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l
oc
a
t
i
on
of
no
de
s
i
n
2D
,
w
he
r
e
a
s
i
n
3
D
,
f
ou
r
a
nc
h
or
no
d
e
s
a
r
e
ne
e
de
d
.
2
-
D
s
p
ac
es
can
n
o
t
b
e
ex
act
l
y
ch
an
g
e
d
t
o
3
-
D
j
u
s
t
b
y a
dd
itio
n of
on
e
m
o
r
e
pa
r
a
m
e
t
e
r
.
T
he
r
e
a
r
e
s
e
ve
r
a
l
i
s
s
ue
s
t
ha
t
c
a
n
b
e
s
m
oot
hl
y
r
e
s
ol
ve
d i
n t
he
s
e
ns
or
ne
t
w
or
k
a
s
2
-
D
b
ut
a
r
e
ve
r
y
c
om
pl
e
x i
n 3
-
D
[9
]
,
[
10]
.
M
or
e
o
ve
r
,
t
he
t
r
i
a
ng
ul
a
t
i
on
a
p
p
r
oa
c
h t
ha
t
i
s
e
nga
ge
d
i
n
2
-
D
s
p
ace,
i
s
n
o
t
a
p
p
l
i
cab
l
e 3
-
D
.
I
n
3
D
,
q
u
a
d
r
i
l
a
t
e
r
a
t
i
o
n
ap
p
r
o
ach
can
b
e u
s
e
d
t
o
l
o
cal
i
ze a
W
S
N
t
h
at
u
s
es
d
i
s
t
an
ce m
eas
u
r
em
en
t
s
o
f
f
o
u
r
n
o
n
-
c
o
pl
a
na
r
s
e
ns
or
s
t
o
f
i
nd l
oc
a
t
i
o
n o
f
a
n u
nk
n
ow
n n
ode
i
n
3D
.
T
h
e
r
e
fo
re
w
e n
ee
d
a co
s
t
ef
f
ect
i
v
e a
n
d
r
es
o
u
r
ce ef
f
i
ci
en
t
l
o
cal
i
zat
i
o
n
al
g
o
r
i
t
h
m
f
o
r
3
D
W
S
N
s
.
A
s
t
he
s
e
ns
or
ne
t
w
or
ks
a
r
e
a
p
p
l
i
c
a
t
i
o
n
p
e
c
u
l
i
a
r
i
t
i
s
t
r
u
l
y
d
i
f
f
i
c
u
l
t
t
o
c
o
n
c
l
u
d
e
t
h
e
a
l
g
o
r
i
t
h
m
s
f
o
r
l
o
c
a
l
i
z
a
t
i
o
n
t
h
a
t
f
i
t
s
b
e
s
t
t
o
a
l
l
t
h
e
d
i
ffe
re
n
t
s
c
h
e
m
e
s
.
2.
P
R
O
BLEM
I
D
EN
TI
F
I
C
A
TI
O
N
T
h
e
r
e
i
s
a
n
e
e
d
o
f
3
D
l
o
c
a
l
i
z
a
t
i
o
n
[1
1
]
,
[
1
2]
t
o
p
r
ovi
de
a
c
c
ur
a
c
y
a
n
d
r
e
d
u
c
i
ng
p
os
i
t
i
oni
n
g
e
r
ro
r
[1
3
]
i
n
h
a
r
s
h
as
w
el
l
as
f
l
at
t
er
r
ai
n
s
p
aces
.
T
h
e t
h
r
ee d
i
m
en
s
i
o
n
a
l
l
o
cal
i
zat
i
o
n
i
s
m
u
ch
m
o
r
e c
o
m
p
l
i
cat
ed
an
d
h
a
s
m
o
r
e
t
h
e
c
o
m
p
u
t
a
t
i
o
n
a
l
c
o
m
p
l
e
x
i
t
y
a
s
a
r
e
s
u
l
t
o
f
w
h
i
c
h
i
t
i
s
n
o
t
a
p
p
r
o
p
r
i
a
t
e
t
o
e
x
t
e
n
d
t
h
e
2
D
l
o
c
a
l
i
z
a
t
i
o
n
a
l
g
o
r
i
t
h
m
t
o
a
3
D
a
l
g
o
r
i
t
h
m
d
i
r
ect
l
y
.
T
h
e r
es
ear
c
h
o
n
3
-
D
l
o
c
a
l
i
z
a
t
i
o
n
i
s
m
o
r
e
r
e
a
l
i
s
t
i
c
a
n
d
l
o
c
a
l
i
z
a
t
i
o
n
a
l
g
o
r
i
t
h
m
s
i
n
t
h
e
t
h
r
e
e
-
di
m
e
ns
i
ona
l
s
pa
c
e
a
r
e
ne
c
e
s
s
a
r
y
.
O
ne
of
t
he
di
s
t
r
i
but
e
d r
a
n
ge
f
r
e
e
a
l
go
r
i
t
hm
s
in
3
-
D
ba
s
e
d
on
No
de
R
e
pr
o
d
uc
t
i
on
[
1
4]
i
s
t
a
ke
n a
s
t
he
poi
nt
o
f
f
u
r
t
he
r
r
e
s
e
a
r
c
h w
i
t
h r
e
s
pe
c
t
t
o t
hi
s
pa
pe
r
.
I
t
h
a
s
s
m
a
l
l
e
r
c
om
put
a
t
i
on
o
ve
r
he
a
d
a
nd
p
r
ovi
de
s
be
t
t
e
r
l
oc
a
l
i
z
a
t
i
on
t
ha
n
D
V
-
H
op
a
n
d
C
e
nt
r
oi
d
Al
g
or
i
t
hm
.
I
n
N
R
A
l
go
r
i
t
h
m
[
10]
t
he
l
oc
a
l
i
z
a
t
i
on
s
pa
c
e
i
s
s
u
pp
os
e
d
t
o
be
i
n
t
he
s
pa
c
e
of
a
c
ub
e
w
hi
c
h
i
s
ha
vi
n
g
t
he
l
e
ngt
h
of
e
dge
t
o
be
1
00
m
.
T
he
t
ot
a
l
vol
um
e
of
t
he
3D l
oc
a
l
i
z
a
t
i
on s
pa
c
e
i
s
10
0×
1
00×
1
00 c
ubi
c
m
e
t
e
r
.
T
h
er
e
ar
e
2
1
6
an
ch
o
r
n
o
d
es
c
o
n
s
i
d
er
e
d
i
n
t
h
i
s
l
o
cal
i
zat
i
o
n
t
ech
n
i
q
u
e.
F
o
r
m
each
o
n
e o
f
a cu
b
e,
e
v
er
y
ei
g
h
t
a
nc
h
o
r
n
ode
s
ha
vi
ng e
dg
e
l
e
ngt
h 2
0m
i
n t
h
e
s
pa
c
e
.
A
l
l
t
h
e
u
n
kn
o
w
n no
de
s
a
r
e
de
pl
oy
e
d
r
a
nd
om
l
y
.
A
r
e
a
o
f
c
om
m
uni
c
a
t
i
on o
f
e
a
c
h
un
k
no
w
n n
ode
i
s
a
not
he
r
i
m
por
t
a
nt
pa
r
a
m
e
t
e
r
.
W
he
n t
he
pa
c
ke
t
s
s
e
nt
by
a
nc
h
o
r
no
de
s
e
nt
e
r
i
n
t
o t
he
c
om
m
u
ni
c
a
t
i
on
r
a
n
ge
of
a
ny
un
k
no
w
n
n
ode
,
pa
c
ke
t
s
a
r
e
de
t
e
c
t
e
d i
m
m
e
di
a
t
e
ly
a
nd
u
nkn
own
node
r
e
c
or
ds
th
e
c
o
r
r
e
s
p
ond
ing
a
n
c
ho
r
no
de
’
s
inf
or
m
a
tio
n
in
c
lud
i
n
g
a
n
c
hor
nod
e
I
D
a
nd
co
o
r
d
i
n
at
es
.
T
he
n
u
n
kn
o
wn
no
de
c
a
n
o
bt
a
i
n
r
e
p
r
o
d
uc
e
d
no
de
us
i
ng
l
oc
a
t
i
on i
nf
or
m
a
t
ion
o
f
t
hr
e
e
di
f
f
e
r
e
nt
a
nc
h
o
r
n
o
de
s
a
nd
a
t
t
he
e
n
d
t
he
u
n
kn
o
wn
n
ode
’
s
c
oo
r
di
na
t
e
s
a
r
e
o
bt
a
i
ne
d
by
t
he
us
e
of
t
hr
e
e
a
nc
h
or
s
a
nd
o
ne
r
e
pr
odu
c
e
d
nod
e
.
N
R
a
l
g
or
i
t
hm
[
14]
ha
s
f
ol
l
ow
i
ng
s
t
e
ps
:
a.
T
he
a
l
go
r
i
t
hm
be
gi
ns
by
br
oa
dc
a
s
t
i
n
g
da
t
a
pa
c
ke
t
s
f
r
om
a
nc
h
o
r
s
t
o
t
he
w
h
ol
e
ne
t
w
or
k
pe
r
i
o
di
c
a
l
l
y
.
F
or
t
hi
s
t
im
e
dur
a
t
i
on
(
T
)
c
a
n
be
s
e
t
t
o
m
a
nua
l
.
A
nc
ho
r
no
de
I
D
,
a
nd
i
t
s
c
o
-
o
r
d
i
n
a
t
es
ar
e t
h
e
m
ai
n
c
on
s
t
i
t
ue
nt
s
of
t
he
da
t
a
t
ha
t
i
s
br
oa
dc
a
s
t
e
d.
b.
U
nkn
own
nod
e
s
ju
s
t
l
i
s
t
e
n t
o
t
he
s
e
pa
c
ka
ge
s
t
ha
t
a
r
e
s
e
nt
i
n t
he
t
im
e
dur
a
t
i
on (
T
)
.
U
nk
no
w
n n
o
de
s
ne
e
d
t
o
r
e
c
or
d
n
um
be
r
of
pa
c
ke
t
s
t
h
e
y
ha
ve
r
e
c
e
i
v
e
d
f
r
om
di
f
f
e
r
e
nt
a
nc
h
or
s
.
c.
C
he
c
k
w
he
t
he
r
t
he
t
i
m
e
dur
a
t
i
on (
T
)
i
s
a
r
r
i
ve
d
or
n
ot
.
I
f
a
r
r
i
ve
d t
h
e
n i
n
f
o
r
m
a
t
i
o
n t
o
be
r
e
c
o
r
de
d
,
o
t
h
e
r
w
i
s
e
i
t
w
i
l
l
g
o
o
n
w
a
i
t
i
n
g
.
d.
A
f
t
e
r
r
e
c
o
r
di
n
g a
nc
ho
r
n
o
de
s
i
nf
o
r
m
a
t
i
on is
,
u
nk
n
ow
n n
o
de
c
om
put
e
s
r
e
pr
o
duc
e
d n
o
d
e
w
i
t
h t
he
he
l
p
of
t
hr
e
e
a
nc
ho
r
n
ode
s
.
e.
Ba
s
e
d o
n
r
e
c
o
r
de
d t
hr
e
e
a
nc
h
or
no
de
s
i
nf
or
m
a
t
i
on un
k
no
w
n
n
ode
pr
e
di
c
t
a
f
o
ur
t
h a
nc
ho
r
n
o
de
’
s
p
os
i
t
i
on
on
t
he
s
a
m
e
pl
a
ne
w
i
t
h
t
he
he
l
p
o
f
t
hr
e
e
a
nc
ho
r
n
ode
s
by
f
or
m
ul
a
t
i
ng
a
s
qua
r
e
wi
t
h
e
d
g
e
l
e
ngt
h
20
m
.
f.
U
s
i
n
g t
h
e
s
e
f
o
ur
n
ode
s
,
t
he
s
qu
a
r
e
c
e
nt
e
r
poi
nt
i
s
c
om
p
u
t
ed
.
R
ep
r
o
d
u
ced
n
o
d
e
d
i
f
f
e
r
s
f
r
o
m
t
h
e cen
t
er
no
de
by
m
e
a
ns
o
f
one
di
f
f
e
r
e
nt
c
o
r
di
na
t
e
di
r
e
c
t
i
on
a
nd
t
he
ot
he
r
t
w
o
a
r
e
i
n
t
he
s
a
m
e
.
g.
R
e
pr
od
uc
e
d
n
ode
i
s
e
s
t
i
m
a
te
d
by
a
d
di
t
i
on
of
ha
l
f
c
om
m
uni
c
a
t
i
o
n
r
a
n
g
e
t
o a
ny
o
ne
of
t
hr
e
e
c
o
r
di
na
t
e
d
i
r
e
c
t
i
o
n
s
.
h.
A
ft
e
r g
e
n
e
ra
t
i
on
o
f
r
e
pr
o
du
c
e
d n
o
de
,
un
k
no
w
n n
o
de
s
e
nd t
he
l
oc
a
l
i
z
a
t
i
on p
r
oc
e
s
s
.
T
hr
e
e
a
nc
h
or
s
a
n
d
r
e
p
r
o
d
uc
e
d
n
o
de
f
or
m
s
a
t
e
t
r
a
he
d
r
on
.
T
he
n
by
us
i
n
g
s
i
m
i
l
a
r
wa
y
o
f
c
e
nt
r
o
i
d
a
l
go
r
i
t
hm
,
the
c
e
nt
e
r
o
f
t
h
e
s
e
f
o
ur
n
o
de
s
e
s
t
i
m
a
t
e
s
pos
i
t
i
o
n
of
t
he
u
nk
n
ow
n
no
de
.
N
R
a
l
g
o
r
i
t
h
m
doe
s
n
’
t
r
e
q
ui
r
e
s
e
ns
o
r
s
ha
vi
n
g
a
ny
s
pe
c
i
a
l
r
a
nge
-
de
t
e
r
m
i
ning
ha
r
dw
a
r
e
.
I
t
de
pe
n
ds
o
n
no
de
-
a
nc
h
or
c
om
m
uni
c
a
t
i
on t
o
f
i
n
d t
he
l
oc
a
t
i
on
of
t
he
u
nk
n
ow
n
n
o
de
s
t
ha
t
r
e
d
uc
e
s
t
he
c
om
put
a
t
i
ona
l
ove
r
he
a
d
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w
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M
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be
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:
a.
P
os
i
t
i
o
n
of
t
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R
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pr
od
uc
e
d
N
ode
:
A
f
t
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r
de
t
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r
m
i
na
t
i
on
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f
r
e
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d
n
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i
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a
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w
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c
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n
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d.
I
t
m
a
y
l
i
e
on
t
he
s
a
m
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pl
a
ne
w
i
t
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un
kn
o
wn
n
ode
o
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i
n
t
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op
p
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i
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pl
a
ne
.
I
f
i
t
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s
i
n
op
p
os
i
t
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pl
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w
i
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h r
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s
pe
c
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t
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o
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,
l
oc
a
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a
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r
r
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i
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pr
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d.
Du
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g l
oc
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pr
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s
s
,
t
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252
-
88
14
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7
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3
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201
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14
n
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ai
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e n
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o
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p
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N
R
[
1
4]
w
hi
c
h
i
s
w
or
ke
d
up
o
n
i
n
t
he
p
r
o
p
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g
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t
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be
l
ow.
b.
Co
m
m
u
n
i
c
a
t
i
o
n
Ra
n
g
e
:
I
n
N
R a
l
g
o
r
i
t
h
m
,
t
h
e
s
m
a
l
l
c
o
m
m
uni
c
a
t
i
on r
a
nge
l
e
a
ds
t
o
i
nc
om
pl
e
t
i
on
o
f
l
oc
a
t
i
on e
s
t
i
m
a
t
i
ons
.
B
e
c
a
us
e
of
t
hi
s
l
o
w
va
l
ue
o
f
c
om
m
uni
c
a
t
i
on r
a
nge
,
t
he
c
o
ve
r
e
d s
e
n
s
or
a
r
e
a
i
s
s
m
a
l
l
w
hi
c
h
po
s
e
a
s
a
n
o
bs
t
a
c
l
e
i
n t
he
ge
ne
r
a
t
i
on
o
f
r
e
pr
od
u
c
e
d
no
de
.
W
h
e
r
e
a
s
l
a
r
ge
c
o
m
m
uni
c
a
t
i
on r
a
n
g
e
p
r
o
v
i
d
es
h
i
g
h
l
y
accu
r
at
e
es
t
i
m
at
i
o
n
s
,
b
u
t
i
n
t
h
i
s
cas
e
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h
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p
ack
et
s
f
r
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m
d
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f
f
er
e
n
t
an
c
h
o
r
s
g
et
co
n
f
l
i
ct
ed
a
n
d
t
h
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s
can
n
o
t
p
r
o
d
u
ce
accu
r
at
e
es
t
i
m
at
i
o
n
.
T
h
i
s
i
s
s
u
e
i
s
al
s
o
t
ak
en
i
n
t
o
acc
o
u
n
t
i
n
t
h
e
p
r
o
p
s
ed
a
p
p
r
o
ach
.
3.
P
R
O
P
O
SE
D
W
O
R
K
CP
-
N
R
t
e
c
h
ni
que
ha
s
t
r
i
e
d
t
o r
e
duc
e
t
he
p
r
o
bl
e
m
of
l
oc
a
l
i
z
a
t
i
on e
r
r
or
due
t
o w
r
o
n
g
pos
i
t
i
o
n
o
f
r
e
p
r
o
d
uc
e
d
n
o
de
a
s
m
e
nt
i
one
d
i
n
t
he
a
b
ove
s
e
c
t
i
on.
I
n
t
hi
s
m
e
t
hod,
t
he
l
o
c
a
l
i
z
a
t
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on
s
pa
c
e
i
s
a
c
u
be
of
v
ol
um
e
10
0×
10
0×
10
0
c
ubi
c
m
e
t
e
r
.
T
he
r
e
a
r
e
t
ot
a
l
40
0
no
de
s
out
of
w
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c
h 2
1
6
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nc
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de
s
a
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d
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s
t
a
r
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u
nk
now
n
no
de
s
.
A
c
u
be
ha
vi
ng
e
d
ge
l
e
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h
20m
i
s
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o
r
m
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d us
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g
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a
nc
h
or
s
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a
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dom
l
y
de
pl
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d
u
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kn
o
w
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no
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s
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xi
s
t
s
.
T
he
c
om
m
uni
c
a
t
i
on r
a
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i
n
t
hi
s
a
l
gor
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t
hm
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s
30m
a
l
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o.
T
hi
s
a
l
go
r
i
t
hm
ge
ne
r
a
t
e
s
r
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pr
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uc
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d
n
o
d
e s
am
e as
N
R
al
g
o
r
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t
h
m
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Anc
h
or
n
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s
br
oa
dc
a
s
t
m
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s
s
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ge
s
i
n
r
a
nd
om
t
hr
e
s
h
o
l
d t
im
e
dur
a
t
i
on
(
T
)
.
U
n
k
no
w
n
no
d
e
s
l
i
s
t
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n m
e
s
s
a
ge
s
a
n
d c
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k
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im
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ur
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t
i
o
n
(
T
)
ha
s
a
r
r
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ve
d.
I
f
t
i
m
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dur
a
t
i
o
n
(
T
)
i
s
a
r
r
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ve
d,
u
nk
n
ow
n
no
de
s
r
e
c
or
d i
n
f
o
r
m
a
t
i
on o
f
t
h
r
e
e
a
nc
h
o
r
n
o
de
s
whi
c
h
ha
ve
m
a
xi
m
u
m
b
eaco
n
t
r
a
n
s
m
i
s
s
i
o
n
.
U
s
i
n
g t
hi
s
i
n
f
o
r
m
a
ti
on u
nk
n
o
w
n
no
de
pr
e
di
c
t
a
f
ou
r
t
h
one
a
nc
h
or
n
ode
o
n t
o m
a
ke
a
s
qua
r
e
of
s
i
de
2
0m
i
n t
h
e
s
a
m
e
pl
a
ne
.
Us
i
n
g t
he
s
e
f
o
ur
no
de
s
,
t
he
c
e
nt
e
r
p
oi
nt
of
t
he
s
q
ua
r
e
i
s
c
o
m
put
e
d.
R
e
pr
o
duc
e
d
no
de
i
s
e
s
t
i
m
a
te
d by
a
d
di
t
i
on
of
ha
l
f
c
om
m
uni
c
a
t
i
o
n r
a
n
g
e
t
o a
ny
one
o
f
t
hr
e
e
o
r
di
na
t
e
di
r
e
c
t
i
o
ns
of
c
e
nt
e
r
no
de
.
B
ut
a
f
t
e
r
ge
ne
r
a
t
i
o
n
of
r
e
pr
o
duc
e
d
n
od
e
,
c
he
c
k
o
n
t
h
e
pl
a
ne
i
n
w
hi
c
h
r
e
pr
od
uc
e
d
no
de
l
i
e
s
i
s
do
ne
.
T
h
e
co
-
pl
a
n
a
r
i
t
y
c
onc
e
pt
[
1
5]
of
f
ou
r
n
ode
s
d
e
t
e
r
m
i
ne
d
t
he
pos
i
t
i
o
n
of
t
he
r
e
pr
odu
c
e
d
nod
e
.
F
o
r
co
-
pl
a
na
r
i
t
y
,
s
up
p
os
e
t
h
r
e
e
poi
nt
s
A,
B
,
C
f
or
m
s
a
pl
a
ne
a
nd
de
t
e
r
m
i
ne
s
whe
t
he
r
t
he
f
ou
r
t
h
p
o
i
n
t
D
l
i
es
o
n
t
h
e
s
am
e p
l
an
e.
C
r
o
s
s
pr
o
d
uc
t
of
t
w
o ve
c
t
or
s
(
V
e
c
t
o
r
A
B
×
V
e
c
t
o
r
A
C)
i
s
n
o
r
m
a
l
t
o
p
l
a
n
e
.
P
r
o
ve
t
ha
t
t
he
l
a
s
t
ve
c
t
o
r
AD
i
s
n
or
m
a
l
t
o
t
hi
s
c
r
os
s
pr
o
du
c
t
.
He
nc
e
t
he
t
r
i
pl
e
p
r
od
uc
t
s
h
oul
d
e
qua
l
t
o
z
e
r
o
.
.
(
×
)
=0
(
1)
I
f
r
e
p
r
o
d
uc
e
d
no
de
doe
s
n
ot
l
i
e
wi
t
hi
n
t
he
s
a
m
e
pl
a
ne
t
ha
t
of
r
e
c
o
r
de
d
t
h
r
e
e
an
ch
o
r
s
n
o
d
es
t
h
en
n
ee
d
t
o u
s
e
pr
o
je
c
t
i
on
o
f
p
oi
nt
t
e
c
hni
que
t
o
p
ut
t
hi
s
no
de
i
n t
he
a
pp
r
op
r
i
a
t
e
pl
a
ne
t
o
i
nc
r
e
a
s
e
t
he
l
oc
a
l
i
z
a
t
i
on
accu
r
acy
.
A
nd
a
t
t
he
e
n
d t
hr
e
e
a
nc
h
o
r
s
a
nd
r
e
p
r
o
d
uc
e
d
n
o
de
f
or
m
s
a
t
e
t
r
a
he
d
r
on
.
T
h
e
n
by
us
i
ng s
i
m
i
la
r
wa
y
o
f
c
e
n
t
r
o
i
d
a
l
g
o
r
i
t
hm
,
t
he
c
e
n
t
e
r
o
f
t
he
s
e
f
o
u
r
no
de
s
e
s
t
im
a
te
s
p
os
i
t
i
on
o
f
t
he
un
k
no
w
n
n
ode
.
P
r
o
je
c
t
i
o
n
of
a
poi
nt
o
n
a
pl
a
ne
:
L
e
t
π
be
a
n
y
pl
a
ne
a
nd
P
be
a
gi
ve
n
p
oi
nt
,
n
ot
on
t
he
pl
a
ne
π
,
t
he
n
P
’
t
he
f
o
ot
o
f
p
e
r
pe
n
di
c
ul
a
r
o
n
t
he
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a
ne
,
i
s
c
a
l
l
e
d
o
r
t
h
og
o
na
l
p
r
oje
c
t
i
o
n
o
f
P
o
n
t
h
e
p
l
a
n
e
π
.
4.
R
ES
U
LTS
A
N
D
A
NA
L
Y
S
I
S
I
n t
he
pr
o
po
s
e
d C
P
-
N
R a
l
g
o
r
i
t
h
m
l
o
c
a
l
i
z
a
t
i
o
n
e
r
r
o
r
d
u
e
t
o
i
n
c
o
r
r
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c
t
p
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s
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t
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o
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p
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d
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c
e
d
n
o
d
e
i
s
r
e
d
uc
e
d
us
i
n
g
t
he
c
o
nc
e
pt
s
o
f
c
o
-
pl
a
na
r
i
t
y
a
nd
p
r
o
je
c
t
i
o
n
of
a
p
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o
n t
he
pl
a
ne
w
hi
c
h
de
t
e
r
m
i
ne
t
he
pl
a
n
e
of
t
he
r
e
p
r
o
d
u
c
e
d no
de
wi
t
h
r
e
s
pe
c
t
t
o r
e
c
or
de
d
a
nc
h
or
no
de
s
a
n
d
po
s
i
t
i
ons
i
t
i
n t
he
a
p
pr
op
r
i
a
t
e
pl
a
ne
t
o
ge
ne
r
a
t
e
m
or
e
a
c
c
ur
a
t
e
l
oc
a
t
i
on e
s
t
i
m
a
ti
on r
e
s
ul
t
s
.
I
n t
he
s
e
a
l
gor
i
t
hm
s
t
he
ba
s
i
c
no
de
f
or
l
oc
a
t
i
on e
s
t
im
a
t
i
on
i
s
r
e
p
r
od
uc
e
d
no
de
.
H
o
w t
o
ge
ne
r
a
t
e
i
t
i
n
t
he
a
p
pr
o
pr
i
a
t
e
pl
a
ne
i
s
t
he
m
a
i
n c
onc
e
r
n
.
G
e
n
e
r
a
t
i
o
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
A
A
S
I
S
S
N
:
225
2
-
88
14
CP
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2
15
4
.
1
.
Sub
S
ect
i
o
n
1
F
i
r
s
t
o
f
a
l
l
no
d
e
s
a
r
e
de
pl
oy
e
d i
n
3
D
e
n
vi
r
onm
e
nt
ha
vi
n
g
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u
be
of
e
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n
gt
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1
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l
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s
4
00
,
out
of
w
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c
h
2
16
i
s
t
he
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nc
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o
r
’
s
d
e
ns
i
t
y
.
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t
ot
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l
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a
l
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z
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on
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0
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1
00
c
ubi
c
m
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n
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g
ur
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1 r
e
pr
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c
ubi
c
a
l
3
D l
oc
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a
t
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on s
pa
c
e
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n
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h
r
e
d c
ol
o
r
e
d
2
1
6 a
nc
ho
r
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ode
s
a
nd
(
4
0
0
-
21
6)
b
la
c
k
c
o
lor
e
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nkn
own
no
de
s
a
r
e
de
pl
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e
d.
T
he
a
nc
h
or
n
o
de
s
b
r
oa
dc
a
s
t
be
a
c
o
n i
n
f
o
r
m
a
t
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on pe
r
i
o
di
c
a
l
l
y
w
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h i
s
l
i
s
t
e
ne
d a
n
d r
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c
o
r
de
d by
t
he
un
k
no
w
n
n
ode
s
l
i
e
i
n
t
he
i
r
r
a
nge
.
T
hi
s
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nf
o
r
m
a
t
i
on
i
s
r
e
c
or
de
d
i
n
t
he
de
s
c
e
ndi
ng
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de
r
w
hi
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h
f
or
m
s
t
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ba
s
i
s
of
a
nc
h
or
n
o
d
e
s
e
l
e
c
t
i
on.
F
i
gu
r
e
2
r
e
pr
e
s
e
nt
s
t
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s
e
l
e
c
t
i
o
n
of
a
n
c
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or
n
o
de
s
o
n t
h
e
ba
s
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s
of
t
he
i
r
m
a
xim
u
m
r
eco
r
d
e
d
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n
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o
r
m
at
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o
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p
ar
am
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t
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t
unk
n
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n n
ode
s
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n c
u
bi
c
a
l
3D l
oc
a
l
i
z
a
t
i
on s
pa
c
e
w
hi
c
h ha
vi
ng
2
16
r
e
d
c
o
lor
e
d
a
n
c
hor
a
nd
(
4
00
-
2
1
6)
bl
a
c
k c
ol
or
e
d u
n
kn
ow
n
n
ode
s
.
N
o
w
s
e
l
e
c
t
i
on o
f
t
hr
e
e
a
nc
h
or
n
ode
s
f
r
om
w
hi
c
h
un
k
no
w
n
no
de
s
r
e
c
e
i
v
e
d
m
a
xim
u
m
be
a
c
on
i
n
f
o
r
m
a
ti
on
i
s
d
o
ne
.
F
ig
ur
e
1
.
L
o
cal
i
zat
i
o
n
s
p
ace
i
n
N
R
a
n
d
C
P
-
N
R
a
l
g
o
r
i
t
h
m
s
F
ig
ur
e
2
.
S
e
l
e
c
t
i
on
of
t
hr
e
e
a
n
c
ho
r
n
ode
s
T
he
ge
ne
r
a
t
i
on
of
t
he
r
e
p
r
o
d
uc
e
d
n
ode
i
s
t
he
c
r
uc
i
a
l
a
s
pe
c
t
of
b
ot
h
N
R
a
nd C
P
-
N
R
a
l
g
o
ri
t
h
m
s
.
It
he
l
ps
i
n
t
he
l
oc
a
t
i
on
e
s
t
im
a
t
i
on
o
f
u
nk
n
ow
n
no
de
s
.
T
he
t
h
r
e
e
s
e
l
e
c
t
e
d
a
n
c
h
or
nod
e
s
a
nd
th
is
r
e
pr
odu
c
e
d
no
de
f
o
r
m
a
t
et
r
ah
ed
r
o
n
an
d
u
s
e
cen
t
r
o
i
d
co
n
cep
t
t
o
en
d
t
h
e l
o
cal
i
zat
i
o
n
p
r
o
ces
s
o
f
t
h
es
e al
g
o
r
i
t
h
m
s
.
T
h
e
ge
ne
r
a
t
i
o
n
of
t
he
r
e
p
r
o
d
uc
e
d
no
de
m
a
ke
s
e
f
f
e
c
t
o
n t
he
c
o
m
m
uni
c
a
t
i
on r
a
nge
t
o
c
o
ve
r
t
he
w
h
ol
e
ne
t
w
or
k a
s
w
e
l
l
a
s
t
h
e
de
ns
i
t
y
of
t
he
a
n
c
ho
r
no
de
s
.
F
i
gu
r
e
3 r
e
p
r
e
s
e
nt
s
t
he
ge
ne
r
a
t
i
on
of
r
e
pr
o
du
c
e
d
no
de
us
i
n
g f
o
ur
a
nc
h
o
r
n
o
de
s
:
t
hr
e
e
s
e
l
e
c
t
e
d
a
nc
h
o
r
n
o
de
s
a
nd
o
ne
de
t
e
r
m
i
ne
d a
nc
h
or
no
de
.
T
hi
s
f
o
ur
t
h a
nc
h
or
n
ode
i
s
s
el
ect
ed
b
y
u
n
k
n
o
w
n
n
o
d
e h
av
i
n
g
s
am
e p
l
an
e t
h
at
o
f
t
h
r
ee s
el
ect
ed
an
ch
o
r
s
.
T
h
es
e a
n
ch
o
r
n
o
d
es
f
o
r
m
a
s
qu
a
r
e
pl
a
ne
f
r
om
whi
c
h r
e
p
r
od
uc
e
d n
o
de
i
s
ge
ne
r
a
t
e
d
.
I
n t
he
F
i
g
u
r
e
4
,
f
o
ur
a
nc
ho
r
no
de
s
a
r
e
of
gr
e
e
n
c
ol
o
r
a
nd
r
e
pr
o
duc
e
d
no
de
i
s
o
f
bl
ue
c
ol
o
r
.
F
ig
ur
e
3
.
G
e
ne
r
a
t
i
on
o
f
R
e
pr
o
duc
e
d
N
ode
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
252
-
88
14
IJ
A
A
S
V
o
l
.
7
,
N
o
.
3
,
S
e
p
t
em
b
er
201
8
:
212
–
2
19
2
16
4
.
1
.
Sub
S
ect
i
o
n
2
T
he
r
e
s
ul
t
s
of
t
he
l
oc
a
l
i
z
a
t
i
on
e
r
r
o
r
s
i
n N
R
a
l
go
r
i
t
hm
i
n b
ot
h t
he
s
c
e
n
a
r
i
os
w
he
n
t
he
r
e
p
r
od
uc
e
d
no
de
l
i
e
w
i
t
hi
n t
he
s
a
m
e
pl
a
ne
o
f
a
nc
ho
r
n
ode
s
a
n
d w
he
n i
t
l
i
e
s
i
n t
he
op
po
s
i
t
e
pl
a
n
e
a
r
e
pr
e
s
e
nt
e
d he
r
e
.
W
he
n t
he
r
e
pr
od
uc
e
d l
i
e
s
w
i
t
hi
n t
he
s
a
m
e
pl
a
ne
of
s
e
l
e
ct
ed
an
c
h
o
r
s
t
h
en
l
o
cal
i
zat
i
o
n
er
r
o
r
i
s
l
es
s
.
B
u
t
o
p
p
o
s
i
t
e
t
o
t
h
i
s
w
h
e
n
i
t
i
s
n
o
t
i
n
t
h
e
s
a
m
e
p
l
a
n
e
i
t
p
r
o
d
u
c
e
s
m
o
r
e
i
n
a
c
c
u
r
a
t
e
p
o
s
i
t
i
o
n
e
s
t
i
m
a
t
i
o
n
s
o
f
t
h
e
un
k
no
w
n n
ode
s
.
F
i
gur
e
4 r
e
pr
e
s
e
nt
s
t
he
l
o
c
a
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[1]
F
.
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05
;
38(4):
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-
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2.
[2]
L
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R
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Com
put
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r
a
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m
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ISO
3297: 2007 Ce
r
t
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f
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e
d
O
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on,
2014
;
2(5):
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-
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48.
[3]
P
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dn
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b
,
2008
:
426
-
430.
[4]
A
m
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Rout
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2
013
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3(1):
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-
33
9.
[5]
B.
R.
S
t
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kos
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.
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vra
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ns
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s
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2014
;
10:
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-
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[6]
Ra
ni
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K
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a
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2015;
16
(2):
323
-
332.
[7]
Cha
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l
e
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