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Dec
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201
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1
I
SS
N:
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8822
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2
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1
6
M
e
c
h
a
tro
n
ics
is
a
m
u
lt
id
isc
ip
li
n
a
ry
th
a
t
in
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lu
d
e
s
a
c
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m
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i
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ti
o
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o
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m
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h
a
n
ics
,
e
lec
tro
n
ics
,
c
o
n
tr
o
l
s
y
ste
m
s,
a
n
d
c
o
m
p
u
ter
sc
ien
c
e
.
T
h
e
m
a
in
o
b
jec
ti
v
e
o
f
m
e
c
h
a
tro
n
ics
lea
rn
in
g
is
to
e
sta
b
li
sh
a
c
o
m
p
re
h
e
n
siv
e
m
in
d
se
t
in
th
e
d
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v
e
lo
p
m
e
n
t
o
f
m
e
c
h
a
tro
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ic sy
ste
m
s.
P
ro
jec
t
Ba
se
d
L
e
a
rn
in
g
(P
BL
)
is
a
n
a
p
p
ro
p
riate
m
e
th
o
d
f
o
r
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se
in
th
e
lea
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in
g
p
ro
c
e
ss
o
f
m
e
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h
a
tr
o
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ic.
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h
e
u
se
o
f
P
BL
b
y
f
o
ll
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w
in
g
th
e
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m
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e
l
in
s
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ste
m
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t
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o
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g
o
a
l
o
f
lea
rn
in
g
in
m
e
c
h
a
tr
o
n
ics
lab
.
De
m
o
n
stra
ti
o
n
o
f
k
n
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led
g
e
d
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rin
g
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ti
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ts,
p
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a
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d
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t
d
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m
o
.
T
h
e
t
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st r
e
su
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m
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lab
c
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in
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e
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g
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d
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tate
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ic
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d
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it
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p
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m
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n
ts.
In
a
d
d
it
i
o
n
,
lea
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e
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t
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e
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is
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n
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h
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ll
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ll
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th
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-
b
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se
d
p
ra
c
ti
c
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m
.
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ey
w
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r
d
s
:
Me
ch
atr
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ic
s
P
r
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t
b
ased
l
ea
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n
in
g
V
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el
Co
p
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rig
h
t
©
2
0
1
6
In
stit
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te o
f
A
d
v
a
n
c
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d
E
n
g
i
n
e
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rin
g
a
n
d
S
c
ien
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e
.
Al
l
rig
h
ts
re
se
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d
.
C
o
r
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s
p
o
nd
ing
A
uth
o
r
:
No
o
r
C
h
o
lis
B
asj
ar
u
d
d
in
,
Dep
ar
t
m
en
t o
f
E
lectr
ical
E
n
g
i
n
ee
r
in
g
,
B
an
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u
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State
P
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h
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ic
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ch
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@
p
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.
ac
.
id
1.
I
NT
RO
D
UCT
I
O
N
Def
i
n
itio
n
o
f
m
ec
h
atr
o
n
ics
h
as
ev
o
lv
ed
s
i
n
ce
th
e
ter
m
m
e
ch
atr
o
n
ics
f
o
u
n
d
b
y
T
etsu
r
o
Mo
r
i,
w
h
o
w
o
r
k
s
at
Yas
k
a
w
a
E
lectr
ic
C
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p
.
in
1
9
6
9
.
At
t
h
e
tr
ad
em
ar
k
ap
p
licatio
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d
o
cu
m
e
n
t
s
,
Yas
k
a
w
a
p
r
o
v
id
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s
d
ef
in
i
tio
n
m
ec
h
a
tr
o
n
ics
a
s
a
l
ea
d
in
g
-
ed
g
e
tec
h
n
o
lo
g
y
a
n
d
p
r
o
d
u
ct
s
th
at
i
n
co
r
p
o
r
ate
m
o
r
e
elec
tr
o
n
ics
i
n
to
th
e
m
ec
h
a
n
ic
s
s
o
as
to
f
o
r
m
a
co
h
er
en
t
w
h
o
le
[
1
]
.
T
h
ese
d
ef
i
n
itio
n
s
w
er
e
s
u
b
s
eq
u
e
n
tl
y
d
ev
elo
p
ed
b
y
th
e
r
esear
ch
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an
d
o
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e
o
f
t
h
e
m
p
o
s
ted
b
y
Har
as
h
i
m
a,
T
o
m
iz
u
k
a,
an
d
Fu
k
ad
a
i
n
1
9
9
6
.
I
n
th
ei
r
p
ap
er
th
e
y
p
u
t
a
m
ec
h
a
tr
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n
ics
d
ef
i
n
itio
n
as
s
y
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er
g
is
tic
in
teg
r
atio
n
o
f
m
ec
h
a
n
ical
en
g
i
n
ee
r
in
g
w
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th
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tr
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n
ics
an
d
in
te
lli
g
en
t
co
m
p
u
ter
co
n
tr
o
l in
t
h
e
d
esi
g
n
an
d
m
an
u
f
ac
t
u
r
e
o
f
p
r
o
d
u
cts.
A
cc
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r
d
in
g
to
t
h
e
Fre
n
ch
s
ta
n
d
ar
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NF
E
0
1
-
0
1
0
,
m
ec
h
atr
o
n
ics
is
an
ap
p
r
o
ac
h
t
h
at
ai
m
s
t
o
in
teg
r
ate
s
y
n
er
g
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s
ticall
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b
et
w
ee
n
m
ec
h
an
ic
s
,
elec
tr
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n
ics,
co
n
tr
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l
s
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te
m
s
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d
co
m
p
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ter
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cie
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ce
in
t
h
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d
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an
d
m
a
n
u
f
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tu
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o
f
p
r
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d
u
cts
f
o
r
th
e
p
u
r
p
o
s
e
o
f
o
p
ti
m
ize
f
u
n
ct
io
n
s
[
2
]
.
B
ased
o
n
t
h
e
d
e
f
i
n
itio
n
u
n
d
er
Fre
n
ch
s
tan
d
ar
d
s
,
in
ad
d
itio
n
to
m
ea
n
in
g
f
u
l
as
a
s
y
s
te
m
,
m
ec
h
atr
o
n
ics
i
s
also
m
ea
n
t
to
b
e
a
m
u
ltid
is
cip
li
n
ar
y
.
T
h
e
lear
n
in
g
p
r
o
ce
s
s
o
f
m
u
ltid
is
ci
p
lin
ar
y
co
u
r
s
e
s
r
eq
u
ir
e
s
p
ec
ial
m
eth
o
d
s
th
a
t
ca
n
b
e
d
eliv
er
ed
co
m
p
r
eh
en
s
i
v
e
f
r
a
m
e
w
o
r
k
an
d
n
o
t s
i
m
p
l
y
p
as
s
o
n
s
o
m
e
k
n
o
w
led
g
e
at
t
h
e
s
a
m
e
ti
m
e.
I
n
cu
r
r
ic
u
lu
m
a
t
E
lectr
o
n
ic
s
E
n
g
i
n
ee
r
i
n
g
B
a
n
d
u
n
g
State
P
o
ly
tech
n
ic,
t
h
e
m
ec
h
atr
o
n
ics
s
u
b
j
ec
t
is
p
lace
d
in
s
e
m
e
s
ter
V
f
o
r
D3
an
d
D4
p
r
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am
.
I
n
f
ir
s
t f
o
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r
s
e
m
ester
s
,
m
ec
h
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o
n
ic
co
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p
o
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e
n
t
s
g
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n
er
all
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v
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b
ee
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h
t.
T
h
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o
r
e
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t
h
e
m
ai
n
o
b
j
ec
tiv
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is
to
g
iv
e
an
in
s
ig
h
t
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to
th
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lear
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g
m
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ch
atr
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ig
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b
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m
b
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n
i
n
g
al
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o
u
r
co
m
p
o
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en
t
s
o
f
m
ec
h
atr
o
n
ic
s
.
Dev
elo
p
m
e
n
t
o
f
m
ec
h
atr
o
n
ic
s
y
s
te
m
s
r
eq
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ir
es
s
y
s
te
m
atic
d
ev
elo
p
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t
p
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d
u
r
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an
d
u
s
e
a
v
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f
s
o
f
t
w
ar
e
aid
s
.
T
h
e
s
p
ec
if
ic
i
t
y
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f
t
h
e
d
ev
elo
p
m
e
n
t
o
f
m
e
ch
atr
o
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ic
s
y
s
te
m
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s
an
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teg
r
a
tio
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i
n
ee
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th
at
cr
o
s
s
e
s
tr
ad
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al
b
o
u
n
d
ar
ies
[
3
]
.
Me
ch
atr
o
n
ic
s
y
s
te
m
d
e
v
elo
p
m
e
n
t
p
r
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ce
d
u
r
es,
a
m
o
n
g
o
th
er
s
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
R
E
I
SS
N:
2252
-
8822
I
mp
leme
n
ta
tio
n
o
f
P
r
o
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a
s
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Lea
r
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in
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in
Mech
a
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b
C
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.
.
(
N
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o
r
C
h
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a
s
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r
u
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in
)
285
f
o
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w
in
g
t
h
e
V
m
o
d
el.
Dev
el
o
p
m
e
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t
o
f
m
ec
h
a
tr
o
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ic
s
y
s
t
e
m
s
ca
n
also
b
e
d
o
n
e
th
r
o
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g
h
t
h
e
f
lo
w
o
f
s
tan
d
ar
d
p
r
ac
ticed
b
y
in
d
u
s
tr
y
[
4
]
.
Me
ch
atr
o
n
ic
d
ev
e
lo
p
m
en
t
n
o
t
o
n
l
y
o
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p
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d
u
cts
t
h
at
ar
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d
ir
ec
tl
y
u
s
ed
b
y
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s
u
m
er
s
b
u
t
also
o
n
all
m
ea
n
s
o
f
p
r
o
d
u
ctio
n
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n
th
e
in
d
u
s
tr
y
.
I
n
d
u
s
tr
y
r
eq
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ir
es
m
ec
h
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o
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ics
f
o
r
th
e
d
e
m
an
d
s
o
f
a
r
ap
id
ly
ch
a
n
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in
g
m
ar
k
et.
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h
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d
e
m
a
n
d
s
i
n
cl
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d
e
th
e
d
iv
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s
it
y
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cts,
p
r
o
d
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ct
q
u
alit
y
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n
d
co
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s
is
ten
c
y
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as
w
ell
as
t
h
e
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u
m
b
er
o
f
r
eq
u
est
s
f
a
s
t
-
ch
a
n
g
in
g
[
5
]
.
Me
ch
atr
o
n
ic
s
is
n
o
w
d
ev
elo
p
in
g
i
n
to
a
d
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h
ilo
s
o
p
h
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at
en
co
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r
ag
es
t
h
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ex
p
er
ts
t
o
in
teg
r
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co
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v
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co
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e
in
d
u
s
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in
d
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s
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ial
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e
v
elo
p
m
e
n
t
o
f
m
o
d
er
n
p
r
o
ce
s
s
es.
A
s
a
d
esig
n
p
h
i
lo
s
o
p
h
y
,
tau
g
h
t
m
o
r
e
p
r
ec
is
e
m
ec
h
atr
o
n
ic
ap
p
r
o
ac
h
lear
n
i
n
g
b
y
d
o
in
g
.
T
h
e
co
n
ce
p
t
o
f
lear
n
i
n
g
b
y
d
o
in
g
,
i
n
tr
o
d
u
ce
d
b
y
J
o
h
n
De
w
e
y
w
ill
en
s
u
r
e
th
at
lear
n
er
s
ar
e
ab
le
to
co
n
s
tr
u
ct
k
n
o
w
led
g
e
th
r
o
u
g
h
ac
tio
n
r
esear
ch
a
n
d
b
u
il
d
k
n
o
w
led
g
e
o
n
w
h
a
t
th
e
y
alr
e
ad
y
k
n
o
w
[
6
]
.
L
ea
r
n
in
g
m
eth
o
d
s
co
n
s
is
te
n
t
w
it
h
th
e
t
h
i
n
k
i
n
g
o
f
J
o
h
n
De
w
e
y
,
a
m
o
n
g
o
th
er
s
,
P
r
o
j
ec
t
B
ased
L
ea
r
n
in
g
(
P
B
L
)
.
P
r
o
j
ec
t
B
as
ed
L
ea
r
n
i
n
g
is
a
lear
n
i
n
g
a
p
p
r
o
ac
h
th
at
d
ee
p
an
d
co
m
p
r
eh
en
s
i
v
e
lear
n
i
n
g
an
d
teac
h
i
n
g
i
n
t
h
e
clas
s
r
o
o
m
t
h
at
in
v
ite
s
s
t
u
d
en
t
s
to
in
v
est
ig
ate
r
ea
l iss
u
e
s
[
7
]
.
P
B
L
f
u
ller
d
escr
ip
tio
n
g
i
v
e
n
b
y
[
8
]
as
f
o
llo
w
s
:
P
B
L
in
te
g
r
ate
k
n
o
w
i
n
g
a
n
d
d
o
in
g
.
Stu
d
en
ts
lear
n
k
n
o
w
led
g
e
a
n
d
ele
m
en
t
s
o
f
t
h
e
co
r
e
cu
r
r
icu
l
u
m
,
b
u
t
also
ap
p
ly
w
h
at
t
h
e
y
k
n
o
w
to
s
o
l
v
e
au
th
e
n
tic
p
r
o
b
le
m
s
an
d
p
r
o
d
u
ce
r
esu
lt
th
at
m
atter
.
Stu
d
en
t
s
in
P
B
L
u
s
in
g
e
x
ce
s
s
d
ig
ital
d
ev
ice
s
to
p
r
o
d
u
ce
h
ig
h
q
u
a
lit
y
p
r
o
d
u
cts
an
d
co
llab
o
r
ativ
e.
P
B
L
r
ef
o
cu
s
ed
u
ca
tio
n
o
n
s
t
u
d
en
ts
a
n
d
n
o
t
o
n
th
e
c
u
r
r
icu
l
u
m
-
a
s
h
i
f
t
t
h
at
is
m
an
d
ated
b
y
a
g
lo
b
al
w
o
r
ld
th
at
v
a
lu
e
s
o
f
i
n
t
an
g
ib
le
ass
e
ts
s
u
ch
a
s
m
o
ti
v
at
io
n
,
p
ass
io
n
,
cr
ea
ti
v
it
y
,
e
m
p
at
h
y
,
an
d
d
u
r
ab
ilit
y
.
I
t c
an
n
o
t b
e
tau
g
h
t
f
r
o
m
a
te
x
tb
o
o
k
,
b
u
t
m
u
s
t b
e
ac
tiv
ated
t
h
r
o
u
g
h
t
h
e
ex
p
er
ien
ce
.
P
B
L
is
a
lear
n
in
g
m
o
d
el
th
a
t
e
m
p
h
a
s
izes
o
n
i
m
p
r
o
v
i
n
g
t
h
e
ab
ilit
y
(
s
k
ill)
a
n
al
y
tical
a
n
d
cr
itical
th
i
n
k
i
n
g
o
f
s
t
u
d
en
t
s
[
9
]
.
E
x
p
o
lar
atio
n
,
tea
m
w
o
r
k
a
n
d
co
m
m
u
n
icatio
n
s
k
ill
s
ar
e
t
h
e
f
o
u
n
d
atio
n
f
o
r
t
h
e
d
ev
elo
p
m
en
t
o
f
b
o
th
th
ese
ca
p
ab
ilit
ies.
An
al
y
tical
ab
ilit
y
a
n
d
cr
itical
th
i
n
k
i
n
g
ar
e
also
th
e
co
r
n
er
s
to
n
e
o
f
th
e
s
tu
d
e
n
ts
a
s
li
v
e
lo
n
g
lear
n
er
s
.
I
n
th
i
s
m
o
d
el,
a
g
r
o
u
p
o
f
s
t
u
d
e
n
ts
w
er
e
a
s
k
ed
to
w
o
r
k
o
n
a
p
r
o
j
ec
t.
Stu
d
en
ts
ar
e
in
v
o
l
v
ed
i
n
d
esi
g
n
in
g
,
p
r
o
b
lem
s
o
lv
i
n
g
,
d
ec
is
io
n
m
a
k
i
n
g
,
an
d
in
v
e
s
ti
g
ativ
e
ac
ti
v
itie
s
.
I
t
allo
w
s
s
tu
d
e
n
ts
to
w
o
r
k
i
n
g
r
o
u
p
s
o
r
in
d
ep
en
d
e
n
tl
y
.
T
h
e
y
ar
e
al
s
o
ex
p
ec
ted
to
g
en
er
ate
id
ea
s
an
d
r
ea
lis
tic
s
o
lu
tio
n
s
a
n
d
b
e
ab
le
to
d
eliv
er
it
in
t
h
e
f
o
r
m
o
f
p
r
esen
tat
io
n
.
I
n
t
h
is
m
o
d
el
th
e
le
ctu
r
er
ac
tin
g
as
a
s
u
p
er
v
i
s
o
r
/
f
ac
ilit
ato
r
,
p
r
o
v
id
in
g
f
ee
d
b
ac
k
g
r
ad
u
al
l
y
,
as
s
es
s
in
g
th
e
g
r
ati
n
g
p
r
o
ce
s
s
w
ith
r
ati
n
g
s
r
elate
d
to
th
e
s
k
i
ll g
r
o
w
t
h
[
1
0
]
.
P
r
o
j
ec
t
B
ased
L
ea
r
n
in
g
is
a
lear
n
in
g
ap
p
r
o
ac
h
th
at
h
as
t
h
e
f
o
llo
w
i
n
g
c
h
ar
ac
ter
is
tics
:s
tu
d
en
t
s
to
m
ak
e
a
d
ec
is
io
n
o
n
a
f
r
a
m
e
w
o
r
k
,
a
n
y
p
r
o
b
le
m
s
o
r
c
h
alle
n
g
e
s
p
o
s
ed
to
t
h
e
s
t
u
d
en
t
s
,
s
t
u
d
en
t
s
to
d
esi
g
n
a
p
r
o
ce
s
s
to
d
ete
r
m
i
n
e
a
s
o
lu
tio
n
to
th
e
p
r
o
b
lem
s
o
r
ch
allen
g
es
p
o
s
e
d
,
s
tu
d
en
ts
co
llab
o
r
ativ
el
y
r
esp
o
n
s
ib
le
f
o
r
ac
ce
s
s
i
n
g
a
n
d
m
a
n
ag
i
n
g
in
f
o
r
m
atio
n
to
s
o
l
v
e
p
r
o
b
lem
s
,
th
e
ev
alu
at
io
n
p
r
o
ce
s
s
is
r
u
n
co
n
ti
n
u
o
u
s
l
y
,
s
t
u
d
en
t
s
r
eg
u
lar
l
y
to
r
ef
lect
o
n
th
e
ac
ti
v
itie
s
alr
ea
d
y
ca
r
r
ied
o
u
t,th
e
e
n
d
p
r
o
d
u
ct
o
f
lear
n
in
g
ac
ti
v
iti
es
w
i
ll
b
e
ev
alu
ated
q
u
alitati
v
el
y
,
a
n
d
lear
n
in
g
s
i
tu
atio
n
is
v
er
y
to
ler
a
n
t
to
er
r
o
r
s
an
d
ch
an
g
es.T
h
e
d
ev
elo
p
m
e
n
t
o
f
P
B
L
in
g
en
er
al
th
r
o
u
g
h
f
i
v
e
s
tag
e
s
[
1
1
]
:
B
eg
in
W
it
h
t
h
e
E
n
d
i
n
Mi
n
d
,
C
r
a
f
t
th
e
Dr
iv
i
n
g
Q
u
esti
o
n
,
t
h
e
Ass
es
s
m
en
t
P
lan
,
t
h
e
Pr
o
j
ec
t
Ma
p
,
an
d
Ma
n
a
g
e
t
h
e
P
r
o
ce
s
s
.
R
e
s
ea
r
ch
in
P
B
L
h
a
s
b
ee
n
d
o
n
e
b
y
[
1
2
]
-
[
1
6
]
an
d
r
esear
ch
i
n
m
ec
h
a
tr
o
n
ics
lear
n
i
n
g
h
a
s
b
ee
n
d
o
n
e
b
y
[
1
7
]
,
[
1
8
]
.
W
h
ile
r
esear
ch
s
ar
e
to
d
ev
elo
p
m
ec
h
atr
o
n
ic
lear
n
i
n
g
u
s
i
n
g
P
B
L
am
o
n
g
o
th
er
s
ca
r
r
ied
o
u
t b
y
[
1
9
]
-
[
2
4
]
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
I
n
th
i
s
s
t
u
d
y
d
e
v
elo
p
ed
a
V
m
o
d
el
o
f
t
h
e
r
esear
ch
t
h
at
h
a
s
b
ee
n
d
o
n
e
b
y
[
3
]
an
d
[
4
]
in
o
r
d
er
to
co
m
p
l
y
w
it
h
t
h
e
d
ef
in
i
tio
n
m
e
ch
atr
o
n
ic
u
s
ed
in
lear
n
i
n
g
.
V
m
o
d
el
d
ev
elo
p
m
e
n
t
is
v
er
y
i
m
p
o
r
tan
t c
o
n
s
id
er
i
n
g
th
e
m
ec
h
atr
o
n
ic
s
y
s
te
m
d
ev
el
o
p
m
e
n
t p
r
o
ce
s
s
ad
h
er
es ta
u
g
h
t f
o
llo
w
in
g
t
h
e
V
m
o
d
el.
As
a
s
tar
tin
g
p
o
in
t
o
f
teac
h
in
g
m
ec
h
a
tr
o
n
ics
t
h
e
cu
r
r
i
cu
lu
m
s
tu
d
ie
s
ar
e
also
n
ee
d
ed
in
th
e
p
er
s
p
ec
tiv
e
o
f
t
h
e
co
u
r
s
e
i
n
m
ec
h
a
tr
o
n
ics.
T
h
ese
s
tu
d
ie
s
p
r
o
v
id
e
ele
m
e
n
t
s
o
f
a
m
ec
h
atr
o
n
ic
s
y
s
te
m
t
h
at
h
as
b
ee
n
,
is
b
ein
g
,
o
r
h
as
n
o
t
b
ee
n
tau
g
h
t
in
o
t
h
er
s
u
b
j
ec
ts
.
T
h
is
s
tu
d
y
also
ai
m
s
to
av
o
id
d
u
p
licatio
n
i
n
teac
h
i
n
g
m
ater
ials
co
n
s
id
er
in
g
t
h
e
m
ec
h
atr
o
n
ics i
s
a
co
m
b
i
n
atio
n
o
f
s
ev
er
al
d
is
cip
lin
e
s
.
I
n
P
B
L
ch
ar
ac
ter
is
tics
o
f
t
h
e
p
r
o
j
ec
t
is
th
e
m
o
s
t
i
m
p
o
r
tan
t
t
h
in
g
t
h
at
m
u
s
t
b
e
d
eter
m
i
n
ed
.
T
h
er
ef
o
r
e,
th
is
s
tu
d
y
al
s
o
ex
a
m
i
n
es
cr
ite
r
ia
ap
p
r
o
p
r
iate
p
r
o
j
ec
ts
f
o
r
m
ec
h
atr
o
n
ics
lab
co
u
r
s
e.
T
h
e
p
r
o
ce
s
s
o
f
p
r
ac
tical
i
m
p
le
m
en
ta
tio
n
i
n
ac
co
r
d
an
ce
w
it
h
t
h
e
f
lo
w
o
f
p
r
o
d
u
ct
d
ev
elo
p
m
e
n
t
m
u
s
t
b
e
co
n
tr
o
lled
i
n
o
r
d
er
to
ac
h
iev
e
th
e
lear
n
in
g
o
b
j
ec
tiv
es.
C
o
n
t
r
o
l
o
f
m
ec
h
atr
o
n
ic
lear
n
i
n
g
lab
w
o
r
k
is
p
er
f
o
r
m
ed
b
y
a
p
p
ly
i
n
g
t
h
e
d
esi
g
n
p
r
o
ce
d
u
r
e
d
o
cu
m
en
t
p
r
ep
ar
atio
n
liab
ilit
y
p
r
o
d
u
ct
w
h
ich
i
s
u
s
ed
in
i
n
d
u
s
tr
y
a
s
w
ell
as
p
r
esen
t
t
h
e
r
es
u
lts
o
f
th
e
p
r
o
j
ec
t'
s
p
r
o
g
r
ess
i
n
t
h
e
class
r
o
o
m
.
T
h
e
s
co
r
in
g
s
y
s
te
m
as
p
ar
t
o
f
th
e
lear
n
i
n
g
p
r
o
ce
s
s
n
ee
d
s
to
b
e
d
ev
elo
p
ed
co
n
s
id
er
in
g
th
e
lea
r
n
in
g
p
r
o
ce
s
s
u
s
i
n
g
P
B
L
m
a
k
e
d
if
f
er
e
n
t
d
e
m
an
d
s
w
it
h
o
th
e
r
lear
n
in
g
m
et
h
o
d
s
.
T
h
e
ass
ess
m
e
n
t p
r
o
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s
w
as d
ev
elo
p
ed
w
it
h
r
ef
er
e
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ce
to
th
e
r
esear
ch
th
at
h
as b
ee
n
co
n
d
u
c
ted
b
y
[
2
5
]
.
2
.
1
.
V
M
o
del in
T
he
Dev
elo
p
m
e
n
t
o
f
M
ec
ha
t
ro
nic Sy
s
t
e
m
s
Me
ch
atr
o
n
ic
s
y
s
te
m
d
e
v
elo
p
m
en
t
s
h
o
u
ld
b
e
d
o
n
e
w
it
h
a
s
t
r
u
ctu
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ed
an
d
w
ell
p
lan
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co
n
s
id
er
in
g
t
h
e
m
ec
h
a
tr
o
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ic
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y
s
te
m
is
a
n
in
te
g
r
atio
n
o
f
f
o
u
r
co
m
p
o
n
en
ts
,
ea
ch
o
f
w
h
ic
h
h
a
s
a
q
u
ir
k
in
t
h
e
d
esig
n
p
r
o
ce
s
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:2
2
5
2
-
8822
I
J
E
R
E
Vo
l.
5
,
No
.
4
,
Dec
em
b
er
2
0
1
6
:
284
–
2
9
1
286
R
esear
ch
h
a
s
d
e
v
elo
p
e
d
a
m
o
d
el
V
i
n
th
e
p
r
o
ce
s
s
o
f
d
ev
elo
p
in
g
m
ec
h
atr
o
n
ic
s
y
s
t
e
m
s
,
a
m
o
n
g
o
th
er
s
,
p
er
f
o
r
m
ed
b
y
[
3
]
a
n
d
[
4
]
.
T
h
e
d
e
f
in
i
tio
n
u
s
ed
i
n
t
h
e
d
ev
elo
p
m
e
n
t
o
f
V
m
o
d
el
in
[
3
]
an
d
[
4
]
is
t
h
e
m
ec
h
a
tr
o
n
ics
is
t
h
e
i
n
te
g
r
atio
n
s
y
n
er
g
ie
s
o
f
m
ec
h
an
ica
l
s
y
s
te
m
s
,
elec
tr
o
n
ic
s
,
an
d
i
n
f
o
r
m
atio
n
tech
n
o
lo
g
y
.
I
n
th
e
s
e
d
ef
i
n
itio
n
th
e
co
n
tr
o
l
s
y
s
te
m
h
a
s
n
o
t
b
ee
n
i
n
cl
u
d
ed
as
a
co
m
p
o
n
en
t
o
f
m
ec
h
atr
o
n
i
cs.I
n
th
is
r
esear
ch
,
a
V
m
o
d
el
is
b
etter
s
u
ited
to
m
ec
h
a
tr
o
n
ic
d
ef
i
n
itio
n
g
i
v
en
b
y
t
h
e
Fre
n
c
h
s
ta
n
d
ar
d
NF
E
0
1
-
0
1
0
.
T
h
e
r
esu
lt
o
f
th
e
d
ev
elo
p
m
e
n
t o
f
V
m
o
d
el
u
s
ed
in
th
e
m
ec
h
atr
o
n
ic
s
lab
w
o
r
k
ca
n
b
e
s
ee
n
i
n
Fi
g
u
r
e
1
.
Fig
u
r
e
1
.
V
Mo
d
el
f
o
r
th
e
d
ev
elo
p
m
e
n
t o
f
m
ec
h
atr
o
n
ic
s
y
s
te
m
s
I
n
ad
d
i
tio
n
to
ad
j
u
s
t
m
e
n
t
s
to
th
e
d
e
f
i
n
itio
n
o
f
m
ec
h
atr
o
n
i
cs
w
h
ich
u
s
ed
i
n
t
h
e
m
ec
h
at
r
o
n
ics
lab
,
m
o
d
i
f
icat
io
n
V
m
o
d
el
al
s
o
p
er
f
o
r
m
ed
in
t
h
e
p
r
o
ce
s
s
o
f
p
h
asi
n
g
th
e
d
e
v
elo
p
m
e
n
t
s
o
t
h
at
t
h
e
v
er
i
f
icatio
n
p
r
o
ce
s
s
ca
n
b
e
d
o
n
e
at
ea
ch
s
tag
e.
E
ac
h
co
m
p
o
n
e
n
t
h
a
s
a
d
ev
elo
p
m
e
n
t
p
r
o
ce
d
u
r
e
w
h
ic
h
is
co
m
m
o
n
l
y
u
s
ed
in
th
e
in
d
u
s
tr
y
as
ca
n
b
e
s
ee
n
in
Fig
u
r
e
2
.
T
h
e
d
ev
elo
p
m
e
n
t
p
r
o
ce
d
u
r
es
o
f
th
r
ee
m
ec
h
atr
o
n
i
c
co
m
p
o
n
e
n
t
s
h
a
v
e
b
ee
n
p
r
o
v
id
ed
b
y
[
4
]
.
T
h
is
s
t
u
d
y
ad
d
ed
a
d
ev
elo
p
m
e
n
t
p
r
o
ce
d
u
r
e
o
f
co
n
tr
o
l
s
y
s
te
m
in
m
ec
h
a
tr
o
n
ic
s
y
s
te
m
d
ev
elo
p
m
en
t.
Fig
u
r
e
2
.
P
lo
t th
e
d
ev
elo
p
m
e
n
t o
f
m
ec
h
atr
o
n
ic
co
m
p
o
n
e
n
t
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
R
E
I
SS
N:
2252
-
8822
I
mp
leme
n
ta
tio
n
o
f
P
r
o
ject
B
a
s
ed
Lea
r
n
in
g
in
Mech
a
t
r
o
n
ic
La
b
C
o
u
r
s
e
at
.
.
.
.
(
N
o
o
r
C
h
o
lis
B
a
s
ja
r
u
d
d
in
)
287
2
.
2
.
Curric
ul
u
m
Stu
dies
C
u
r
r
ic
u
lu
m
s
tu
d
ie
s
is
r
u
n
w
i
th
th
e
ai
m
to
m
ap
t
h
e
p
o
s
itio
n
o
f
t
h
e
m
ec
h
atr
o
n
ic
s
co
u
r
s
e
s
a
m
o
n
g
o
th
e
r
s
u
b
j
ec
ts
.
T
h
e
cu
r
r
icu
lu
m
u
s
ed
in
th
ese
s
tu
d
ies
i
s
th
e
cu
r
r
ic
u
lu
m
o
f
E
lectr
o
n
ic
s
E
n
g
i
n
ee
r
in
g
S
tu
d
y
P
r
o
g
r
a
m
B
an
d
u
n
g
Sta
te
P
o
ly
tec
h
n
ic.
I
n
T
ab
le
1
it
ca
n
b
e
s
ee
n
th
at
m
o
s
t
o
f
th
e
s
u
b
j
ec
ts
s
u
p
p
o
r
ter
s
Me
ch
atr
o
n
ic
s
co
u
r
s
e
h
as b
ee
n
ta
u
g
h
t b
ef
o
r
e
teac
h
i
n
g
co
u
r
s
es
Me
ch
atr
o
n
ics E
n
g
in
ee
r
in
g
.
B
ased
o
n
t
h
e
m
ap
o
f
t
h
e
teac
h
i
n
g
m
ater
ial
co
u
r
s
e,
m
ec
h
a
tr
o
n
ics
lab
is
d
esig
n
ed
to
h
ar
n
es
s
th
e
k
n
o
w
le
d
g
e
o
f
s
tu
d
e
n
ts
w
h
o
h
av
e
o
wn
ed
.
Mo
r
eo
v
er
m
ap
o
b
tain
ed
s
u
b
j
ec
ts
ar
e
also
u
s
e
d
to
av
o
id
d
u
p
licatio
n
o
f
teac
h
in
g
m
ater
ial
s
o
n
m
ec
h
atr
o
n
ics
lab
.
T
ab
le
1
.
Ma
p
o
f
s
u
b
j
ec
ts
s
u
p
p
o
r
tin
g
Me
c
h
atr
o
n
ics lab
co
u
r
s
e
T
e
a
c
h
i
n
g
T
i
me
M
e
c
h
a
n
i
c
s
El
e
c
t
r
o
n
i
c
s
C
o
mp
u
t
e
r
C
o
n
t
r
o
l
S
y
st
e
m
B
e
f
o
r
e
a.
B
a
si
c
M
e
c
h
a
n
i
c
s
b.
T
e
c
h
n
i
c
a
l
d
r
a
w
i
n
g
a.
El
e
c
t
r
o
n
i
c
s Sy
st
e
m
D
e
si
g
n
a
n
d
F
a
b
r
i
c
a
t
i
o
n
1
&
2
b.
D
i
g
i
t
a
l
S
y
st
e
m
D
e
si
g
n
c.
I
n
d
u
st
r
i
a
l
El
e
c
t
r
o
n
i
c
s
1
&
2
a.
C
o
m
p
u
t
e
r
a
n
d
P
r
o
g
r
a
mm
i
n
g
b.
M
i
c
r
o
p
r
o
c
e
sso
r
S
y
st
e
m
a.
S
e
n
so
r
a
n
d
T
r
a
n
s
d
u
c
e
r
b.
C
o
n
t
i
n
u
o
u
s C
o
n
t
r
o
l
S
y
st
e
m 1
S
i
mu
l
t
a
n
e
o
u
sl
y
M
i
c
r
o
p
r
o
c
e
sso
r
a
n
d
I
n
t
e
r
f
a
c
i
n
g
a.
C
o
n
t
i
n
u
o
u
s
C
o
n
t
r
o
l
S
y
st
e
m 2
b.
I
n
d
u
st
r
i
a
l
O
t
o
ma
t
i
o
n
S
y
st
e
m
A
f
t
e
r
D
i
g
i
t
a
l
C
o
n
t
r
o
l
S
y
st
e
m
2
.
3
.
P
B
L
P
la
nn
ing
T
h
e
p
lan
n
in
g
p
r
o
ce
s
s
o
f
m
e
ch
atr
o
n
ics
lab
u
s
in
g
P
B
L
m
eth
o
d
is
i
m
p
le
m
en
ted
i
n
th
e
f
o
llo
w
i
n
g
o
r
d
er
[
1
1
]
:
2
.
3
.
1
.
Sta
rt
t
hin
k
i
ng
o
f
t
he
end /
re
s
ults
I
n
th
e
m
ec
h
atr
o
n
ics
lab
,
th
e
ex
p
ec
ted
en
d
r
esu
lt
is
t
h
at
s
tu
d
en
ts
ar
e
ab
le
to
d
ev
elo
p
(
d
esig
n
an
d
r
ea
lize)
m
ec
h
atr
o
n
ic
s
y
s
te
m
w
it
h
th
e
co
r
r
ec
t p
r
o
ce
d
u
r
e.
2
.
3
.
2
.
L
ea
din
g
qu
e
s
t
io
ns
So
m
e
o
f
t
h
e
q
u
est
io
n
s
t
h
at
lea
d
to
th
e
ac
h
iev
e
m
e
n
t o
f
t
h
e
d
esire
d
r
esu
lts
i
s
as
f
o
llo
w
s
:
1.
Ho
w
m
ec
h
atr
o
n
ic
s
y
s
te
m
d
ev
elo
p
m
e
n
t p
r
o
ce
d
u
r
es th
at
co
r
r
ec
t
?
2.
W
h
at
s
k
ills
ar
e
n
ee
d
ed
to
d
ev
e
lo
p
a
m
ec
h
atr
o
n
ic
s
y
s
te
m
?
3.
Ho
w
to
s
u
p
p
o
r
t o
th
er
s
u
b
j
ec
ts
in
ac
h
ie
v
i
n
g
th
e
d
esire
d
r
esu
lt
s
?
4.
I
s
th
e
lab
o
r
ato
r
y
f
ac
ilit
ie
s
to
s
u
p
p
o
r
t th
e
ac
h
ie
v
e
m
e
n
t o
f
r
es
u
lts
?
5.
I
s
s
u
f
f
icie
n
t ti
m
e
av
ailab
le
?
6.
I
s
th
e
co
s
t o
f
t
h
e
p
r
o
j
ec
t im
p
le
m
en
tatio
n
?
7.
A
r
e
te
ac
h
er
s
w
h
o
w
il
l i
m
p
le
m
en
t th
e
lear
n
i
n
g
h
as b
ee
n
a
v
ail
ab
le
?
Desig
n
p
r
ac
tic
u
m
ca
n
b
e
ca
r
r
ied
o
u
t
b
y
a
n
s
w
er
in
g
t
h
ese
q
u
esti
o
n
s
.
T
h
e
m
o
s
t
d
ec
i
s
i
v
e
t
h
in
g
is
t
h
e
s
elec
tio
n
o
f
p
r
o
j
ec
t
t
o
p
ics.
Her
e
ar
e
th
e
cr
iter
ia
f
o
r
p
r
o
jects
in
ac
co
r
d
an
ce
w
it
h
m
ec
h
atr
o
n
ics
lab
u
s
i
n
g
P
B
L
.
P
r
o
j
ec
t c
r
iter
ia:
1.
Qu
ali
f
y
a
s
a
m
ec
h
a
tr
o
n
ic
s
y
s
te
m
th
a
t
h
as
m
ec
h
an
ical,
ele
ctr
o
n
ics,
co
n
tr
o
l
s
y
s
te
m
,
a
n
d
co
m
p
u
ter
s
y
s
te
m
s
;
2.
C
an
b
e
d
o
n
e
b
y
s
t
u
d
en
t
s
w
it
h
th
e
s
u
p
p
o
r
t o
f
k
n
o
w
led
g
e
o
f
t
h
e
s
u
b
j
ec
ts
th
at
h
a
v
e
b
ee
n
ta
u
g
h
t
;
3.
Me
etin
g
Ou
tli
n
es
L
ea
r
n
i
n
g
P
r
o
g
r
a
m
m
e;
4.
Me
etin
g
th
e
cr
iter
ia
s
e
t o
u
t i
n
P
B
L
;
5.
C
an
b
e
d
o
n
e
b
y
u
s
i
n
g
t
h
e
to
o
ls
an
d
co
m
p
o
n
e
n
ts
p
r
o
v
id
ed
;
6.
C
an
b
e
d
o
n
e
at
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n
co
u
r
ag
e
cr
ea
tiv
it
y
an
d
m
o
ti
v
atio
n
o
f
s
t
u
d
en
t
s
.
4.
CO
NCLU
SI
O
N
Me
ch
atr
o
n
ic
s
lab
co
u
r
s
e
u
s
i
n
g
P
B
L
m
et
h
o
d
ca
n
b
e
i
m
p
le
m
e
n
ted
i
n
ac
co
r
d
an
ce
w
it
h
p
la
n
s
an
d
g
o
t
a
p
o
s
itiv
e
r
esp
o
n
s
e
f
r
o
m
s
tu
d
e
n
t
s
.
Mo
s
t
s
tu
d
en
ts
w
an
t
a
m
ec
h
a
tr
o
n
ics
lab
w
it
h
P
B
L
m
et
h
o
d
ca
n
b
e
p
ass
ed
w
it
h
s
o
m
e
i
m
p
r
o
v
e
m
e
n
ts
s
u
ch
as
th
e
s
o
cializa
tio
n
o
f
P
B
L
,
i
m
p
r
o
v
e
m
en
t
g
u
id
e
lab
,
in
cr
ea
s
ed
g
u
id
an
ce
b
y
t
h
e
lectu
r
er
,
an
d
th
e
e
x
p
an
s
io
n
o
f
k
n
o
w
led
g
e,
esp
ec
iall
y
in
t
h
e
f
i
eld
o
f
m
ec
h
a
n
ic
s
.
Stu
d
e
n
ts
f
ee
l a
n
e
w
ch
al
len
g
e
in
t
h
e
p
r
o
ce
s
s
o
f
p
r
ac
tical
i
m
p
le
m
e
n
tatio
n
o
f
P
B
L
.
As p
ar
t o
f
t
h
e
m
o
s
t
f
av
o
r
ed
in
P
B
L
is
th
e
tas
k
o
f
d
esig
n
in
g
th
e
to
o
l.
T
h
e
s
elec
tio
n
an
d
p
r
o
j
ec
t
p
lan
n
i
n
g
n
ee
d
s
to
b
e
im
p
r
o
v
ed
b
y
tak
i
n
g
i
n
to
ac
co
u
n
t th
e
a
v
ailab
ilit
y
o
f
ti
m
e
s
o
th
at
t
h
e
tar
g
et
ca
n
b
e
ac
h
iev
ed
w
it
h
g
o
o
d
lab
.
RE
F
E
R
E
NC
E
S
[1
]
T
.
M
o
ri,
“
M
e
c
h
a
tro
n
ics
,”
Ya
sa
k
a
w
a
In
tern
a
l
T
ra
d
e
m
a
rk
A
p
p
li
c
a
ti
o
n
M
e
m
o
2
1
.
1
3
1
.
0
1
,
1
9
6
9
.
[2
]
K.
Cra
ig
,
“
S
y
ll
a
b
u
s M
A
NE
4490
–
M
e
c
h
a
tro
n
ics
,
”
2
0
0
3
.
[3
]
R.
Ise
rm
a
n
n
,
“
M
e
c
h
a
tro
n
ic
sy
ste
m
sIn
n
o
v
a
ti
v
e
p
ro
d
u
c
ts
w
it
h
e
m
b
e
d
d
e
d
c
o
n
tr
o
l,
”
C
o
n
tr
o
l
E
n
g
in
e
e
rin
g
Pra
c
ti
c
e
,
v
o
l
/i
ss
u
e
:
16
(
1
)
,
p
p
.
1
4
–
2
9
,
2
0
0
8
.
[4
]
V
.
S
.
V
a
sić
a
n
d
M
.
P
.
L
a
z
a
r
e
v
ić,
“
S
tan
d
a
rd
I
n
d
u
strial
G
u
id
e
li
n
e
f
o
r
M
e
c
h
a
tro
n
ic
P
r
o
d
u
c
t
De
sig
n
,
”
FM
E
T
ra
n
sa
c
ti
o
n
s
,
v
o
l.
36
,
p
p
.
1
0
3
-
1
0
8
,
2
0
0
8
.
[5
]
P
.
M
ish
ra
,
e
t
a
l.
,
“
M
e
c
h
a
tro
n
ics
-
c
o
n
c
e
p
t
o
f
p
a
st
,
c
o
re
c
o
m
p
e
te
n
c
e
o
f
f
u
tu
re
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Po
we
r
Co
n
tro
l
S
ig
n
a
l
a
n
d
C
o
mp
u
ta
ti
o
n
(
IJ
PCS
C),
v
o
l
/i
ss
u
e
:
2
(
2
)
,
p
p
.
8
8
-
9
3
,
2
0
1
1
.
[6
]
J.
Big
g
s
a
n
d
C.
Tan
g
,
“
T
e
a
c
h
in
g
f
o
r
q
u
a
li
ty
l
e
a
rn
in
g
a
t
u
n
iv
e
rs
it
y
,
”
Ne
w
Yo
rk
,
T
h
e
S
o
c
iet
y
f
o
r
Re
se
a
r
c
h
in
t
o
Hig
h
e
r
Ed
u
c
a
ti
o
n
,
3
rd
e
d
n
,
2
0
0
7
.
[7
]
P
.
Blu
m
e
n
fe
ld
,
e
t
a
l.
,
“
M
o
ti
v
a
ti
n
g
p
ro
jec
t
-
b
a
se
d
lea
rn
in
g
:
su
sta
in
in
g
th
e
d
o
i
n
g
,
su
p
p
o
rti
n
g
th
e
lea
rn
in
g
,
”
Ed
u
c
a
ti
o
n
a
l
Psy
c
h
o
l
o
g
ist
,
v
o
l
/i
ss
u
e
:
26
(
3
)
,
p
p
.
3
6
9
-
3
9
8
,
1
9
9
1
.
[8
]
T
.
M
a
rk
h
a
m
,
“
P
ro
jec
t
-
b
a
se
d
lea
rn
in
g
:
A
b
rid
g
e
ju
st
f
a
r
e
n
o
u
g
h
,
”
T
e
a
c
h
e
r
L
ib
ra
ri
a
n
,
v
o
l
/i
ss
u
e
:
39
(
2
)
,
p
p
.
3
9
-
4
2
,
2
0
1
1
.
[9
]
J.
Yi,
“
Ef
fe
c
ti
v
e
wa
y
s to
f
o
ste
r
le
a
rn
in
g
,
”
Per
fo
rm
a
n
c
e
Imp
ro
v
e
me
n
t,
p
p
.
3
4
-
3
8
,
2
0
0
5
.
[1
0
]
P
.
D.
Jo
h
n
a
n
d
W
.
T
h
o
m
a
s,
“
A
R
e
v
ie
w
o
f
Re
se
a
rc
h
o
n
P
ro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
,
”
Ca
li
f
o
rn
ia,
2
0
0
0
.
[1
1
]
T
.
M
a
rk
h
a
m
,
“
P
ro
jec
t
Ba
se
d
L
e
a
rn
in
g
Ha
n
d
b
o
o
k
,
Bu
c
k
In
st
f
o
r
Ed
u
c
a
ti
o
n
,
”
2
0
0
3
.
[1
2
]
S
.
R.
T
a
m
i
m
a
n
d
M
.
M
.
G
ra
n
t,
“
De
f
in
it
io
n
s
a
n
d
Us
e
s:
Ca
se
S
tu
d
y
o
f
T
e
a
c
h
e
rs
I
m
p
le
m
e
n
ti
n
g
P
ro
jec
t
-
b
a
se
d
L
e
a
rn
in
g
,
”
In
ter
d
isc
ip
li
n
a
ry
J
o
u
r
n
a
l
o
f
Pr
o
b
lem
-
B
a
se
d
L
e
a
r
n
in
g
,
v
o
l
/i
ss
u
e
:
7
(
2
)
,
2
0
1
3
.
[1
3
]
O.
Zajk
o
v
a
n
d
B.
M
it
re
v
s
k
i,
“
P
r
o
jec
t
-
Ba
se
d
L
e
a
rn
in
g
:
Dile
m
m
a
s
a
n
d
Qu
e
stio
n
s!
,
”
M
a
c
e
d
o
n
ia
n
P
h
y
sic
s
T
e
a
c
h
e
r,
v
o
l.
4
8
,
p
p
.
1
-
1
1
,
2
0
1
2
.
[1
4
]
A
.
Ku
m
a
r,
e
t
a
l.
,
“
P
r
o
jec
t
-
Ba
se
d
L
e
a
rn
in
g
in
Em
b
e
d
d
e
d
S
y
ste
m
s
Ed
u
c
a
ti
o
n
Us
in
g
a
n
F
P
G
A
P
latf
o
rm
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Ed
u
c
a
ti
o
n
,
v
o
l
/i
s
su
e
:
56
(
4
)
,
p
p
.
4
0
7
-
4
1
5
,
2
0
1
3
.
[1
5
]
H.J.
L
e
e
a
n
d
C.
L
i
m
,
“
P
e
e
r
Ev
a
lu
a
ti
o
n
i
n
Blen
d
e
d
T
e
a
m
P
ro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
:
W
h
a
t
Do
S
tu
d
e
n
ts,
”
Ed
u
c
a
t
io
n
a
l
T
e
c
h
n
o
l
o
g
y
&
S
o
c
iety
,
v
o
l
/i
ss
u
e
:
15
(
4
)
,
p
p
.
2
1
4
–
2
2
4
,
2
0
1
2
.
[1
6
]
H.
Ro
e
ss
in
g
h
a
n
d
W
.
Ch
a
m
b
e
rs,
“
P
r
o
jec
t
-
Ba
se
d
L
e
a
rn
in
g
a
n
d
P
e
d
a
g
o
g
y
in
T
e
a
c
h
e
r
P
re
p
a
ra
ti
o
n
:S
tak
in
g
Ou
t
th
e
T
h
e
o
re
ti
c
a
l
M
id
-
G
ro
u
n
d
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
T
e
a
c
h
in
g
a
n
d
L
e
a
rn
in
g
in
Hi
g
h
e
r
Ed
u
c
a
ti
o
n
,
v
o
l
/i
ss
u
e
:
23
(
1
)
,
p
p
.
6
0
-
7
1
,
2
0
1
1
.
[1
7
]
N.
W
ied
e
n
m
a
n
a
n
d
B.
S
h
o
o
p
,
“
A
Co
ll
a
b
o
ra
ti
v
e
a
n
d
In
terd
isc
i
p
li
n
a
ry
A
p
p
ro
a
c
h
T
o
M
e
c
h
a
tro
n
ics
,
”
e
m
T
h
e
2
0
0
5
Ame
ric
a
n
S
o
c
iety
fo
r
E
n
g
in
e
e
rin
g
Ed
u
c
a
ti
o
n
A
n
n
u
a
l
Co
n
fer
e
n
c
e
&
Exp
o
siti
o
n
,
Ame
ric
a
n
S
o
c
iety
f
o
r
En
g
in
e
e
rin
g
,
2
0
0
5
.
[1
8
]
M
.
S
.
D.
M
.
J.
T
.
O
m
a
r
L
e
n
g
e
rk
e
,
“
M
e
c
h
a
tro
n
ics
Ed
u
c
a
ti
o
n
–
S
y
n
e
rg
isti
c
In
teg
r
a
ti
o
n
o
f
Ne
w
P
a
ra
d
ig
m
f
o
r
En
g
in
e
e
rin
g
Ed
u
c
a
ti
o
n
,
”
e
m
VI
Na
ti
o
n
a
l
Co
n
g
re
ss
o
f
M
e
c
h
a
n
ic
a
l
En
g
i
n
e
e
rin
g
,
P
a
ra
íb
a
,
2
0
1
0
.
[1
9
]
J.
S
o
li
s
a
n
d
A
.
T
a
k
a
n
ish
i,
“
Pro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
Imp
lem
e
n
ta
t
io
n
a
n
d
De
v
e
lo
p
me
n
t
o
f
E
d
u
c
a
t
i
o
n
a
l
Ro
b
o
ts
a
t
W
a
se
d
a
Un
ive
rs
it
y
,
”
e
m
In
tl
.
Co
n
f
.
o
n
S
im
u
latio
n
,
M
o
d
e
li
n
g
a
n
d
P
r
o
g
ra
m
m
in
g
f
o
r
A
u
to
n
o
m
o
u
s
Ro
b
o
ts
,
Da
r
m
sta
d
t,
2
0
1
0
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
E
R
E
I
SS
N:
2252
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8822
I
mp
leme
n
ta
tio
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o
f
P
r
o
ject
B
a
s
ed
Lea
r
n
in
g
in
Mech
a
t
r
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n
ic
La
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(
N
o
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r
C
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in
)
291
[2
0
]
D.
D.
S
h
e
tt
y
a
n
d
P
.
A
.
C.
G
iri
y
a
p
u
r,
“
A
n
e
w
a
p
p
ro
a
c
h
in
M
e
c
h
a
tro
n
ics
E
d
u
c
a
ti
o
n
t
h
ro
u
g
h
P
ro
jec
t
Ba
se
d
L
e
a
rn
in
g
b
y
In
tern
a
ti
o
n
a
l
C
o
ll
a
b
o
ra
ti
o
n
,
”
e
m
1
2
0
th
A
S
EE
An
n
u
a
l
C
o
n
fer
e
n
c
e
&
Exp
o
siti
o
n
,
F
ra
n
k
ly
,
2
0
1
3
.
[2
1
]
W
.
L
in
,
e
t
a
l.
,
“
El
e
c
tro
n
ic
P
e
t
Ro
b
o
ts
f
o
r
M
e
c
h
a
tro
n
ics
En
g
in
e
e
rin
g
Ed
u
c
a
ti
o
n
:
A
P
ro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
A
p
p
ro
a
c
h
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
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ti
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:
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p
.
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–
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,
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0
1
4
.
[2
2
]
A
.
Ro
jk
o
,
e
t
a
l
.
,
“
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r
o
jec
ts
in
m
e
c
h
a
tro
n
ics
p
r
o
g
ra
m
:
p
ra
c
ti
c
a
l
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a
m
p
les
,
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m
1
9
th
In
ter
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a
ti
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l
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rk
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o
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b
o
ti
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s
,
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0
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.
[2
3
]
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.
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b
iatk
o
a
n
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V
a
c
u
lo
v
á
,
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b
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se
d
lea
rn
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:
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ra
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teristic
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n
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e
rg
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u
c
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tu
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ies
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[2
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.
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.
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n
,
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e
c
h
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tro
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Ed
u
c
a
ti
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t
A
a
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rsity
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ter
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5
]
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.
[2
6
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.
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o
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re
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t
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n
in
teg
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ro
jec
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rs
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ip
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,
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e
c
h
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,
v
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l.
2
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p
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9
6
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0
1
3
.
[2
7
]
K.
S
låttsv
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n
,
e
t
a
l.
,
“
In
c
re
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sin
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stu
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rse
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m
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rd
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sig
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im
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1
6
.
[2
8
]
F
.
Co
n
d
l
if
fe
,
“
P
ro
jec
t
-
Ba
se
d
L
e
a
rn
in
g
:
A
L
it
e
ra
tu
re
Re
v
ie
w
,
”
M
D
RC,
2
0
1
6
.
BI
O
G
RAP
H
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E
S
O
F
AUTH
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RS
No
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r
Ch
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s
Ba
sja
ru
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d
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n
e
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1
9
6
7
,
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n
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o
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e
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.
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re
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th
e
B.
S
.
,
M
.
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.
,
a
n
d
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h
.
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.
d
e
g
re
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s
in
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tri
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l
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ro
m
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n
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stit
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h
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lo
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t
B
a
n
d
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g
,
In
d
o
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e
sia
in
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p
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1
9
9
2
,
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to
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r
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sp
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ti
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.
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ry
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tri
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rte
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ic
En
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ro
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ra
m
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n
d
u
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S
tate
P
o
ly
tec
h
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ic.Dr.
Ir.
Ba
sja
ru
d
d
in
,
M
T
re
se
a
rc
h
in
tere
sts
a
r
e
in
M
e
c
h
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tro
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ics
,
A
d
v
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n
c
e
d
Driv
e
r
A
ss
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e
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y
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m
s
(
A
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s),In
tel
li
g
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t
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ra
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sp
o
rtatio
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y
ste
m
(IT
S
),
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a
u
lt
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n
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e
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m
D
e
sig
n
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m
m
a
n
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n
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.
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lso
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re
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se
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.
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i
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k
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,
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re
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tri
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In
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,
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d
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tri
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ro
m
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a
jah
M
a
d
a
Un
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rsity
(
U
G
M
)
in
2
0
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1
.
He
is
h
e
a
d
o
f
Dip
lo
m
a
III
El
e
c
tro
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ic
En
g
in
e
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rin
g
S
tu
d
y
P
ro
g
ra
m
,
Ba
n
d
u
n
g
S
tate
P
o
ly
tec
h
n
ic.
Ir.
Ed
i
Ra
k
h
m
a
n
,
M
.
En
g
re
se
a
r
c
h
in
tere
sts a
re
in
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n
d
u
strial
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o
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tro
l
sy
ste
m
,
c
o
m
p
u
ter n
e
tw
o
rk
s
y
ste
m
,
a
n
d
m
e
c
h
a
tro
n
ic sy
ste
m
.
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