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m
ac
h
in
e
in
its
u
n
d
a
m
ag
ed
s
tat
e
w
ill
h
a
v
e
a
d
is
tr
ib
u
tio
n
w
it
h
an
as
s
o
ciate
d
m
ea
n
an
d
v
ar
ian
ce
.
Ho
w
e
v
er
,
a
v
a
r
iatio
n
in
t
h
e
m
ea
n
a
n
d
/o
r
v
ar
ian
ce
w
ill
ap
p
ea
r
if
th
e
m
ac
h
in
e
i
s
d
a
m
a
g
ed
.
Statis
t
ical
co
n
tr
o
l
ch
ar
ts
(
S
C
C
s
)
p
r
o
v
id
e
a
f
r
a
m
e
w
o
r
k
f
o
r
m
o
n
ito
r
in
g
t
h
e
d
is
tr
ib
u
tio
n
o
f
th
e
f
ea
tu
r
es
a
n
d
d
etec
tio
n
i
f
t
h
e
y
ar
e
i
n
c
o
n
s
is
t
en
t
w
it
h
th
e
p
as
t
h
ea
lth
y
s
tate,
an
d
an
y
c
h
a
n
g
e
in
th
e
d
i
s
tr
ib
u
tio
n
ch
ar
ac
ter
is
tics
o
f
th
e
f
ea
tu
r
es
w
i
ll
in
d
icate
d
am
a
g
e,
ter
m
ed
o
u
tl
ier
an
al
y
s
is
.
S
C
C
s
ar
e
o
n
e
o
f
th
e
ea
r
lies
t
s
tati
s
tical
f
au
lt
d
etec
tio
n
tech
n
iq
u
es
d
ati
n
g
b
ac
k
to
1
9
3
1
[
6
]
.
Star
tin
g
w
it
h
t
h
e
ad
v
en
t
o
f
Sh
e
w
h
ar
t
co
n
tr
o
l
ch
ar
t
s
f
o
r
av
er
ag
i
n
g
,
u
s
u
all
y
ca
lled
X
-
b
ar
(
̅
)
ch
ar
t,
w
h
ic
h
is
n
o
r
m
all
y
u
s
ed
in
co
m
b
i
n
atio
n
w
i
th
a
r
an
g
e
ch
ar
t
(
R
c
h
ar
t)
o
r
s
tan
d
ar
d
d
ev
iatio
n
ch
ar
t
(
S
ch
ar
t)
[
8
]
.
Fu
r
th
er
m
o
d
if
icatio
n
to
Sh
e
w
h
ar
t
ch
ar
ts
h
a
v
e
r
esu
lted
in
c
u
m
u
lat
iv
e
s
u
m
(
C
USUM)
a
n
d
t
h
e
e
x
p
o
n
en
t
iall
y
w
ei
g
h
ted
m
o
v
i
n
g
a
v
er
ag
e
(
E
W
M
A
)
c
h
ar
ts
i
n
t
h
e
ea
r
l
y
1
9
5
0
s
[
6
]
.
B
ec
au
s
e
th
e
s
e
ch
ar
ts
ar
e
ea
s
y
to
co
n
s
tr
u
ct,
i
m
p
le
m
e
n
t,
an
d
in
ter
p
r
et,
th
e
y
r
ec
ei
v
ed
a
lar
g
e
ac
ce
p
tan
ce
in
th
e
f
ield
o
f
m
ac
h
i
n
e
s
an
d
p
r
o
ce
s
s
es
m
o
n
ito
r
in
g
.
T
ec
h
n
iq
u
es
b
ased
o
n
SC
C
s
ca
n
b
e
cla
s
s
i
f
ied
to
t
w
o
ap
p
r
o
ac
h
es:
t
h
e
u
n
iv
ar
iate
an
d
m
u
lti
v
ar
iate
ap
p
r
o
ac
h
es.
I
n
t
h
e
f
o
r
m
er
m
e
th
o
d
ea
ch
ch
ar
ac
ter
is
tic
o
f
i
n
t
er
est
is
m
o
n
ito
r
ed
in
d
ep
en
d
e
n
tl
y
w
h
er
ea
s
in
th
e
latter
th
e
co
n
c
u
r
r
en
t
m
o
n
ito
r
i
n
g
o
f
ch
ar
ac
ter
is
tics
is
ac
co
m
p
lis
h
ed
,
co
n
s
id
er
in
g
t
h
e
co
r
r
el
atio
n
t
h
at
m
a
y
e
x
i
s
t
a
m
o
n
g
th
e
v
ar
io
u
s
c
h
ar
ac
ter
is
tics
[
6
]
,
[
9
]
.
B
ay
d
ar
,
et
al.
[
1
0
]
p
r
esen
ted
a
m
u
lti
v
ar
iate
s
tati
s
tical
m
et
h
o
d
o
lo
g
y
f
o
r
h
elica
l
g
ea
r
s
m
o
n
ito
r
in
g
.
T
h
e
g
ath
er
ed
ti
m
e
-
d
o
m
ain
v
ib
r
atio
n
s
i
g
n
a
ls
w
er
e
e
m
p
lo
y
ed
to
f
o
r
m
a
r
ef
er
e
n
ce
co
n
d
itio
n
m
o
d
el
u
s
in
g
p
r
in
cip
le
co
m
p
o
n
e
n
t
an
al
y
s
is
(
P
C
A
)
.
T
h
e
T
-
s
q
u
ar
e
co
n
tr
o
l
ch
ar
t,
t
y
p
e
o
f
m
u
lti
v
ar
iate
SC
C
s
,
w
as
ad
o
p
ted
as
h
ea
lth
co
n
d
itio
n
in
d
icato
r
.
R
esear
c
h
er
s
co
n
clu
d
ed
th
at
w
h
e
n
to
o
th
f
ailu
r
e
s
o
cc
u
r
,
th
e
p
r
o
b
a
b
ilit
y
d
en
s
it
y
f
u
n
ctio
n
(
P
DF)
o
f
th
e
m
ea
s
u
r
ed
s
i
g
n
al
w
il
l
ch
a
n
g
e
w
h
ic
h
g
iv
e
s
g
o
o
d
in
d
icatio
n
ab
o
u
t
t
h
e
h
ea
lt
h
co
n
d
itio
n
.
An
o
th
er
p
ap
er
ap
p
lied
t
w
o
s
tatis
t
ical
tech
n
iq
u
e
s
f
o
r
w
i
n
d
tu
r
b
in
e
g
ea
r
b
o
x
C
M
[
11
]
.
T
h
e
f
ir
s
t
tech
n
iq
u
e
w
as
b
ased
o
n
d
ata
-
m
in
in
g
al
g
o
r
ith
m
s
u
s
ed
to
b
u
ild
a
s
tatis
tical
m
o
d
el
f
o
r
p
r
ed
ictin
g
t
h
e
j
er
k
in
d
icate
d
b
y
t
h
e
v
ib
r
atio
n
ex
cite
m
en
t
o
f
t
h
e
g
ea
r
b
o
x
.
T
h
is
m
o
d
el
w
as
u
t
ilized
i
n
co
n
j
u
n
ctio
n
w
it
h
ex
p
er
i
m
e
n
tall
y
ca
p
tu
r
ed
v
ib
r
atio
n
s
i
g
n
al
to
p
r
o
d
u
ce
r
esid
u
a
l
s
ig
n
al
s
.
T
w
o
co
n
tr
o
l
ch
ar
t
s
,
X
-
b
ar
an
d
E
W
M
A
ch
ar
ts
,
w
er
e
co
n
s
tr
u
cted
to
ev
alu
ate
th
e
r
esid
u
al
an
d
f
a
u
lt
p
r
ed
ictio
n
.
An
o
th
er
ap
p
licatio
n
,
a
m
o
n
g
s
t
o
th
er
s
,
o
f
s
tatis
t
ical
co
n
tr
o
l
ch
ar
t
s
is
f
o
r
r
o
ller
b
ea
r
i
n
g
s
co
n
d
itio
n
m
o
n
ito
r
in
g
.
Nik
n
a
m
,
et
al.
[
1
2
]
at
Un
i
v
er
s
it
y
o
f
T
en
n
ess
ee
i
n
v
e
s
ti
g
ate
th
e
u
s
e
o
f
C
USUM
c
h
ar
t
f
o
r
d
etec
tin
g
b
ea
r
in
g
f
ailu
r
e
s
,
s
u
c
h
as
u
n
b
alan
ce
,
b
ased
o
n
ac
o
u
s
tic
e
m
i
s
s
io
n
s
i
g
n
a
l
an
al
y
s
i
s
.
Si
m
ilar
l
y
,
Z
h
o
u
,
et
al.
[
1
3
]
p
r
esen
ted
an
ap
p
r
o
ac
h
f
o
r
in
s
it
u
i
n
d
u
ct
io
n
m
o
to
r
b
ea
r
in
g
f
au
lt d
etec
tio
n
b
y
co
m
b
in
in
g
n
o
is
e
ca
n
ce
llati
o
n
an
d
X
-
b
ar
ch
ar
t.
I
n
t
h
is
w
o
r
k
th
e
m
o
to
r
cu
r
r
en
t
s
ig
n
at
u
r
e
w
as
a
n
al
y
s
ed
to
ex
tr
ac
t
f
ea
tu
r
es
r
elate
d
to
b
ea
r
in
g
s
d
eter
io
r
atio
n
.
T
w
o
co
n
tr
o
l
ch
ar
ts
w
er
e
d
ev
elo
p
ed
b
ased
o
n
Sh
e
w
h
ar
t
av
er
ag
e
c
h
ar
t
to
id
en
tify
t
h
e
i
n
itial
s
tar
t
p
o
in
t
o
f
t
h
e
b
ea
r
in
g
d
ef
ec
t
[
14
]
.
T
h
ese
ch
ar
ts
ar
e
n
a
m
ed
ad
ap
tiv
e
m
o
v
in
g
av
er
a
g
e
ch
ar
t,
an
d
ad
ap
tiv
e
Sh
e
w
h
ar
t
av
er
a
g
e
lev
el
c
h
a
r
t
s
.
B
ased
o
n
th
ese
ch
ar
ts
t
h
e
r
e
s
ea
r
ch
er
s
w
er
e
ab
le
to
p
r
o
d
u
ce
w
ar
n
i
n
g
an
d
ac
t
io
n
li
m
it
s
.
T
h
e
f
in
d
i
n
g
s
o
f
t
h
i
s
s
t
u
d
y
s
u
g
g
e
s
t
t
h
at
th
e
ad
ap
tiv
e
Sh
e
w
h
ar
t a
v
er
ag
e
lev
el
c
h
ar
t o
v
er
co
m
e
s
t
h
e
d
r
aw
b
ac
k
o
f
ad
ap
tiv
e
m
o
v
in
g
c
h
ar
ts
b
y
w
o
r
k
i
n
g
o
u
t
th
e
li
m
it
s
u
s
in
g
all
t
h
e
b
ea
r
in
g
s
’
d
ata.
I
n
th
e
m
aj
o
r
it
y
o
f
C
M
s
y
s
te
m
s
,
w
it
h
a
s
p
ec
ial
f
o
cu
s
o
n
in
d
u
s
tr
ial
r
o
b
o
ts
,
it
h
as
b
ee
n
n
o
ted
th
at
f
o
r
s
ig
n
al
ac
q
u
is
i
tio
n
,
p
r
o
ce
s
s
i
n
g
,
s
to
r
ag
e
a
n
d
d
ec
is
io
n
m
ak
i
n
g
,
d
ata
ac
q
u
is
i
tio
n
(
D
AQ)
ca
r
d
s
co
n
n
ec
ted
to
P
C
s
,
as
t
h
eir
m
ai
n
p
r
o
ce
s
s
i
n
g
co
r
e,
w
er
e
ex
te
n
s
iv
el
y
u
s
ed
,
w
h
i
ch
ad
d
s
co
n
s
id
er
ab
l
y
to
t
h
e
c
o
s
t
o
f
C
M
s
y
s
te
m
.
R
ec
en
t
d
ev
elo
p
m
e
n
t
s
i
n
elec
tr
o
n
ics
a
n
d
co
m
p
u
ti
n
g
h
av
e
o
p
en
ed
n
e
w
h
o
r
izo
n
s
i
n
t
h
e
ar
ea
o
f
co
n
d
itio
n
m
o
n
ito
r
i
n
g
,
an
d
e
m
b
ed
d
ed
d
ev
ices
an
d
w
ir
eles
s
s
y
s
te
m
s
o
th
er
p
r
o
m
is
i
n
g
s
o
lu
tio
n
s
,
a
n
d
h
av
e
s
h
o
w
n
t
h
eir
p
r
ac
ticalit
y
i
n
f
au
lt
d
etec
tio
n
an
d
d
iag
n
o
s
is
p
r
o
ce
s
s
e
s
i
n
m
an
y
o
f
ar
ea
s
.
Fo
r
in
s
tan
ce
,
a
r
esear
ch
s
t
u
d
y
h
a
s
i
m
p
le
m
en
ted
t
h
e
en
v
e
lo
p
e
an
al
y
s
i
s
alg
o
r
ith
m
f
o
r
w
ir
eles
s
b
ea
r
in
g
h
ea
l
th
m
o
n
ito
r
i
n
g
b
ased
o
n
v
ib
r
atio
n
s
ig
n
al
s
m
ea
s
u
r
e
m
e
n
t
,
h
o
w
e
v
er
,
to
o
v
er
co
m
e
th
e
li
m
it
atio
n
s
o
f
m
e
m
o
r
y
s
ize
a
n
d
r
estri
cted
co
m
p
u
tatio
n
al
ca
p
ab
ilit
ies
i
n
t
h
e
co
m
m
er
cial
l
y
a
v
ailab
le
w
ir
eless
n
o
d
es,
th
e
au
t
h
o
r
s
h
av
e
u
s
ed
a
3
2
-
b
it
m
icr
o
co
n
tr
o
ller
t
y
p
e
T
M4
C
1
2
3
3
H6
P
M
f
r
o
m
T
ex
as
I
n
s
tr
u
m
e
n
ts
alo
n
g
w
i
th
Z
i
g
b
e
e
w
ir
eles
s
m
o
d
u
le.
I
n
th
is
r
esear
ch
,
t
h
e
co
n
ce
p
t
an
d
d
esig
n
s
tep
s
o
f
th
e
p
r
o
p
o
s
e
d
w
ir
eless
s
y
s
te
m
ar
e
p
r
o
v
id
ed
f
ir
s
t.
T
h
e
co
m
p
o
n
e
n
t
s
s
elec
t
io
n
,
e
m
b
ed
d
ed
s
y
s
te
m
co
n
s
tr
u
ctio
n
an
d
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s
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w
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d
if
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er
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m
ac
h
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Fig
u
r
e
1
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W
ir
eless
s
en
s
o
r
n
o
d
e
h
ar
d
w
ar
e
ar
ch
itec
tu
r
e
[
18
]
2
.
1
.
Acc
eler
o
m
et
er
Select
io
n
A
cc
eler
o
m
eter
s
ar
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e
ch
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h
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aj
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p
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r
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o
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ler
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et
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s
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ar
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[
19
]
:
s
en
s
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v
it
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,
r
a
n
g
e,
b
an
d
w
id
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h
,
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c
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r
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c
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o
p
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n
m
en
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a
n
d
co
s
t.
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MS
(
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r
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m
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a
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ical
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en
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eter
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m
p
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w
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tio
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ic
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ter
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s
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m
all
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v
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[
20
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.
C
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m
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w
ill
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h
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ME
MS
ac
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m
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all
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h
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A
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XL
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ased
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b
a
n
d
,
an
d
r
ep
r
esen
ts
a
p
er
s
o
n
al
ar
ea
n
etw
o
r
k
(
P
A
N)
s
ta
n
d
ar
d
.
I
t
is
s
p
ec
if
icall
y
ai
m
ed
to
s
er
v
e
ap
p
li
ca
tio
n
s
th
a
t
r
eq
u
ir
e
s
h
o
r
t
r
a
n
g
e
co
m
m
u
n
icatio
n
,
s
u
c
h
a
s
d
ata
tr
an
s
f
er
b
et
w
ee
n
co
m
p
u
ter
s
an
d
o
th
er
p
er
ip
h
er
al
d
ev
ices
lik
e
k
e
y
b
o
ar
d
s
o
r
ce
ll
p
h
o
n
e
to
r
ep
lace
w
ir
e
co
n
n
ec
ti
v
it
y
.
B
lu
eto
o
th
s
u
p
p
o
r
ts
s
tar
n
et
w
o
r
k
to
p
o
lo
g
y
,
an
d
ca
n
en
ab
le
u
p
to
s
ev
e
n
r
e
m
o
te
n
o
d
es
to
co
m
m
u
n
icate
w
it
h
a
s
i
n
g
le
b
ase
s
tatio
n
.
Ho
w
ev
er
,
i
n
ad
d
itio
n
to
its
s
h
o
r
t
r
an
g
e
ap
p
licatio
n
an
d
s
ca
lab
i
lit
y
p
r
o
b
lem
(
lo
w
n
u
m
b
er
o
f
n
o
d
es
p
er
n
et
w
o
r
k
)
,
th
e
o
th
er
d
is
ad
v
an
tag
e
s
o
f
B
lu
eto
o
th
ar
e
h
ig
h
p
o
w
er
co
n
s
u
m
p
tio
n
a
n
d
n
o
d
es
th
at
n
ee
d
a
lo
n
g
ti
m
e
to
b
e
s
y
n
c
h
r
o
n
ize
d
w
it
h
th
e
n
e
t
w
o
r
k
w
h
e
n
r
etu
r
n
i
n
g
f
r
o
m
s
leep
m
o
d
e,
an
d
w
h
ich
i
n
cr
ea
s
es t
h
e
a
v
er
ag
e
s
y
s
te
m
p
o
w
er
.
T
h
e
I
E
E
E
8
0
2
.
1
5
.
4
s
tan
d
ar
d
w
as
d
esig
n
ed
f
o
r
lo
w
d
ata
r
ate
tr
an
s
m
is
s
io
n
s
,
lo
w
co
s
t,
an
d
lo
w
p
o
w
er
co
n
s
u
m
p
tio
n
w
ir
ele
s
s
p
er
s
o
n
a
l
ar
ea
n
e
t
w
o
r
k
s
(
W
P
A
N)
.
I
n
t
er
m
s
o
f
co
m
m
u
n
icatio
n
r
an
g
e
,
th
i
s
s
tan
d
ar
d
ca
n
b
e
co
n
s
id
er
ed
as
a
m
id
d
le
g
r
o
u
n
d
s
o
lu
tio
n
b
et
w
ee
n
I
E
E
8
0
2
.
1
1
(
W
i
-
Fi)
an
d
I
E
E
E
8
0
2
.
1
5
.
1
(
B
lu
eto
o
th
)
,
an
d
s
u
p
p
o
r
ts
m
u
l
tip
le
tr
an
s
m
is
s
io
n
f
r
eq
u
en
c
ies,
m
u
ltip
le
d
ata
r
ates,
an
d
t
w
o
to
p
o
lo
g
ies,
s
tar
an
d
p
o
in
t
-
to
-
p
o
in
t
(
p
air
to
p
o
lo
g
y
)
,
w
h
ic
h
m
ak
e
s
it
a
f
lex
ib
le
s
ta
n
d
ar
d
.
I
t
o
p
er
ates
in
th
e
u
n
licen
s
ed
I
SM
b
an
d
s
at
8
6
8
MH
z
in
E
u
r
o
p
e,
9
1
5
MH
z
in
th
e
US
A
an
d
2
.
4
GHz
w
o
r
ld
w
id
e,
w
it
h
d
ata
r
ates 2
0
Kb
p
s
(
k
ilo
b
it p
e
r
s
ec
o
n
d
)
,
4
0
Kb
p
s
an
d
2
5
0
Kb
p
s
,
r
esp
ec
tiv
el
y
.
Z
ig
B
ee
is
a
s
tan
d
ar
d
d
esig
n
ed
b
y
th
e
Z
i
g
B
ee
A
llia
n
ce
,
w
h
ich
is
an
ass
o
ciat
io
n
o
f
co
m
p
a
n
ies
w
o
r
k
i
n
g
to
g
e
th
er
to
en
ab
le
r
eliab
le,
co
s
t
-
e
f
f
ec
t
iv
e,
a
n
d
lo
w
-
p
o
w
er
w
ir
ele
s
s
n
et
w
o
r
k
[
25
]
.
I
t
is
b
ased
o
n
I
E
E
E
8
0
2
.
1
5
.
4
s
tan
d
ar
d
w
h
ich
m
ea
n
s
t
h
at
Z
ig
B
ee
ca
n
tak
e
f
u
l
l
ad
v
a
n
ta
g
e
o
f
t
h
i
s
s
tan
d
ar
d
.
I
n
ad
d
itio
n
,
it
ca
n
ac
co
m
m
o
d
at
e
m
u
lt
ip
le
n
et
w
o
r
k
s
to
p
o
lo
g
ies
lik
e
s
tar
,
p
o
in
t
-
to
-
p
o
in
t,
an
d
m
es
h
n
et
w
o
r
k
s
.
A
l
s
o
,
a
Z
ig
B
ee
n
et
w
o
r
k
ca
n
h
av
e
at
m
o
s
t
6
5
0
0
0
n
o
d
es,
m
ak
in
g
it
a
v
er
y
s
ca
lab
le
s
tan
d
ar
d
.
B
ec
au
s
e
o
f
t
h
e
af
o
r
e
m
e
n
tio
n
ed
f
ea
tu
r
e
s
,
th
e
Z
i
g
B
ee
s
tan
d
ar
d
h
a
s
b
ee
n
ad
o
p
ted
in
m
a
n
y
w
ir
ele
s
s
s
e
n
s
o
r
n
e
t
w
o
r
k
ap
p
licatio
n
s
,
an
d
w
ill
b
e
th
e
b
est
ca
n
d
id
ate
f
o
r
th
e
w
o
r
k
d
escr
ib
ed
in
th
is
th
e
s
is
.
A
d
d
itio
n
all
y
,
Z
i
g
B
ee
m
o
d
u
les ar
e
n
o
w
ad
a
y
s
a
v
ailab
le
in
th
e
m
ar
k
et
in
s
m
a
ll si
ze
w
it
h
v
er
y
a
f
f
o
r
d
ab
le
p
r
ices.
2
.
4
.
Z
ig
B
ee
M
o
du
le
Select
io
n
T
h
er
e
ar
e
m
a
n
y
p
ar
a
m
eter
s
n
ee
d
to
b
e
co
n
s
id
er
ed
w
h
en
s
elec
tin
g
a
Z
i
g
B
ee
m
o
d
u
le.
F
r
o
m
t
h
ese
p
ar
am
eter
s
ar
e
p
o
w
er
co
n
s
u
m
p
tio
n
,
o
p
er
atin
g
f
r
eq
u
e
n
c
y
,
f
l
ex
ib
ilit
y
,
co
v
er
a
g
e
r
an
g
e,
t
h
e
m
o
d
u
le
a
n
d
te
s
tin
g
co
s
ts
,
a
n
d
th
e
co
m
p
atib
ili
t
y
w
it
h
t
h
e
m
icr
o
co
n
tr
o
ller
u
n
i
t.
Ho
w
e
v
er
,
m
a
n
y
ce
r
ti
f
ied
s
e
m
ico
n
d
u
cto
r
co
m
p
a
n
i
es,
s
u
ch
as
T
ex
as
I
n
s
tr
u
m
e
n
t
s
,
Fre
e
s
ca
l,
Di
g
i
I
n
ter
n
atio
n
al,
ar
e
p
r
o
v
id
in
g
s
u
cc
ess
f
u
l
d
esi
g
n
f
o
r
Z
i
g
B
ee
p
r
o
d
u
cts.
Af
ter
r
ev
i
s
i
n
g
th
e
av
ai
lab
le
p
r
o
d
u
cts,
th
e
XB
ee
m
o
d
u
le
f
r
o
m
Di
g
i
I
n
te
r
n
atio
n
al
h
a
s
b
ee
n
s
elec
ted
,
as
it
m
ee
t
s
th
e
ab
o
v
e
m
en
t
io
n
ed
r
eq
u
ir
e
m
e
n
t
s
,
i
s
co
m
p
atib
le
w
i
th
t
h
e
s
elec
ted
A
r
d
u
i
n
o
b
o
ar
d
,
an
d
in
cl
u
d
es
o
t
h
er
f
ac
to
r
,
i.e
.
p
r
ev
io
u
s
s
u
cc
es
s
f
u
l
e
x
p
er
ien
ce
,
p
o
p
u
lar
it
y
,
an
d
av
ailab
le
d
ev
elo
p
m
e
n
t
r
eso
u
r
ce
s
.
XB
ee
is
a
tr
ad
e
n
a
m
e
f
r
o
m
Dig
i
i
n
ter
n
atio
n
al,
a
n
d
it
is
a
w
ir
ele
s
s
m
o
d
u
le
d
esi
g
n
ed
f
o
r
ap
p
lic
atio
n
s
th
at
r
eq
u
ir
e
r
ed
u
ce
d
d
ata
co
m
m
u
n
icatio
n
w
h
ile
h
a
v
in
g
lo
n
g
r
an
g
e
ca
p
ab
ilit
ies
w
it
h
les
s
p
o
w
er
co
n
s
u
m
p
tio
n
.
XB
ee
m
o
d
u
le
s
co
m
e
in
d
if
f
e
r
en
t
f
o
r
m
at
s
f
o
r
d
if
f
er
e
n
t
k
i
n
d
s
o
f
ap
p
licatio
n
.
T
h
er
e
ar
e
t
w
o
t
y
p
es
o
f
XB
ee
m
o
d
u
les,
s
er
ies 1
(
s
1
)
an
d
s
er
ies 2
(
s
2
)
.
A
s
s
h
o
w
n
i
n
T
ab
le
I
,
XB
ee
s
2
co
n
s
u
m
es s
lig
h
tl
y
le
s
s
p
o
w
er
an
d
h
as a
b
etter
r
an
g
e
th
a
n
th
e
s
1
.
T
h
e
XB
ee
s
1
an
d
s
2
ar
e
p
in
-
f
o
r
-
p
i
n
co
m
p
atib
le,
b
u
t
b
ased
o
n
d
if
f
er
en
t
ch
ip
s
ets
a
n
d
r
u
n
n
i
n
g
d
i
f
f
er
en
t
p
r
o
to
co
ls
.
T
h
e
s
1
m
o
d
u
le
u
s
e
s
t
h
e
I
E
E
E
8
0
2
.
1
5
.
4
s
tan
d
ar
d
p
r
o
to
co
l,
w
h
ile
t
h
e
s
2
m
o
d
u
l
e
r
elies
o
n
Z
ig
B
ee
p
r
o
to
co
l.
Fu
r
th
er
m
o
r
e,
b
o
th
s
er
ies
co
m
e
i
n
t
w
o
d
i
f
f
er
en
t
tr
an
s
m
is
s
io
n
p
o
w
er
s
,
r
eg
u
lar
a
n
d
P
r
o
.
T
h
e
r
eg
u
lar
v
er
s
io
n
is
s
i
m
p
l
y
ca
lled
XB
ee
,
an
d
i
s
les
s
ex
p
en
s
iv
e
t
h
an
P
r
o
v
er
s
io
n
;
t
h
e
P
r
o
v
er
s
io
n
u
s
es
m
o
r
e
p
o
w
er
a
n
d
is
s
li
g
h
t
l
y
lar
g
er
t
h
an
th
e
r
e
g
u
lar
v
e
r
s
io
n
,
b
u
t,
o
n
t
h
e
o
th
er
h
a
n
d
,
h
as
a
lo
n
g
er
co
m
m
u
n
icatio
n
r
an
g
e.
T
h
e
X
B
ee
s
2
(
Fig
u
r
e
4
)
h
a
s
b
ee
n
s
el
ec
ted
f
o
r
th
is
r
esear
c
h
,
as
it p
r
o
v
id
es
g
o
o
d
in
-
d
o
o
r
r
an
g
e,
g
o
o
d
d
ata
r
ate,
lo
w
-
e
n
er
g
y
co
n
s
u
m
p
tio
n
,
b
etter
r
ec
eiv
er
s
e
n
s
iti
v
it
y
a
n
d
it
s
u
p
p
o
r
ts
m
es
h
an
d
tr
ee
n
et
w
o
r
k
s
.
T
h
is
m
a
k
e
s
th
e
s
y
s
te
m
s
ca
lab
le
an
d
r
eliab
le
f
o
r
f
u
tu
r
e
d
e
v
elo
p
m
e
n
t.
XB
ee
m
o
d
u
les
ca
n
b
e
attac
h
ed
to
DUE
u
s
i
n
g
a
w
ir
el
ess
s
h
ield
(
Fi
g
u
r
e
5
)
d
esig
n
ed
f
o
r
ea
s
y
co
n
n
ec
tio
n
to
th
e
XB
ee
.
XB
ee
m
o
d
u
les
m
u
s
t
h
a
v
e
a
n
an
ten
n
a
to
s
en
d
a
n
d
r
ec
eiv
e
s
ig
n
a
ls
,
o
f
w
h
ich
th
er
e
ar
e
f
o
u
r
d
if
f
er
e
n
t
t
y
p
es
o
f
f
er
ed
o
n
XB
ee
s
2
,
n
a
m
el
y
w
h
ip
,
ch
ip
,
U.
FL
,
a
n
d
R
P
SMA
[
17
]
.
T
h
e
w
ir
e
(
o
r
w
h
i
p
)
an
d
ch
ip
an
ten
n
as
co
m
e
p
r
e
-
co
n
n
ec
ted
to
t
h
e
X
B
ee
m
o
d
u
les,
w
h
i
le
t
h
e
U.
F
L
a
n
d
R
P
SM
A
ar
e
d
er
iv
ati
v
es
o
f
th
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an
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[
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s
,
i
t
w
a
s
n
ec
e
s
s
ar
y
to
lo
o
k
f
o
r
alter
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ati
v
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Me
tal
o
r
p
last
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b
o
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ar
e
co
m
m
o
n
l
y
u
s
ed
f
o
r
cr
ea
tin
g
c
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s
to
m
-
b
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ilt
en
c
lo
s
u
r
es
f
o
r
e
m
b
ed
d
ed
eq
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ip
m
e
n
t.
Fo
r
th
is
p
u
r
p
o
s
e,
tw
o
p
last
ic
b
o
x
es
o
f
s
ize
1
7
9
x
8
6
x
5
1
m
m
,
f
o
r
th
e
s
en
s
o
r
n
o
d
e
an
d
b
ase
s
tatio
n
w
er
e
p
u
r
ch
ased
a
n
d
m
o
d
i
f
ied
.
B
o
lts
w
er
e
u
s
ed
to
f
i
x
t
h
e
A
r
d
u
in
o
m
icr
o
co
n
tr
o
ller
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to
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e
b
o
x
es
.
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m
all
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ec
ta
n
g
le
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d
cir
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lar
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ts
w
er
e
m
ad
e
o
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th
e
b
ase
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d
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ig
h
t
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id
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en
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o
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e
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to
allo
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attac
h
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g
th
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en
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r
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ad
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ter
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o
b
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t
u
s
in
g
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u
p
er
g
l
u
e,
an
d
th
e
an
ten
n
a,
v
ia
th
e
w
ir
ele
s
s
s
h
ield
,
a
n
d
p
o
w
er
s
u
p
p
l
y
p
o
r
t,
f
r
o
m
t
h
e
b
atter
y
,
to
t
h
e
m
icr
o
co
n
tr
o
ller
.
A
d
o
u
b
le
s
id
ed
ad
h
e
s
iv
e
ta
p
e
at
th
e
b
o
tto
m
o
f
th
e
b
atter
y
w
a
s
u
ti
lized
to
af
f
i
x
it
o
n
th
e
b
o
x
.
T
h
e
b
ase
s
tatio
n
s
h
o
u
ld
b
e
lo
ca
ted
n
ex
t
to
a
h
o
s
t
P
C
,
f
o
r
r
ep
o
r
tin
g
t
h
e
a
n
al
y
s
is
r
es
u
lts
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d
al
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o
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er
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it
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n
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o
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e
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tire
m
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i
to
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g
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y
s
te
m
t
h
r
o
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g
h
t
h
e
u
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er
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ter
f
ac
e.
T
h
e
s
e
n
s
o
r
n
o
d
e
w
as
attac
h
ed
to
th
e
r
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b
o
t
u
s
i
n
g
t
w
o
ca
b
le
ties
.
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h
e
s
en
s
o
r
n
o
d
e
alo
n
g
w
ith
t
h
e
f
i
n
al
e
x
p
e
r
i
m
e
n
tal
s
et
-
u
p
is
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ep
icted
in
F
ig
u
r
e
6
.
P
r
io
r
to
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ep
lo
y
i
n
g
t
h
e
d
esi
g
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ed
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te
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itio
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ito
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g
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s
y
s
te
m
ac
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r
ac
y
w
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s
test
ed
a
n
d
v
alid
ated
.
Ho
w
e
v
er
,
in
t
h
i
s
r
esear
ch
t
h
e
e
x
p
er
im
e
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tal
w
o
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k
h
a
s
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ee
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p
er
f
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ed
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s
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g
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UM
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5
6
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w
h
ic
h
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C
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c
o
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lled
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er
ial
m
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n
ip
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la
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h
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ix
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l
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te
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o
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ts
/d
eg
r
ee
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o
f
f
r
ee
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o
m
(
DO
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h
e
test
in
g
w
a
s
p
er
f
o
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ed
b
y
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etti
n
g
u
p
th
e
s
y
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te
m
f
o
r
r
ea
l
-
ti
m
e
r
o
b
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ib
r
atio
n
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al
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is
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d
th
e
ca
p
tu
r
ed
s
ig
n
als
w
er
e
co
m
p
ar
ed
w
ith
t
h
eir
p
ee
r
th
at
w
e
r
e
ac
q
u
ir
ed
u
s
in
g
NI
6
0
0
9
DAQ
d
ev
ice
(
f
r
o
m
Natio
n
al
I
n
s
tr
u
m
e
n
ts
)
.
Si
g
n
i
f
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ca
n
t
d
if
f
er
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ce
s
b
et
w
ee
n
s
ig
n
als
ar
e
n
o
t
p
r
ef
er
r
ed
,
as
it
co
u
ld
lead
to
in
cr
ea
s
e
r
ate
o
f
f
alse
f
a
u
lt
d
etec
tio
n
.
T
h
e
r
esu
lt
o
f
th
e
h
ea
l
th
y
s
i
g
n
als
co
m
p
ar
is
o
n
s
f
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r
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ch
o
f
th
e
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ee
ax
es
o
f
m
ea
s
u
r
e
m
e
n
t
s
is
p
r
esen
ted
i
n
th
e
F
ig
u
r
e
7
.
Si
g
n
al
s
f
r
o
m
b
o
th
NI
D
A
Q
a
n
d
t
h
e
s
e
n
s
o
r
n
o
d
e
ar
e
co
m
p
ar
ed
w
it
h
t
h
e
r
o
b
o
t e
x
ec
u
ti
n
g
a
p
ick
an
d
p
lace
ta
s
k
,
u
s
in
g
t
h
e
s
a
m
e
s
a
m
p
li
n
g
f
r
eq
u
en
c
y
(
3
8
3
Hz)
; th
e
t
i
m
e
-
d
o
m
ai
n
s
ig
n
al
s
ar
e
ass
o
ciate
d
w
ith
t
h
eir
p
r
o
b
ab
ilit
y
d
is
tr
ib
u
t
io
n
s
.
I
t
c
an
b
e
s
ee
n
th
at
th
e
w
ir
eless
s
y
s
te
m
s
i
g
n
a
ls
ar
e
id
en
tical
w
it
h
NI
D
A
Q
s
i
g
n
als,
an
d
n
o
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m
all
y
d
is
tr
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ted
.
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t
ca
n
b
e
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at
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ig
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als
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es,
a
ls
o
th
e
o
th
er
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tatis
tical
f
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e
s
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th
e
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d
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,
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o
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m
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n
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ar
e
(
R
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m
ax
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m
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m
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o
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n
in
T
ab
le
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I
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co
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ld
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e
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ted
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n
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o
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e
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o
t
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ctu
r
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w
h
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h
ca
n
n
o
t
b
e
av
o
id
ed
,
m
a
k
in
g
th
e
s
y
s
te
m
ca
p
tu
r
i
n
g
e
x
tr
a
v
ib
r
atio
n
f
r
o
m
t
h
e
r
o
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o
t,
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ile
t
h
i
s
is
n
o
t
t
h
e
ca
s
e
wh
en
th
e
NI
D
A
Q.
Nev
er
th
e
less
,
it
w
a
s
co
n
cl
u
d
e
d
th
at
t
h
e
s
i
g
n
al
s
ca
p
t
u
r
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u
s
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n
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th
e
A
r
d
u
i
n
o
DUE
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o
ar
d
h
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e
v
er
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s
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n
ab
le
ac
cu
r
ac
y
,
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d
t
h
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s
it
is
e
x
p
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ted
th
at
b
y
e
m
p
lo
y
in
g
th
e
DUE
b
o
ar
d
th
e
d
esire
d
cr
e
d
ib
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y
lev
e
l
o
f
th
e
d
esig
n
ed
r
o
b
o
t h
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lth
m
o
n
ito
r
in
g
s
y
s
te
m
ca
n
b
e
ac
h
ie
v
ed
.
Fig
u
r
e
6
.
W
ir
eless
s
en
s
o
r
n
o
d
e
h
ar
d
w
ar
e
an
d
t
h
e
ex
p
er
i
m
en
tal
s
et
-
up
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a)
Sig
n
al
s
f
r
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NI
D
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Q
b
)
Sig
n
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f
r
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m
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r
d
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Fig
u
r
e
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.
T
im
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-
d
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m
ain
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ig
n
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s
f
r
o
m
t
h
e
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an
d
Z
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ler
o
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e
ter
s
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p
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s
in
g
NI
6
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9
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an
d
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r
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i
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o
DUE
b
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ar
d
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ab
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3
.
Statis
tical
Feat
u
r
es E
x
tr
ac
ted
f
r
o
m
T
i
m
e
-
Do
m
ai
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ig
n
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ls
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g
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a
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4.
P
RINCI
P
L
E
O
F
CO
N
T
RO
L
CH
ART
S
C
o
n
tr
o
l
ch
ar
t
s
ar
e
a
s
tati
s
tical
to
o
l
f
o
r
g
r
ap
h
icall
y
d
is
p
la
y
in
g
a
q
u
a
lity
ch
ar
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ter
is
tic
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tted
ag
ain
s
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a
m
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m
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er
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e)
w
it
h
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ce
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e
lin
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n
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t
w
o
(
u
p
p
er
an
d
lo
w
er
)
co
n
tr
o
l
li
m
its
[
28
]
,
as
illu
s
tr
ated
in
Fig
u
r
e
8
.
C
o
n
tr
o
l
c
h
ar
ts
r
ep
r
esen
t
o
n
e
o
f
th
e
m
o
s
t
i
m
p
o
r
t
an
t
a
n
d
w
id
el
y
ap
p
lied
m
eth
o
d
s
f
o
r
d
etec
tio
n
o
f
ab
n
o
r
m
al
p
r
o
ce
s
s
o
p
er
atio
n
s
b
ased
o
n
p
r
o
ce
s
s
v
ar
iab
les
s
u
c
h
as
d
i
m
e
n
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io
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s
,
te
m
p
er
a
tu
r
e,
v
ib
r
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n
an
d
f
o
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ce
s
etc.
T
h
e
y
p
r
o
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id
e
a
clea
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if
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er
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n
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a
r
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le
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is
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r
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ce
s
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n
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h
e
s
y
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te
m
a
n
d
ch
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t
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o
cc
u
r
a
s
a
r
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l
t
o
f
a
s
y
s
te
m
f
a
u
lt.
W
h
en
co
n
t
r
o
l
ch
ar
ts
ar
e
b
ei
n
g
u
s
ed
f
o
r
h
e
alt
h
m
o
n
ito
r
in
g
o
f
an
y
m
ac
h
i
n
e,
d
esp
ite
h
o
w
w
e
l
l
it
is
d
esig
n
ed
an
d
m
ai
n
tai
n
e
d
,
s
o
m
e
a
m
o
u
n
t
o
f
in
h
er
e
n
t
o
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n
atu
r
al
v
ar
iab
ilit
y
w
ill
al
w
a
y
s
b
e
p
r
esen
ted
[
9
]
.
T
h
is
n
at
u
r
al
v
ar
iab
ilit
y
,
w
h
ich
is
u
s
u
all
y
r
ef
er
en
ce
d
to
as
b
ac
k
g
r
o
u
n
d
n
o
is
e,
is
th
e
cu
m
u
lati
v
e
e
f
f
ec
t
o
f
m
a
n
y
s
m
al
l
an
d
u
n
av
o
id
ab
l
e
ca
u
s
es.
Ho
w
e
v
er
,
f
r
o
m
th
e
s
ta
tis
tica
l
q
u
a
lit
y
co
n
tr
o
l
p
o
in
t
o
f
v
ie
w
,
a
s
y
s
te
m
th
at
h
as
th
i
s
n
at
u
r
al
v
ar
iab
ili
t
y
i
s
o
f
te
n
ca
lled
a
s
tab
le
s
y
s
te
m
an
d
i
n
-
co
n
tr
o
l
[
9
]
.
On
th
e
o
th
er
h
a
n
d
,
if
th
e
v
ar
i
ab
ilit
y
in
t
h
e
m
o
n
ito
r
ed
p
ar
a
m
eter
is
lar
g
e
en
o
u
g
h
w
h
e
n
c
o
m
p
ar
ed
to
th
e
b
ac
k
g
r
o
u
n
d
n
o
i
s
e,
th
i
s
is
s
aid
d
u
e
to
ass
ig
n
ab
le
ca
u
s
e
s
an
d
r
ep
r
esen
ts
an
u
n
ac
ce
p
ta
b
le
lev
el
o
f
s
y
s
te
m
p
er
f
o
r
m
a
n
ce
.
I
n
th
i
s
ca
s
e,
th
e
s
o
u
r
ce
s
o
f
v
ar
iab
ilit
y
ar
e
n
o
t
p
ar
t
o
f
th
e
n
atu
r
al
ca
u
s
es
an
d
co
m
m
o
n
l
y
e
n
titl
ed
s
p
ec
ia
l
ca
u
s
es
;
a
s
y
s
te
m
t
h
at
i
s
o
p
er
atin
g
in
t
h
e
p
r
esen
ce
o
f
s
p
ec
ial
ca
u
s
es
i
s
s
aid
to
b
e
an
o
u
t
-
of
-
co
n
tr
o
l.
T
h
e
co
n
v
e
n
tio
n
al
co
n
tr
o
l c
h
ar
t is c
o
m
p
o
s
ed
o
f
t
h
r
ee
h
o
r
izo
n
tal
li
n
es; a
ce
n
tr
e
lin
e
(
CL
)
t
h
at
r
ep
r
esen
ts
t
h
e
a
v
er
ag
e
v
alu
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o
f
t
h
e
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u
alit
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c
h
ar
ac
ter
is
tic
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r
r
esp
o
n
d
in
g
to
th
e
i
n
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c
o
n
tr
o
l
s
tate;
an
d
t
w
o
o
t
h
er
lin
es
n
a
m
ed
t
h
e
u
p
p
er
co
n
tr
o
l li
m
it (
U
C
L
)
an
d
t
h
e
lo
w
er
co
n
tr
o
l li
m
it (
L
C
L
)
(
Fi
g
u
r
e
1
)
.
T
h
ese
co
n
tr
o
l li
m
it
s
ar
e
ch
o
s
en
s
o
th
at
i
f
t
h
e
p
r
o
ce
s
s
is
i
n
-
co
n
tr
o
l,
n
ea
r
l
y
al
l
o
f
t
h
e
s
a
m
p
le
p
o
in
ts
w
i
ll
f
all
b
et
w
ee
n
t
h
e
m
.
I
t
is
co
m
m
o
n
p
r
ac
tis
e
to
co
n
n
ec
t
th
e
s
a
m
p
le
p
o
in
ts
o
n
t
h
e
co
n
tr
o
l
ch
ar
t
w
it
h
s
tr
aig
h
t
-
li
n
e
s
eg
m
e
n
t
s
s
i
n
ce
i
t
is
ea
s
ier
to
v
is
u
alize
h
o
w
t
h
e
s
eq
u
en
ce
o
f
p
o
in
ts
h
as
e
v
o
l
v
ed
o
v
er
ti
m
e.
Ho
w
ev
er
,
ev
e
n
if
all
t
h
e
p
o
in
t
s
f
al
l
in
s
id
e
th
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co
n
tr
o
l
li
m
it
s
,
b
u
t
b
eh
av
e
i
n
a
s
y
s
te
m
a
tic
o
r
n
o
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r
a
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d
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m
m
a
n
n
er
,
t
h
en
th
i
s
co
u
ld
b
e
an
in
d
icat
io
n
t
h
at
t
h
e
p
r
o
ce
s
s
is
o
u
t
o
f
co
n
tr
o
l.
I
f
th
e
p
r
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ce
s
s
is
i
n
co
n
tr
o
l,
all
th
e
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p
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1
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u
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A
co
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v
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t
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r
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h
ar
t
[
28
]
4
.
1
.
Co
ntr
o
l C
ha
rt
L
i
m
it
s
T
h
e
ch
o
ice
o
f
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w
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k
o
f
f
a
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p
r
ed
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n
o
f
i
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o
r
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o
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tr
o
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Fu
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w
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H
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s
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s
in
a
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d
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s
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w
h
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s
H
1
in
d
icate
s
t
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at
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p
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b
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a
n
d
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tio
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s
s
h
o
u
ld
b
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tak
en
.
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w
ev
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,
t
w
o
t
y
p
e
s
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f
er
r
o
r
s
ca
n
o
cc
u
r
d
u
r
in
g
th
e
f
au
lt
p
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p
r
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ce
s
s
u
s
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n
g
co
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tr
o
l
ch
ar
t
s
(
o
r
h
y
p
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t
h
esi
s
test
in
g
)
,
th
ese
ar
e
c
alled
typ
e
I
an
d
typ
e
I
I
er
r
o
r
s
[
9
,
28
]
.
T
y
p
e
I
er
r
o
r
is
ac
cr
u
ed
w
h
e
n
a
p
o
in
t
f
all
s
o
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e
t
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it
s
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in
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in
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a
n
o
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of
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c
o
n
tr
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l
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n
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itio
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w
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en
t
h
er
e
i
s
n
o
as
s
ig
n
ab
le
ca
u
s
e
p
r
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ted
(
r
e
j
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t
th
e
n
u
ll
h
y
p
o
t
h
esi
s
H
0
w
h
en
it
i
s
tr
u
e)
.
W
h
er
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s
th
e
t
y
p
e
II
er
r
o
r
r
esu
lts
if
a
p
o
in
t
f
alls
w
it
h
i
n
th
e
co
n
tr
o
l
li
m
i
ts
w
h
e
n
th
e
p
r
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ce
s
s
is
ac
t
u
all
y
o
u
t
o
f
c
o
n
tr
o
l
(
f
ail
to
r
ej
ec
t
th
e
n
u
l
l
h
y
p
o
t
h
esi
s
H
0
w
h
e
n
it
i
s
f
a
ls
e)
.
T
h
er
ef
o
r
e,
th
e
r
is
k
o
f
t
y
p
e
I
er
r
o
r
is
d
ec
r
ea
s
ed
b
y
m
o
v
i
n
g
t
h
e
co
n
tr
o
l
li
m
it
s
f
u
r
th
er
f
r
o
m
t
h
e
ce
n
tr
e
li
n
e.
W
id
en
in
g
th
e
co
n
tr
o
l
li
m
it
s
,
h
o
w
ev
er
,
w
ill
a
ls
o
i
n
cr
ea
s
e
t
h
e
r
is
k
o
f
t
y
p
e
II
er
r
o
r
.
Ho
w
e
v
er
,
t
h
e
o
p
p
o
s
ite
e
f
f
ec
t
o
cc
u
r
s
i
f
t
h
e
co
n
tr
o
l
li
m
it
s
ar
e
s
h
if
ted
clo
s
er
to
th
e
ce
n
tr
e
lin
e.
T
h
e
g
e
n
er
al
m
at
h
e
m
atica
l
f
o
r
m
u
latio
n
f
o
r
a
co
n
t
r
o
l c
h
ar
t is
=
(
1
)
=
+
(
2
)
=
−
(
3
)
w
h
er
e
W
is
a
s
a
m
p
le
s
tati
s
tic
th
at
m
ea
s
u
r
es
s
o
m
e
q
u
alit
y
ch
ar
ac
ter
is
tic
o
f
i
n
ter
est,
an
d
an
d
ar
e
its
m
ea
n
an
d
s
ta
n
d
ar
d
d
ev
iatio
n
,
r
esp
ec
tiv
el
y
,
w
h
ile
k
r
ep
r
esen
ts
t
h
e
d
is
tan
ce
o
f
t
h
e
co
n
tr
o
l
l
i
m
it
s
f
r
o
m
th
e
CL
,
ex
p
r
ess
ed
i
n
s
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it
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m
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a
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L
eq
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al
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h
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ig
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a)
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r
o
m
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CL
o
f
th
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m
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it
o
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ed
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ata,
i.e
.
k
=
3
.
B
y
u
s
in
g
th
r
ee
-
s
i
g
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a
co
n
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o
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li
m
it
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it
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s
as
s
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m
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h
at
th
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d
is
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ib
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tio
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y
c
h
ar
ac
ter
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tics
i
s
ap
p
r
o
x
i
m
atel
y
n
o
r
m
al
l
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is
tr
ib
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ted
.
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h
en
,
b
y
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o
in
g
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o
it
is
p
r
esu
m
ed
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at
w
h
ile
t
h
e
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y
s
te
m
is
in
s
tatis
t
ical
co
n
tr
o
l,
n
ea
r
l
y
9
9
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7
%
o
f
th
e
p
o
in
ts
w
i
ll
f
all
w
it
h
i
n
t
h
e
co
n
tr
o
l
li
m
its
[
28
]
,
[
29
]
.
I
n
th
is
w
a
y
,
a
g
o
o
d
b
al
an
ce
is
m
ad
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et
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t
y
p
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an
d
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er
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r
s
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itio
n
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ee
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s
i
g
m
a
li
m
it
s
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ad
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itio
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n
i
n
g
li
m
it
s
ca
n
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e
u
ti
lized
.
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h
ese
ar
e
n
am
ed
th
e
i
n
n
er
li
m
i
ts
,
u
s
u
all
y
p
lace
d
at
t
w
o
-
s
i
g
m
a
[
30
]
.
5.
RO
B
O
T
VIB
RATI
O
N
A
NA
L
YS
I
S AN
D
F
E
AT
URE
E
X
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RAC
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ates
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j
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T
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e
m
ec
h
a
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ica
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ct
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o
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t
h
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o
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ated
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F
ig
u
r
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,
w
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ich
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s
ts
o
f
a
t
w
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s
tag
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g
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ed
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e
n
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ed
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th
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b
eg
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p
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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3430
T
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u
r
e
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atic
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t 3
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MS)
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th
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e
s
h
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l
d
v
al
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es
u
s
in
g
S
C
C
[
28
]
,
[
30
]
.
T
h
e
ST
D
f
ea
t
u
r
e,
w
h
ic
h
i
s
n
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r
m
all
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n
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er
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u
s
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e
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o
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e
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Y
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Fig
u
r
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1
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o
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(
h
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elate
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itio
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itio
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ied
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ap
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ata
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en
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ile
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t
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th
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e
h
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ar
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t
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h
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ce
n
ter
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r
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lin
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l
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lit
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s
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r
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w
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ea
n
o
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b
le
an
d
th
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5
0
%
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m
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la
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p
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b
ab
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.
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f
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o
s
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d
ata
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ts
ar
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p
lace
d
o
n
th
is
li
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e,
t
h
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d
ata
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s
co
n
s
id
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ed
to
b
e
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all
y
d
is
tr
ib
u
ted
.
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f
t
h
e
p
o
in
t
s
ap
p
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in
a
c
u
r
v
at
u
r
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s
h
ap
e,
th
e
n
t
h
e
in
d
icatio
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is
t
h
at
t
h
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d
ata
ar
e
n
o
t
n
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m
all
y
d
is
tr
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u
ted
.
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o
a
ch
iev
e
th
is
a
n
d
to
ca
lcu
late
t
h
e
u
p
p
er
an
d
lo
w
er
co
n
tr
o
l
li
m
i
ts
,
as
w
ill
b
e
e
x
p
lain
ed
later
,
th
e
Min
itab
1
7
s
tatis
tical
p
ac
k
ag
e
h
as
b
ee
n
u
s
ed
an
d
th
e
r
es
u
lt
i
s
s
h
o
w
n
i
n
Fi
g
u
r
e
1
1
;
th
e
h
is
t
o
g
r
a
m
(
lef
t)
is
i
n
d
icati
n
g
a
b
ell
-
s
h
ap
e
d
is
tr
ib
u
tio
n
an
d
th
e
d
ata
in
th
e
n
o
r
m
al
p
r
o
b
a
b
ilit
y
p
lo
t
(
r
ig
h
t)
lo
o
k
s
r
ea
s
o
n
ab
l
y
s
tr
ai
g
h
t,
m
ea
n
i
n
g
th
at
th
e
r
es
u
lta
n
t
ST
D
is
n
o
r
m
al
l
y
d
is
tr
ib
u
ted
,
th
u
s
it
w
i
ll b
e
u
s
ed
f
o
r
d
esi
g
n
i
n
g
th
e
co
n
tr
o
l c
h
ar
t.
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