u
m
a
n
ac
tiv
i
t
y
.
T
h
e
h
u
m
a
n
m
o
tio
n
tr
ac
k
in
g
i
s
g
i
v
en
in
Z
h
ao
et
al.
[
29
]
.
Hen
ce
,
th
er
e
ar
e
v
ar
io
u
s
ca
d
r
es
o
f
r
ec
en
t
tech
n
iq
u
es
to
w
ar
d
s
h
u
m
a
n
ac
tiv
it
y
r
ec
o
g
n
itio
n
s
y
s
te
m
.
T
h
e
n
e
x
t
s
ec
tio
n
d
is
cu
s
s
e
s
ab
o
u
t
p
r
o
b
lem
s
en
co
u
n
ter
ed
in
t
h
e
ab
o
v
e
d
is
cu
s
s
ed
ex
is
t
in
g
liter
at
u
r
es.
T
h
e
r
esear
ch
p
r
o
b
lem
s
as
s
o
ciate
d
w
it
h
ac
ti
v
it
y
id
en
ti
f
icatio
n
s
y
s
te
m
ar
e
as
f
o
llo
w
s
:
a.
T
h
e
ex
is
tin
g
s
t
u
d
ies
d
o
esn
’
t
e
m
p
h
a
s
ize
o
n
co
m
p
u
tatio
n
al
co
m
p
le
x
itie
s
ass
o
ciate
d
w
ith
th
e
s
elec
tio
n
o
f
lar
g
e
n
u
m
b
er
o
f
f
ea
t
u
r
es f
r
o
m
a
g
iv
e
n
s
et
o
f
d
ata
o
f
h
u
m
an
a
ctio
n
s
.
b.
T
h
e
p
o
s
s
ib
ilit
y
o
f
m
in
i
m
iz
in
g
th
e
co
m
p
u
tat
io
n
al
e
f
f
o
r
t
o
f
f
e
atu
r
e
ex
tr
ac
tio
n
u
s
in
g
j
o
in
t
-
b
a
s
ed
attr
ib
u
te
in
s
k
eleto
n
s
y
s
te
m
h
as a
ch
iev
ed
l
ess
atte
n
tio
n
a
m
o
n
g
r
esear
ch
c
o
m
m
u
n
itie
s
.
c.
A
t
p
r
ese
n
t,
t
h
er
e
ar
e
v
er
y
les
s
n
u
m
b
er
o
f
li
ter
atu
r
es
d
ed
icat
ed
f
o
r
ex
p
lo
r
in
g
a
n
e
f
f
ec
ti
v
e
n
u
m
b
er
o
f
j
o
in
ts
r
esp
o
n
s
ib
le
f
o
r
p
er
f
o
r
m
i
n
g
r
ec
o
g
n
itio
n
o
f
h
u
m
a
n
ac
ti
v
it
y
.
d.
Op
ti
m
izatio
n
o
f
u
s
a
g
e
o
f
d
ep
th
m
ap
h
as
le
s
s
n
u
m
b
er
o
f
r
esear
ch
es
a
n
d
m
o
r
e
n
u
m
b
er
o
f
r
esear
ch
ar
e
to
w
ar
d
s
ap
p
l
y
i
n
g
m
ac
h
in
e
lea
r
n
in
g
to
o
f
f
er
h
i
g
h
er
p
r
ec
is
io
n
.
T
h
er
ef
o
r
e,
th
e
p
r
o
b
lem
s
tate
m
en
t
o
f
th
is
w
o
r
k
is
"T
o
d
ev
elo
p
e
a
co
s
t
ef
f
ec
tiv
e
s
y
s
te
m
to
m
i
n
i
m
ize
th
e
co
m
p
u
tatio
n
al
e
f
f
o
r
t
o
f
f
e
atu
r
e
ex
tr
ac
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n
to
lev
er
ag
e
t
h
e
p
er
f
o
r
m
a
n
ce
o
f
r
ec
o
g
n
itio
n
s
y
s
te
m
o
f
h
u
m
a
n
ac
tio
n
is
co
m
p
u
tatio
n
all
y
c
h
al
len
g
in
g
"
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
a
i
m
s
t
o
en
s
u
r
e
a
co
m
p
u
tatio
n
all
y
c
o
s
t
ef
f
ec
ti
v
e
m
ec
h
an
is
m
to
i
d
en
tify
th
e
s
ig
n
i
f
ica
n
t
j
o
in
ts
in
h
u
m
an
ac
tiv
it
y
r
ec
o
g
n
i
tio
n
s
y
s
te
m
.
T
h
e
s
ig
n
i
f
ica
n
ce
o
f
th
i
s
m
ec
h
an
i
s
m
i
s
th
at
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
tar
g
ets
to
a
ch
iev
e
a
s
i
g
n
i
f
ica
n
t
b
ala
n
ce
a
m
o
n
g
h
ig
h
er
ac
cu
r
ac
y
in
r
ec
o
g
n
izi
n
g
h
u
m
an
ac
tiv
itie
s
w
i
th
ex
tr
e
m
el
y
lo
w
co
m
p
u
tatio
n
al
e
f
f
o
r
ts
.
T
h
e
co
m
p
u
tat
io
n
al
e
f
f
o
r
t
m
in
i
m
izati
o
n
is
o
n
l
y
f
ea
s
ib
le
i
f
th
e
s
o
lu
t
io
n
ai
m
s
f
o
r
b
etter
f
o
r
m
o
f
f
ea
tu
r
e
ex
tr
ac
tio
n
m
e
ch
an
i
s
m
.
T
h
e
p
icto
r
ial
r
ep
r
es
en
tatio
n
o
f
Fi
g
u
r
e
1
in
d
icate
s
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
.
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:
2
0
8
8
-
8708
A
n
E
fficien
t A
ctivity
Dete
ctio
n
S
ystem
b
a
s
ed
o
n
S
ke
leto
n
J
o
i
n
ts
I
d
en
tifi
ca
tio
n
(
A
b
d
u
l La
tee
f
Ha
r
o
o
n
P
.
S
)
4997
Fig
u
r
e
1
.
P
r
o
p
o
s
ed
s
y
s
te
m
W
ith
t
h
e
i
m
p
le
m
e
n
tatio
n
o
f
th
e
a
n
al
y
t
ical
r
esear
ch
ap
p
r
o
ac
h
i
n
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
,
th
e
i
n
p
u
t
i
m
a
g
e
s
eq
u
en
ce
s
ar
e
co
n
s
id
er
ed
w
it
h
d
e
f
in
ed
s
ta
n
d
ar
d
h
u
m
an
ac
tio
n
s
.
T
h
en
th
e
d
ep
t
h
m
a
p
o
f
th
e
i
m
ag
e
w
ill
b
e
ex
tr
ac
ted
f
r
o
m
in
p
u
t
i
m
a
g
e
d
ataset
w
h
ic
h
is
f
u
r
th
er
r
esu
m
ed
f
o
r
p
r
o
j
ec
ted
s
eg
m
e
n
t
s
ex
tr
ac
tio
n
o
n
th
r
ee
d
if
f
er
e
n
t
p
la
n
es
o
f
x
-
y
-
z
a
x
i
s
.
An
al
g
o
r
ith
m
is
d
e
v
elo
p
ed
to
ass
es
all
t
h
e
j
o
in
t
s
o
f
s
k
eleto
n
o
f
d
ep
th
i
m
a
g
e
b
y
u
s
i
n
g
id
en
ti
t
y
-
b
ased
attr
ib
u
te
s
.
T
h
e
p
r
o
ce
s
s
o
u
tco
m
es
w
i
th
e
f
f
ec
tiv
e
n
u
m
b
er
o
f
j
o
in
ts
w
h
ich
h
elp
s
i
n
s
ig
n
i
f
ica
n
t
w
a
y
o
f
h
u
m
an
ac
ti
v
it
y
r
ec
o
g
n
itio
n
w
it
h
h
ig
h
er
a
cc
u
r
ac
y
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
o
f
f
er
s
a
f
a
s
ter
j
o
in
t
p
r
o
ce
s
s
in
g
ir
r
esp
ec
ti
v
e
o
f
an
y
s
elec
t
io
n
o
f
m
o
tio
n
p
att
er
n
s
as
w
ell
as
it
d
o
esn
’
t
o
f
f
er
an
y
f
o
r
m
o
f
d
ep
en
d
en
cies
to
w
ar
d
s
co
m
p
u
tin
g
u
n
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ted
n
u
m
b
er
o
f
j
o
in
ts
f
o
r
ca
r
r
y
i
n
g
o
f
r
ec
o
g
n
iti
o
n
o
f
a
n
e
f
f
ec
tiv
e
h
u
m
a
n
ac
tio
n
.
T
h
e
f
o
llo
w
i
n
g
s
ec
tio
n
id
ea
lizes t
h
e
alg
o
r
it
h
m
i
m
p
le
m
en
ta
tio
n
o
f
p
r
o
p
o
s
ed
s
y
s
te
m
.
2.
AL
G
O
RI
T
H
M
I
M
P
L
E
M
E
NT
A
T
I
O
N
T
h
e
alg
o
r
ith
m
is
r
esp
o
n
s
ib
le
to
r
e
ad
th
e
in
p
u
t
a
n
d
ap
p
ly
a
s
i
m
p
le
p
r
o
ce
s
s
i
n
g
to
id
en
ti
f
y
th
e
s
ig
n
i
f
ica
n
t
j
o
in
ts
.
T
h
i
s
al
g
o
r
ith
m
ad
d
r
ess
es
th
e
p
r
o
b
le
m
s
as
s
o
ciate
d
w
ith
t
h
e
d
if
f
er
e
n
t
lite
r
atu
r
e
an
d
it
is
als
o
o
b
s
er
v
ed
th
at
t
h
er
e
is
a
g
r
ea
ter
a
m
o
u
n
t
o
f
d
ep
en
d
en
c
ies
to
w
ar
d
s
u
s
i
n
g
f
ea
tu
r
e
e
x
tr
a
cto
r
m
ai
n
l
y
w
h
e
n
i
m
a
g
e
ar
ea
is
q
u
ite
lar
g
e.
T
h
is
r
e
s
u
l
t
s
in
i
n
cr
ea
s
ed
co
m
p
u
tatio
n
a
l
co
m
p
le
x
it
y
.
Mo
r
eo
v
er
,
it
w
as
also
ex
p
lo
r
ed
th
at
lev
el
o
f
p
r
ec
is
io
n
i
s
v
er
y
s
p
ec
if
ic
to
d
if
f
er
e
n
t
k
in
d
s
o
f
d
atas
et
an
d
is
f
o
u
n
d
q
u
ite
lo
w
.
He
n
ce
,
th
e
d
e
v
elo
p
ed
alg
o
r
ith
m
u
t
i
lizes
t
h
e
ex
tr
ac
t
i
o
n
co
n
ce
p
t
f
o
r
s
ig
n
i
f
ica
n
t
r
eg
i
o
n
s
o
f
th
e
i
m
ag
e
ar
ea
.
T
h
e
tar
g
eted
ad
v
an
ta
g
e
is
to
o
b
tain
in
clu
s
io
n
o
f
less
er
i
m
ag
e
ar
e
in
v
o
lv
ed
in
ex
tr
ac
ti
o
n
o
f
f
ea
tu
r
e.
I
t
is
b
ec
au
s
e
n
o
t
all
th
e
j
o
in
t
asp
ec
t
in
f
o
r
m
atio
n
is
u
s
ef
u
l
to
p
er
f
o
r
m
th
e
h
u
m
an
a
ctiv
it
y
id
en
tif
icat
io
n
.
Fo
llo
w
i
n
g
ar
e
t
h
e
s
tep
s
i
n
v
o
lv
ed
i
n
p
r
o
p
o
s
ed
alg
o
r
ith
m
:
Alg
o
rit
h
m
f
o
r
E
x
t
ra
ct
ing
Sig
nifica
nt
J
o
ints
I
np
ut
:
a
,
j
,
J
O
utput
:
D
joint
Sta
rt
1
.
in
it
a
,
j
,
J
2
.
θ
→
r
ea
d
(
a
id
, s
id
, e
id
);
3
.
d
ma
→
f
(
θ)
4
.
C
→
g
(
θ)
5
.
E
x
tr
ac
t (
x
,
y
,
z
)
f
r
o
m
C
6
.
F
o
r
s
=1
: (
X)
7.
S
→
[
X,
Y,
Z
]
8
.
E
nd
9
.
F
o
r
s
=2
:(
X)
10.
[S
p
,
S]
→
[
X,
Y,
Z
]
11.
D
joint
→
[
E
u
c(
S)]
1
2
.
E
nd
E
nd
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2088
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
8
,
No
.
6
,
Dec
em
b
er
2
0
1
8
:
4
9
9
5
-
5
0
0
3
4998
T
h
e
alg
o
r
ith
m
o
f
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
co
n
s
id
er
s
th
e
in
p
u
t
o
f
a
(
s
et
o
f
ac
tiv
it
y
)
,
j
(
j
o
in
t
tag
)
,
J
(
co
n
n
ec
tio
n
o
f
s
k
e
leto
n
j
o
in
ts
)
th
at
a
f
ter
p
r
o
ce
s
s
in
g
r
es
u
lt
s
in
o
u
tp
u
t
o
f
D
joint
(
Di
s
p
la
y
o
f
j
o
in
ts
)
(
L
i
n
e
-
1
)
.
T
h
e
i
m
p
le
m
e
n
tatio
n
is
r
elate
d
to
d
ef
in
i
n
g
t
h
e
ac
tio
n
s
et
as
well
as
n
a
m
e
o
f
j
o
in
ts
a
s
f
o
llo
win
g
.
Fi
g
u
r
e
2
s
h
o
w
th
e
d
ef
i
n
ed
s
et
o
f
ac
ti
v
it
y
co
n
s
id
er
ed
f
o
r
h
u
m
a
n
ac
ti
v
it
y
r
ec
o
g
n
itio
n
a
n
d
F
i
g
u
r
e
3
s
h
o
w
t
h
e
d
ef
i
n
ed
n
a
m
e
o
f
j
o
in
ts
co
n
s
id
er
ed
f
o
r
h
u
m
a
n
a
ctiv
it
y
r
ec
o
g
n
itio
n
.
Fig
u
r
e
2
.
Def
i
n
ed
s
et
o
f
ac
ti
v
it
y
co
n
s
id
er
ed
f
o
r
h
u
m
a
n
ac
ti
v
it
y
r
ec
o
g
n
i
tio
n
Fig
u
r
e
3
.
Def
i
n
ed
n
a
m
e
o
f
j
o
in
ts
co
n
s
id
er
ed
f
o
r
h
u
m
a
n
ac
ti
v
it
y
r
ec
o
g
n
i
tio
n
T
h
e
n
ex
t
i
m
p
le
m
en
tatio
n
i
s
a
s
s
o
ciate
d
w
it
h
d
ef
i
n
i
n
g
th
e
id
en
titi
e
s
as
s
o
ciate
d
w
ith
n
a
m
e
o
f
ac
tio
n
(a
id
)
,
id
en
tit
y
o
f
t
h
e
s
u
b
j
ec
t
(
s
id
)
,
id
en
tit
y
o
f
t
h
e
e
x
a
m
p
le
(
e
id
)
.
A
ll
th
e
s
e
id
en
tit
y
-
r
elate
d
i
n
f
o
r
m
atio
n
is
r
ea
d
an
d
s
to
r
ed
in
a
m
atr
i
x
θ
(
L
i
n
e
-
2
)
.
T
h
u
s
,
it
ca
n
b
e
s
aid
th
at
a
d
ata
f
ile
is
co
n
s
tr
u
c
ted
o
n
th
e
b
asi
s
o
f
t
h
i
s
id
en
titi
e
s
an
d
ar
e
u
s
ed
to
ex
tr
ac
t
d
ep
th
in
f
o
r
m
atio
n
f
r
o
m
th
e
g
iv
e
n
i
m
a
g
e
f
ile.
F
u
r
th
er
,
a
n
e
w
f
u
n
ctio
n
f
(
x
)
is
i
m
p
le
m
en
ted
w
h
ic
h
ta
k
es
t
h
e
in
p
u
t
o
f
lo
ca
tio
n
o
f
all
t
h
e
i
m
ag
e
f
ile
an
d
r
es
u
lt
i
n
d
ep
th
i
m
ag
e
as
a
n
o
u
tco
m
e.
T
h
e
f
u
n
ctio
n
ta
k
es
t
h
e
i
n
p
u
t
o
f
th
e
n
e
w
l
y
o
b
tai
n
ed
m
atr
i
x
θ
(
L
in
e
-
3
)
th
at
f
i
n
al
y
r
e
s
u
t
s
i
n
an
ar
r
a
y
o
f
d
ep
th
m
atr
i
x
d
ma
(
L
i
n
e
-
3
)
.
T
h
e
in
p
u
t
J
th
at
is
in
itialized
in
L
i
n
e
-
1
is
b
asic
all
y
u
s
ed
f
o
r
s
p
ec
if
y
i
n
g
t
h
e
co
n
n
ec
tio
n
s
a
m
o
n
g
all
th
e
j
o
in
ts
o
f
s
k
elet
o
n
f
o
llo
w
ed
b
y
co
n
s
tr
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