I
nte
rna
t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
p
ute
r
E
ng
in
ee
ring
(
I
J
E
CE
)
Vo
l.
8
,
No
.
2
,
A
p
r
il
201
8
,
p
p
.
996
~
1
0
0
9
I
SS
N:
2
0
8
8
-
8708
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
ec
e
.
v8
i
2
.
p
p
9
9
6
-
1
0
0
9
996
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ia
e
s
co
r
e
.
co
m/
jo
u
r
n
a
ls
/in
d
ex
.
p
h
p
/
I
JE
C
E
Dev
elo
p
m
e
nt
o
f
a Co
ndition
Mo
nit
o
ring
A
lg
o
rith
m
f
o
r
Indu
stria
l Robo
ts
b
a
sed o
n Ar
tif
ic
i
a
l Intelligence
and Sig
na
l
Process
ing
Techn
iques
Ala
a
Abdu
lha
dy
J
a
ber
1
,
Ro
bert
B
ick
er
2
1
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
De
p
a
rte
m
e
n
t
,
Un
iv
e
rsity
o
f
T
e
c
h
n
o
l
o
g
y
,
Ira
q
2
S
c
h
o
o
l
o
f
M
e
c
h
a
n
ica
l
a
n
d
S
y
ste
m
s E
n
g
in
e
e
rin
g
,
Ne
w
c
a
stle Un
iv
e
rsit
y
,
UK
Art
icle
I
nfo
AB
ST
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Oct
1
,
2
0
1
7
R
ev
i
s
ed
Dec
2
2
,
2
0
1
7
A
cc
ep
ted
J
an
8
,
2
0
1
8
S
ig
n
a
l
p
ro
c
e
ss
in
g
p
lay
s
a
sig
n
if
ica
n
t
ro
le
in
b
u
il
d
i
n
g
a
n
y
c
o
n
d
i
ti
o
n
m
o
n
it
o
rin
g
sy
ste
m
.
M
a
n
y
t
y
p
e
s
o
f
sig
n
a
ls
c
a
n
b
e
u
se
d
f
o
r
c
o
n
d
it
i
o
n
m
o
n
it
o
rin
g
o
f
m
a
c
h
in
e
s,
su
c
h
a
s
v
ib
ra
ti
o
n
sig
n
a
ls,
a
s
in
t
h
is
re
s
e
a
rc
h
;
a
n
d
p
ro
c
e
ss
in
g
th
e
se
sig
n
a
ls
in
a
n
a
p
p
r
o
p
riate
w
a
y
is
c
ru
c
ial
in
e
x
trac
ti
n
g
th
e
m
o
st
sa
li
e
n
t
f
e
a
tu
re
s
re
late
d
to
d
if
fe
re
n
t
f
a
u
lt
ty
p
e
s.
A
n
u
m
b
e
r
o
f
sig
n
a
l
p
ro
c
e
ss
in
g
tec
h
n
i
q
u
e
s
c
a
n
f
u
lf
il
t
h
is
p
u
rp
o
se
,
a
n
d
th
e
n
a
tu
re
o
f
th
e
c
a
p
tu
re
d
sig
n
a
l
is
a
sig
n
if
ic
a
n
t
fa
c
to
r
in
th
e
se
lec
ti
o
n
o
f
th
e
a
p
p
ro
p
riate
tec
h
n
iq
u
e
.
T
h
is
c
h
a
p
ter
sta
rts
w
it
h
a
d
isc
u
ss
io
n
o
f
th
e
p
ro
p
o
se
d
r
o
b
o
t
c
o
n
d
i
ti
o
n
m
o
n
it
o
rin
g
a
lg
o
rit
h
m
.
T
h
e
n
,
a
c
o
n
sid
e
ra
ti
o
n
o
f
th
e
sig
n
a
l
p
ro
c
e
ss
in
g
tec
h
n
iq
u
e
s
w
h
ich
c
a
n
b
e
a
p
p
li
e
d
in
c
o
n
d
it
i
o
n
m
o
n
it
o
ri
n
g
is
c
a
r
ried
o
u
t
t
o
id
e
n
ti
f
y
th
e
ir
a
d
v
a
n
tag
e
s
a
n
d
d
i
sa
d
v
a
n
tag
e
s,
f
ro
m
w
h
ich
th
e
ti
m
e
-
d
o
m
a
in
a
n
d
d
isc
re
te w
a
v
e
let
tran
s
f
o
r
m
sig
n
a
l
a
n
a
ly
sis a
re
se
lec
t
e
d
.
K
ey
w
o
r
d
:
C
o
n
d
itio
n
m
o
n
ito
r
in
g
Dis
cr
ete
w
av
ele
t a
n
al
y
s
is
I
n
d
u
s
tr
ial
r
o
b
o
t
T
im
e
-
d
o
m
ai
n
s
i
g
n
a
l a
n
al
y
s
i
s
f
o
u
r
ier
tr
an
s
f
o
r
m
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
c
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
:
A
laa
A
b
d
u
lh
ad
y
J
ab
er
,
Me
ch
an
ical
E
n
g
i
n
ee
r
in
g
Dep
a
r
te
m
en
t,
Un
i
v
er
s
it
y
o
f
T
ec
h
n
o
lo
g
y
,
B
ag
h
d
ad
/I
r
aq
.
E
m
ail: 2
0
0
3
9
@
u
o
tech
n
o
lo
g
y
.
ed
u
.
iq
1.
I
NT
RO
D
UCT
I
O
N
I
n
d
u
s
tr
ial
r
o
b
o
ts
ar
e
ex
tr
e
m
el
y
co
m
p
le
x
m
ec
h
a
n
i
s
m
an
d
h
en
ce
t
h
e
ap
p
licatio
n
o
f
co
n
d
itio
n
m
o
n
ito
r
i
n
g
f
o
r
th
e
m
d
if
f
er
s
f
r
o
m
t
h
at
o
f
‘
s
i
m
p
le
’
r
o
tatin
g
m
ac
h
in
er
y
.
T
h
is
is
b
as
icall
y
d
u
e
to
t
h
e
in
s
ta
n
ta
n
eo
u
s
ch
a
n
g
e
o
f
g
eo
m
etr
ical
co
n
f
i
g
u
r
atio
n
o
f
t
h
e
r
o
b
o
t
ar
m
.
Ho
w
e
v
er
,
th
er
e
ar
e
t
w
o
ap
p
r
o
ac
h
es
to
co
n
d
itio
n
m
o
n
ito
r
in
g
,
w
h
ich
a
r
e
m
o
d
el
-
b
ased
an
d
m
o
d
el
-
f
r
e
e.
E
ith
er
o
f
th
e
s
e
ap
p
r
o
ac
h
es
o
r
a
co
m
b
in
atio
n
o
f
b
o
th
h
as
b
ee
n
ad
ap
ted
in
in
d
u
s
tr
ial
r
o
b
o
t
co
n
d
itio
n
m
o
n
ito
r
i
n
g
.
Fi
lar
eto
v
,
et
al.
[
1
]
u
s
ed
a
n
o
n
li
n
ea
r
m
o
d
el
to
ad
d
r
ess
p
r
o
b
lem
s
o
f
f
a
u
lt
d
etec
tio
n
an
d
is
o
latio
n
i
n
co
m
p
lex
s
y
s
te
m
s
,
s
u
ch
as
i
n
r
o
b
o
t
m
an
ip
u
lato
r
s
.
A
l
g
eb
r
aic
f
u
n
ctio
n
s
w
er
e
i
m
p
le
m
en
ted
to
d
esig
n
th
e
n
o
n
lin
ea
r
d
iag
n
o
s
tic
o
b
s
er
v
er
,
w
h
ic
h
w
a
s
ab
le
to
d
is
p
en
s
e
w
it
h
t
h
e
lin
ea
r
izat
io
n
in
n
o
n
li
n
ea
r
m
o
d
els to
av
o
id
m
o
d
el
er
r
o
r
s
.
T
h
e
r
o
b
o
t
m
o
d
elin
g
w
a
s
co
n
d
u
cted
u
s
i
n
g
Ma
tlab
in
d
is
cr
ete
ti
m
e
.
I
t
w
as
s
h
o
w
n
t
h
at,
d
esp
ite
th
e
f
ac
t
th
a
t
t
h
e
u
s
e
o
f
th
is
m
o
d
el
d
is
p
en
s
es
w
it
h
lin
ea
r
izatio
n
,
it d
o
es
n
o
t a
llo
w
s
o
m
e
f
a
u
lt
s
to
b
e
is
o
lated
.
I
n
an
o
th
er
p
ap
er
,
a
m
o
d
el
-
b
ased
f
a
u
lt d
etec
tio
n
a
n
d
is
o
latio
n
(
FD
I
)
s
c
h
e
m
e
f
o
r
r
ig
id
m
a
n
ip
u
lato
r
s
w
as
d
esig
n
e
d
w
h
ich
d
ep
en
d
s
o
n
a
s
u
b
o
p
ti
m
al
s
ec
o
n
d
-
o
r
d
er
s
lid
in
g
-
m
o
d
e
(
SOSM)
alg
o
r
it
h
m
[
2
]
.
I
n
o
r
d
er
t
o
m
a
k
e
th
e
p
r
o
ce
d
u
r
e
o
f
FD
I
p
o
s
s
ib
l
e,
an
in
p
u
t
s
i
g
n
a
l
esti
m
ato
r
an
d
o
u
tp
u
t
o
b
s
er
v
er
s
w
er
e
ad
o
p
ted
an
d
SO
SM
w
a
s
u
s
ed
to
d
esi
g
n
t
h
e
i
n
p
u
t
la
ws
f
o
r
t
h
e
o
b
s
er
v
er
s
.
E
x
p
er
i
m
e
n
tal
w
o
r
k
a
n
d
th
eo
r
etica
l
s
i
m
u
lat
io
n
s
w
er
e
ac
c
o
m
p
li
s
h
ed
w
i
th
a
C
OM
A
U
SM
A
R
T
3
-
S2
r
o
b
o
t
m
an
ip
u
lato
r
,
an
d
t
h
e
r
es
u
lts
s
h
o
w
ed
th
at
t
h
e
s
ch
e
m
e
h
as
a
g
o
o
d
ab
ilit
y
to
d
ete
ct
an
d
id
e
n
ti
f
y
f
a
u
lt
s
.
On
th
e
o
th
er
h
an
d
,
th
e
p
r
o
p
o
s
ed
s
ch
e
m
e
w
as
n
o
t
ab
le
to
d
ea
l
w
i
th
m
u
ltip
le
f
au
l
ts
in
m
o
r
e
th
an
o
n
e
ac
tu
ato
r
o
r
s
en
s
o
r
,
an
d
is
also
n
e
g
lecte
d
elastic
ef
f
ec
t
s
in
t
h
e
r
o
b
o
t
.
Ho
w
e
v
er
,
b
ec
au
s
e
p
r
ec
is
e
m
at
h
e
m
atica
l
m
o
d
els
f
o
r
co
m
p
le
x
s
y
s
te
m
s
li
k
e
a
r
o
b
o
t a
r
e
d
if
f
icu
lt
to
o
b
tain
,
m
o
d
el
-
f
r
ee
m
et
h
o
d
s
b
ased
o
n
A
I
o
r
s
t
atis
tical
ap
p
r
o
ac
h
e
s
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
Dev
elo
p
men
t o
f a
C
o
n
d
itio
n
Mo
n
ito
r
in
g
A
lg
o
r
ith
m
fo
r
I
n
d
u
s
tr
ia
l R
o
b
o
ts
b
a
s
ed
….
(
A
la
a
A
b
d
u
lh
a
d
y
J
a
b
er
)
997
h
av
e
b
ec
o
m
e
p
r
ev
alen
t
ch
o
i
ce
s
f
o
r
r
o
b
o
t
h
ea
lth
m
o
n
ito
r
in
g
.
T
h
e
b
ac
k
las
h
an
d
lo
o
s
en
es
s
in
th
e
p
o
w
er
tr
an
s
m
is
s
io
n
s
y
s
te
m
o
f
a
r
o
b
o
t
m
a
y
ca
u
s
e
to
r
q
u
e
v
ar
iatio
n
s
.
T
h
e
elec
tr
ic
m
o
to
r
its
el
f
g
e
n
er
ates
w
h
a
t is
k
n
o
w
n
as
a
b
ac
k
elec
tr
o
m
o
t
iv
e
f
o
r
ce
(
E
MF)
w
h
en
s
u
b
j
ec
ted
to
m
ec
h
an
ica
l
lo
ad
m
a
k
in
g
th
e
m
ac
tin
g
a
s
a
to
r
q
u
e
tr
an
s
d
u
ce
r
[
3
]
.
T
h
e
to
r
q
u
e
v
a
r
iatio
n
s
m
ea
s
u
r
e
m
e
n
ts
v
ia
c
u
r
r
en
t
f
l
u
ctu
a
tio
n
s
o
n
r
o
b
o
tic
ac
tu
ato
r
s
h
a
v
e
b
ee
n
ap
p
lied
f
o
r
r
o
b
o
t
m
o
n
ito
r
i
n
g
[
3
]
,
[
4
]
.
T
h
e
ad
v
an
ta
g
e
o
f
th
i
s
tech
n
iq
u
e,
as
ea
r
l
y
m
en
t
io
n
ed
,
to
r
o
b
o
t
h
ea
lt
h
m
o
n
ito
r
i
n
g
is
t
h
at
t
h
e
m
o
to
r
cu
r
r
en
t
ca
n
r
e
m
o
tel
y
b
e
m
ea
s
u
r
e
d
alo
n
g
th
e
p
o
w
er
ca
b
le
s
u
ti
lizin
g
s
ta
n
d
ar
d
cu
r
r
en
t se
n
s
o
r
s
w
i
th
o
u
t s
u
p
p
lem
en
tar
y
i
n
s
tr
u
m
en
ta
tio
n
o
n
t
h
e
r
o
b
o
t.
R
o
b
o
ts
ar
e
r
eq
u
ir
ed
to
p
er
f
o
r
m
a
v
ar
iet
y
o
f
d
if
f
er
en
t
r
ep
etitiv
e
ta
s
k
s
a
n
d
ar
e
as
d
esig
n
ed
p
r
o
g
r
am
m
ab
le
an
d
co
n
f
ig
u
r
ab
le
m
ac
h
i
n
es
;
an
d
co
n
s
eq
u
e
n
tl
y
t
h
e
j
o
in
ts
ar
e
s
u
b
j
ec
ted
to
c
o
n
tin
u
o
u
s
l
y
v
ar
y
i
n
g
lo
ad
s
an
d
s
p
ee
d
s
.
T
h
er
ef
o
r
e,
d
esig
n
in
g
a
C
M
s
y
s
te
m
f
o
r
a
r
o
b
o
t
b
ein
g
ad
ap
tab
le
f
o
r
d
if
f
er
en
t
r
o
b
o
t
task
s
is
ch
alle
n
g
i
n
g
.
I
n
th
i
s
w
o
r
k
,
to
a
ch
iev
e
th
is
,
it
w
as
d
ec
id
ed
to
co
n
d
u
ct
t
h
e
r
o
b
o
t
C
M
u
s
i
n
g
t
w
o
s
tag
e
s
,
as
s
h
o
w
n
in
Fi
g
u
r
e
1
.
T
h
e
f
ir
s
t
s
tag
e
i
s
o
n
l
y
r
esp
o
n
s
ib
le
f
o
r
d
etec
tio
n
th
e
f
a
u
lt
an
d
is
p
er
f
o
r
m
e
d
d
u
r
in
g
th
e
r
o
b
o
t
m
o
v
e
m
e
n
t
f
o
r
ac
co
m
p
lis
h
in
g
w
h
ate
v
er
th
e
tas
k
.
T
h
e
v
ib
r
ati
o
n
s
i
g
n
al
s
ar
e
ca
p
tu
r
ed
an
d
f
e
atu
r
es
ar
e
e
x
tr
ac
ted
u
s
i
n
g
ti
m
e
-
d
o
m
ain
s
i
g
n
a
l
an
al
y
s
i
s
tech
n
iq
u
e
(
as
ex
p
lai
n
ed
l
ater
)
.
T
h
en
,
th
e
f
ea
t
u
r
es
ar
e
a
n
al
y
s
ed
in
o
r
d
er
to
s
elec
t
t
h
e
m
o
s
t
f
au
lt
-
s
en
s
iti
v
e
o
n
e
.
Fro
m
t
h
e
ex
tr
ac
ted
f
e
atu
r
es
t
h
at
ar
e
r
elate
d
to
th
e
r
o
b
o
t
h
ea
lth
y
s
tate,
th
r
es
h
o
ld
v
al
u
es
ar
e
ca
lc
u
late
d
,
in
o
r
d
er
to
b
e
u
s
ed
as
a
b
as
elin
e
r
e
f
er
en
ce
,
u
s
in
g
th
e
s
tat
i
s
tical
co
n
tr
o
l
ch
ar
t
(
SC
C
)
ap
p
r
o
ac
h
,
a
tech
n
iq
u
e
b
y
w
h
ic
h
a
p
lan
t
(
o
r
p
r
o
ce
s
s
)
is
m
o
n
ito
r
ed
to
in
v
es
tig
a
te
w
h
et
h
er
o
r
n
o
t
th
e
p
lan
t
r
e
m
ai
n
s
i
n
co
n
tr
o
l.
T
h
e
ab
o
v
e
m
en
t
io
n
ed
s
tep
s
h
av
e
t
o
b
e
d
o
n
e
o
f
f
li
n
e,
b
ef
o
r
e
r
u
n
n
in
g
t
h
e
m
o
n
ito
r
i
n
g
s
y
s
te
m
a
n
d
th
e
p
u
r
p
o
s
e
i
s
to
co
m
p
u
te
t
h
e
th
r
e
s
h
o
ld
v
al
u
es.
I
f
t
h
e
r
o
b
o
t
is
r
ep
r
o
g
r
a
m
m
ed
f
o
r
a
d
i
f
f
er
en
t
tas
k
th
an
t
h
e
p
r
ev
io
u
s
,
t
h
e
s
a
m
e
s
t
ep
s
ar
e
n
ee
d
ed
to
b
e
f
o
llo
w
e
d
,
in
o
r
d
er
to
estab
lis
h
d
i
f
f
er
e
n
t
t
h
r
es
h
o
ld
v
al
u
e
s
f
o
r
th
e
n
e
w
tas
k
.
Du
r
i
n
g
th
e
o
n
li
n
e
o
p
er
atio
n
th
e
s
elec
ted
(
m
o
s
t)
f
a
u
lt
-
s
en
s
iti
v
e
f
ea
tu
r
e
will
b
e
ca
lcu
lated
an
d
co
m
p
ar
ed
to
th
e
r
e
f
er
en
ce
t
h
r
esh
o
ld
s
.
T
h
e
r
esu
l
t
o
f
t
h
e
f
a
u
lt
d
etec
tio
n
s
ta
g
e
w
il
l
r
ep
o
r
t
eith
er
t
h
e
r
o
b
o
t
is
h
ea
lt
h
y
o
r
a
f
au
lt
is
d
ev
elo
p
in
g
.
I
f
a
f
a
u
lt
is
d
etec
ted
,
th
e
r
o
b
o
t
s
h
o
u
ld
b
e
s
to
p
p
ed
an
d
th
e
s
ec
o
n
d
s
tag
e
o
f
t
h
e
C
M
s
y
s
te
m
co
n
d
u
cted
.
I
n
th
e
f
ir
s
t
s
tag
e,
t
h
e
ti
m
e
-
d
o
m
ai
n
s
i
g
n
al
an
al
y
s
is
a
n
d
SC
C
h
av
e
b
ee
n
s
elec
ted
b
ec
au
s
e
th
e
y
ar
e
r
elativ
el
y
c
o
m
p
u
tatio
n
all
y
ea
s
y
to
i
m
p
le
m
en
t
an
d
th
e
f
au
lt
ca
teg
o
r
y
i
s
n
o
t
n
ee
d
ed
to
b
e
k
n
o
w
n
at
t
h
is
s
tag
e.
T
h
e
aim
o
f
th
e
s
ec
o
n
d
s
ta
g
e
o
f
th
e
m
o
n
ito
r
in
g
alg
o
r
it
h
m
is
to
ac
cu
r
atel
y
id
en
tify
i
n
w
h
ic
h
j
o
in
t
th
e
f
au
lt
h
as
o
cc
u
r
r
ed
an
d
w
h
at
i
s
it
s
t
y
p
e
ex
ac
t
l
y
,
f
o
r
e
x
a
m
p
l
e,
b
ac
k
las
h
,
g
ea
r
to
o
th
w
ea
r
o
r
b
ea
r
in
g
f
au
lt.
T
o
ac
h
iev
e
t
h
i
s
,
th
e
r
o
b
o
t
w
ill
b
e
p
r
o
g
r
am
m
ed
to
m
o
v
e
ea
ch
j
o
in
t
in
d
ep
en
d
en
tl
y
i
n
a
c
y
c
lic
m
o
v
e
m
e
n
t.
T
h
e
v
ib
r
atio
n
s
i
g
n
a
ls
ar
e
ca
p
tu
r
ed
an
d
an
al
y
s
ed
,
b
u
t
t
h
is
ti
m
e
u
s
i
n
g
m
u
lti
-
r
eso
l
u
tio
n
s
i
g
n
al
an
al
y
s
is
tec
h
n
iq
u
e
b
ased
o
n
th
e
d
i
s
cr
ete
w
av
e
let
tr
an
s
f
o
r
m
(
DW
T
)
,
s
in
ce
it
h
a
s
b
ee
n
f
o
u
n
d
v
er
y
ap
p
r
o
p
r
iate
f
o
r
n
o
n
-
s
tatio
n
ar
y
v
ib
r
atio
n
s
i
g
n
al
a
n
al
y
s
is
,
w
h
i
ch
is
t
h
e
ca
s
e
i
n
i
n
d
u
s
tr
ial
r
o
b
o
ts
in
w
h
ich
t
h
e
s
p
ee
d
an
d
l
o
ad
o
n
ea
ch
j
o
in
t
is
co
n
tin
u
o
u
s
l
y
ch
a
n
g
in
g
,
a
n
d
ca
n
as
s
is
t
i
n
t
h
e
p
r
ec
is
e
d
ia
g
n
o
s
is
o
f
f
a
u
lts
.
T
h
en
,
t
h
e
f
ea
t
u
r
es
r
elate
d
to
th
e
h
ea
lt
h
y
s
tate
a
n
d
d
if
f
er
en
t
f
au
lt
co
n
d
itio
n
s
ar
e
d
eter
m
in
ed
a
n
d
u
s
ed
f
o
r
d
esig
n
an
d
tr
ai
n
in
g
an
ar
ti
f
icial
f
a
u
l
t
class
i
f
icatio
n
s
y
s
te
m
u
s
i
n
g
t
h
e
ar
tif
icia
l
n
eu
r
al
n
et
w
o
r
k
(
ANN)
.
T
h
e
estab
lis
h
ed
A
NN
is
th
e
n
e
m
p
lo
y
ed
f
o
r
o
n
lin
e
f
a
u
lt d
iag
n
o
s
i
s
.
Fig
u
r
e
1
.
Descr
ip
tiv
e
f
lo
w
c
h
ar
t f
o
r
th
e
p
r
o
p
o
s
ed
in
tellig
e
n
t c
o
n
d
itio
n
m
o
n
ito
r
in
g
al
g
o
r
ith
m
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.
8
,
No
.
2
,
A
p
r
il
2018
:
9
9
6
–
1
0
0
9
998
2.
B
ASI
C
CO
NC
E
P
T
S O
F
S
I
G
NA
L
A
s
i
g
n
al
ca
n
b
e
d
e
f
i
n
ed
as
a
f
u
n
ctio
n
th
a
t
d
escr
ib
es
a
p
h
y
s
ical
v
ar
iab
le
as
it
e
v
o
lv
e
s
o
v
er
ti
m
e.
An
alo
g
u
e
s
i
g
n
als,
s
u
c
h
as
s
o
u
n
d
,
n
o
is
e,
li
g
h
t
an
d
h
ea
t,
r
ep
r
esen
t
t
h
e
m
aj
o
r
ity
o
f
s
i
g
n
a
ls
i
n
n
at
u
r
e.
Var
iatio
n
s
in
t
h
ese
s
ig
n
al
s
ar
e
co
n
ti
n
u
o
u
s
o
v
er
ti
m
e
a
n
d
th
e
p
r
o
ce
s
s
i
n
g
o
f
an
a
lo
g
u
e
s
i
g
n
a
ls
i
s
ca
ll
ed
an
alo
g
u
e
s
i
g
n
a
l
p
r
o
ce
s
s
in
g
(
A
SP
)
.
B
y
s
a
m
p
l
i
n
g
s
u
c
h
co
n
t
in
u
o
u
s
s
ig
n
al
s
a
t
r
ep
ea
ted
ti
m
e
i
n
ter
v
al
s
u
s
in
g
d
ata
ac
q
u
is
i
tio
n
eq
u
ip
m
e
n
t,
th
e
y
ca
n
b
e
co
n
v
er
ted
in
to
d
is
cr
ete
f
o
r
m
a
t,
an
d
th
e
p
r
o
ce
s
s
in
g
o
f
t
h
e
d
ig
ita
l
(
d
is
cr
ete)
s
ig
n
al
i
s
n
a
m
ed
d
ig
ita
l
s
ig
n
al
p
r
o
ce
s
s
i
n
g
.
A
d
is
cr
ete
s
i
g
n
a
l,
o
n
th
e
o
th
er
h
an
d
,
h
as
v
al
u
es
o
n
l
y
a
t
s
p
ec
if
ic
ti
m
e
p
er
io
d
s
.
T
h
e
b
en
ef
its
o
f
co
n
v
er
tin
g
s
ig
n
al
s
f
r
o
m
a
n
alo
g
u
e
to
d
i
s
cr
ete
(
d
ig
ital)
f
o
r
m
ar
e
t
h
a
t
it
ca
n
av
o
id
t
h
e
d
eg
r
ad
atio
n
an
d
co
r
r
u
p
tio
n
o
f
t
h
e
s
i
g
n
al
s
.
K
n
o
w
i
n
g
th
e
t
y
p
e
o
f
s
i
g
n
a
l
to
b
e
a
n
al
y
ze
d
h
as
a
s
ig
n
i
f
ica
n
t
in
f
lu
e
n
ce
o
n
th
e
t
y
p
e
o
f
an
al
y
tic
tech
n
iq
u
e
ch
o
s
e
n
.
Su
b
s
e
q
u
en
tl
y
,
it
is
n
ec
e
s
s
ar
y
to
ca
r
ef
u
ll
y
i
n
s
p
ec
t
th
e
v
ar
io
u
s
t
y
p
es
o
f
s
i
g
n
al
t
h
at
ar
e
en
co
u
n
ter
ed
in
p
r
ac
tice.
T
h
u
s
,
s
ig
n
als
ca
n
b
e
clas
s
i
f
ied
as
s
h
o
w
n
i
n
Fi
g
u
r
e
2
b
elo
w
.
Fig
u
r
e
2
.
Sch
e
m
atic
d
iag
r
a
m
o
f
s
i
g
n
al
cla
s
s
i
f
icat
io
n
Det
er
m
i
nis
t
ic
s
ig
na
l:
I
f
,
a
f
ter
a
s
u
itab
le
n
u
m
b
er
o
f
m
ea
s
u
r
e
m
en
ts
,
t
h
e
s
i
g
n
a
l c
a
n
b
e
d
escr
i
b
ed
b
y
a
n
an
al
y
tical
ex
p
r
es
s
io
n
an
d
it
s
v
alu
e
s
ca
n
b
e
p
r
ed
icted
at
an
y
ti
m
e
in
t
h
e
p
ast
an
d
f
u
t
u
r
e,
th
en
it
i
s
ca
lled
a
d
eter
m
in
i
s
tic
s
i
g
n
al,
s
u
c
h
as
a
s
in
u
s
o
id
.
A
d
eter
m
i
n
i
s
tic
s
i
g
n
al
m
a
y
b
e
clas
s
if
i
ed
as
a
p
er
io
d
ic
s
ig
n
al
i
f
th
e
ch
an
g
e
in
t
h
e
m
a
g
n
i
tu
d
e
o
f
t
h
e
s
i
g
n
a
l
r
ep
ea
ted
at
r
e
g
u
lar
ti
m
e
i
n
ter
v
als,
an
d
if
n
o
t
it
is
t
er
m
ed
an
ap
er
io
d
ic
s
ig
n
al
[
Fi
g
lio
la
an
d
B
ea
s
le
y
,
2
0
1
1
]
.
No
n
-
det
er
m
ini
s
t
ic:
C
o
n
v
er
s
el
y
,
n
o
n
-
d
eter
m
in
i
s
tic
o
r
r
an
d
o
m
s
i
g
n
als
ca
n
n
o
t
b
e
d
escr
ib
ed
b
y
a
d
eter
m
in
i
s
tic
m
at
h
e
m
atica
l
e
x
p
r
ess
io
n
a
n
d
th
e
y
ar
e
m
o
r
e
co
m
p
lex
th
a
n
d
eter
m
in
is
tic
s
i
g
n
als.
B
y
d
eter
m
in
in
g
th
eir
s
tati
s
tical
p
r
o
p
er
ties
,
r
a
n
d
o
m
s
i
g
n
al
s
ca
n
b
e
b
r
o
k
en
d
o
w
n
in
to
s
tatio
n
ar
y
an
d
n
o
n
-
s
tatio
n
ar
y
p
ar
ts
.
T
h
er
ef
o
r
e,
if
th
e
s
tatis
tica
l
p
r
o
p
er
ties
o
f
th
e
r
an
d
o
m
s
ig
n
al
d
o
n
o
t
ch
an
g
e
w
i
th
ti
m
e,
th
e
n
it
ca
n
b
e
ca
lled
a
s
tatio
n
ar
y
s
i
g
n
al,
o
th
er
w
i
s
e,
it
is
n
a
m
ed
n
o
n
-
s
tatio
n
ar
y
[
W
il
k
in
s
o
n
,
2
0
0
8
]
.
Ho
w
ev
er
,
a
m
a
j
o
r
ity
o
f
th
e
s
i
g
n
als
e
m
itted
f
r
o
m
i
n
d
u
s
tr
ial
m
ac
h
i
n
es
ar
e
n
o
n
-
d
eter
m
i
n
is
t
ic.
A
n
d
w
h
e
n
a
f
a
u
lt
s
tar
t
s
to
ap
p
ea
r
in
a
m
ac
h
i
n
e
t
h
e
s
ig
n
al
s
m
o
n
i
to
r
ed
ten
d
to
n
o
n
-
s
tatio
n
ar
y
i
n
n
a
tu
r
e.
T
h
er
ef
o
r
e,
a
s
u
itab
le
s
ig
n
al
p
r
o
ce
s
s
in
g
t
ec
h
n
iq
u
e
h
a
s
to
b
e
ap
p
lied
to
an
aly
s
e
th
is
t
y
p
e
o
f
s
ig
n
al,
as d
is
c
u
s
s
ed
in
t
h
e
co
m
in
g
s
ec
tio
n
s
.
3.
SI
G
NA
L
ANA
L
YS
I
S T
E
CH
NIQU
E
S
Af
ter
a
s
i
g
n
a
l
is
b
ein
g
ca
p
t
u
r
ed
,
a
lar
g
e
n
u
m
b
er
o
f
s
i
g
n
al
p
r
o
ce
s
s
in
g
tec
h
n
iq
u
es
ca
n
b
e
u
tili
ze
d
t
o
ex
tr
ac
t
th
e
m
o
s
t
s
e
n
s
it
iv
e
an
d
in
ter
esti
n
g
f
ea
t
u
r
es
co
n
ce
r
n
i
n
g
d
ef
ec
ts
.
A
s
a
m
a
tter
o
f
f
ac
t,
ch
o
o
s
in
g
th
e
m
o
s
t
s
u
itab
le
m
et
h
o
d
f
o
r
ea
ch
s
p
ec
if
ic
tas
k
r
ep
r
esen
t
s
a
m
aj
o
r
ch
allen
g
e
i
n
co
n
d
itio
n
m
o
n
ito
r
i
n
g
.
Sig
n
al
p
r
o
ce
s
s
in
g
tec
h
n
iq
u
e
s
ar
e
class
i
f
ied
as
u
s
in
g
ti
m
e
d
o
m
ai
n
,
f
r
eq
u
en
c
y
d
o
m
ai
n
,
an
d
ti
m
e
-
f
r
eq
u
en
c
y
d
o
m
ai
n
m
et
h
o
d
s
.
T
h
ese
m
eth
o
d
s
ar
e
n
o
t
to
tall
y
i
n
d
ep
en
d
en
t,
a
n
d
i
n
m
an
y
s
it
u
atio
n
s
t
h
e
y
co
m
p
l
e
m
en
t
ea
c
h
o
th
er
.
So
m
e
o
f
t
h
e
w
id
el
y
u
s
ed
s
i
g
n
al
s
p
r
o
ce
s
s
i
n
g
tech
n
iq
u
e
s
ar
e
d
is
cu
s
s
ed
in
t
h
e
f
o
llo
w
i
n
g
s
u
b
-
s
ec
t
io
n
s
to
estab
lis
h
th
eir
s
u
itab
il
it
y
f
o
r
r
o
b
o
t f
au
lt d
etec
tio
n
an
d
d
iag
n
o
s
is
.
3
.
1
.
T
i
m
e
-
Do
m
a
in
Sig
na
l A
na
ly
s
is
T
ec
h
niq
ue
T
h
e
tech
n
iq
u
e
u
s
ed
in
p
r
o
ce
s
s
i
n
g
th
e
s
ig
n
al
ca
n
b
e
cla
s
s
i
f
ied
as
a
ti
m
e
-
d
o
m
ai
n
m
eth
o
d
if
it
p
r
o
ce
s
s
es
a
r
a
w
s
ig
n
al
d
ir
ec
tl
y
in
th
e
ti
m
e
d
o
m
a
in
w
i
th
o
u
t
b
ein
g
tr
a
n
s
f
o
r
m
ed
i
n
to
an
o
th
er
d
o
m
ai
n
,
s
u
ch
a
s
th
e
f
r
eq
u
e
n
c
y
d
o
m
ain
[
5
]
.
I
t
is
co
n
s
id
er
ed
o
n
e
o
f
th
e
ch
ea
p
est
an
d
s
i
m
p
lest
ap
p
r
o
ac
h
es
to
i
m
p
le
m
en
t
f
o
r
f
au
lt
d
etec
tio
n
.
T
h
e
p
u
r
p
o
s
e
o
f
ti
m
e
-
d
o
m
ai
n
an
al
y
s
i
s
is
to
d
eter
m
i
n
e
th
e
s
ta
tis
tica
l
f
ea
t
u
r
es
o
f
th
e
o
r
ig
i
n
al
s
i
g
n
al
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
Dev
elo
p
men
t o
f a
C
o
n
d
itio
n
Mo
n
ito
r
in
g
A
lg
o
r
ith
m
fo
r
I
n
d
u
s
tr
ia
l R
o
b
o
ts
b
a
s
ed
….
(
A
la
a
A
b
d
u
lh
a
d
y
J
a
b
er
)
999
b
y
m
a
n
ip
u
lat
in
g
t
h
e
s
er
ies
o
f
d
is
cr
ete
n
u
m
b
er
s
.
W
ith
t
h
is
te
ch
n
iq
u
e,
h
o
w
e
v
er
,
o
n
l
y
t
h
e
f
a
u
lt
ca
n
b
e
d
etec
ted
w
it
h
o
u
t
d
iag
n
o
s
i
n
g
it
s
s
o
u
r
ce
.
Statis
tica
l
p
ar
a
m
eter
s
s
u
c
h
as
p
ea
k
v
al
u
e
(
P
K)
,
w
h
ic
h
r
ep
r
esen
t
s
th
e
m
a
x
i
m
u
m
a
m
p
lit
u
d
e
in
t
h
e
s
ig
n
al
r
e
g
ar
d
less
o
f
s
ig
n
,
ca
n
b
e
u
s
ed
to
g
iv
e
u
s
ef
u
l
i
n
f
o
r
m
atio
n
ab
o
u
t
th
e
h
id
d
en
d
ef
ec
t
s
r
ep
r
esen
ted
in
th
e
t
i
m
e
d
o
m
ai
n
s
i
g
n
a
l.
So
m
e
o
f
t
h
ese
p
ar
a
m
eter
s
ar
e
illu
s
tr
ated
as
s
h
o
w
n
:
Ro
o
t
-
m
ea
n
-
s
qu
a
re
(
RM
S)
is
d
ef
in
ed
as
th
e
s
q
u
ar
e
r
o
o
t
o
f
th
e
av
er
ag
e
o
f
t
h
e
s
u
m
o
f
th
e
s
q
u
ar
es
o
f
th
e
s
i
g
n
al
s
a
m
p
les,
(
E
q
u
atio
n
(
1
)
)
.
R
MS
ca
n
b
e
u
s
ed
f
o
r
m
e
asu
r
i
n
g
t
h
e
o
v
er
all
lev
el
o
f
av
er
ag
e
p
o
w
er
in
th
e
v
ib
r
atio
n
s
i
g
n
al
[
6
]
,
[
7
]
.
√
[
∑
[
(
1
)
w
h
er
e
[
is
t
h
e
o
r
ig
i
n
al
s
a
m
p
le
d
s
ig
n
al,
is
t
h
e
to
tal
n
u
m
b
er
o
f
s
a
m
p
les,
an
d
is
t
h
e
s
a
m
p
le
in
d
ex
.
Cre
s
t
f
a
ct
o
r
(
CF
)
is
a
n
o
n
-
d
i
m
en
s
io
n
a
l
p
ar
am
e
ter
s
d
ef
i
n
ed
as
th
e
r
atio
o
f
m
a
x
i
m
u
m
ab
s
o
lu
te
v
al
u
e
(
o
r
P
K
v
alu
e)
to
th
e
R
M
S v
al
u
e
o
f
th
e
s
i
g
n
al,
an
d
is
g
i
v
en
b
y
[
6
]
,
[
7
]
(
2
)
C
F
is
a
n
o
r
m
alize
d
m
ea
s
u
r
e
m
en
t
o
f
th
e
a
m
p
li
tu
d
e
o
f
th
e
s
i
g
n
al
w
h
ic
h
in
cr
ea
s
es
in
t
h
e
p
r
esen
ce
o
f
a
s
m
al
l
n
u
m
b
er
o
f
h
i
g
h
a
m
p
lit
u
d
e
p
ea
k
s
,
s
u
ch
as
i
n
th
e
ca
s
e
f
o
r
s
o
m
e
t
y
p
es
o
f
lo
ca
l
to
o
th
d
a
m
ag
e
i
n
a
g
ea
r
b
o
x
.
T
h
e
s
e
n
s
iti
v
it
y
o
f
C
F
to
th
e
c
h
an
g
es
i
n
t
h
e
s
h
ar
p
n
es
s
o
f
th
e
s
ig
n
al
is
m
u
ch
h
i
g
h
er
t
h
an
t
h
e
R
MS
v
a
lu
e,
an
d
i
t
is
m
u
c
h
less
l
ik
el
y
to
g
i
v
e
f
als
e
alar
m
s
t
h
an
u
s
i
n
g
th
e
(
P
K)
o
n
its
o
w
n
[
8
]
.
S
k
ew
nes
s
(
S
k
)
a
nd
K
urt
o
s
i
s
(
K
u)
ar
e
also
d
i
m
e
n
s
io
n
les
s
p
ar
a
m
eter
s
an
d
d
e
n
o
te
t
h
e
s
tati
s
tical
m
o
m
e
n
t
s
o
f
th
e
s
i
g
n
al
[
9
]
.
T
h
e
d
is
tr
ib
u
tio
n
s
h
ap
e
o
f
th
e
s
ig
n
a
l
ca
n
b
e
d
escr
ib
ed
u
s
in
g
th
e
3
rd
m
o
m
e
n
t
o
r
s
k
e
w
n
es
s
,
w
h
ich
is
a
g
a
u
g
e
o
f
s
y
m
m
etr
y
o
f
t
h
e
p
r
o
b
ab
ilit
y
d
en
s
it
y
f
u
n
ctio
n
(
P
DF)
ar
o
u
n
d
its
m
ea
n
.
I
f
th
e
d
is
tr
ib
u
tio
n
is
s
y
m
m
etr
ic,
it
s
v
alu
e
is
ze
r
o
.
T
h
e
s
k
e
w
n
e
s
s
b
ec
o
m
e
s
n
e
g
ati
v
e
i
f
t
h
e
d
is
tr
ib
u
tio
n
d
e
v
elo
p
s
a
lo
n
g
er
tail
le
f
t
o
f
th
e
m
ea
n
,
an
d
p
o
s
itiv
e
if
th
e
o
t
h
er
w
a
y
ar
o
u
n
d
,
in
d
icati
n
g
th
at
s
o
m
et
h
i
n
g
is
g
o
in
g
w
r
o
n
g
i
n
th
e
m
o
n
ito
r
e
d
s
y
s
te
m
,
as
s
h
o
w
n
in
Fi
g
u
r
e
3
[
10
]
.
T
h
e
4
th
m
o
m
e
n
t
o
r
k
u
r
to
s
i
s
r
ep
r
esen
t
s
a
m
ea
s
u
r
e
o
f
th
e
r
elativ
e
f
latn
e
s
s
o
r
s
p
ik
i
n
e
s
s
o
f
a
s
ig
n
al
co
m
p
ar
ed
to
its
n
o
r
m
al
s
tate.
S
k
e
w
n
e
s
s
a
n
d
Ku
r
to
s
is
ca
n
b
e
ca
lcu
lated
u
s
i
n
g
t
h
e
f
o
llo
w
i
n
g
eq
u
atio
n
s
:
∑
[
̅
(
3
)
∑
[
̅
(
4
)
w
h
er
e
̅
an
d
ar
e
th
e
s
ig
n
al
m
ea
n
an
d
s
ta
n
d
ar
d
d
ev
iatio
n
,
w
h
ic
h
r
ep
r
esen
t
t
h
e
f
ir
s
t
an
d
s
ec
o
n
d
m
o
m
e
n
t o
f
t
h
e
s
i
g
n
al
r
esp
ec
ti
v
el
y
,
a
s
g
i
v
e
n
b
y
:
̅
∑
[
(
5
)
√
∑
[
̅
(
6
)
E
v
er
y
s
i
g
n
al
d
is
tr
ib
u
tio
n
h
as
d
if
f
er
e
n
t
k
u
r
to
s
i
s
v
al
u
es
a
s
s
h
o
w
n
in
t
h
e
T
ab
le
1
[
11
]
.
T
h
e
m
o
n
ito
r
ed
s
ig
n
al
u
s
u
all
y
s
h
o
w
s
a
n
o
r
m
al
p
atter
n
w
it
h
a
k
u
r
to
s
is
v
al
u
e
o
f
ap
p
r
o
x
i
m
atel
y
3
i
f
it
is
h
ea
l
th
y
.
W
h
e
n
a
f
au
l
t i
s
d
ev
elo
p
ed
in
t
h
e
s
y
s
te
m
,
t
h
e
k
u
r
to
s
is
v
alu
e
i
n
cr
ea
s
es
in
d
icatin
g
t
h
at
th
e
s
i
g
n
al
i
s
n
o
lo
n
g
er
n
o
r
m
a
ll
y
d
is
tr
ib
u
ted
,
an
d
th
er
e
f
o
r
e,
it is
u
s
e
f
u
l in
id
en
ti
f
y
i
n
g
th
e
m
ac
h
in
e
n
at
u
r
e
[
12
]
.
Fig
u
r
e
3
.
P
o
s
itiv
e
an
d
n
e
g
ati
v
e
s
k
e
w
n
es
s
[
10
]
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.
8
,
No
.
2
,
A
p
r
il
2018
:
9
9
6
–
1
0
0
9
1000
T
ab
le
1
.
Ku
r
to
s
is
v
al
u
es
f
o
r
d
if
f
er
en
t si
g
n
al
d
is
tr
ib
u
tio
n
Ty
p
e
o
f
si
g
n
a
l
d
i
s
t
r
i
b
u
t
i
o
n
Ku
N
o
r
mal
-
p
e
a
k
3
F
l
a
t
t
e
r
t
h
a
n
n
o
r
mal
3
S
h
a
r
p
e
r
3
A
s
u
b
s
ta
n
tial
n
u
m
b
er
o
f
p
ap
e
r
s
h
av
e
e
m
p
lo
y
ed
ti
m
e
-
d
o
m
ai
n
tech
n
iq
u
e
to
id
en
ti
f
y
d
ef
ec
t
s
in
m
a
n
y
ap
p
licatio
n
s
.
Z
h
en
an
d
Z
h
a
n
g
[
1
3
]
an
d
L
i
an
d
Fro
g
ley
[
1
4
]
u
tili
ze
d
ti
m
e
-
d
o
m
ai
n
an
al
y
s
i
s
to
d
e
tect
f
au
lts
in
w
i
n
d
tu
r
b
i
n
e
b
ea
r
in
g
s
an
d
g
e
ar
s
r
esp
ec
tiv
el
y
.
P
iezo
elec
tr
ic
ac
ce
ler
o
m
eter
s
a
n
d
ca
p
ac
itiv
e
s
en
s
o
r
s
w
er
e
u
s
ed
to
ac
q
u
ir
e
v
ib
r
atio
n
s
i
g
n
a
ls
f
r
o
m
h
ea
lt
h
y
a
n
d
f
a
u
lt
y
b
ea
r
in
g
s
.
Stat
is
tical
p
ar
a
m
eter
s
i
n
clu
d
e
p
ea
k
v
al
u
e,
av
er
ag
e,
v
ar
ia
n
ce
,
R
M
S
an
d
k
u
r
to
s
is
h
av
e
b
ee
n
ca
lc
u
lated
f
o
r
th
e
b
ea
r
in
g
s
a
n
d
b
y
co
m
p
ar
in
g
t
h
eir
r
esu
l
ts
,
th
e
s
tat
u
s
o
f
b
ea
r
in
g
h
as
b
ee
n
f
o
u
n
d
ea
s
il
y
.
A
l
th
o
u
g
h
ti
m
e
-
d
o
m
ai
n
an
a
l
y
s
is
h
as
m
a
n
y
ad
v
an
ta
g
e
s
,
in
cl
u
d
in
g
s
tr
aig
h
t
f
o
r
w
ar
d
s
ig
n
al
p
r
o
ce
s
s
in
g
a
n
d
s
i
m
p
le
ca
lc
u
latio
n
s
,
i
t
is
r
elati
v
el
y
i
n
s
en
s
iti
v
e
to
o
l
f
o
r
ea
r
ly
s
ta
g
e
f
a
u
lt
d
etec
tio
n
an
d
s
ev
er
el
y
d
i
s
tr
i
b
u
ted
d
ef
ec
ts
i
f
u
s
ed
w
it
h
o
u
t
b
ei
n
g
co
m
b
i
n
ed
w
it
h
o
th
er
m
ac
h
in
e
h
ea
l
th
ev
alu
a
tio
n
tech
n
iq
u
es
[
15
]
.
T
h
is
w
as
v
er
i
f
ied
i
n
t
w
o
o
t
h
er
p
ap
er
s
o
n
b
ea
r
in
g
h
ea
lt
h
m
o
n
ito
r
in
g
[
16
]
,
[
17
]
,
w
h
o
co
n
cl
u
d
ed
th
at
m
o
s
t
o
f
th
e
b
ea
r
in
g
f
ati
g
u
e
ti
m
e
i
s
co
n
s
u
m
ed
d
u
r
in
g
t
h
e
d
ev
el
o
p
m
e
n
t
o
f
m
ater
ial
a
cc
u
m
u
lat
iv
e
d
a
m
a
g
e,
w
h
er
ea
s
th
e
p
er
io
d
o
f
cr
ac
k
p
r
o
p
ag
at
io
n
an
d
d
e
v
elo
p
m
e
n
t
i
s
co
m
p
ar
ativ
el
y
s
h
o
r
t.
T
h
e
ti
m
e
a
v
ailab
le
f
o
r
in
itia
tin
g
a
m
ai
n
ten
a
n
ce
ac
tio
n
b
ef
o
r
e
a
c
atastro
p
h
ic
f
a
ilu
r
e
a
f
ter
co
n
f
ir
m
i
n
g
a
d
e
f
ec
t
w
il
l
b
e
v
er
y
s
h
o
r
t
if
t
h
i
s
tr
ad
itio
n
a
l
tech
n
i
q
u
e
i
s
u
s
ed
.
I
n
co
n
tr
as
t,
T
s
en
g
,
et
al.
[
1
8
]
an
d
Ka
m
i
el,
et
al.
[
1
9
]
h
av
e
s
h
o
w
n
th
at
u
til
izin
g
t
h
e
s
tati
s
t
ical
p
r
o
ce
s
s
co
n
tr
o
l
(
o
r
s
tatis
tical
co
n
tr
o
l
ch
ar
t)
tech
n
i
q
u
e
s
co
m
b
i
n
ed
w
it
h
th
e
ti
m
e
-
d
o
m
ai
n
f
ea
t
u
r
es
h
av
e
e
f
f
ec
tiv
el
y
i
m
p
r
o
v
ed
th
e
f
au
lt
d
etec
tio
n
p
r
o
ce
s
s
,
b
u
t
co
u
ld
n
o
t
d
iag
n
o
s
e
it.
T
h
u
s
,
as
it
w
as
m
en
tio
n
ed
p
r
ev
io
u
s
l
y
t
h
at
t
h
e
f
ir
s
t
s
ta
g
e
is
i
n
ch
ar
g
e
o
f
o
n
l
y
d
etec
ti
n
g
t
h
e
f
a
u
lt,
s
o
th
e
co
m
b
i
n
atio
n
o
f
ti
m
e
-
d
o
m
ai
n
s
ig
n
al
a
n
al
y
s
i
s
w
ith
SC
C
w
ill b
e
ap
p
lied
at
th
is
s
tag
e.
3
.
2
.
F
re
qu
ency
-
Do
m
a
i
n Sig
na
l A
na
ly
s
is
T
ec
hn
iq
ue
I
n
m
o
s
t
ap
p
licatio
n
s
,
s
i
g
n
a
l
r
ep
r
esen
tatio
n
i
n
t
h
e
ti
m
e
d
o
m
ai
n
is
n
o
t
th
e
m
o
s
t
ap
p
r
o
p
r
iate,
s
in
ce
m
u
c
h
o
f
th
e
r
elev
a
n
t
i
n
f
o
r
m
atio
n
is
h
id
d
en
i
n
t
h
e
f
r
eq
u
e
n
c
y
co
n
te
n
t
o
f
t
h
e
s
ig
n
al.
Fr
eq
u
en
c
y
o
r
s
p
ec
tr
al
an
al
y
s
is
p
r
o
v
id
es
ad
d
itio
n
al
i
n
f
o
r
m
atio
n
ab
o
u
t
ti
m
e
s
er
ies
d
ata,
an
d
ca
n
b
e
u
s
ed
to
e
x
p
lain
t
h
e
s
p
ec
tr
a
o
f
f
r
eq
u
en
c
ies
w
h
ic
h
e
x
is
t
in
th
e
s
ig
n
al.
T
h
e
p
ar
a
m
eter
s
o
f
f
r
eq
u
en
c
y
d
o
m
a
in
a
n
al
y
s
i
s
ar
e
m
o
r
e
r
eliab
le
in
d
am
a
g
e
d
iag
n
o
s
i
s
th
a
n
ti
m
e
d
o
m
ai
n
p
ar
a
m
eter
s
.
Ho
w
e
v
er
,
ti
m
e
-
d
o
m
ain
s
ig
n
al
s
ca
n
b
e
r
ep
r
esen
ted
b
y
a
f
a
m
il
y
o
f
co
m
p
lex
ex
p
o
n
e
n
t
s
w
it
h
in
f
i
n
ite
ti
m
e
d
u
r
atio
n
u
s
in
g
Fo
u
r
ier
tr
an
s
f
o
r
m
s
(
FT
s
)
.
A
d
d
itio
n
all
y
,
an
y
g
iv
e
n
ti
m
e
-
d
o
m
ain
s
i
g
n
al
ca
n
b
e
w
r
itte
n
as
a
f
u
n
ctio
n
o
f
all
o
f
t
h
e
f
r
eq
u
e
n
cies
p
r
esen
t
w
it
h
in
it
u
s
i
n
g
Fo
u
r
ie
r
tr
an
s
f
o
r
m
s
,
w
h
ich
allo
w
s
an
al
y
s
t
s
to
co
n
ce
n
tr
ate
o
n
a
ll
o
r
s
p
ec
if
ic
f
r
eq
u
e
n
cie
s
.
T
h
is
i
s
ac
h
iev
ed
b
y
r
ep
r
esen
tin
g
a
ti
m
e
-
d
o
m
ain
s
ig
n
a
l
b
y
s
i
n
u
s
o
id
al
co
m
p
o
n
en
ts
w
i
th
i
n
f
i
n
ite
ti
m
e
d
u
r
ati
o
n
[
20
]
,
[
21
]
,
w
h
ic
h
ar
e
g
i
v
en
b
y
:
∫
(
7
)
w
h
er
e
is
t
h
e
tr
an
s
f
o
r
m
ed
s
i
g
n
al,
is
f
r
eq
u
en
c
y
,
a
n
d
is
ti
m
e.
T
o
r
eg
en
er
ate
th
e
ti
m
e
d
o
m
ain
s
ig
n
al
b
ac
k
f
r
o
m
t
h
e
f
r
eq
u
e
n
c
y
d
o
m
ain
s
i
g
n
al,
a
n
in
v
er
s
e
Fo
u
r
ier
tr
an
s
f
o
r
m
h
as to
b
e
ap
p
lied
:
∫
(
8
)
Ho
w
e
v
er
,
th
e
co
n
ti
n
u
o
u
s
-
t
i
m
e
Fo
u
r
ier
tr
a
n
s
f
o
r
m
ca
n
o
n
l
y
b
e
ap
p
lied
to
s
ig
n
als
o
f
co
n
ti
n
u
o
u
s
ti
m
e
an
d
in
f
i
n
ite
d
u
r
atio
n
.
A
d
d
itio
n
all
y
,
i
n
m
o
s
t
ap
p
licatio
n
s
,
s
i
g
n
al
s
ar
e
co
m
m
o
n
l
y
ac
q
u
ir
ed
an
d
s
a
m
p
led
at
a
s
p
ec
if
ic
f
r
eq
u
e
n
c
y
,
w
h
ic
h
is
c
alled
th
e
s
a
m
p
li
n
g
f
r
eq
u
e
n
c
y
(
)
,
an
d
co
n
v
er
ted
in
to
a
s
et
o
f
d
ig
ital d
ata
p
o
in
t
s
,
an
d
th
er
ef
o
r
e
it is
n
ec
es
s
ar
y
to
u
s
e
t
h
e
d
is
cr
ete
v
er
s
io
n
o
f
t
h
e
Fo
u
r
ier
tr
an
s
f
o
r
m
(
DFT
)
[
20
]
,
[
21
]
,
w
h
ic
h
is
:
[
∑
[
(
⁄
)
(
9
)
[
∑
[
(
⁄
)
(
1
0
)
w
h
er
e
[
an
d
[
d
en
o
te
d
is
cr
ete
f
r
eq
u
en
c
y
an
d
t
i
m
e
s
i
g
n
al
r
esp
ec
tiv
el
y
,
k
a
n
d
n
r
ep
r
esen
t
th
e
f
r
eq
u
en
c
y
an
d
ti
m
e
in
d
ices,
an
d
r
ep
r
esen
ts
th
e
to
tal
n
u
m
b
er
o
f
p
o
in
ts
th
at
ar
e
eq
u
all
y
s
p
ac
ed
.
T
o
p
er
f
o
r
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
Dev
elo
p
men
t o
f a
C
o
n
d
itio
n
Mo
n
ito
r
in
g
A
lg
o
r
ith
m
fo
r
I
n
d
u
s
tr
ia
l R
o
b
o
ts
b
a
s
ed
….
(
A
la
a
A
b
d
u
lh
a
d
y
J
a
b
er
)
1001
th
e
DFT
,
a
lar
g
e
n
u
m
b
er
o
f
c
o
m
p
le
x
co
m
p
u
tatio
n
s
ar
e
in
v
o
lv
ed
.
T
h
is
is
a
co
m
p
u
tatio
n
all
y
in
te
n
s
iv
e
p
r
o
ce
s
s
an
d
n
o
t
p
r
ac
tical
w
h
en
p
er
f
o
r
m
i
n
g
r
ea
l
-
t
i
m
e
s
i
g
n
al
a
n
al
y
s
i
s
.
T
h
u
s
,
a
n
al
g
o
r
ith
m
th
at
is
ab
le
to
p
er
f
o
r
m
r
ap
id
ca
lcu
latio
n
o
f
t
h
e
D
FT
b
y
g
r
ea
tl
y
r
ed
u
ci
n
g
t
h
e
n
u
m
b
er
o
f
co
m
p
u
tatio
n
s
w
a
s
d
ev
e
lo
p
ed
in
t
h
e
ea
r
l
y
1
9
6
0
s
[
22
]
.
T
h
is
alg
o
r
ith
m
is
k
n
o
w
n
as
t
h
e
f
ast
Fo
u
r
ier
tr
an
s
f
o
r
m
(
F
FT
)
an
d
co
m
m
o
n
l
y
u
s
ed
in
i
n
d
u
s
tr
y
f
o
r
an
al
y
z
in
g
t
h
e
d
ata.
T
h
e
FF
T
alg
o
r
ith
m
r
eq
u
ir
es
t
h
e
ti
m
e
d
o
m
ai
n
s
eq
u
en
ce
[
to
h
av
e
a
len
g
th
o
f
d
ata
p
o
in
ts
eq
u
al
to
t
h
e
p
o
w
er
o
f
2
;
w
h
ic
h
m
ea
n
s
t
h
at
s
a
m
p
les
a
r
e
r
eq
u
ir
ed
w
h
er
e
is
a
p
o
s
itiv
e
in
teg
er
[
22
]
.
Gen
er
all
y
s
p
ea
k
in
g
,
t
h
e
FF
T
is
a
u
s
e
f
u
l
tec
h
n
iq
u
e
f
o
r
tr
an
s
f
o
r
m
i
n
g
d
i
f
f
ic
u
lt
o
p
er
atio
n
s
i
n
t
o
v
er
y
s
i
m
p
le
o
n
e
s
,
an
d
f
o
r
an
al
y
zi
n
g
s
tatio
n
ar
y
s
ig
n
al
s
,
w
h
ic
h
h
a
v
e
s
p
ec
tr
al
co
n
ten
t
t
h
at
d
o
es
n
o
t
c
h
an
g
e
o
v
er
ti
m
e.
A
l
s
o
,
in
m
an
y
s
ig
n
al
p
r
o
ce
s
s
i
n
g
ap
p
lic
atio
n
s
,
t
h
e
Fo
u
r
ier
tr
an
s
f
o
r
m
r
ep
r
esen
ts
a
n
ad
eq
u
ate
an
al
y
tic
m
eth
o
d
.
Ho
w
e
v
er
,
th
e
Fo
u
r
ier
tech
n
iq
u
e
ca
n
b
ec
o
m
e
les
s
ef
f
ec
t
iv
e
an
d
in
e
f
f
icie
n
t
i
f
t
h
e
an
a
l
y
ze
d
s
ig
n
al
i
s
n
o
n
-
s
tat
io
n
ar
y
an
d
tr
an
s
ito
r
y
,
w
ith
ch
ar
ac
te
r
i
s
tics
t
h
a
t
c
h
an
g
e
o
v
er
ti
m
e,
d
u
e
to
its
co
n
s
ta
n
t
ti
m
e
an
d
f
r
eq
u
en
c
y
r
e
s
o
lu
t
io
n
s
[
23
]
,
[
24
]
.
Fu
r
th
er
m
o
r
e,
it
h
as
a
m
aj
o
r
d
r
aw
b
ac
k
t
h
at
w
h
e
n
it
i
s
u
s
ed
in
tr
an
s
f
o
r
m
i
n
g
th
e
s
ig
n
al
f
r
o
m
t
h
e
ti
m
e
d
o
m
a
in
to
t
h
e
f
r
eq
u
e
n
c
y
d
o
m
ai
n
,
al
l o
f
t
h
e
in
f
o
r
m
at
io
n
b
elo
n
g
i
n
g
to
ti
m
e
w
il
l b
e
lo
s
t
[
24
]
.
Nev
er
th
eless
,
p
r
o
v
id
ed
th
at
t
h
e
s
i
g
n
als
ar
e
s
tat
io
n
ar
y
,
th
e
ta
s
k
o
f
d
is
ti
n
g
u
i
s
h
in
g
f
au
lt
y
f
r
o
m
n
o
r
m
al
co
n
d
itio
n
s
b
ased
o
n
t
h
e
FF
T
ca
n
b
e
ac
cu
r
ately
ac
h
ie
v
e
d
.
T
h
is
is
p
er
f
o
r
m
ed
b
y
i
n
v
esti
g
a
tin
g
p
ar
ticu
lar
esti
m
ated
f
r
eq
u
e
n
cies
r
elate
d
to
s
o
m
e
co
m
p
o
n
e
n
t
in
t
h
e
m
ac
h
in
e,
s
u
c
h
as
g
ea
r
s
o
r
b
ea
r
in
g
s
.
I
f
a
f
a
u
lt
h
as
d
ev
elo
p
ed
in
th
ese
co
m
p
o
n
e
n
ts
,
th
e
a
m
p
li
tu
d
e
o
f
th
e
s
e
p
ar
ticu
lar
f
r
eq
u
e
n
cies
w
i
ll
ch
a
n
g
e
o
r
s
o
m
e
s
id
eb
an
d
f
r
eq
u
en
c
ies
w
ill
b
e
d
is
tr
ib
u
te
d
ar
o
u
n
d
th
e
m
.
T
h
er
ef
o
r
e,
m
an
y
f
au
l
t
d
iag
n
o
s
i
s
s
t
u
d
ies
u
s
in
g
th
i
s
tech
n
iq
u
e
h
av
e
b
ee
n
p
u
b
lis
h
ed
,
h
a
v
i
n
g
b
ee
n
s
u
cc
e
s
s
f
u
ll
y
ap
p
lied
f
o
r
th
e
co
n
d
itio
n
m
o
n
ito
r
in
g
o
f
elec
tr
ical
m
o
to
r
s
,
cu
tti
n
g
to
o
ls
,
b
ea
r
in
g
s
a
n
d
g
ea
r
s
[
25
-
27
]
.
I
n
d
u
s
tr
ial
r
o
b
o
ts
,
o
n
t
h
e
o
t
h
er
h
a
n
d
,
ar
e
r
eq
u
ir
ed
to
f
u
n
ctio
n
u
n
d
er
a
w
id
e
r
an
g
e
o
f
j
o
in
t
s
p
ee
d
s
an
d
v
ar
iab
le
lo
ad
in
g
w
i
th
i
n
a
lar
g
e
w
o
r
k
i
n
g
ar
ea
an
d
v
ar
y
in
g
j
o
in
t
ar
tic
u
latio
n
.
A
l
s
o
,
th
e
t
y
p
ical
c
y
cle
o
f
r
o
b
o
t
m
o
tio
n
s
tar
ts
w
it
h
a
n
ac
ce
le
r
atio
n
f
r
o
m
t
h
e
i
n
itial
p
o
s
iti
o
n
,
th
e
n
m
o
v
i
n
g
at
co
n
s
ta
n
t
s
p
ee
d
,
an
d
f
in
all
y
d
ec
eler
atio
n
to
w
ar
d
s
th
e
en
d
p
o
s
itio
n
,
w
h
ich
m
ea
n
s
m
o
v
e
m
en
t
at
a
ti
m
e
-
v
ar
y
in
g
s
p
e
ed
[
28
]
,
[
29
]
.
T
h
is
m
o
tio
n
m
a
k
es
t
h
e
r
o
b
o
t
a
h
ig
h
l
y
n
o
n
-
li
n
ea
r
d
y
n
a
m
ic
s
y
s
te
m
a
n
d
i
n
tr
o
d
u
ce
s
th
e
n
o
n
-
s
tat
io
n
ar
y
p
h
en
o
m
en
o
n
in
t
h
e
ca
p
tu
r
ed
v
ib
r
atio
n
s
ig
n
a
l,
an
d
th
is
w
i
ll
b
e
m
o
r
e
co
m
p
l
icate
d
if
a
f
a
u
lt
i
s
p
r
o
g
r
ess
ed
i
n
t
h
e
r
o
b
o
t.
Usi
n
g
a
co
n
v
e
n
tio
n
al
FF
T
s
ig
n
al
an
a
l
y
s
i
s
tec
h
n
iq
u
e
to
p
r
o
ce
s
s
s
u
c
h
s
i
g
n
a
ls
w
it
h
tr
an
s
ie
n
tl
y
n
at
u
r
e
is
n
o
t f
ea
s
ib
le
f
o
r
ac
cu
r
ate
r
o
b
o
t
f
au
lt
d
iag
n
o
s
is
in
s
ec
o
n
d
s
ta
g
e.
T
h
er
ef
o
r
e,
s
ev
er
al
m
eth
o
d
s
o
f
s
i
g
n
al
p
r
o
ce
s
s
in
g
h
a
v
e
b
ee
n
d
ev
elo
p
ed
to
co
p
e
w
ith
th
is
c
ateg
o
r
y
o
f
s
i
g
n
als,
s
u
c
h
a
s
j
o
in
t
ti
m
e
-
f
r
eq
u
en
c
y
tec
h
n
iq
u
e
s
,
as
d
is
c
u
s
s
ed
in
th
e
f
o
llo
w
in
g
s
ec
t
io
n
.
3
.
3
.
T
i
m
e
–
F
re
qu
e
ncy
Sig
na
l A
na
ly
s
is
T
ec
hn
iq
ue
T
h
e
s
ig
n
als
f
r
o
m
f
au
l
t
y
p
ar
ts
h
av
e
a
n
o
n
-
s
tat
io
n
ar
y
n
at
u
r
e.
Ho
w
e
v
er
,
if
t
h
e
f
r
eq
u
en
c
y
co
m
p
o
n
en
t
o
f
th
e
n
o
n
-
s
tatio
n
ar
y
s
ig
n
al
s
is
c
alcu
lated
u
s
i
n
g
t
h
e
Fo
u
r
ier
tr
an
s
f
o
r
m
,
t
h
e
r
es
u
lts
w
i
ll
r
ep
r
esen
t
t
h
e
f
r
eq
u
e
n
c
y
co
m
p
o
s
i
tio
n
a
v
er
ag
ed
o
v
er
th
e
d
u
r
atio
n
o
f
th
e
s
i
g
n
al
[
30
]
.
C
o
n
s
eq
u
en
tl
y
,
t
h
e
ch
ar
ac
ter
i
s
t
ics
o
f
t
h
e
tr
an
s
i
e
n
t
s
ig
n
al
ca
n
n
o
t
b
e
d
escr
ib
ed
a
d
eq
u
atel
y
u
s
in
g
th
e
Fo
u
r
ier
t
r
an
s
f
o
r
m
,
h
o
w
ev
er
,
t
i
m
e
-
f
r
eq
u
en
c
y
a
n
al
y
s
i
s
h
a
s
b
ee
n
in
v
e
s
ti
g
ated
an
d
ap
p
lied
f
o
r
th
e
f
au
lt
d
iag
n
o
s
i
s
o
f
m
ac
h
i
n
er
y
b
ec
au
s
e
o
f
its
c
ap
ab
ilit
y
o
f
s
i
g
n
al
r
ep
r
esen
tatio
n
i
n
b
o
th
th
e
f
r
eq
u
en
c
y
a
n
d
ti
m
e
d
o
m
ain
s
[
24
]
,
[
30
]
.
T
h
is
u
n
iq
u
e
f
ea
t
u
r
e
o
f
ti
m
e
-
f
r
eq
u
en
c
y
an
al
y
s
is
tec
h
n
iq
u
es
m
ea
n
s
th
at
it
is
s
u
itab
le
f
o
r
n
o
n
-
s
ta
tio
n
ar
y
s
i
g
n
als.
Mo
r
eo
v
er
,
ti
m
e
-
f
r
eq
u
en
c
y
m
e
th
o
d
s
ca
n
g
i
v
e
in
ter
es
tin
g
in
f
o
r
m
a
t
io
n
w
i
th
r
eg
ar
d
to
en
er
g
y
d
i
s
tr
ib
u
tio
n
o
v
er
f
r
eq
u
en
c
y
b
a
n
d
s
.
A
n
u
m
b
er
o
f
tech
n
iq
u
es
o
f
t
i
m
e
-
f
r
eq
u
en
c
y
an
al
y
s
is
,
s
u
c
h
as
th
e
s
h
o
r
t
ti
m
e
Fo
u
r
ier
tr
an
s
f
o
r
m
a
n
d
w
a
v
el
et
tr
an
s
f
o
r
m
s
,
h
a
v
e
b
ee
n
u
s
ed
f
o
r
f
au
lt
d
etec
tio
n
an
d
d
iag
n
o
s
is
.
T
h
ese
tech
n
i
q
u
es
w
ill
n
o
w
b
e
d
is
cu
s
s
ed
to
id
en
tify
t
h
e
m
ai
n
d
if
f
er
e
n
ce
s
b
et
w
ee
n
th
e
m
a
n
d
s
elec
t th
e
b
est to
b
e
u
s
ed
a
t th
e
d
iag
n
o
s
i
s
s
ta
g
e.
3
.
3
.
1
.
Sh
o
rt
t
i
m
e
F
o
urier
T
ra
ns
f
o
rm
s
T
o
o
v
er
co
m
e
t
h
e
li
m
ita
tio
n
s
o
f
th
e
Fo
u
r
ier
tr
an
s
f
o
r
m
tec
h
n
iq
u
e,
Gab
o
r
in
tr
o
d
u
ce
d
a
win
d
o
w
in
g
tech
n
iq
u
e
i
n
1
9
4
6
k
n
o
w
n
as
t
h
e
s
h
o
r
t
ti
m
e
Fo
u
r
ier
tr
an
s
f
o
r
m
(
ST
FT
)
.
T
h
e
S
T
FT
alg
o
r
ith
m
is
b
ased
o
n
t
h
e
d
iv
is
io
n
o
f
th
e
s
ig
n
al
i
n
to
s
m
all
p
o
r
tio
n
s
w
h
ic
h
ar
e
ass
u
m
ed
to
b
e
s
tatio
n
ar
y
.
T
h
en
,
a
w
i
n
d
o
w
f
u
n
c
tio
n
i
s
lo
ca
ted
at
t
h
e
s
tar
t o
f
t
h
e
s
ig
n
a
l a
n
d
m
u
ltip
lied
to
g
et
h
er
.
Af
te
r
th
at,
th
e
Fo
u
r
ier
tr
an
s
f
o
r
m
will b
e
ta
k
e
n
f
o
r
t
h
e
r
esu
lt
o
f
th
is
p
r
o
d
u
ct.
Nex
t,
th
i
s
w
i
n
d
o
w
f
u
n
ctio
n
is
m
o
v
e
d
to
a
n
e
w
s
e
g
m
e
n
t
o
f
th
e
s
i
g
n
al
a
n
d
th
e
ab
o
v
e
-
m
en
tio
n
ed
p
r
o
ce
s
s
i
s
r
ep
ea
ted
.
T
h
is
s
eq
u
en
ce
is
r
ep
ea
ted
u
n
t
il
t
h
e
e
n
d
o
f
t
h
e
s
ig
n
al
i
s
r
ea
ch
ed
[
31
]
.
A
s
a
r
esu
lt,
t
h
e
ST
FT
o
u
tlin
es
t
h
e
t
i
m
e
-
d
o
m
ai
n
s
ig
n
al
in
to
a
t
w
o
-
d
i
m
en
s
io
n
al
ti
m
e
-
f
r
eq
u
e
n
c
y
r
ep
r
esen
tatio
n
.
T
h
i
s
ca
n
b
e
m
at
h
e
m
a
ticall
y
ex
p
r
ess
ed
an
d
g
r
ap
h
icall
y
r
e
v
ea
led
as
f
o
llo
w
.
∫
(
1
1
)
Fig
u
r
e
4
s
h
o
w
s
t
h
e
s
i
g
n
al
an
a
l
y
s
ed
b
y
ST
FT
[
3
2
]
.
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.
8
,
No
.
2
,
A
p
r
il
2018
:
9
9
6
–
1
0
0
9
1002
Fig
u
r
e
4.
Sig
n
al
an
al
y
s
ed
b
y
S
T
F
T
[
32
]
is
t
h
e
Fo
u
r
ier
tr
a
n
s
f
o
r
m
o
f
t
h
e
s
i
g
n
al
w
h
ic
h
h
a
s
alr
ea
d
y
b
ee
n
w
i
n
d
o
w
ed
b
y
t
h
e
w
i
n
d
o
w
f
u
n
ctio
n
w
it
h
r
esp
ec
t
to
th
e
tim
e
s
h
if
t
v
ar
iab
le
.
Var
io
u
s
w
in
d
o
w
t
y
p
es,
w
it
h
ea
ch
o
n
e
e
m
p
lo
y
ed
f
o
r
a
p
ar
ticu
lar
ap
p
licatio
n
,
h
a
v
e
b
ee
n
d
e
v
elo
p
ed
o
v
er
th
e
p
ast
d
ec
ad
es.
Fo
r
in
s
t
an
ce
,
th
e
Ha
n
n
an
d
Ha
m
m
i
n
g
w
i
n
d
o
w
s
ar
e
u
tili
z
ed
f
o
r
an
aly
z
in
g
r
an
d
o
m
an
d
n
ar
r
o
w
b
an
d
s
ig
n
al
s
[
32
]
,
w
h
er
ea
s
a
Gau
s
s
ian
w
i
n
d
o
w
is
e
x
p
lo
ited
f
o
r
a
n
al
y
zin
g
tr
an
s
ien
t
s
i
g
n
als.
Selecti
o
n
o
f
t
h
e
w
i
n
d
o
w
f
u
n
ctio
n
h
a
s
a
d
ir
ec
t
in
f
l
u
e
n
ce
o
n
th
e
ti
m
e
a
n
d
f
r
eq
u
e
n
c
y
r
es
o
lu
tio
n
s
o
f
th
e
an
al
y
ze
d
s
i
g
n
a
l.
Gen
er
all
y
,
s
u
p
er
io
r
s
ep
ar
ati
o
n
o
f
th
e
ess
e
n
tia
l
co
m
p
o
n
e
n
t
s
w
it
h
i
n
a
s
i
g
n
al
ca
n
b
e
ac
h
ie
v
ed
i
f
h
i
g
h
r
eso
lu
tio
n
i
n
th
e
ti
m
e
an
d
f
r
eq
u
e
n
c
y
d
o
m
a
in
s
is
u
s
ed
.
T
o
illu
s
tr
ate
t
h
e
d
i
f
f
er
en
ce
b
et
w
e
en
FF
T
an
d
ST
FT
a
L
ab
VI
E
W
p
r
o
g
r
am
m
e,
d
esig
n
ed
b
y
K
eh
tar
n
a
v
az
[
2
1
]
w
a
s
u
s
ed
,
i
n
w
h
ic
h
t
h
r
ee
f
o
r
m
s
o
f
s
i
g
n
als
w
er
e
co
m
b
i
n
ed
to
p
r
o
d
u
ce
a
n
o
n
-
s
tatio
n
ar
y
s
i
g
n
al
w
it
h
5
1
2
-
i
n
p
u
t
p
o
in
ts
.
T
h
e
f
o
r
m
s
o
f
t
h
e
co
m
b
in
ed
s
i
g
n
als
ar
e
a
c
h
ir
p
s
i
g
n
al
w
ith
li
n
ea
r
l
y
d
ec
r
ea
s
in
g
f
r
eq
u
en
c
y
f
r
o
m
2
0
0
Hz
to
1
2
0
Hz,
a
s
i
n
u
s
o
id
al
s
i
g
n
al
o
f
7
5
Hz,
a
n
d
a
n
i
m
p
u
l
s
e
s
i
g
n
al
lo
ca
ted
at
t
h
e
2
5
6
th
s
a
m
p
le
a
n
d
h
av
in
g
a
m
p
lit
u
d
e
o
f
2
.
T
h
e
co
m
p
o
s
ite
s
ig
n
al
an
d
it
s
FF
T
an
d
ST
FT
ar
e
s
h
o
w
n
i
n
t
h
e
Fi
g
u
r
e
5
.
Fig
u
r
e
5
.
T
h
e
d
if
f
er
en
ce
b
et
wee
n
FF
T
an
d
ST
FT
f
o
r
a
n
o
n
-
s
tatio
n
ar
y
s
ig
n
al
Fro
m
Fig
u
r
e
5
it
ca
n
b
e
o
b
s
er
v
ed
th
at
i
n
th
e
F
FT
s
p
ec
tr
u
m
g
r
ap
h
th
er
e
is
o
n
e
m
aj
o
r
p
ea
k
at
7
5
Hz,
an
d
also
t
h
er
e
is
a
n
i
n
d
icatio
n
o
f
p
r
esen
ce
o
f
a
s
ig
n
al
f
r
o
m
1
2
0
Hz
to
2
0
0
Hz.
Ho
w
ev
er
,
th
e
i
m
p
u
l
s
e
s
ig
n
al
,
w
h
ic
h
h
as
s
h
o
r
t
ti
m
e
d
u
r
atio
n
,
ca
n
n
o
t
b
e
r
ec
o
g
n
ized
i
n
t
h
e
s
p
ec
tr
u
m
,
alt
h
o
u
g
h
it
ca
n
clea
r
l
y
b
e
o
b
s
er
v
ed
in
th
e
ST
FT
g
r
ap
h
at
0
.
5
s
ec
o
n
d
,
w
h
ic
h
s
h
o
w
s
t
h
e
s
p
ec
tr
o
g
r
a
m
f
o
r
a
ti
m
e
i
n
cr
e
m
e
n
t
o
f
1
s
ec
o
n
d
an
d
a
r
ec
tan
g
u
lar
w
in
d
o
w
o
f
w
id
th
4
8
p
o
in
ts
.
A
lt
h
o
u
g
h
th
e
ST
FT
p
r
o
v
id
es
b
o
th
th
e
f
r
eq
u
en
c
y
s
p
ec
tr
u
m
a
n
d
t
h
e
ti
m
e
e
v
o
lu
tio
n
o
f
th
e
s
ig
n
al,
it
d
o
es
h
av
e
a
m
aj
o
r
d
r
a
w
b
ac
k
:
it
h
as
a
f
i
x
ed
r
eso
lu
tio
n
w
it
h
r
esp
ec
t
to
th
e
ti
m
e
w
i
n
d
o
w
s
ize
at
all
f
r
eq
u
e
n
cies
,
an
d
ca
n
b
e
ex
p
lain
ed
as
f
o
llo
w
s
.
W
h
e
n
th
e
F
FT
is
u
s
ed
it
ca
n
b
e
n
o
ticed
th
at
th
er
e
is
n
o
ti
m
e
r
eso
l
u
tio
n
,
b
u
t
o
n
th
e
o
th
er
h
a
n
d
th
e
f
r
eq
u
en
c
y
r
eso
lu
t
io
n
is
v
er
y
h
i
g
h
.
T
h
e
r
ea
s
o
n
f
o
r
th
is
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
Dev
elo
p
men
t o
f a
C
o
n
d
itio
n
Mo
n
ito
r
in
g
A
lg
o
r
ith
m
fo
r
I
n
d
u
s
tr
ia
l R
o
b
o
ts
b
a
s
ed
….
(
A
la
a
A
b
d
u
lh
a
d
y
J
a
b
er
)
1003
h
ig
h
r
eso
l
u
tio
n
is
r
elate
d
to
th
e
f
ac
t t
h
at
t
h
e
w
i
n
d
o
w
f
u
n
ct
io
n
u
s
ed
in
FF
T
co
v
er
s
th
e
e
n
tir
e
ti
m
e
i
n
ter
v
a
l f
r
o
m
±
∞.
C
o
n
v
er
s
el
y
,
t
h
e
f
r
eq
u
en
c
y
r
e
s
o
lu
tio
n
w
h
en
th
e
S
T
F
T
is
i
m
p
le
m
en
ted
b
ec
o
m
es
p
o
o
r
er
th
an
t
h
e
r
eso
lu
tio
n
g
i
v
en
in
th
e
FF
T
,
s
in
ce
th
e
w
i
n
d
o
w
f
u
n
ctio
n
h
a
s
a
f
i
n
ite
le
n
g
th
a
n
d
th
er
e
f
o
r
e
o
n
l
y
a
s
m
all
s
eg
m
e
n
t
o
f
th
e
s
i
g
n
a
l
w
ill
b
e
co
v
er
ed
.
I
n
o
r
d
er
to
in
cr
ea
s
e
th
e
f
r
eq
u
en
c
y
r
eso
l
u
tio
n
,
th
e
w
i
n
d
o
w
f
u
n
ctio
n
h
as
to
b
e
w
id
e
e
n
o
u
g
h
,
b
u
t
t
h
at
w
il
l
lea
d
to
m
is
s
in
g
ti
m
e
i
n
f
o
r
m
atio
n
as
w
e
ll
a
s
v
io
lat
in
g
t
h
e
s
ta
tio
n
ar
it
y
a
s
s
u
m
p
tio
n
w
h
ic
h
r
eq
u
ir
es
t
h
e
w
i
n
d
o
w
to
b
e
v
er
y
s
m
all.
A
cc
o
r
d
in
g
l
y
,
t
h
er
e
is
a
tr
ad
e
-
o
f
f
r
elatio
n
s
h
ip
b
et
w
ee
n
ti
m
e
an
d
f
r
eq
u
en
c
y
i
n
t
h
e
ST
FT
.
A
w
id
e
w
i
n
d
o
w
g
i
v
es
g
o
o
d
f
r
eq
u
en
c
y
r
eso
lu
t
io
n
b
u
t
p
o
o
r
er
ti
m
e
r
eso
lu
tio
n
a
n
d
v
ice
v
er
s
a
[
33
]
.
T
h
is
is
w
ell
ill
u
s
tr
ated
in
th
e
Fi
g
u
r
e
6
b
elo
w
d
ep
en
d
in
g
o
n
t
h
e
ab
o
v
e
an
al
y
ze
d
s
ig
n
a
l.
Fig
u
r
e
6.
ST
F
T
w
i
th
d
i
f
f
er
e
n
t
w
i
n
d
o
w
w
id
th
s
3
.
3
.
2
.
Wa
v
elet
T
ra
ns
f
o
r
m
s
T
h
e
w
a
v
elet
tr
an
s
f
o
r
m
(
W
T
)
w
a
s
i
n
tr
o
d
u
ce
d
to
o
v
er
co
m
e
t
h
e
r
eso
lu
tio
n
li
m
i
tatio
n
o
f
t
h
e
ST
FT.
T
h
e
m
ai
n
d
if
f
er
en
ce
b
et
w
ee
n
t
h
e
W
T
an
d
th
e
ST
F
T
is
th
at
th
e
f
o
r
m
er
h
a
s
v
ar
y
in
g
w
i
n
d
o
w
le
n
g
th
s
,
an
d
r
ep
r
esen
ts
th
e
s
i
g
n
al
a
s
a
s
u
m
o
f
w
a
v
elet
s
at
d
if
f
er
en
t
s
ca
les
[
34
]
.
T
o
cl
ea
r
l
y
u
n
d
er
s
ta
n
d
th
e
d
if
f
er
en
c
es
a
m
o
n
g
th
e
ti
m
e
-
f
r
eq
u
en
c
y
r
eso
l
u
tio
n
o
f
t
h
e
D
FT
,
S
T
FT
an
d
W
T
,
th
eir
ti
m
e
-
f
r
eq
u
en
c
y
m
ap
p
in
g
is
co
m
p
ar
ed
in
Fi
g
u
r
e
7
,
f
r
o
m
w
h
ic
h
it
ca
n
b
e
s
ee
n
th
at,
an
d
as
s
tated
ea
r
lier
,
th
e
DFT
all
o
w
s
e
x
tr
ac
tio
n
o
n
l
y
o
f
th
e
f
r
eq
u
en
c
y
co
n
ten
t
o
f
a
s
ig
n
al
a
n
d
a
n
y
i
n
f
o
r
m
atio
n
co
n
ce
r
n
i
n
g
ti
m
e
-
lo
ca
lizatio
n
o
f
t
h
e
f
r
eq
u
en
c
y
co
m
p
o
n
e
n
ts
is
e
l
i
m
i
n
ated
.
T
h
e
ar
ea
o
f
ea
ch
r
ec
tan
g
u
lar
b
o
x
in
b
o
th
ST
FT
an
d
W
T
h
as
a
f
ix
ed
v
alu
e
[
35
]
.
Ho
w
e
v
er
,
in
th
e
ST
FT
th
e
w
i
n
d
o
w
h
a
s
f
i
x
ed
d
i
m
e
n
s
io
n
s
i
n
b
o
th
ti
m
e
an
d
f
r
eq
u
e
n
c
y
ax
e
s
w
h
ich
o
f
f
er
a
co
n
s
tan
t
ti
m
e
-
f
r
eq
u
e
n
c
y
r
eso
lu
tio
n
.
I
n
W
T
th
e
w
in
d
o
w
d
i
m
e
n
s
io
n
s
ar
e
n
o
t
co
n
s
tan
t,
an
d
w
h
e
n
t
h
e
h
ei
g
h
t
o
f
th
e
b
o
x
is
g
r
ea
ter
th
i
s
co
r
r
esp
o
n
d
s
to
w
id
e
f
r
eq
u
en
c
y
b
an
d
w
id
t
h
,
w
h
ic
h
lead
s
to
lo
w
f
r
eq
u
e
n
c
y
r
eso
l
u
t
io
n
,
b
u
t
o
n
th
e
o
th
er
h
an
d
th
e
ti
m
e
r
eso
lu
tio
n
i
s
i
m
p
r
o
v
ed
.
Si
m
ila
r
l
y
,
i
f
t
h
e
w
i
d
th
is
g
r
ea
ter
,
lo
n
g
ti
m
e
d
u
r
ati
o
n
is
co
v
er
ed
p
r
o
v
id
in
g
co
ar
s
er
ti
m
e
r
eso
l
u
tio
n
i
n
co
n
tr
ast
to
b
etter
f
r
eq
u
en
c
y
r
eso
lu
tio
n
.
So
,
th
e
W
T
b
eh
av
es
r
ath
er
li
k
e
a
m
a
th
e
m
atic
al
m
icr
o
s
co
p
e,
as
co
n
d
en
s
i
n
g
t
h
e
w
a
v
elet
co
r
r
esp
o
n
d
s
to
in
cr
ea
s
in
g
th
e
m
a
g
n
i
f
icatio
n
o
f
th
e
m
icr
o
s
co
p
e,
w
h
ich
i
n
cr
ea
s
e
s
m
o
r
e
o
f
th
e
s
i
g
n
al
d
etail
[
35
]
.
Fig
u
r
e
7.
T
im
e
-
Fre
q
u
en
c
y
s
ig
n
al
m
ap
p
i
n
g
[
21
]
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.
8
,
No
.
2
,
A
p
r
il
2018
:
9
9
6
–
1
0
0
9
1004
C
o
m
p
le
x
s
in
u
s
o
id
s
ar
e
u
s
ed
i
n
th
e
Fo
u
r
ier
tr
an
s
f
o
r
m
f
o
r
s
ig
n
al
d
ec
o
m
p
o
s
i
n
g
,
w
h
er
ea
s
i
n
w
a
v
elet
an
al
y
s
is
a
m
o
t
h
er
w
a
v
elet
f
u
n
ctio
n
is
u
tili
ze
d
.
I
n
Fo
u
r
ier
an
al
y
s
i
s
s
i
n
es
a
n
d
co
s
in
e
s
a
r
e
u
s
ed
to
f
it
th
e
s
i
g
n
al
in
o
r
d
er
to
g
en
er
ate
a
s
et
o
f
co
ef
f
icie
n
t
s
,
h
o
w
ev
er
,
in
w
a
v
elet
an
al
y
s
is
t
h
e
m
o
t
h
er
w
a
v
elet
is
f
itted
o
n
t
h
e
s
ig
n
al
a
n
d
th
e
n
t
h
e
in
n
er
p
r
o
d
u
ct
b
et
w
ee
n
th
e
a
n
al
y
ze
d
s
i
g
n
al
an
d
a
s
er
ies
o
f
d
au
g
h
ter
w
a
v
elets
is
p
er
f
o
r
m
ed
.
T
h
e
d
au
g
h
te
r
w
a
v
elets
ar
e
g
e
n
er
ated
b
y
s
ca
li
n
g
an
d
s
h
if
t
in
g
t
h
e
m
o
th
er
w
av
e
let
b
y
co
n
tr
o
llin
g
t
h
e
s
ca
lin
g
(
s
)
an
d
s
h
if
tin
g
(
τ
)
p
ar
a
m
eter
s
.
S
ca
lin
g
t
h
e
m
o
t
h
er
w
a
v
elet
i
s
e
q
u
iv
ale
n
t
to
s
tr
etch
i
n
g
o
r
d
ilatin
g
it;
alt
h
o
u
g
h
t
h
e
w
a
v
elet
i
s
s
q
u
as
h
ed
in
t
h
e
v
er
tical
ax
i
s
i
f
it
i
s
s
tr
etc
h
ed
h
o
r
i
zo
n
tall
y
,
t
h
i
s
is
to
en
s
u
r
e
t
h
at
th
e
e
n
er
g
y
co
n
te
n
t
in
th
e
s
ca
led
w
a
v
elet
is
eq
u
al
to
th
e
o
r
ig
in
al
m
o
t
h
er
w
a
v
el
et
[
36
]
.
I
n
th
e
s
h
i
f
ti
n
g
s
tep
,
th
e
w
av
e
let
is
m
o
v
ed
alo
n
g
t
h
e
X
-
ax
is
u
n
t
il
it
co
v
er
s
th
e
a
n
al
y
ze
d
s
ig
n
al
e
n
tir
el
y
,
w
h
ich
ca
n
b
e
ex
p
r
ess
ed
m
at
h
e
m
a
ticall
y
as
f
o
llo
w
s
[
35
]
:
√
∫
(
)
(
1
2
)
W
h
er
e
is
th
e
w
a
v
elet
tr
an
s
f
o
r
m
o
f
th
e
s
ig
n
al
an
d
is
th
e
m
o
th
er
w
av
ele
t
(
o
r
th
e
tr
an
s
f
o
r
m
i
n
g
f
u
n
ctio
n
)
.
T
h
e
m
o
th
er
w
a
v
elet
d
i
f
f
er
s
f
r
o
m
t
h
e
in
f
i
n
ite
s
i
n
e
an
d
co
s
i
n
e
f
u
n
ctio
n
s
,
as
it
h
as
a
f
i
n
ite
s
tar
t
a
n
d
f
i
n
is
h
.
Ma
t
h
e
m
atica
ll
y
,
it
ca
n
b
e
s
aid
t
h
at
th
e
m
o
t
h
er
w
a
v
elet
h
a
s
"
co
m
p
ac
t
s
u
p
p
o
r
t
"
[
37
]
,
th
e
i
m
p
o
r
tan
ce
o
f
w
h
ic
h
ap
p
ea
r
s
in
th
a
t
w
h
en
t
h
e
m
o
th
er
w
a
v
elet
f
it
to
t
h
e
s
i
g
n
al,
a
lo
ca
l
ized
r
esu
lt
w
ill
b
e
o
b
tain
ed
r
ath
er
th
a
n
a
g
lo
b
al
r
esu
lt.
A
s
er
ies
o
f
co
ef
f
ic
ien
t
s
th
at
v
ar
y
w
it
h
ti
m
e
w
i
ll
b
e
e
x
tr
ac
ted
in
s
tead
o
f
g
etti
n
g
a
s
i
n
g
le
co
ef
f
ic
ien
t
f
o
r
ea
ch
s
i
n
e
a
n
d
co
s
in
e
a
s
i
n
Fo
u
r
ier
an
a
l
y
s
is
,
a
n
d
co
n
s
eq
u
en
t
l
y
th
e
w
av
ele
t
d
ec
o
m
p
o
s
itio
n
ca
n
ac
co
m
m
o
d
ate
th
e
lo
ca
l
an
d
s
h
ar
p
ch
an
g
es
i
n
t
h
e
m
o
n
ito
r
ed
s
ig
n
al;
t
h
u
s
it
i
s
s
u
itab
le
f
o
r
th
o
s
e
s
i
g
n
al
s
w
h
o
s
e
s
p
ec
tr
al
co
n
te
n
t
c
h
a
n
g
e
s
o
v
er
ti
m
e.
A
cc
o
r
d
in
g
l
y
,
it
r
ep
r
esen
ts
t
h
e
m
o
s
t
ap
p
r
o
p
r
iate
m
et
h
o
d
th
at
ca
n
b
e
ap
p
lied
f
o
r
an
al
y
zi
n
g
th
e
e
x
p
e
cted
r
o
b
o
t
v
ib
r
atio
n
s
ig
n
al
f
o
r
p
r
ec
is
e
f
au
lt
d
iag
n
o
s
i
s
an
d
h
en
ce
it
w
i
ll b
e
ad
o
p
ted
in
th
is
s
tu
d
y
.
3
.
4
.
Dis
cr
et
e
Wa
v
elet
T
ra
ns
f
o
r
m (
DWT
)
T
h
e
ab
o
v
e
E
q
u
atio
n
(
1
2
)
is
ca
lled
th
e
co
n
tin
u
o
u
s
w
a
v
ele
t
tr
an
s
f
o
r
m
(
C
W
T
)
an
d
o
f
f
e
r
s
g
r
ea
ter
ac
cu
r
ac
y
i
n
s
i
g
n
al
an
a
l
y
s
is
;
h
o
w
ev
er
,
t
h
eo
r
etica
ll
y
it
is
i
n
f
in
i
tel
y
r
ed
u
n
d
an
t,
w
h
ic
h
m
ea
n
s
a
s
i
g
n
i
f
ican
t
a
m
o
u
n
t
o
f
u
n
n
ec
e
s
s
ar
y
in
f
o
r
m
atio
n
is
p
r
o
d
u
ce
d
w
h
en
i
t
is
i
m
p
le
m
en
ted
,
an
d
s
u
c
h
it
i
s
i
m
p
r
ac
t
ical
[
38
]
.
T
h
e
r
ed
u
n
d
an
c
y
p
r
o
b
lem
i
s
a
r
esu
lt
o
f
th
e
co
n
t
in
u
o
u
s
s
ca
li
n
g
an
d
s
h
i
f
ti
n
g
o
f
t
h
e
m
o
t
h
er
w
a
v
elet.
T
h
is
in
cr
ea
s
e
s
th
e
r
eq
u
ir
ed
co
m
p
u
tatio
n
al
ti
m
e,
p
o
w
er
a
n
d
m
e
m
o
r
y
,
m
a
k
in
g
t
h
e
C
W
T
im
p
r
ac
tical
i
n
m
an
y
s
i
tu
at
io
n
s
,
p
ar
ticu
lar
l
y
w
h
e
n
ap
p
l
y
i
n
g
r
e
al
-
ti
m
e
w
a
v
elet
a
n
al
y
s
i
s
o
n
a
n
e
m
b
ed
d
ed
s
y
s
te
m
w
h
ich
i
s
th
e
ca
s
e
h
er
e.
T
o
r
ed
u
ce
r
eq
u
ir
ed
p
o
w
er
an
d
ti
m
e
it
i
s
ap
p
r
o
p
r
iate
to
r
em
o
v
e
an
y
u
n
n
ec
es
s
ar
y
i
n
f
o
r
m
ati
o
n
an
d
r
ed
u
ce
th
e
n
u
m
b
er
o
f
w
a
v
elet
s
w
it
h
o
u
t
l
o
s
s
o
f
th
e
es
s
en
tia
l
in
f
o
r
m
ati
o
n
.
T
h
e
d
is
cr
ete
w
a
v
elet
tr
an
s
f
o
r
m
(
DW
T
)
w
a
s
d
ev
elo
p
ed
to
ac
h
iev
e
t
h
is
,
i
n
w
h
ic
h
t
h
e
m
o
t
h
er
w
a
v
elet
i
s
n
o
t
co
n
tin
u
o
u
s
l
y
s
ca
led
a
n
d
s
h
i
f
ted
,
b
u
t
i
s
i
n
s
tead
o
n
l
y
at
d
is
cr
ete
s
tep
s
alo
n
g
t
h
e
s
i
g
n
al
s
.
B
y
u
s
i
n
g
DW
T
,
th
e
o
r
ig
in
a
l
s
ig
n
al
i
s
o
f
te
n
d
ec
o
m
p
o
s
ed
in
to
s
e
v
er
al
s
ig
n
al
s
ea
ch
w
i
th
a
s
p
ec
if
ic
f
r
eq
u
en
c
y
b
an
d
ea
ch
o
f
w
h
ich
c
an
b
e
h
a
n
d
led
as
an
i
n
d
ep
en
d
en
t
s
i
g
n
al
o
n
w
h
ic
h
s
ep
ar
ate
an
al
y
s
is
ca
n
b
e
i
m
p
le
m
en
t
ed
.
T
h
e
s
tr
en
g
t
h
o
f
th
e
DW
T
is
th
at
f
ilter
s
w
it
h
d
if
f
er
en
t
cu
t
-
o
f
f
f
r
eq
u
en
c
ies
ar
e
u
ti
lized
to
an
a
l
y
ze
th
e
s
i
g
n
al
at
d
i
f
f
er
en
t
s
ca
les.
First,
t
h
e
s
i
g
n
al
i
s
p
ass
ed
t
h
r
o
u
g
h
a
h
ig
h
-
p
ass
(
HP
)
f
ilter
to
an
aly
ze
h
i
g
h
f
r
eq
u
en
cie
s
,
an
d
th
e
n
it
is
p
ass
e
d
th
r
o
u
g
h
a
lo
w
-
p
ass
(
L
P
)
f
ilt
er
to
an
aly
s
es
lo
w
f
r
eq
u
en
c
ies.
U
s
i
n
g
d
ig
i
tal
te
ch
n
iq
u
es
s
u
ch
as
th
is
,
a
ti
m
e
-
s
ca
le
r
ep
r
esen
tatio
n
o
f
a
d
ig
ital
s
i
g
n
al
ca
n
b
e
o
b
tain
ed
.
A
n
o
t
h
er
t
y
p
e
o
f
w
a
v
elet
an
al
y
s
is
ca
lled
co
m
p
lex
w
a
v
elet
tr
an
s
f
o
r
m
an
d
is
r
ep
r
esen
ted
b
y
th
e
d
u
a
l
-
tr
ee
co
m
p
le
x
w
av
e
let
tr
an
s
f
o
r
m
.
I
t
is
a
n
alter
n
a
te,
co
m
p
lex
-
v
al
u
ed
ex
te
n
s
io
n
an
d
e
n
h
a
n
ce
m
en
t
to
th
e
s
tan
d
ar
d
DW
T
,
an
d
h
as
i
m
p
o
r
tan
t
p
r
o
p
er
ties
th
at
p
r
o
v
id
es
m
u
l
tire
s
o
lu
tio
n
,
s
p
ar
s
e
r
ep
r
esen
tat
io
n
a
n
d
t
h
e
ca
p
ab
ilit
y
to
r
ed
u
ce
th
e
alias
i
n
g
ef
f
ec
t
s
,
w
h
ic
h
i
s
ca
u
s
e
d
b
y
th
e
o
v
er
lap
o
f
o
p
p
o
s
in
g
-
f
r
eq
u
en
c
y
p
as
s
-
b
an
d
s
o
f
th
e
w
av
e
let
f
i
lter
s
[
39
]
,
[
40
]
.
T
w
o
p
ar
allel
DW
T
s
w
ith
d
i
f
f
er
en
t
lo
w
-
p
as
s
an
d
h
i
g
h
-
p
ass
f
ilter
s
i
n
ea
ch
s
ca
le
ar
e
u
s
ed
f
o
r
d
ec
o
m
p
o
s
itio
n
a
n
d
r
ec
o
n
s
tr
u
ct
io
n
i
n
th
e
d
u
al
-
tr
ee
i
m
p
le
m
e
n
tatio
n
.
T
h
e
t
w
o
DW
T
s
u
s
e
t
w
o
d
if
f
er
e
n
t
s
et
s
o
f
f
il
ter
s
,
w
ith
e
ac
h
s
ati
s
f
y
i
n
g
t
h
e
p
er
f
ec
t
r
ec
o
n
s
tr
u
ctio
n
co
n
d
itio
n
.
Ho
w
e
v
e
r
,
th
e
d
r
aw
b
ac
k
o
f
th
is
tr
an
s
f
o
r
m
is
th
at
it
i
s
e
x
h
ib
it
s
r
ed
u
n
d
an
c
y
co
m
p
ar
ed
to
th
e
s
tan
d
ar
d
DW
T
at
th
e
ex
p
en
s
e
o
f
e
x
tr
a
co
m
p
u
tatio
n
al
p
o
w
er
;
th
er
e
f
o
r
e,
it
w
a
s
n
o
t
co
n
s
id
er
ed
i
n
t
h
is
s
t
u
d
y
d
u
e
to
t
h
e
e
x
p
ec
ted
co
m
p
u
tatio
n
al
li
m
ita
tio
n
o
f
t
h
e
e
m
b
ed
d
ed
s
y
s
te
m
.
3
.
4
.
1
.
M
ulti
-
Reso
lutio
n A
na
ly
s
is
u
s
ing
DW
T
Gen
er
all
y
s
p
ea
k
i
n
g
,
b
y
u
s
in
g
th
e
DW
T
,
a
m
u
lti
-
r
eso
l
u
tio
n
an
al
y
s
is
ca
n
b
e
p
er
f
o
r
m
ed
a
t
d
if
f
er
en
t
f
r
eq
u
en
c
y
b
a
n
d
s
w
i
th
d
if
f
er
e
n
t
r
eso
l
u
tio
n
s
b
y
d
ec
o
m
p
o
s
i
n
g
t
h
e
ti
m
e
d
o
m
ai
n
s
ig
n
al
[
30
]
,
[
34
]
.
T
w
o
s
ets
o
f
f
u
n
ctio
n
s
ar
e
e
m
p
lo
y
ed
in
t
h
e
DW
T
,
ca
lled
th
e
w
a
v
elet
f
u
n
ctio
n
an
d
t
h
e
s
ca
li
n
g
f
u
n
ctio
n
,
w
h
ic
h
ar
e
ass
o
ciate
d
w
ith
t
h
e
HP
an
d
L
P
f
ilter
s
r
esp
ec
tiv
el
y
.
A
t
t
h
e
f
ir
s
t
le
v
el,
t
h
e
o
r
ig
i
n
al
s
i
g
n
a
l
[
is
d
ec
o
m
p
o
s
ed
b
y
p
ass
i
n
g
it
t
h
r
o
u
g
h
b
o
th
o
f
th
ese
f
i
lter
s
a
n
d
e
m
er
g
es
a
s
t
w
o
s
ig
n
al
s
,
ea
ch
o
n
e
h
av
in
g
t
h
e
s
a
m
e
n
u
m
b
er
o
f
s
a
m
p
les
as t
h
e
o
r
ig
in
al
s
i
g
n
a
l,
an
d
ar
e
ter
m
ed
as
co
ef
f
icie
n
ts
.
I
n
o
r
d
er
to
k
ee
p
th
e
to
tal
n
u
m
b
er
o
f
co
ef
f
icie
n
t
s
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
Dev
elo
p
men
t o
f a
C
o
n
d
itio
n
Mo
n
ito
r
in
g
A
lg
o
r
ith
m
fo
r
I
n
d
u
s
tr
ia
l R
o
b
o
ts
b
a
s
ed
….
(
A
la
a
A
b
d
u
lh
a
d
y
J
a
b
er
)
1005
in
t
h
e
p
r
o
d
u
ce
d
f
ilter
ed
s
ig
n
al
s
eq
u
al
to
th
e
o
r
ig
i
n
al
s
ig
n
al
s
a
m
p
les t
h
e
y
ar
e
t
h
en
d
o
w
n
-
s
a
m
p
led
b
y
a
f
ac
to
r
o
f
2
,
b
y
k
ee
p
in
g
o
n
l
y
o
n
e
s
a
m
p
le
o
u
t o
f
t
w
o
s
u
cc
ess
iv
e
s
a
m
p
le
s
.
T
h
u
s
,
t
h
e
e
x
tr
ac
ted
s
i
g
n
a
l c
o
ef
f
icie
n
t
s
f
r
o
m
t
h
e
HP
f
ilter
an
d
af
ter
d
o
w
n
s
a
m
p
lin
g
ar
e
ca
lled
th
e
d
etail
c
o
ef
f
icien
t
s
o
f
th
e
f
ir
s
t
le
v
el
.
T
h
es
e
co
ef
f
icie
n
ts
co
n
tain
th
e
h
ig
h
f
r
eq
u
e
n
c
y
i
n
f
o
r
m
at
io
n
o
f
t
h
e
o
r
ig
in
al
s
i
g
n
a
l,
w
h
i
ls
t,
t
h
e
co
e
f
f
icie
n
ts
th
a
t
ar
e
ex
tr
ac
ted
f
r
o
m
th
e
L
P
f
ilter
an
d
a
f
ter
th
e
d
o
w
n
s
a
m
p
li
n
g
p
r
o
ce
s
s
ar
e
ca
lle
d
th
e
ap
p
r
o
x
i
m
atio
n
co
e
f
f
icie
n
ts
o
f
th
e
f
ir
s
t
lev
el
.
T
h
e
lo
w
f
r
eq
u
e
n
c
y
i
n
f
o
r
m
at
io
n
o
f
t
h
e
s
i
g
n
a
l
is
h
id
d
en
i
n
th
ese
co
ef
f
ic
ien
t
s
.
T
h
is
ca
n
b
e
ex
p
r
ess
ed
m
at
h
e
m
a
ticall
y
as
[
41
]
:
[
∑
[
[
(
1
3
)
[
∑
[
[
(
1
4
)
w
h
er
e
[
an
d
[
ar
e
th
e
h
ig
h
-
an
d
l
o
w
-
p
ass
f
ilter
s
r
e
s
p
ec
tiv
el
y
.
Af
ter
o
b
tain
i
n
g
t
h
e
f
ir
s
t
le
v
el
o
f
d
ec
o
m
p
o
s
itio
n
,
th
e
ab
o
v
e
p
r
o
ce
d
u
r
e
ca
n
b
e
r
ep
ea
ted
ag
ain
t
o
d
ec
o
m
p
o
s
e
in
to
a
n
o
th
er
ap
p
r
o
x
i
m
atio
n
a
n
d
d
etail
co
ef
f
ic
ien
t
s
,
as
ar
tic
u
lated
in
E
q
u
atio
n
s
(
15
)
an
d
(
16
)
[
41
]
.
T
h
is
p
r
o
ce
d
u
r
e
ca
n
b
e
co
n
ti
n
u
ed
s
u
cc
e
s
s
i
v
el
y
u
n
til a
p
r
e
-
d
ef
in
e
d
ce
r
tain
lev
el
u
p
to
w
h
ich
t
h
e
d
ec
o
m
p
o
s
itio
n
is
r
eq
u
ir
ed
to
b
e
f
o
u
n
d
.
[
∑
[
[
(
1
5
)
[
∑
[
[
(
1
6
)
w
h
er
e
[
an
d
[
ar
e
th
e
DW
T
co
ef
f
icie
n
t
s
at
le
v
el
,
an
d
[
is
th
e
ap
p
r
o
x
i
m
ate
co
ef
f
icie
n
t
at
le
v
el
.
A
t
ea
ch
d
ec
o
m
p
o
s
itio
n
le
v
el,
th
e
co
r
r
esp
o
n
d
in
g
d
etail
an
d
ap
p
r
o
x
im
a
tio
n
co
ef
f
icie
n
t
s
h
av
e
s
p
ec
i
f
ic
f
r
e
q
u
en
c
y
b
an
d
w
id
t
h
s
g
i
v
e
n
b
y
[
⁄
f
o
r
th
e
ap
p
r
o
x
im
a
tio
n
co
ef
f
i
cien
ts
an
d
[
⁄
⁄
f
o
r
th
e
d
etailed
o
n
e
w
h
er
e
is
th
e
s
a
m
p
li
n
g
f
r
eq
u
en
c
y
[
30
]
,
[
41
]
.
Ho
w
e
v
er
,
at
ev
er
y
lev
el,
t
h
e
f
ilter
in
g
an
d
d
o
w
n
-
s
a
m
p
li
n
g
will
r
esu
lt
i
n
h
al
f
th
e
n
u
m
b
er
o
f
s
a
m
p
le
s
(
h
al
f
th
e
ti
m
e
r
eso
l
u
tio
n
)
a
n
d
h
a
lf
t
h
e
f
r
eq
u
en
c
y
b
a
n
d
(
d
o
u
b
le
th
e
f
r
e
q
u
en
c
y
r
eso
lu
tio
n
)
.
A
ls
o
,
d
u
e
to
th
e
co
n
s
ec
u
ti
v
e
d
o
w
n
s
a
m
p
li
n
g
b
y
2
,
th
e
to
tal
n
u
m
b
er
o
f
s
a
m
p
les
i
n
th
e
an
al
y
s
ed
s
ig
n
al
m
u
s
t
b
e
a
p
o
w
er
o
f
2
[
42
]
.
B
y
co
n
ca
ten
ati
n
g
all
co
ef
f
icien
ts
s
tar
tin
g
f
r
o
m
t
h
e
last
le
v
el
o
f
d
ec
o
m
p
o
s
itio
n
,
th
e
DW
T
o
f
t
h
e
o
r
ig
in
a
l
s
ig
n
al
is
th
en
p
r
o
d
u
ce
d
,
an
d
it
w
ill
h
a
v
e
t
h
e
s
a
m
e
n
u
m
b
er
o
f
s
a
m
p
les
as
t
h
e
o
r
ig
in
al
s
i
g
n
al.
A
s
ch
e
m
atic
d
iag
r
a
m
illu
s
tr
ates
h
o
w
t
h
e
m
u
lti
-
le
v
el
d
ec
o
m
p
o
s
i
tio
n
is
p
er
f
o
r
m
ed
s
h
o
w
n
in
Fi
g
u
r
e
8
.
T
h
e
n
u
m
b
e
r
o
f
d
ec
o
m
p
o
s
itio
n
lev
els
i
s
id
e
n
t
if
ied
b
y
t
h
e
lo
west
f
r
eq
u
e
n
c
y
b
a
n
d
n
ee
d
ed
to
b
e
tr
ac
ed
,
an
d
a
h
ig
h
er
n
u
m
b
e
r
o
f
d
ec
o
m
p
o
s
itio
n
lev
els
ar
e
r
eq
u
ir
ed
if
v
er
y
lo
w
f
r
eq
u
en
c
y
b
an
d
is
i
n
v
est
ig
ate
d
.
Ho
w
e
v
er
,
th
e
h
i
g
h
e
s
t
d
ec
o
m
p
o
s
itio
n
le
v
el
t
h
a
t
ca
n
b
e
ac
h
iev
ed
i
s
u
p
to
th
at
t
h
e
in
d
i
v
id
u
al
d
etail
s
co
n
s
is
t o
f
a
s
in
g
le
s
a
m
p
le
[
43
]
.
Fig
u
r
e
8.
Mu
lti
-
le
v
el
s
i
g
n
a
l d
ec
o
m
p
o
s
i
tio
n
u
s
i
n
g
DW
T
On
ce
t
h
e
ap
p
r
o
x
i
m
at
io
n
a
n
d
d
etail
co
ef
f
icie
n
ts
ar
e
co
m
p
u
te
d
to
d
if
f
er
en
t
le
v
els
o
f
d
ec
o
m
p
o
s
itio
n
,
it
b
ec
o
m
e
s
p
o
s
s
ib
le
to
r
ec
o
n
s
tr
u
ct
th
e
ap
p
r
o
x
i
m
at
io
n
an
d
d
etail
s
ig
n
al
s
at
ea
ch
lev
el,
i
n
o
r
d
er
to
ex
tr
ac
t
f
ea
t
u
r
es,
s
u
c
h
as
s
ta
n
d
ar
d
d
ev
iatio
n
an
d
m
ea
n
,
r
elate
d
to
th
e
f
r
eq
u
e
n
c
y
b
an
d
s
in
ea
ch
lev
el.
E
ac
h
s
ig
n
al,
h
o
w
ev
er
,
w
ill
h
a
v
e
t
h
e
s
a
m
e
n
u
m
b
er
o
f
s
a
m
p
les
a
s
t
h
e
o
r
ig
in
a
l
s
i
g
n
al
b
u
t
w
i
th
a
d
e
f
i
n
i
te
f
r
eq
u
e
n
c
y
b
a
n
d
.
T
h
is
ca
n
b
e
ac
h
ie
v
ed
b
y
u
p
-
s
a
m
p
li
n
g
t
h
e
ap
p
r
o
x
i
m
at
io
n
(
o
r
d
etails)
co
ef
f
ic
ien
t
s
b
y
t
wo
,
s
in
ce
t
h
e
y
w
er
e
p
r
o
d
u
ce
d
p
r
ev
io
u
s
l
y
b
y
d
o
w
n
s
a
m
p
lin
g
b
y
2
,
a
n
d
t
h
e
n
p
as
s
in
g
th
e
m
th
r
o
u
g
h
h
i
g
h
-
an
d
lo
w
-
p
ass
s
y
n
th
e
s
i
s
Evaluation Warning : The document was created with Spire.PDF for Python.