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ated
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.
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[
2
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ass
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d
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alsy
[
4
]
.
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ac
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s
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[
5
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elec
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p
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Haa
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to
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I
n
[
7
]
,
th
e
d
e
v
elo
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o
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al
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[
8
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,
w
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co
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v
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tio
n
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eu
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w
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s
(
C
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[
9
]
,
th
at
ar
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s
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p
r
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r
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o
g
n
i
tio
n
o
f
h
an
d
w
r
itte
n
n
u
m
b
er
s
,
b
u
t
g
i
v
e
n
th
e
h
i
g
h
co
m
p
u
tatio
n
al
co
s
t
in
h
ar
d
war
e
an
d
s
o
f
t
w
ar
e
f
o
r
th
e
eq
u
ip
m
e
n
t
o
f
t
h
e
ti
m
e,
th
e
y
w
er
e
n
o
t
v
iab
le
f
o
r
ap
p
licatio
n
s
w
it
h
g
r
ea
ter
co
m
p
lex
i
t
y
.
I
n
2
0
1
2
,
in
th
e
I
m
ag
e
Net
[
1
1
]
,
w
h
ich
is
a
c
h
alle
n
g
er
f
o
cu
s
ed
o
n
i
m
p
le
m
en
t
in
g
m
ac
h
i
n
e
v
is
io
n
tech
n
iq
u
es
f
o
r
th
e
cla
s
s
i
f
ica
tio
n
o
f
m
o
r
e
t
h
a
n
o
n
e
m
illi
o
n
i
m
ag
e
s
,
a
C
NN
ca
lled
A
le
x
Net
[
1
2
]
w
as
p
r
ese
n
ted
.
T
h
is
w
as
s
u
p
p
o
r
ted
b
y
a
GP
U
f
o
r
n
et
w
o
r
k
ca
lcu
lat
io
n
s
,
r
ed
u
cin
g
tr
ai
n
i
n
g
an
d
clas
s
i
f
icatio
n
ti
m
e
s
,
a
n
d
s
u
r
p
ass
in
g
th
e
tr
ad
itio
n
al
m
ac
h
in
e
lear
n
in
g
tech
n
iq
u
e
s
in
p
er
ce
n
tag
e
ac
cu
r
ac
y
.
Sin
ce
t
h
en
,
t
h
e
y
h
av
e
b
ee
n
i
m
p
le
m
e
n
ted
in
v
ar
io
u
s
ap
p
li
ca
tio
n
s
,
f
o
r
ex
a
m
p
le,
in
[
1
3
]
th
e
y
ar
e
u
s
ed
f
o
r
th
e
r
ec
o
g
n
i
tio
n
o
f
f
o
o
d
p
r
o
d
u
cts
i
n
a
r
ef
r
ig
er
ato
r
,
o
b
tain
in
g
a
n
ac
cu
r
ac
y
o
f
9
4
%
in
t
h
eir
class
i
f
icat
io
n
.
I
n
[
1
4
]
,
C
NNs
f
o
r
t
h
e
id
en
t
if
icatio
n
o
f
p
eo
p
le
ar
e
i
m
p
l
e
m
en
ted
,
f
r
o
m
b
ei
n
g
tr
ain
ed
w
i
th
f
ac
e
i
m
a
g
es
o
b
tain
in
g
a
9
7
.
3
%
ac
cu
r
ac
y
in
th
e
d
etec
tio
n
o
f
m
o
r
e
th
an
2
6
0
0
p
eo
p
le
.
I
n
[
1
5
]
,
C
NNs
ar
e
u
s
ed
f
o
r
th
e
id
en
t
if
icatio
n
o
f
ac
tio
n
s
in
p
eo
p
le
f
r
o
m
U
FC
1
0
0
d
atab
ase
[
1
6
]
,
o
b
tain
in
g
a
7
8
.
7
6
%
ac
cu
r
ac
y
i
n
th
e
id
en
ti
f
icat
io
n
o
f
t
h
e
ac
tio
n
in
v
id
eo
s
eq
u
e
n
ce
s
.
An
i
m
p
o
r
tan
t
s
tag
e
t
h
at
i
s
n
o
t
co
m
m
o
n
l
y
ad
d
r
ess
ed
in
f
o
o
d
s
y
s
t
e
m
s
is
t
h
e
s
u
p
p
l
y
o
f
b
e
v
er
ag
e
to
th
e
u
s
er
.
A
l
th
o
u
g
h
t
h
er
e
ar
e
in
v
e
s
ti
g
atio
n
s
s
u
ch
a
s
th
e
o
n
e
p
r
esen
ted
in
[
1
7
]
,
w
h
ic
h
f
o
cu
s
es
o
n
t
h
e
d
etec
tio
n
o
f
th
e
g
la
s
s
an
d
o
n
g
i
v
i
n
g
t
h
e
d
r
in
k
to
th
e
u
s
er
b
y
m
ea
n
s
o
f
a
r
o
b
o
t,
th
e
am
o
u
n
t
o
f
liq
u
id
th
at
ca
n
b
e
in
th
e
g
las
s
i
s
n
o
t
f
o
r
esee
n
s
o
th
at
th
e
to
r
q
u
e
t
h
at
t
h
e
g
r
ip
p
er
ac
tu
ato
r
m
u
s
t
e
x
er
t
is
also
e
s
t
ab
lis
h
ed
.
T
h
e
ab
o
v
e
o
b
s
er
v
atio
n
r
aises
a
p
r
o
b
lem
t
h
at
ca
n
ca
u
s
e
th
e
g
las
s
to
f
all
d
u
e
to
lack
o
f
ex
er
ted
to
r
q
u
e
o
r
,
o
n
th
e
co
n
tr
ar
y
,
d
u
e
to
ex
ce
s
s
to
r
q
u
e,
th
e
s
tr
u
ctu
r
e
o
f
t
h
e
g
lass
is
a
f
f
ec
ted
.
T
h
is
ar
ticle
p
r
esen
ts
th
e
d
e
v
el
o
p
m
e
n
t
o
f
a
s
y
s
te
m
in
w
h
ich
t
w
o
t
y
p
es
o
f
ar
ti
f
i
cial
in
tel
lig
e
n
ce
tec
h
n
iq
u
es
ar
e
i
m
p
le
m
e
n
ted
to
g
et
h
er
,
s
p
ec
if
icall
y
a
f
a
s
ter
R
-
C
NN
[
1
8
]
an
d
a
f
u
zz
y
s
y
s
te
m
[
1
9
]
.
W
ith
th
e
m
,
i
t
i
s
es
ti
m
ated
t
h
e
to
r
q
u
e
t
h
at
a
m
o
to
r
m
u
s
t
e
x
er
t
f
o
r
a
g
r
ip
p
er
to
m
ak
e
th
e
g
r
ip
o
f
a
g
las
s
,
i
n
o
r
d
er
to
b
e
ab
le
to
lif
t it
w
it
h
o
u
t
it s
lip
p
in
g
,
o
r
th
e
i
n
ter
n
al
f
l
u
id
s
p
il
ls
.
T
h
u
s
,
an
alter
n
ati
v
e
to
th
e
v
a
r
iatio
n
o
f
liq
u
id
lev
el
is
p
r
o
v
id
ed
w
h
e
n
it
is
s
u
p
p
lied
to
a
u
s
er
b
y
m
ea
n
s
o
f
an
ass
is
ta
n
ce
r
o
b
o
t,
b
y
m
ea
n
s
o
f
a
v
is
u
al
co
n
tr
o
l a
l
g
o
r
ith
m
.
T
h
is
ar
ticle
is
d
iv
id
ed
in
to
f
iv
e
m
ai
n
p
ar
ts
.
I
n
th
e
f
ir
s
t
p
ar
t,
a
g
en
er
al
o
u
tlin
e
o
f
th
e
p
r
o
ce
s
s
f
o
r
th
e
m
an
ip
u
latio
n
o
f
g
la
s
s
a
n
d
th
e
estab
lis
h
ed
v
ir
t
u
al
e
n
v
ir
o
n
m
e
n
t
is
p
r
ese
n
ted
.
T
h
e
s
ec
o
n
d
p
ar
t
s
h
o
w
s
th
e
ac
q
u
is
itio
n
o
f
t
h
e
d
atab
ase,
th
e
tr
ain
i
n
g
p
ar
am
e
ter
s
o
f
th
e
n
et
w
o
r
k
an
d
th
e
r
es
u
lt
s
o
b
tain
ed
w
it
h
it.
T
h
e
th
ir
d
p
ar
t
s
h
o
w
s
th
e
f
u
z
z
y
s
y
s
te
m
p
r
o
p
o
s
ed
to
esti
m
a
te
th
e
to
r
q
u
e
t
h
at
m
u
s
t
b
e
ex
er
ted
b
y
t
h
e
m
o
to
r
th
at
d
r
iv
es
t
h
e
g
r
ip
p
er
.
I
n
t
h
e
f
o
u
r
t
h
p
ar
t,
a
u
s
er
in
ter
f
ac
e
is
p
r
esen
ted
th
at
allo
w
s
th
e
ac
q
u
is
itio
n
o
f
th
e
i
m
ag
e
d
atab
ase,
th
e
tr
ai
n
i
n
g
o
f
th
e
f
aster
R
-
C
NN,
t
h
e
t
est
s
ec
tio
n
a
n
d
th
e
p
er
f
o
r
m
a
n
ce
o
f
th
e
s
y
s
te
m
as
a
w
h
o
le
f
o
r
th
e
m
an
ip
u
latio
n
o
f
th
e
g
la
s
s
.
Fi
n
all
y
,
th
e
co
n
clu
s
io
n
s
d
er
iv
ed
f
r
o
m
t
h
e
r
esu
lts
o
b
tain
ed
ar
e
p
r
esen
ted
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
I
n
Fig
u
r
e
1
,
a
g
en
er
al
s
ch
e
m
e
o
f
th
e
d
esig
n
ed
s
y
s
te
m
is
s
h
o
w
n
,
w
h
er
e
f
r
o
m
an
R
GB
-
D
s
u
p
er
v
is
o
r
y
ca
m
er
a,
th
e
ca
p
t
u
r
e
o
f
t
h
e
s
ce
n
e
o
f
i
n
ter
est
(
g
r
ip
p
er
+
g
lass
)
is
ta
k
e
n
.
T
h
is
is
u
s
ed
as
in
p
u
t
f
o
r
a
f
a
s
ter
R
-
C
NN,
w
h
ic
h
is
tr
ai
n
ed
to
d
etec
t
th
e
ex
is
te
n
ce
o
f
t
h
e
g
la
s
s
w
ith
l
iq
u
id
an
d
t
h
e
g
r
ip
p
er
,
in
d
icatin
g
i
n
tu
r
n
th
e
r
eg
io
n
o
f
th
e
i
m
a
g
e
w
h
er
e
ea
ch
o
n
e
i
s
lo
ca
ted
.
W
ith
t
h
e
d
etec
tio
n
o
f
t
h
e
p
o
s
iti
o
n
o
f
t
h
e
g
las
s
i
n
th
e
i
m
ag
e,
it
s
ce
n
tr
o
id
is
ca
lc
u
lated
,
an
d
f
r
o
m
t
h
i
s
v
al
u
e
o
n
th
e
ca
m
er
a
´
s
d
ep
th
m
ap
,
th
e
d
is
tan
ce
to
th
e
f
l
u
id
is
ca
lcu
la
ted
an
d
its
m
ass
i
s
e
s
ti
m
ated
.
T
o
ca
lcu
late
th
e
t
o
r
q
u
e
to
b
e
ex
er
ted
,
a
f
u
zz
y
s
y
s
te
m
is
i
m
p
le
m
en
ted
,
w
h
ic
h
r
ec
eiv
es
a
s
in
p
u
ts
t
h
e
esti
m
ated
m
as
s
an
d
a
d
elta
o
f
th
e
d
is
tan
ce
o
f
th
e
f
lu
id
f
r
o
m
th
e
g
r
ip
p
er
.
T
h
ese
t
w
o
p
ar
a
m
eter
s
w
er
e
ch
o
s
e
n
s
in
ce
,
d
ep
en
d
in
g
o
n
t
h
e
esti
m
a
ted
m
ass
,
a
d
i
f
f
er
e
n
t
to
r
q
u
e
m
u
s
t
b
e
e
x
er
ted
a
n
d
,
if
th
e
d
elta
i
n
cr
ea
s
es,
it
m
ea
n
s
th
at
t
h
e
to
r
q
u
e
is
n
o
t
s
u
f
f
ic
ien
t
an
d
th
e
g
las
s
is
s
lip
p
i
n
g
w
h
e
n
it
is
h
eld
b
y
th
e
g
r
ip
p
er
.
I
n
t
h
e
d
ev
e
lo
p
m
en
t
o
f
t
h
e
s
y
s
t
e
m
,
t
h
e
te
s
ts
ar
e
i
m
p
le
m
en
ted
in
a
v
ir
t
u
al
en
v
ir
o
n
m
e
n
t,
i
n
o
r
d
er
n
o
t
to
p
u
t
t
h
e
u
s
er
at
r
i
s
k
.
C
u
r
r
en
tl
y
t
h
er
e
ar
e
s
ev
er
al
v
ir
t
u
al
en
v
ir
o
n
m
en
t
s
,
a
m
o
n
g
t
h
e
m
o
s
t
co
m
m
o
n
ar
e
Gaz
eb
o
[
2
0
]
o
r
V
-
R
E
P
[
2
1
]
.
I
n
[
2
2
]
,
a
co
m
p
ar
is
o
n
b
et
w
ee
n
each
s
o
f
t
w
ar
e
is
d
escr
ib
ed
,
h
ig
h
lig
h
ti
n
g
V
-
R
E
P
f
o
r
its
p
h
y
s
ics,
allo
w
i
n
g
s
i
m
u
late
s
it
u
atio
n
s
s
i
m
i
lar
to
r
ea
lity
.
I
n
Fi
g
u
r
e
2
,
th
e
tes
t
en
v
ir
o
n
m
e
n
t
i
n
V
-
R
E
P
is
p
r
esen
ted
,
in
w
h
ich
a
r
o
b
o
tic
ag
e
n
t
eq
u
ip
p
ed
w
i
th
a
g
r
ip
p
er
an
d
a
n
R
GB
-
D
ca
m
er
a
i
s
s
h
o
w
n
.
I
t
s
h
o
u
ld
b
e
n
o
ted
th
at
th
e
ar
ch
itect
u
r
e
o
f
th
e
r
o
b
o
tic
ag
en
t
is
f
o
cu
s
ed
o
n
f
ac
ilit
ati
n
g
th
e
te
s
tin
g
o
f
t
h
e
s
y
s
te
m
,
th
er
ef
o
r
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er
e
i
n
t
h
e
i
m
a
g
e
b
u
t
w
er
e
n
o
t
d
etec
ted
.
T
ak
in
g
i
n
to
ac
c
o
u
n
t
t
h
e
f
alse
n
e
g
ati
v
es
g
i
v
en
in
t
h
e
tes
ts
,
it
ca
n
b
e
ev
id
e
n
ce
d
th
at
t
h
ese
ca
s
e
s
o
n
l
y
o
cc
u
r
r
ed
w
h
en
t
h
e
a
m
o
u
n
t
o
f
f
l
u
id
p
ar
ticles
w
a
s
lo
w
.
T
h
is
d
o
es
n
o
t
r
ep
r
esen
t
an
er
r
o
r
in
th
e
s
y
s
te
m
,
s
in
ce
t
h
er
e
is
p
r
ac
ticall
y
n
o
f
l
u
id
,
it
w
o
u
ld
n
o
t
b
e
n
ec
ess
ar
y
f
o
r
th
e
g
r
ip
p
er
m
o
to
r
to
b
e
o
p
er
ated
s
in
ce
th
er
e
w
o
u
ld
b
e
n
o
d
r
in
k
to
b
e
s
u
p
p
li
ed
to
th
e
u
s
er
.
T
r
u
e
Po
s
itiv
e
Fals
e
Ne
g
ati
v
e
Fig
u
r
e
6
.
Fas
ter
R
-
C
N
N
class
i
f
icatio
n
s
f
o
r
d
r
in
k
an
d
g
r
ip
p
er
d
etec
tio
n
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
V
is
u
a
l c
o
n
tr
o
l sys
tem
fo
r
g
r
ip
o
f g
la
s
s
es
o
r
ien
ted
to
a
s
s
is
ta
n
ce
r
o
b
o
tics
(
R
o
b
in
s
o
n
Jimé
n
ez
-
Mo
r
en
o
)
6335
4.
F
U
Z
Z
Y
SYS
T
E
M
Fu
zz
y
s
y
s
te
m
s
h
a
v
e
b
ee
n
w
i
d
ely
u
s
ed
i
n
r
esear
ch
i
n
w
h
i
ch
th
er
e
i
s
n
o
m
ath
e
m
atica
l
ce
r
tain
t
y
o
f
th
e
r
esp
o
n
s
e
o
f
a
s
y
s
te
m
,
s
u
c
h
as
h
i
g
h
l
y
n
o
n
l
in
ea
r
s
y
s
te
m
s
.
As
ex
a
m
p
les
o
f
ap
p
licatio
n
ass
o
ciate
d
w
it
h
t
h
is
w
o
r
k
,
i
n
[
2
7
]
,
a
f
u
zz
y
s
y
s
te
m
is
i
m
p
le
m
e
n
ted
to
g
et
h
er
w
it
h
a
C
NN
to
esti
m
ate
t
h
e
q
u
alit
y
o
f
f
r
u
it
s
,
tak
i
n
g
i
n
to
ac
co
u
n
t,
a
s
s
y
s
te
m
in
p
u
ts
,
th
e
est
i
m
a
tio
n
o
f
its
m
as
s
,
n
u
m
b
er
o
f
d
ef
ec
ts
a
n
d
eq
u
ato
r
ial
d
ia
m
eter
.
I
n
[
2
8
]
,
th
e
y
ar
e
u
s
ed
to
co
n
tr
o
l
th
e
f
o
r
ce
ex
er
ted
b
y
a
h
a
n
d
p
r
o
s
th
esis
,
co
n
cl
u
d
in
g
t
h
at
th
e
i
m
p
le
m
e
n
tatio
n
o
f
f
u
zz
y
s
y
s
te
m
s
i
s
e
f
f
ec
tiv
e
f
o
r
th
i
s
t
y
p
e
o
f
tas
k
s
.
I
n
t
h
is
ar
ticle,
it
is
d
ec
id
ed
to
i
m
p
le
m
e
n
t
a
f
u
zz
y
s
y
s
te
m
,
s
in
ce
i
t
is
s
o
u
g
h
t
to
g
e
n
er
ate
a
g
r
ip
co
n
tr
o
l
w
h
er
e
t
h
e
w
e
ig
h
t
o
f
t
h
e
g
las
s
v
ar
ie
s
.
Si
n
c
e
th
e
f
ee
d
b
ac
k
o
f
th
e
ac
tio
n
i
s
v
i
s
u
al,
it
i
s
n
o
t
n
ec
es
s
ar
y
to
estab
lis
h
th
e
m
a
th
e
m
atica
l
m
o
d
el
o
f
t
h
e
g
e
n
e
r
al
s
y
s
te
m
i
f
v
i
s
u
a
l
co
n
tr
o
l te
ch
n
iq
u
es a
r
e
u
s
ed
th
at
u
s
u
all
y
in
teg
r
ate
f
u
zz
y
s
y
s
t
e
m
s
[
29
].
T
h
e
f
ir
s
t
in
p
u
t
p
ar
a
m
eter
f
o
r
th
e
f
u
zz
y
s
y
s
te
m
is
t
h
e
m
a
s
s
o
f
th
e
f
l
u
id
.
Fo
r
th
is
,
th
e
c
en
tr
o
id
o
f
th
e
R
o
I
o
f
th
e
d
r
i
n
k
is
ca
lc
u
lated
an
d
,
f
r
o
m
th
e
d
ep
th
m
ap
,
th
e
h
ei
g
h
t
o
f
th
e
l
iq
u
id
i
n
t
h
e
g
la
s
s
ca
n
b
e
ca
lcu
lated
a
n
d
f
i
n
all
y
,
ac
co
r
d
in
g
to
its
g
eo
m
etr
y
w
it
h
t
h
e
k
n
o
w
n
v
o
l
u
m
e,
t
h
e
m
ass
is
ca
lc
u
lated
.
T
h
e
s
ec
o
n
d
p
ar
am
eter
i
s
a
d
is
ta
n
ce
d
elta
b
et
w
ee
n
th
e
g
r
ip
p
er
an
d
th
e
f
l
u
id
.
I
n
Fi
g
u
r
e
7
,
th
e
m
e
m
b
er
s
h
ip
f
u
n
ct
io
n
s
estab
lis
h
ed
f
o
r
f
u
zz
y
s
y
s
te
m
i
n
p
u
t
s
an
d
o
u
tp
u
t a
r
e
s
h
o
w
n
.
(
a)
W
h
er
e
w
=
m
as
s
/ L
W
=
lo
w
m
as
s
/ M
M
=
Me
d
iu
m
Ma
s
s
/ H
M
=
Hig
h
Ma
s
s
(
b
)
W
h
er
e
D
=
d
is
tan
ce
d
elta
/
L
D
=
n
e
g
ati
v
e
d
is
ta
n
ce
d
elta
/ M
D
=
n
eu
tr
al
d
is
tan
ce
d
elta
/ H
D
=
p
o
s
itiv
e
d
is
ta
n
ce
d
elta
(
c)
W
h
er
e
L
T
=
L
o
w
to
r
q
u
e
/
ML
T
=
Me
d
iu
m
lo
w
to
r
q
u
e
/ M
T
=
Me
d
iu
m
to
r
q
u
e
/ M
HT
=
Me
d
iu
m
h
i
g
h
to
r
q
u
e
/ H
T
=
Hig
h
to
r
q
u
e
Fig
u
r
e
7
.
(
a)
Me
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
f
o
r
th
e
en
tr
y
o
f
est
i
m
a
te
d
w
ei
g
h
t,
(
b
)
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
f
o
r
th
e
d
elta
d
is
tan
ce
b
e
t
w
ee
n
th
e
g
r
ip
p
er
an
d
th
e
d
r
in
k
,
(
c)
Me
m
b
er
s
h
ip
f
u
n
ctio
n
s
o
f
t
h
e
f
o
r
ce
th
at
t
h
e
m
o
to
r
m
u
s
t e
x
er
t
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
E
n
g
,
Vo
l.
10
,
No
.
6
,
Dec
em
b
er
2
0
2
0
:
6
3
3
0
-
6
3
3
9
6336
As
ca
n
b
e
s
ee
n
,
Gau
s
s
ia
n
-
t
y
p
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
s
w
e
r
e
i
m
p
le
m
e
n
ted
w
h
ic
h
allo
w
a
s
m
o
o
t
h
ch
an
g
e
i
n
th
e
s
y
s
te
m
w
i
th
o
u
t
p
r
esen
ti
n
g
o
v
er
b
r
ea
k
s
.
T
h
e
Ma
m
d
a
n
i
m
et
h
o
d
is
u
s
ed
f
o
r
th
e
f
u
zz
y
s
y
s
te
m
co
n
tr
o
ller
[
30
]
.
T
h
is
m
et
h
o
d
h
as
b
ee
n
u
s
ed
i
n
w
o
r
k
s
s
u
c
h
a
s
th
e
o
n
e
p
r
ese
n
ted
i
n
[
31
]
,
w
h
er
e
a
f
u
zz
y
s
y
s
te
m
f
o
cu
s
ed
o
n
th
e
d
etec
tio
n
o
f
p
h
o
to
v
o
ltaic
f
ail
u
r
es
is
i
m
p
le
m
en
ted
,
o
r
in
[
3
2
]
,
f
o
r
th
e
d
etec
tio
n
o
f
s
o
f
t
w
ar
e
f
ail
u
r
es.
T
ab
le
2
s
h
o
w
s
t
h
e
f
u
z
z
y
ass
o
ciati
v
e
m
atr
i
x
(
F
A
M)
u
s
ed
f
o
r
th
e
s
y
s
te
m
.
T
ab
le
2
.
F
A
M
o
f
th
e
f
u
zz
y
s
y
s
te
m
d
esi
g
n
ed
W
D
T
LW
MD
LF
LW
LD
MF
LW
HD
LF
MM
MD
MF
MM
LD
M
H
F
MM
HD
M
L
F
HM
MD
HF
HM
LD
HF
HM
HD
M
H
F
5.
G
RAP
H
I
C
US
E
R
I
N
T
E
RF
ACE AND
P
E
RF
O
RM
ANCE T
E
S
T
S
Fig
u
r
e
8
s
h
o
w
s
th
e
s
ec
t
io
n
o
f
th
e
d
esig
n
ed
u
s
er
i
n
ter
f
ac
e,
w
h
ic
h
f
o
c
u
s
e
s
o
n
th
e
ac
q
u
is
i
tio
n
o
f
tr
ain
i
n
g
an
d
test
i
n
g
d
atab
ase
s
.
Fo
r
t
h
is
,
t
h
e
m
ax
i
m
u
m
n
u
m
b
er
o
f
f
lu
id
p
ar
ticle
s
t
h
at
c
an
b
e
g
e
n
er
ated
in
th
e
e
n
v
ir
o
n
m
en
t
m
u
s
t
b
e
s
e
t,
in
ad
d
itio
n
to
th
eir
d
en
s
it
y
a
n
d
t
h
e
n
u
m
b
er
o
f
i
m
a
g
e
s
to
b
e
ac
q
u
ir
ed
.
T
h
e
im
a
g
es
t
h
at
ar
e
s
to
r
ed
ar
e
th
o
s
e
o
f
th
e
lo
ca
l
ca
m
er
a
an
d
th
e
d
ep
th
m
ap
.
T
h
e
ex
ter
n
al
ca
m
er
a
is
p
r
esen
ted
o
n
l
y
f
o
r
v
ie
w
i
n
g
th
e
w
o
r
k
e
n
v
ir
o
n
m
e
n
t.
Fig
u
r
e
8
.
Sectio
n
o
f
tr
ai
n
in
g
a
n
d
test
i
n
g
d
atab
ase
s
ac
q
u
is
i
tio
n
Fig
u
r
e
9
s
h
o
w
s
th
e
s
ec
t
io
n
i
n
w
h
ic
h
t
h
e
tr
ai
n
i
n
g
p
a
r
a
m
eter
s
f
o
r
ea
ch
Sta
g
e
o
f
t
h
e
f
as
ter
R
-
C
NN
ar
e
s
et,
th
i
s
s
ta
g
e
i
s
u
s
ed
o
n
ce
t
h
e
ac
q
u
i
s
itio
n
o
f
t
h
e
d
atab
ases
h
a
s
alr
ea
d
y
b
ee
n
m
ad
e.
O
n
ce
th
e
n
et
w
o
r
k
is
tr
ain
ed
,
th
e
co
n
f
u
s
io
n
m
atr
ix
an
d
ac
tiv
at
io
n
s
o
f
t
h
e
tr
ain
ed
m
o
d
el
ca
n
b
e
g
e
n
er
ated
.
I
n
"T
r
ain
"
,
d
s
tr
a
in
co
r
r
esp
o
n
d
s
to
th
e
i
m
ag
e
d
ata
b
ase
th
at
w
ill b
e
u
s
ed
f
o
r
tr
ain
in
g
a
n
d
in
"
T
est"
,
d
s
test
co
n
tai
n
s
t
h
e
test
i
m
a
g
es
.
I
n
Fi
g
u
r
e
1
0
,
th
e
te
s
t
s
ec
tio
n
is
s
h
o
w
n
,
i
n
w
h
ich
th
e
u
s
er
ca
n
estab
li
s
h
t
h
e
n
u
m
b
er
o
f
p
ar
ticles,
th
eir
d
en
s
it
y
,
t
h
e
n
et
w
o
r
k
t
h
at
w
il
l
b
e
u
s
ed
f
o
r
th
e
d
etec
tio
n
o
f
th
e
g
r
ip
p
er
an
d
th
e
d
r
in
k
,
as
w
ell
as
t
h
e
f
u
zz
y
s
y
s
te
m
th
at
w
ill ca
lc
u
late
t
h
e
t
o
r
q
u
e
th
at
t
h
e
m
o
to
r
th
a
t d
r
iv
e
s
th
e
g
r
ip
p
er
m
u
s
t e
x
er
t.
W
ith
“
Fi
ll”,
th
e
co
lo
r
o
f
th
e
f
lu
id
is
s
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6.
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MP
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(
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0
)
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“
p
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tip
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le
p
ar
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r
o
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w
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er
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k
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t
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m
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er
0
5
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0
1
9
,
w
as
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ed
f
o
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th
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d
ev
elo
p
m
e
n
t
o
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ex
p
o
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ed
alg
o
r
ith
m
s
,
w
it
h
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e
f
in
a
n
ci
n
g
o
f
th
e
p
r
o
j
ec
t.
RE
F
E
R
E
NC
E
S
[1
]
Ca
rste
n
H
.,
S
u
sa
n
n
e
B
.,
“
3
1
m
il
li
o
n
r
o
b
o
ts
h
e
lp
in
g
in
h
o
u
se
h
o
ld
s
w
o
rld
w
id
e
b
y
2
0
1
9
,
”
IFR
Pre
ss
,
2
0
1
9
.
[
O
n
li
n
e
].
Av
a
il
a
b
le
:
h
tt
p
s://
if
r.
o
rg
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p
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lea
se
s/n
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s/3
1
-
m
il
li
o
n
-
ro
b
o
ts
-
h
e
lp
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n
g
-
in
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se
h
o
ld
s
-
w
o
rld
w
id
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-
by
-
2
0
1
9
.
[2
]
Ka
ra
b
e
g
o
v
ić,
I.
a
n
d
D
o
leč
e
k
,
V
.
,
“
T
h
e
ro
le
o
f
se
rv
ice
ro
b
o
ts
a
n
d
ro
b
o
ti
c
sy
ste
m
s
in
th
e
t
re
a
tme
n
t
o
f
p
a
ti
e
n
ts
i
n
m
e
d
ica
l
in
stit
u
t
io
n
s,”
Ad
v
a
n
c
e
d
T
e
c
h
n
o
l
o
g
ies
,
S
y
ste
ms
,
a
n
d
A
p
p
l
ica
ti
o
n
s,
p
p
.
9
-
25
,
2
0
1
7
.
[3
]
W
o
rld
He
a
lt
h
Org
a
n
iza
ti
o
n
,
“
G
u
il
l
a
in
-
Ba
rré
sy
n
d
ro
m
e
,
”
2
0
1
6
.
[
On
li
n
e
]
.
A
v
a
il
a
b
le
:
h
tt
p
s://
w
ww
.
w
h
o
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in
t/
n
e
w
s
-
ro
o
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/f
a
c
t
-
sh
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ts/d
e
tail/
g
u
il
lain
-
b
a
rr%
C3
%
A
9
-
s
y
n
d
ro
m
e
.
[4
]
Da
s,
N.,
B
e
z
b
o
ru
a
h
,
G
.
a
n
d
Da
s,
I.
,
“
S
t
u
d
y
o
n
th
e
Cl
in
ica
l
P
r
o
f
il
e
o
f
P
a
ti
e
n
ts
w
it
h
Ce
re
b
ra
l
P
a
lsy
,
”
In
ter
n
a
ti
o
n
a
l
Or
g
a
n
iz
a
ti
o
n
o
f
S
c
ien
ti
fi
c
Res
e
a
r
c
h
J
o
u
rn
a
l
o
f
De
n
t
a
l
a
n
d
M
e
d
ica
l
S
c
ien
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e
s,
v
o
l.
1
5
,
n
o
.
7
,
p
p
.
54
-
5
8
,
2
0
1
6
.
[5
]
S
e
n
to
,
A
.
,
S
risu
k
,
P
.
a
n
d
Kit
jaid
u
re
,
Y.
,
“
A
n
in
telli
g
e
n
t
sy
ste
m
a
r
c
h
it
e
c
tu
re
f
o
r
m
e
a
l
a
ss
ista
n
t
r
o
b
o
ti
c
a
rm
,
”
9
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Kn
o
wled
g
e
a
n
d
S
ma
rt
T
e
c
h
n
o
lo
g
y
(
KS
T
),
p
p
.
1
6
6
-
1
7
1
,
2
0
1
7
.
[6
]
P
e
re
ra
,
C.
J.
,
L
a
li
th
a
ra
tn
e
,
T
.
D.
a
n
d
Kig
u
c
h
i
,
K.,
“
EEG
-
c
o
n
t
ro
ll
e
d
m
e
a
l
a
ss
istan
c
e
ro
b
o
t
w
it
h
c
a
m
e
ra
-
b
a
se
d
a
u
to
m
a
ti
c
m
o
u
th
p
o
siti
o
n
tra
c
k
in
g
a
n
d
m
o
u
th
o
p
e
n
d
e
tec
ti
o
n
,
”
IEE
E
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s
a
n
d
Au
to
m
a
ti
o
n
(
ICRA
),
p
p
.
1
7
6
0
-
1
7
6
5
,
2
0
1
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[7
]
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a
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s,
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.
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n
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e
lo
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o
,
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.
,
“
Vis
io
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g
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ted
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b
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ter
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0
1
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.
[8
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n
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, B
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io
,
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.
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1
5
.
[9
]
Kim
,
Y.,
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0
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1
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De
n
g
,
J.,
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.
,
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r,
R.
,
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.
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2
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,
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.
E
.
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“
Im
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las
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ti
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s,”
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n
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s in
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ra
l
in
f
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p
.
1
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,
2
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1
2
.
[1
3
]
P
a
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n
,
C
.
G
.
,
P
in
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ó
n
,
J.
O.
a
n
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M
o
re
n
o
,
R.
J.,
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r
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c
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De
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[1
4
]
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.
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ld
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ss
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m
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,
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.
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ro
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0
1
5
.
[1
5
]
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e
n
g
,
X
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d
S
c
h
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id
,
C.
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“
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CNN
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,
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p
.
7
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4
-
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5
9
,
2
0
1
6
.
[1
6
]
S
o
o
m
ro
,
K.,
Zam
ir,
A
.
R.
a
n
d
S
h
a
h
,
M
.
,
“
UCF1
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rXiv:1
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.
[1
7
]
S
c
h
rö
e
r,
S
.
,
Kill
m
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I.
,
F
ra
n
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,
B.
,
V
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e
r,
M
.
,
F
ied
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re
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L
.
,
Ba
ll
,
T
.
a
n
d
Bu
rg
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rd
,
W
.
,
“
A
n
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a
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p
.
6
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8
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-
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4
8
7
,
2
0
1
5
.
[1
8
]
Re
n
,
S
.
,
He
,
K.,
G
irsh
ick
,
R.
a
n
d
S
u
n
,
J.,
“
F
a
ste
r
r
-
c
n
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:
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rk
s,”
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s in
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ms
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p
.
9
1
-
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9
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2
0
1
5
.
[1
9
]
L
e
e
,
C.
C.
,
“
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u
z
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in
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m
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rri,
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A
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M
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w
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Op
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ROS
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p
p
.
5
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0
1
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.
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,
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i
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h
,
S
.
P.
a
n
d
F
re
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se
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M
.
,
“
V
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In
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.
[2
2
]
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e
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L
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“
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min
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In
ter
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o
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Co
g
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ica
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Arti
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S
ICA
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2
0
1
4
.
[2
3
]
Hu
n
g
,
J.
a
n
d
Ca
rp
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ter,
A
.
,
“
Ap
p
ly
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CNN
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[2
4
]
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u
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X
iao
,
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.
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“
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CNN
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5
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.
[2
5
]
S
im
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y
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n
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K.
a
n
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.
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6
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A
.
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li
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o
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e
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n
,
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.
P
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.
Hla
d
n
ik
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.
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.
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2
7
]
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n
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.
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.
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1
3
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1
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8
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[2
8
]
Zh
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,
Y.,
De
n
g
,
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Rec
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trica
l
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m
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f
sm
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tu
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s.
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