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stit
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C
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p
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A
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:
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ltad
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5
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s
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c
o
1.
I
NT
RO
D
UCT
I
O
N
Du
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to
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co
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n
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ad
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m
en
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o
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tech
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e
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ee
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n
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g
h
e
x
ter
n
al
p
h
y
s
ical
q
u
a
n
titi
e
s
[
1
]
.
I
n
d
u
s
tr
ial
r
o
b
o
ts
ar
e
n
o
w
co
m
m
o
n
l
y
u
s
ed
in
p
r
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u
ctio
n
s
y
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t
e
m
s
to
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m
p
r
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v
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alit
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n
d
s
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R
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ts
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n
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o
p
er
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w
it
h
p
r
o
d
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ctio
n
li
n
e
o
p
er
ato
r
s
[
2
]
.
T
h
e
in
ter
est
i
n
co
o
p
er
ativ
e
s
y
s
te
m
s
ar
is
es
w
h
e
n
ce
r
tai
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tas
k
s
ar
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lex
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ed
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ar
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n
ct
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en
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f
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ts
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e
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th
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o
p
er
atio
n
o
f
m
a
n
y
s
i
m
p
le
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o
b
o
ts
[
3
]
.
R
o
b
o
ts
h
av
e
b
ee
n
u
s
ed
in
e
x
p
lo
r
atio
n
s
,
u
n
d
er
w
a
ter
n
av
i
g
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,
m
i
n
i
n
g
,
a
n
d
m
i
litar
y
s
ett
in
g
s
f
o
r
a
v
ar
iet
y
o
f
ta
s
k
s
.
Dep
en
d
i
n
g
o
n
t
h
e
ap
p
licatio
n
,
m
o
b
ile
r
o
b
o
ts
m
a
y
r
eq
u
ir
e
s
ev
er
al
co
n
d
i
tio
n
s
to
b
e
s
atis
f
ied
ab
o
u
t
th
eir
d
esig
n
an
d
s
p
ec
i
f
ic
atio
n
s
[
4
]
.
T
h
e
in
tr
o
d
u
ctio
n
o
f
i
m
p
r
o
v
ed
tech
n
iq
u
es
allo
w
s
f
o
r
th
e
in
tr
o
d
u
ctio
n
o
f
m
o
r
e
co
m
p
lex
ta
s
k
s
[
5
]
in
clu
d
in
g
w
h
ee
led
m
o
b
ile
r
o
b
o
t
n
av
i
g
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n
,
w
h
ic
h
h
av
e
attr
ac
t
ed
th
e
atten
tio
n
o
f
r
esear
ch
er
s
d
ev
e
lo
p
in
g
co
n
tr
o
l
m
o
tio
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au
to
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ated
s
y
s
te
m
s
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o
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s
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s
u
c
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as
t
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ac
q
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d
p
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ce
s
s
in
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e
n
s
o
r
d
ata
[
6
]
.
I
n
ter
m
s
o
f
m
o
tio
n
co
n
tr
o
l,
o
n
e
m
aj
o
r
p
r
o
b
lem
is
h
o
w
a
r
o
b
o
t
ca
n
p
ass
w
e
ll
an
d
r
o
b
u
s
t
tr
aj
ec
to
r
y
in
d
if
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e
n
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m
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ts
;
b
u
t
u
n
d
er
th
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s
itu
at
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i
n
w
h
ich
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x
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en
v
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m
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tal
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s
u
ch
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s
m
ap
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GP
S
ca
n
n
o
t
b
e
u
s
ed
,
it
is
n
e
ce
s
s
ar
y
g
etti
n
g
t
h
e
v
e
h
icle
r
o
b
o
t
to
w
o
r
k
b
ased
o
n
th
e
av
ailab
l
e
d
ata
[
7
]
.
W
h
en
a
w
h
ee
led
m
o
b
ile
r
o
b
o
t
is
n
a
v
i
g
atin
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i
n
a
n
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n
k
n
o
w
n
e
n
v
ir
o
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m
en
t,
it
r
elie
s
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s
en
s
o
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s
to
r
e
co
g
n
ize
t
h
e
o
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ts
id
e
w
o
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ld
an
d
t
h
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n
est
i
m
a
te
t
h
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s
t
ate
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t
h
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r
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b
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its
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f
to
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ie
v
e
t
h
e
tas
k
o
f
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u
to
n
o
m
o
u
s
n
a
v
ig
atio
n
.
C
o
m
m
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l
y
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s
ed
s
e
n
s
o
r
s
i
n
clu
d
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u
ltra
s
o
u
n
d
,
a
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an
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f
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n
d
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(
L
R
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v
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n
s
o
r
s
a
m
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n
g
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th
er
s
[
8
]
.
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
Mo
b
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r
o
b
o
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n
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y
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n
d
a
n
d
d
ir
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tio
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a
lly
c
o
n
tr
o
lled
b
y
a
n
ex
t
ern
a
l lig
h
t so
u
r
ce
(
Lu
is
G.
La
fa
u
r
ie)
2841
A
v
e
h
icle
t
u
r
n
ed
o
n
b
y
s
o
u
n
d
an
d
d
ir
ec
ted
b
y
a
li
g
h
t
s
o
u
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ca
n
b
e
d
escr
ib
ed
as
a
m
er
g
i
n
g
o
f
m
ec
h
a
n
ic
s
an
d
elec
tr
o
n
ic
s
tech
n
o
lo
g
ies.
T
h
e
tr
an
s
f
o
r
m
atio
n
v
ar
iab
les
allo
w
t
h
e
v
e
h
icle
to
tu
r
n
d
etec
ted
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h
t
o
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s
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n
d
s
ig
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s
in
to
elec
tr
ic
p
u
ls
es,
g
en
er
ati
n
g
m
o
tio
n
[
9
,
1
0
]
.
T
h
e
tech
n
o
lo
g
y
f
o
r
r
ec
o
g
n
izi
n
g
t
h
e
lo
ca
tio
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o
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d
ir
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tio
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o
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a
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m
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s
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ev
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.
T
o
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e
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o
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tio
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f
a
s
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n
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,
at
least t
w
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n
s
o
r
s
o
r
m
icr
o
p
h
o
n
es a
r
e
r
eq
u
ir
ed
[
1
1
,
1
2
]
.
T
h
e
p
ap
e
r
is
o
r
g
an
ized
as
f
o
l
lo
w
s
.
Sec
tio
n
2
d
escr
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es
th
e
p
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o
p
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s
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s
y
s
te
m
.
Sectio
n
3
s
h
o
w
s
t
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d
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tio
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o
f
t
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m
at
h
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m
ati
ca
l
m
o
d
el
o
f
t
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s
y
s
te
m
.
Sec
tio
n
4
p
r
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ts
th
e
n
u
m
er
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r
esu
lt
s
.
Sectio
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5
d
escr
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es th
e
ex
p
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m
en
ta
l r
es
u
lts
a
n
d
Sectio
n
6
co
n
cl
u
d
es.
2.
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
s
y
s
te
m
co
n
s
i
s
ts
o
f
a
n
o
m
n
id
ir
ec
tio
n
al
m
icr
o
p
h
o
n
e,
tw
o
p
h
o
to
r
esis
to
r
s
,
f
o
u
r
DC
m
o
to
r
s
,
a
lith
i
u
m
b
at
ter
y
(
)
,
an
d
elec
tr
ical
an
d
elec
tr
o
n
ic
cir
cu
i
ts
t
o
f
o
r
m
a
cir
c
u
it
o
f
t
w
o
s
tag
es
as
s
h
o
w
n
i
n
Fig
u
r
e
1
.
Fig
u
r
e
1
.
P
r
o
p
o
s
ed
s
y
s
te
m
T
h
e
f
ir
s
t
s
ta
g
e
in
cl
u
d
es
a
cir
cu
it
f
o
r
p
o
lar
izin
g
th
e
m
icr
o
p
h
o
n
e,
w
h
ic
h
a
m
p
li
f
ies
th
e
s
ig
n
a
l
to
a
v
o
ltag
e
th
at
ex
ci
tes
t
h
e
t
h
y
r
i
s
to
r
an
d
d
r
iv
es
c
u
r
r
en
t
th
r
o
u
g
h
th
e
s
a
m
e
s
i
g
n
al
co
n
tin
u
o
u
s
l
y
as
s
h
o
w
n
in
Fig
u
r
e
2
.
T
h
e
s
ec
o
n
d
s
ta
g
e,
wh
ich
o
n
l
y
w
o
r
k
s
i
f
th
e
th
y
r
is
t
o
r
is
ex
cited
,
co
m
p
r
is
e
s
t
w
o
c
ir
cu
its
th
at
tu
r
n
t
h
e
v
eh
ic
le’
s
m
o
to
r
s
o
n
o
r
o
f
f
th
r
o
u
g
h
t
w
o
p
h
o
to
r
esis
to
r
s
;
th
a
t
is
,
w
h
e
n
t
h
e
p
h
o
to
r
esi
s
to
r
h
as
ca
p
tu
r
ed
th
e
li
g
h
t
s
ig
n
al
it
t
u
r
n
s
th
e
m
o
to
r
o
n
.
E
ac
h
p
h
o
to
r
esi
s
to
r
co
n
tr
o
ls
b
o
th
w
h
ee
ls
o
n
o
n
e
s
id
e
o
f
t
h
e
v
e
h
icle;
th
er
e
f
o
r
e,
if
o
n
l
y
o
n
e
o
f
t
h
e
p
h
o
to
r
esis
to
r
s
is
ex
cited
,
th
e
n
t
h
e
v
e
h
icle
w
il
l t
u
r
n
to
w
ar
d
th
e
li
g
h
t
s
o
u
r
c
e.
T
h
e
m
icr
o
p
h
o
n
e
ca
p
tu
r
es
th
e
e
x
ter
n
a
l
s
i
g
n
a
l,
a
m
p
li
f
y
i
n
g
it
t
h
r
o
u
g
h
t
h
e
p
o
lar
izer
in
v
er
ter
cir
cu
it
(
b
ec
au
s
e
th
e
tr
an
s
is
to
r
1
in
v
er
t
s
th
e
s
ig
n
al
v
o
ltag
e
1
)
an
d
th
is
a
m
p
li
f
ied
s
i
g
n
al
d
r
iv
es
t
h
e
th
y
r
is
to
r
S
C
R
1
th
at
en
ab
les
th
e
v
e
h
icle
t
o
b
e
tu
r
n
ed
o
n
.
Fig
u
r
e
2
.
First s
ta
g
e:
p
o
lar
izer
m
icr
o
p
h
o
n
e
cir
cu
i
t a
n
d
v
e
h
icl
e
o
n
/o
f
f
co
n
tr
o
ller
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.
9
,
No
.
4
,
A
u
g
u
s
t 2
0
1
9
:
2
8
4
0
-
2847
2842
3.
M
AT
H
E
M
AT
I
CAL M
O
DE
L
E
q
u
atio
n
(
1
)
is
o
b
tain
ed
f
r
o
m
Fig
u
r
e
2
,
w
h
er
e
is
a
co
lu
m
n
v
ec
to
r
[
1
0
]
in
th
e
b
in
ar
y
s
p
ac
e,
w
h
er
e
th
e
lo
g
ic
le
v
el
“
1
”
d
en
o
te
s
a
v
o
ltag
e
g
r
ea
ter
th
a
n
ze
r
o
an
d
less
th
a
n
,
an
d
lo
g
ic
lev
el
“
0
”
d
en
o
tes
a
v
o
ltag
e
ar
o
u
n
d
ze
r
o
[
1
3
]
.
T
h
u
s
,
is
also
a
co
lu
m
n
v
ec
to
r
w
h
o
s
e
v
al
u
es
i
n
d
icate
th
e
b
ase
cu
r
r
en
t
v
a
lu
e
s
o
f
th
e
tr
an
s
is
to
r
1
in
th
e
s
at
u
r
atio
n
o
r
cu
ttin
g
r
eg
io
n
,
r
esp
ec
ti
v
el
y
,
w
it
h
th
e
o
r
d
er
o
f
th
e
co
m
p
o
n
en
ts
o
f
:
=
[
3
−
0
.
7
(
1
2
+
1
3
+
1
4
)
3
−
0
.
7
(
1
3
+
1
4
)
]
+
[
1
2
0
0
0
]
.
(
1
)
T
o
o
b
tain
(
1
)
,
it is
n
ec
ess
ar
y
t
o
an
al
y
ze
t
h
e
s
y
s
te
m
’
s
b
eh
a
v
i
o
r
in
th
e
f
o
llo
w
i
n
g
s
it
u
atio
n
s
:
(
1
)
No
cu
r
r
en
t th
r
o
u
g
h
th
e
ca
p
ac
ito
r
1
,
an
d
(
2
)
Hig
h
s
i
g
n
a
l f
r
eq
u
e
n
c
y
a
s
s
h
o
w
n
i
n
Fi
g
u
r
e
6
.
T
h
e
ab
o
v
e
co
n
d
itio
n
s
ar
e
s
atis
f
ied
b
ec
au
s
e
t
h
e
s
o
u
n
d
ca
p
tu
r
ed
b
y
t
h
e
m
icr
o
p
h
o
n
e
(
ap
p
lau
s
e)
to
t
u
r
n
th
e
m
o
b
ile
r
o
b
o
t
o
n
,
i
s
a
h
ig
h
-
f
r
eq
u
e
n
c
y
s
ig
n
al;
t
h
er
ef
o
r
e,
alth
o
u
g
h
th
is
s
o
u
n
d
i
s
n
o
t
g
en
er
ated
,
th
e
b
ase
cu
r
r
en
t
is
to
o
s
m
all.
E
q
u
ati
o
n
(
2
)
s
h
o
w
s
th
e
p
o
s
s
ib
le
v
a
lu
es
f
o
r
th
e
a
m
p
lifie
d
an
d
in
v
er
ted
v
o
ltag
e
o
f
th
e
m
icr
o
p
h
o
n
e
s
i
g
n
al
i
n
t
h
e
cu
t
an
d
s
at
u
r
atio
n
r
e
g
io
n
s
,
w
h
ich
d
ep
en
d
s
d
ir
ec
tl
y
o
n
ℎ
,
w
h
ic
h
is
t
h
e
cu
r
r
en
t
g
ain
i
n
t
h
e
co
llecto
r
r
elativ
e
to
th
e
b
ase
cu
r
r
en
t
:
1
=
−
ℎ
5
.
(
2
)
B
y
m
a
k
in
g
a
s
i
m
ilar
a
n
al
y
s
i
s
f
o
r
ca
p
ac
ito
r
2
,
it f
o
llo
w
s
t
h
at
2
=
1
.
(
3
)
T
h
er
eb
y
th
e
c
u
r
r
en
t
i
n
t
h
e
g
ate
o
f
t
h
e
t
h
y
r
i
s
to
r
1
ca
n
b
e
ca
lcu
lated
as
s
h
o
wn
in
(
4
)
,
w
h
er
e
th
e
d
i
f
f
er
e
n
ce
−
1
in
v
er
ts
t
h
e
s
i
g
n
a
l,
ag
ai
n
d
u
e
to
th
e
p
u
ll
-
u
p
r
esi
s
to
r
6
:
=
−
1
6
.
(
4
)
T
h
e
cu
r
r
en
t
th
r
o
u
g
h
th
e
a
n
o
d
e
o
f
th
e
th
y
r
i
s
to
r
1
ca
n
b
e
ca
lcu
lated
u
s
in
g
(
5
)
o
b
tain
ed
f
r
o
m
th
e
t
w
o
-
tr
an
s
is
to
r
m
o
d
el,
w
h
e
r
e
1
an
d
2
ar
e
leak
ag
e
c
u
r
r
en
ts
o
f
th
e
m
o
d
el’
s
tr
an
s
is
to
r
s
,
a
n
d
1
an
d
2
ar
e
th
e
co
llecto
r
’
s
cu
r
r
en
t g
ai
n
s
r
elati
v
e
to
th
e
e
m
itter
’
s
c
u
r
r
en
t o
f
ea
ch
:
=
2
+
01
+
02
1
−
(
1
+
2
)
.
(
5
)
Ho
w
e
v
er
,
f
o
r
p
r
ac
tical
p
u
r
p
o
s
es,
th
e
s
e
lea
k
a
g
e
c
u
r
r
en
ts
ar
e
co
n
s
id
er
ed
n
e
g
li
g
ib
le,
lea
v
in
g
th
e
a
n
o
d
e
cu
r
r
en
t
o
f
t
h
e
th
y
r
is
to
r
as
t
h
e
p
r
o
d
u
ct
o
f
a
g
ain
eq
u
i
v
alen
t
t
o
“
”
w
i
th
t
h
e
g
ate
’
s
f
lo
w
o
f
t
h
e
th
y
r
i
s
to
r
as
s
h
o
w
n
in
(
6
)
:
=
.
(
6
)
T
h
er
eb
y
,
th
e
a
n
o
d
e’
s
v
o
ltag
e
(
7
)
o
f
th
e
th
y
r
i
s
to
r
1
,
w
h
ich
t
u
r
n
s
t
h
e
v
e
h
icle
o
f
f
o
r
o
n
is
f
in
a
l
l
y
o
b
tain
ed
:
=
−
8
.
(
7
)
Fig
u
r
e
3
s
h
o
w
s
th
e
s
ec
o
n
d
s
tag
e
o
f
th
e
s
y
s
te
m
,
w
h
ic
h
co
r
r
esp
o
n
d
s
to
th
e
o
n
/o
f
f
co
n
tr
o
ller
o
f
th
e
v
e
h
icle
’
s
m
o
to
r
s
.
T
h
is
cir
cu
it
is
co
n
tr
o
lled
b
y
t
h
e
cir
cu
it
o
f
th
e
f
ir
s
t
s
tag
e
as
s
h
o
w
n
in
Fi
g
u
r
e
2
,
w
h
ich
o
n
l
y
w
o
r
k
w
h
e
n
t
h
er
e
is
a
d
if
f
er
en
ce
o
f
ap
p
r
ec
iab
le
p
o
ten
ti
al
b
et
w
ee
n
an
d
,
w
h
ich
o
cc
u
r
s
o
n
l
y
a
f
ter
th
e
m
icr
o
p
h
o
n
e
h
a
s
ca
p
tu
r
ed
a
lo
u
d
s
o
u
n
d
.
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
Mo
b
ile
r
o
b
o
t tu
r
n
ed
o
n
b
y
s
o
u
n
d
a
n
d
d
ir
ec
tio
n
a
lly
c
o
n
tr
o
lled
b
y
a
n
ex
t
ern
a
l lig
h
t so
u
r
ce
(
Lu
is
G.
La
fa
u
r
ie)
2843
Fig
u
r
e
3
.
S
ec
o
n
d
s
tag
e
o
f
t
h
e
s
y
s
te
m
r
elate
d
to
th
e
o
n
/o
f
f
co
n
tr
o
ller
o
f
th
e
v
eh
icle’
s
m
o
to
r
s
E
q
u
atio
n
s
(
8
)
–
(
1
1
)
ar
e
ea
s
ily
o
b
tain
ed
f
r
o
m
Fi
g
u
r
e
2
in
o
r
d
er
t
o
ca
lcu
late
t
h
e
c
u
r
r
en
t
t
h
r
o
u
g
h
th
e
m
o
to
r
at
th
e
ti
m
e
o
f
h
a
v
i
n
g
ex
cited
t
h
e
p
h
o
to
r
esis
to
r
w
it
h
an
e
x
ter
n
al
l
ig
h
t so
u
r
ce
:
1
=
−
−
0
.
7
10
.
(
8
)
1
=
−
ℎ
11
1
,
(
9
)
2
=
3
−
−
0
.
7
12
,
(
1
0
)
=
ℎ
2
.
(
1
1
)
T
h
e
m
o
to
r
s
p
ee
d
is
d
ir
ec
tl
y
d
ep
en
d
en
t o
n
t
h
e
cu
r
r
en
t o
f
th
e
s
u
p
p
l
y
s
y
s
te
m
.
4.
SI
M
UL
AT
I
O
N
T
h
e
o
v
er
all
s
y
s
te
m
ca
n
b
e
s
u
m
m
ar
ized
i
n
a
tr
u
th
tab
le
a
s
s
h
o
w
n
i
n
T
ab
le
1
.
T
h
e
cir
c
u
it
i
s
o
n
l
y
tu
r
n
ed
o
n
a
f
ter
s
en
s
i
n
g
a
s
o
u
n
d
o
f
h
i
g
h
in
te
n
s
it
y
(
ap
p
lau
s
e)
an
d
th
e
m
o
v
e
m
e
n
t
o
f
m
o
t
o
r
s
is
co
n
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ates
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[1
]
S
.
Nu
rm
a
in
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a
n
d
B
.
T
u
tu
k
o
,
“
I
n
telli
g
e
n
t
Ro
b
o
ti
c
s
Na
v
ig
a
ti
o
n
S
y
st
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m
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ro
b
lem
s,
M
e
th
o
d
s,
a
n
d
A
lg
o
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h
m
,
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ter
n
a
t
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l
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o
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trica
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n
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o
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ter
En
g
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g
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v
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e
:
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6
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p
p
.
3
7
1
1
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7
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6
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2
0
1
7
.
[2
]
A
.
A
.
J
a
b
e
r
a
n
d
R
.
Bick
e
r
,
“
W
irele
ss
F
a
u
lt
De
tec
ti
o
n
S
y
ste
m
f
o
r
a
n
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d
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strial
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o
t
Ba
se
d
o
n
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ta
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o
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rt,
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ter
n
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ti
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n
a
l
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o
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e
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trica
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e
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6
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p
p
.
3
4
2
1
-
3
4
3
5
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2
0
1
7
.
[3
]
M
.
R
.
M
.
S
a
p
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a
n
d
K
.
A
.
M
.
A
n
n
u
a
r
,
“
S
y
n
c
h
ro
n
o
u
s
M
o
b
il
e
Ro
b
o
ts
F
o
rm
a
ti
o
n
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n
tro
l
,”
T
EL
KOM
NIKA
T
e
lec
o
mm
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n
ica
ti
o
n
Co
mp
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ti
n
g
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tro
n
ics
a
n
d
C
o
n
tr
o
l
,
v
ol
/i
ss
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e
:
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(
3
)
,
p
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.
1
1
8
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2
,
2
0
1
8
.
[4
]
H
.
A
h
m
a
d
,
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t
a
l.
,
“
A
S
o
lu
ti
o
n
t
o
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l
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b
se
rv
a
b
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y
in
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ten
d
e
d
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lm
a
n
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il
ter
M
o
b
il
e
R
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o
t
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v
ig
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n
,”
T
EL
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o
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g
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e
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ics
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:
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1
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p
.
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0
1
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.
[5
]
G
.
M
.
Z
.
G
.
M
o
ra
les
,
“
A
n
á
li
sis d
e
Circu
it
o
s
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e
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tri
c
o
s e
n
DC
,”
V
a
n
No
stra
n
d
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in
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o
l
d
Co
m
p
a
n
y
,
2
0
0
5
.
[6
]
J
.
H
.
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n
,
e
t
a
l.
,
“
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o
u
n
d
sig
n
a
l
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a
rra
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.
[7
]
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a
n
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,
e
t
a
l.
,
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o
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n
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d
irec
ti
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n
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sti
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a
ti
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rti
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r
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ter
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p
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[8
]
M
.
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.
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sú
s,
e
t
a
l.
,
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re
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tró
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ica
, p
p.
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1
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2
0
0
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.
[9
]
Y
.
W
.
Ju
n
g
,
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t
a
l.
,
“
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d
a
p
tativ
e
m
icro
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e
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te
m
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it
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se
lf
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,”
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in
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rm
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ti
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n
d
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o
mm
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n
ica
t
io
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s
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iety
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o
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:
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p
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-
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.
[1
0
]
D
.
K
.
Kim
,
e
t
a
l
.
,
“
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n
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c
c
id
e
n
tal
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ti
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d
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lf
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m
f
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ig
h
p
re
ss
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re
e
q
u
i
p
m
e
n
t
u
si
n
g
m
icro
p
h
o
n
e
a
rra
y
,”
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h
e
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re
a
n
i
n
stit
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te o
f
e
lec
trica
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e
n
g
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n
e
e
rs
, p
p.
2
3
0
0
-
2
3
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7
,
2
0
0
8
.
[1
1
]
D
.
Na
g
a
h
a
ra
,
e
t
a
l.
,
“
A
m
e
th
o
d
o
f
traje
c
to
r
y
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e
n
e
ra
ti
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to
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h
ic
le
ro
b
o
t
u
n
d
e
r
u
n
k
n
o
w
m
e
n
v
iro
n
m
e
n
t
,”
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o
rld
A
u
to
m
a
ti
o
n
Co
n
g
re
ss
,
T
S
I
P
re
ss
,
2
0
1
0
.
[1
2
]
Y
.
T
.
W
a
n
g
,
e
t
a
l.
,
“
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li
b
ra
ted
k
i
n
e
c
t
se
n
so
rs f
o
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ro
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o
t
sim
u
lt
a
n
e
o
u
s lo
c
a
li
z
a
ti
o
n
a
n
d
m
a
p
p
in
g
,”
2
0
1
4
.
[1
3
]
A
.
W
ib
o
w
o
,
e
t
a
l.
,
“
P
a
ra
ll
e
l
c
a
sc
a
d
e
f
u
z
z
y
in
terfe
re
n
c
e
s
y
ste
m
a
t
th
e
e
n
v
iro
n
m
e
n
t
c
h
a
n
g
e
s,
c
a
se
stu
d
y
:
A
u
to
m
a
ted
g
u
id
e
v
e
h
icle
ro
b
o
t
u
sin
g
u
l
tras
o
n
ic
se
n
so
r
,”
T
h
e
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Ad
v
a
n
c
e
d
C
o
mp
u
t
e
r
S
c
ien
c
e
a
n
d
In
fo
rm
a
t
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n
S
y
ste
m
,
2
0
1
2
.
B
I
O
G
RAP
H
I
E
S
O
F
AUTH
O
RS
Lu
is
G
.
La
f
a
u
r
i
e
:
En
g
in
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rin
g
p
h
y
sic
s
stu
d
e
n
t,
S
c
ien
c
e
F
a
c
u
lt
y
,
Un
iv
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rsid
a
d
Na
c
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a
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d
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Co
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m
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ia,
M
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d
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m
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-
m
a
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:
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la
f
a
u
riep
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n
a
l.
e
d
u
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c
o
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re
se
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rc
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in
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lu
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a
p
p
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d
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lec
tro
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n
d
p
h
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sic
s.
Fre
d
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E.
H
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s
:
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tri
c
a
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En
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r,
M
En
g
I
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d
u
stria
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A
u
to
m
a
t
io
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,
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h
.
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A
u
to
m
a
ti
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n
.
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ss
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c
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F
a
c
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lt
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S
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h
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s,
Un
iv
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a
d
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c
i
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n
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l
d
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Co
l
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m
b
ia
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e
d
e
M
e
d
e
ll
ín
,
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lo
m
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ia,
E
-
m
a
il
:
f
e
h
o
y
o
s
v
e
@
u
n
a
l.
e
d
u
.
c
o
.
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re
se
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rc
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tere
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c
lu
d
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o
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li
n
e
a
r
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l
,
n
o
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n
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a
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a
m
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n
sm
o
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th
sy
ste
m
s,
a
n
d
p
o
w
e
r
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lec
tro
n
ic
a
p
p
li
c
a
ti
o
n
s.
He
is
a
n
A
ss
o
c
iate
Re
se
a
rc
h
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in
Co
lcie
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I
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