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3
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.
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ta
g
es.
T
h
e
s
ec
o
n
d
o
n
e
f
o
cu
s
es
o
n
t
h
e
m
ater
ial
s
an
d
m
et
h
o
d
s
,
w
h
er
e
th
e
ele
m
en
t
s
u
s
ed
f
o
r
th
e
te
st
s
a
n
d
t
h
e
ca
l
cu
latio
n
s
m
ad
e
f
o
r
th
e
d
etec
tio
n
o
f
th
e
o
b
j
ec
ts
o
f
in
ter
est
ar
e
s
h
o
w
n
.
T
h
e
t
h
ir
d
p
ar
t
s
h
o
w
s
th
e
r
esu
lts
o
b
tai
n
e
d
an
d
t
w
o
e
x
a
m
p
le
s
o
f
ca
s
es
in
w
h
ich
t
h
e
al
g
o
r
it
h
m
w
as
test
ed
.
Fi
n
all
y
,
t
h
e
c
o
n
clu
s
io
n
s
r
eg
ar
d
in
g
t
h
e
d
esi
g
n
ed
al
g
o
r
ith
m
ar
e
p
r
ese
n
ted
.
2.
T
H
E
O
R
E
T
I
CA
L
F
RAM
E
WO
RK
T
h
e
alg
o
r
ith
m
is
m
o
s
tl
y
d
ev
el
o
p
ed
o
n
th
e
Op
en
C
V
lib
r
ar
ies
f
o
r
P
y
th
o
n
,
s
in
ce
b
ein
g
a
m
o
b
ile
ag
en
t
in
d
ep
en
d
en
t
o
f
an
e
x
ter
n
al
co
n
s
o
le,
th
e
s
e
s
o
f
t
w
ar
e
to
o
ls
ar
e
a
m
ain
a
lter
n
ati
v
e
to
b
e
ap
p
licab
le
in
an
e
m
b
ed
d
ed
s
y
s
te
m
.
Fo
r
t
h
e
d
e
v
elo
p
m
e
n
t
o
f
t
h
e
a
lg
o
r
it
h
m
,
t
h
e
f
u
n
d
a
m
en
tal
b
ase
s
o
f
i
m
a
g
e
p
r
o
ce
s
s
i
n
g
w
er
e
tak
en
i
n
to
ac
co
u
n
t
.
2
.
1
.
Co
l
o
r
f
ilte
rs
C
o
lo
r
f
ilter
s
ar
e
th
o
s
e
th
at
all
o
w
a
s
p
ec
if
ic
co
lo
r
to
b
e
id
en
tif
ied
w
it
h
in
a
d
ig
ita
l
i
m
a
g
e,
g
en
er
all
y
,
th
ese
f
ilter
s
h
a
v
e
a
lo
w
er
an
d
u
p
p
er
r
an
g
e
b
y
w
h
ic
h
th
e
y
l
i
m
it
w
h
ich
co
lo
r
o
r
co
lo
r
s
ar
e
th
o
s
e
t
h
at
ar
e
to
b
e
d
eter
m
in
ed
w
it
h
i
n
th
e
i
m
a
g
e.
T
h
ese
r
an
g
es
ar
e
d
ef
i
n
ed
ac
co
r
d
in
g
to
a
p
ar
ticu
lar
co
lo
r
s
ca
le,
th
er
e
ar
e
a
w
id
e
v
ar
iet
y
o
f
co
lo
r
s
ca
les,
a
m
o
n
g
w
h
ic
h
t
h
e
m
o
s
t
co
m
m
o
n
a
r
e
R
GB
an
d
HSV,
b
u
t
ea
ch
s
ca
le
h
as
i
ts
o
w
n
ch
ar
ac
ter
is
tic
s
th
at
m
a
k
e
ea
ch
o
n
e
h
av
e
d
i
f
f
er
en
t
ap
p
licab
ili
t
y
[
1
8
]
.
T
ab
le
1
s
h
o
w
s
th
e
m
a
in
ad
v
a
n
tag
e
s
an
d
d
is
ad
v
an
ta
g
es o
f
th
e
t
h
r
ee
co
lo
r
m
o
d
els t
h
at
w
er
e
co
n
s
id
er
e
d
to
d
ev
elo
p
th
e
alg
o
r
ith
m
.
T
ab
le
1
.
A
d
v
an
ta
g
es a
n
d
d
is
a
d
v
an
ta
g
es o
f
t
h
r
ee
co
lo
r
m
o
d
els,
b
ased
o
n
[
1
8
]
M
o
d
e
l
A
d
v
a
n
t
a
g
e
s
D
i
sad
v
a
n
t
a
g
e
s
R
G
B
-
I
t
i
s u
se
d
i
n
t
h
e
v
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d
e
o
scre
e
n
d
u
e
t
o
i
t
s a
d
d
i
t
i
v
e
p
r
o
p
e
r
t
i
e
s.
-
I
t
i
s c
o
n
s
i
d
e
r
e
d
a
s
a
c
o
mp
u
t
a
t
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o
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l
l
y
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r
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t
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c
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l
mo
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l
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I
t
i
s n
o
t
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se
f
u
l
f
o
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f
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n
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o
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t
s
a
n
d
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e
c
o
g
n
i
z
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n
g
c
o
l
o
r
s.
-
I
t
i
s d
i
f
f
i
c
u
l
t
t
o
d
e
t
e
r
mi
n
e
a
s
p
e
c
i
f
i
c
c
o
l
o
r
.
H
S
V
C
o
l
o
r
s e
a
si
l
y
d
e
f
i
n
e
d
b
y
h
u
ma
n
p
e
r
c
e
p
t
i
o
n
,
u
n
l
i
k
e
R
G
B
.
I
n
d
e
f
i
n
i
t
e
a
c
h
r
o
mat
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c
t
o
n
e
p
o
i
n
t
s
a
r
e
se
n
si
t
i
v
e
t
o
d
e
v
i
a
t
i
o
n
s o
f
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G
B
v
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l
u
e
s a
n
d
h
u
e
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n
s
t
a
b
i
l
i
t
y
,
d
u
e
t
o
t
h
e
a
n
g
u
l
a
r
n
a
t
u
r
e
o
f
t
h
e
c
h
a
r
a
c
t
e
r
i
s
t
i
c
.
H
S
L
-
T
h
e
c
h
r
o
mi
n
a
n
c
e
c
o
mp
o
n
e
n
t
s
(
H
a
n
d
S
)
a
r
e
a
s
so
c
i
a
t
e
d
w
i
t
h
t
h
e
w
a
y
h
u
man
s
p
e
r
c
e
i
v
e
,
i
t
i
s
p
e
r
f
e
c
t
f
o
r
i
mag
e
p
r
o
c
e
ssi
n
g
a
p
p
l
i
c
a
t
i
o
n
s.
-
T
h
e
c
o
mp
o
n
e
n
t
(
H
u
e
)
c
a
n
b
e
u
se
d
t
o
p
e
r
f
o
r
m t
h
e
se
g
me
n
t
a
t
i
o
n
p
r
o
c
e
ss
i
n
s
t
e
a
d
o
f
t
h
e
t
h
r
e
e
c
o
mp
o
n
e
n
t
s
t
h
a
t
mak
e
u
p
t
h
e
mo
d
e
l
.
-
T
h
e
i
n
d
e
f
i
n
i
t
e
a
c
h
r
o
mat
i
c
t
o
n
e
p
o
i
n
t
s
a
r
e
se
n
si
t
i
v
e
t
o
d
e
v
i
a
t
i
o
n
s o
f
R
G
B
v
a
l
u
e
s a
n
d
t
o
n
a
l
i
t
y
i
n
st
a
b
i
l
i
t
y
,
d
u
e
t
o
t
h
e
a
n
g
u
l
a
r
n
a
t
u
r
e
o
f
t
h
e
c
h
a
r
a
c
t
e
r
i
st
i
c
.
-
I
t
i
s n
o
t
u
n
i
f
o
r
m.
2
.
2
.
M
o
rpho
lo
g
ica
l
f
ilte
rs
T
h
ese
k
in
d
s
o
f
f
i
lter
s
ar
e
co
m
m
o
n
l
y
u
s
ed
i
n
m
ac
h
in
e
v
is
i
o
n
alg
o
r
ith
m
s
,
t
h
e
y
ca
n
p
er
f
o
r
m
d
i
f
f
er
en
t
task
s
d
ep
en
d
in
g
o
n
t
h
e
f
i
lter
ap
p
lied
,
eith
er
eli
m
i
n
ate
th
e
n
o
is
e
i
n
an
i
m
a
g
e
[
1
9
]
o
r
i
d
e
n
ti
f
y
t
h
e
g
eo
m
etr
i
c
s
tr
u
ct
u
r
e
o
f
a
g
i
v
en
o
b
j
ec
t [
2
0
]
.
I
t sh
o
u
ld
b
e
n
o
ted
t
h
at
t
h
i
s
k
in
d
o
f
f
ilter
s
is
ap
p
lied
o
n
l
y
o
n
b
in
ar
ized
i
m
a
g
es,
i.e
.
i
m
ag
e
s
i
n
w
h
ich
o
n
l
y
th
e
a
b
s
o
lu
te
w
h
ite
o
r
b
lack
co
lo
r
is
g
iv
e
n
,
t
h
at
is
eq
u
i
v
alen
t to
1
an
d
0
,
r
esp
ec
tiv
el
y
.
T
h
e
m
o
r
p
h
o
lo
g
ical
f
ilter
s
ar
e
t
h
eo
r
etica
ll
y
a
n
n
-
d
i
m
e
n
s
io
n
al
m
atr
i
x
w
h
o
s
e
s
tr
u
ctu
r
i
n
g
ele
m
en
t c
a
n
b
e
cir
cu
lar
o
r
s
q
u
ar
e,
o
r
ev
en
ir
r
eg
u
lar
,
w
h
ic
h
ca
n
v
ar
y
d
ep
en
d
i
n
g
o
n
t
h
e
tr
ea
t
m
e
n
t
t
h
at
i
t
is
w
a
n
ted
to
p
er
f
o
r
m
o
r
th
e
ch
ar
ac
ter
i
s
tics
w
a
n
ted
to
ex
tr
ac
t f
r
o
m
th
e
i
m
a
g
e,
s
u
c
h
as
th
o
s
e
o
b
s
er
v
ed
in
[
2
1
,
2
2
].
I
n
Fi
g
u
r
e
1
,
an
e
x
a
m
p
le
o
f
h
o
w
t
h
e
m
o
s
t
co
m
m
o
n
m
o
r
p
h
o
l
o
g
ical
f
ilter
s
t
h
at
ar
e
f
r
eq
u
e
n
t
l
y
u
s
ed
i
n
ap
p
licatio
n
s
r
elate
d
to
o
b
ject
r
ec
o
g
n
itio
n
w
o
r
k
ca
n
b
e
s
e
en
.
On
o
n
e
h
a
n
d
,
er
o
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n
is
a
m
atr
ix
o
p
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atio
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b
et
w
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n
p
ix
els
w
h
o
s
e
f
u
n
ctio
n
is
to
r
ed
u
ce
th
e
n
u
m
b
er
o
f
wh
ite
p
ix
el
s
b
y
ev
al
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a
ti
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t
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e
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m
it
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ch
o
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d
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tr
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m
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Fi
g
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r
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1
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.
On
th
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h
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d
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e
d
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o
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w
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k
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ite
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F
i
g
u
r
e
1
c.
Fig
u
r
e
1
.
Mo
r
p
h
o
lo
g
ical
f
ilter
s
.
(
a)
Or
ig
in
al
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m
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g
e,
(
b
)
er
o
s
i
o
n
f
ilter
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p
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e
o
r
ig
in
a
l
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m
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d
(
c)
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n
f
i
lter
ap
p
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to
th
e
o
r
ig
i
n
al
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m
ag
e
[
2
3
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
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2
0
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8
-
8708
I
n
t J
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&
C
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10
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No
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2
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2
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1316
1310
3.
M
AT
E
RIAL
S AN
D
M
E
T
H
O
DS
T
h
e
alg
o
r
ith
m
d
ev
elo
p
ed
is
f
r
a
m
ed
in
a
m
o
b
ile
r
o
b
o
tics
p
r
o
j
ec
t,
f
o
r
th
is
r
ea
s
o
n
,
th
er
e
ar
e
a
s
er
ies
o
f
co
n
d
itio
n
s
f
o
r
t
h
e
d
ev
e
lo
p
m
en
t
o
f
t
h
e
s
a
m
e,
i
n
clu
d
i
n
g
t
h
e
ca
m
er
a
is
i
n
t
h
e
s
tr
u
ct
u
r
e
o
f
th
e
ag
en
t
i
n
t
h
e
lo
w
er
f
r
o
n
tal
p
ar
t,
th
e
ag
e
n
t
h
as
a
n
e
m
b
ed
d
ed
R
asp
b
er
r
y
P
i
3
s
y
s
te
m
[
2
4
]
,
w
h
ic
h
is
r
esp
o
n
s
ib
l
e
f
o
r
p
er
f
o
r
m
i
n
g
al
l
th
e
n
ec
es
s
ar
y
ca
lc
u
latio
n
s
f
o
r
th
e
d
i
f
f
er
en
t
a
lg
o
r
it
h
m
s
.
T
h
e
w
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t
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m
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if
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er
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t d
i
m
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t 6
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eg
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tire
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A
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ec
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n
Fig
u
r
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2
,
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e
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m
a
g
es c
a
n
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e
o
b
s
er
v
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it
h
w
h
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ch
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p
r
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ce
d
u
r
e
to
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y
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h
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t w
ill b
e
ex
p
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ain
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Fig
u
r
e
2
.
Or
ig
in
al
ca
p
t
u
r
e
o
f
t
h
e
w
o
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k
ar
e
a
Fo
r
th
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id
en
ti
f
icat
io
n
o
f
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o
b
j
ec
ts
o
f
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ter
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t
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t
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e
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m
ag
e,
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t
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n
ec
es
s
ar
y
t
o
p
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o
s
e
a
s
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ies
o
f
f
ilter
s
t
h
at
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eter
m
i
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ec
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p
o
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itio
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m
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ile
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g
en
t.
I
n
t
h
e
m
a
j
o
r
ity
o
f
t
h
e
ap
p
licatio
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r
elat
ed
to
m
ac
h
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e
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a
n
d
r
o
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tics
,
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e
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t
to
co
m
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l
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w
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o
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o
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th
is
p
ar
ticu
lar
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s
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th
e
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al
u
es
o
b
tain
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m
u
s
t
h
av
e
a
m
i
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m
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m
er
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r
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iv
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t
h
at
th
e
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e
v
al
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es
ar
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w
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at
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ll
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eter
m
in
e
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o
w
t
h
e
m
o
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ile
ag
e
n
t
s
h
o
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ld
m
o
v
e
w
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n
t
h
e
w
o
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a
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th
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t
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ash
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tain
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ased
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lo
r
f
ilter
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m
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le
m
e
n
ted
th
at
allo
w
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t
h
e
u
s
e
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f
t
h
e
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o
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en
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li
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h
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t
in
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s
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le
th
at
b
es
t
s
u
i
ted
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n
ee
d
s
w
a
s
t
h
e
HS
L
s
ee
F
ig
u
r
e
3
.
Fig
u
r
e
3
.
HSL
co
lo
r
s
ca
le
[
2
5
]
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8708
R
o
b
o
tic
n
a
vig
a
tio
n
a
lg
o
r
ith
m
w
ith
ma
ch
in
e
visi
o
n
(
C
ésa
r
G.
P
a
ch
ó
n
-
S
u
escú
n
)
1311
Fro
m
th
i
s
ch
ar
t,
t
h
e
f
o
llo
w
i
n
g
r
an
g
e
s
w
er
e
d
ef
in
ed
f
o
r
ea
ch
co
lo
r
p
a
r
am
eter
:
1
=
2
6
0
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o
2
=
3
1
0
1
=
0
to
2
=
0
.
7
5
1
=
0
.
4
7
to
2
= 1
T
h
ese
p
ar
am
e
ter
s
i
n
Op
en
C
V
u
s
e
o
t
h
er
r
an
g
es
th
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ar
e
f
r
o
m
0
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8
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f
o
r
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an
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o
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o
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o
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S
an
d
L
,
s
o
th
e
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a
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e
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th
at
ar
e
f
in
a
ll
y
ap
p
lied
in
th
e
p
r
o
g
r
a
m
m
i
n
g
ar
e
th
e
f
o
llo
w
i
n
g
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=
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3
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o
2
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5
A
p
p
l
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in
g
t
h
is
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lo
r
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ilter
,
it
is
o
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tain
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t
h
e
r
es
u
lt
o
b
s
er
v
e
d
in
Fi
g
u
r
e
4
a.
I
n
t
h
e
i
m
a
g
e
o
b
tain
ed
,
s
m
al
l
g
r
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u
p
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o
f
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i
x
els
ca
n
b
e
o
b
s
er
v
ed
th
at
ar
e
n
o
t
p
ar
t
o
f
th
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o
b
j
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o
r
th
at
r
ea
s
o
n
,
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ey
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e
co
n
s
id
er
ed
as
n
o
is
e,
b
ein
g
eli
m
i
n
ated
b
y
m
o
r
p
h
o
lo
g
ical
f
il
ter
s
.
First,
a
n
er
o
s
io
n
o
p
er
atio
n
is
i
m
p
le
m
e
n
te
d
w
it
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a
4
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4
s
q
u
ar
e
s
tr
u
ct
u
r
in
g
ele
m
e
n
t
s
ee
Fi
g
u
r
e
4
b
an
d
f
i
n
all
y
,
a
d
ilatatio
n
o
p
er
atio
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w
it
h
a
4
x
4
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q
u
ar
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s
tr
u
ctu
r
in
g
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m
e
n
t
t
o
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ec
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ig
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al
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im
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t
h
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o
b
j
ec
t.
On
ce
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m
o
r
p
h
o
lo
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ical
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ilter
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ar
e
ap
p
lied
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a
r
em
ar
k
ab
le
ch
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n
g
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ca
n
b
e
o
b
s
er
v
ed
in
Fi
g
u
r
e
4
c.
Fig
u
r
e
4
.
A
p
p
licatio
n
o
f
m
o
r
p
h
o
lo
g
ical
f
ilter
s
.
a)
B
in
ar
ized
o
r
ig
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al
i
m
a
g
e.
b
)
A
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p
licatio
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h
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er
o
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io
n
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ilter
.
c)
A
p
p
licatio
n
o
f
t
h
e
d
ila
tio
n
f
i
lt
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.
W
h
en
all
t
h
e
id
en
t
if
ied
s
eg
m
en
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co
lo
r
f
ig
u
r
es
ar
e
f
o
u
n
d
,
an
o
th
er
p
r
o
b
lem
m
u
s
t
b
e
f
a
ce
d
:
it
is
p
o
s
s
ib
le
th
at
th
er
e
ar
e
o
b
j
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ts
o
f
th
e
s
a
m
e
co
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r
n
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r
th
e
w
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ea
,
b
u
t
w
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d
if
f
er
en
t
s
h
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th
at
w
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ld
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t
co
r
r
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ef
i
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ed
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jects
o
f
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ter
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s
t
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t
h
er
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o
r
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it
i
s
n
ec
e
s
s
ar
y
to
i
m
p
le
m
en
t
an
ad
d
itio
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al
f
i
lter
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h
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s
d
is
cr
i
m
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at
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g
o
th
er
o
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j
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ts
th
at
m
a
y
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a
v
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t
h
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s
a
m
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c
o
lo
r
.
T
h
e
f
ilter
th
at
i
s
d
ec
id
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to
b
e
im
p
le
m
e
n
ted
is
b
ased
o
n
t
h
e
f
o
r
m
s
,
w
h
ic
h
w
o
r
k
s
in
th
e
f
o
llo
w
i
n
g
w
a
y
:
f
r
o
m
Fi
g
u
r
e
4
,
th
e
co
n
to
u
r
s
o
f
t
h
e
d
if
f
er
en
t
ele
m
e
n
ts
p
r
ese
n
t
i
n
t
h
e
i
m
a
g
e
ar
e
ex
tr
ac
ted
.
W
ith
th
e
p
o
i
n
ts
t
h
at
m
a
k
e
u
p
t
h
e
co
n
to
u
r
s
,
ea
ch
o
f
t
h
e
m
i
s
r
ep
lace
d
f
o
r
m
i
n
g
li
n
e
s
eg
m
e
n
ts
,
f
i
n
all
y
,
a
n
u
m
b
er
o
f
lin
e
s
an
d
ce
r
tain
in
ter
s
e
ct
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n
s
ar
e
o
b
tain
ed
.
T
h
er
ef
o
r
e,
it
is
u
s
e
f
u
l
to
id
e
n
ti
f
y
w
h
e
n
i
t
is
a
n
o
b
j
ec
t
o
f
in
ter
es
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at
f
o
r
th
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s
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s
e
t
h
e
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ar
e
c
u
b
es
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d
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n
t
h
e
i
m
a
g
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th
at
is
o
b
tai
n
ed
th
r
o
u
g
h
t
h
e
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e
at
m
e
n
t o
f
i
m
a
g
es,
an
ele
m
e
n
t
w
it
h
f
o
u
r
ed
g
es i
s
o
b
s
er
v
ed
s
e
e
Fig
u
r
e
5
.
Fig
u
r
e
5
.
I
n
th
e
in
itial p
ict
u
r
e
as
a
v
is
u
al
te
s
t,
th
e
co
n
to
u
r
s
o
f
th
e
o
b
j
ec
ts
id
en
tif
ied
as o
b
j
ec
ts
o
f
in
ter
est ar
e
in
d
icate
d
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
2
,
A
p
r
il
2
0
2
0
:
1
3
0
8
-
1316
1312
W
h
en
it
is
p
o
s
s
ib
le
to
d
eter
m
i
n
e
t
h
at
t
h
e
o
b
j
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ts
p
r
esen
t
in
t
h
e
i
m
ag
e
ar
e
ac
t
u
all
y
c
u
b
es,
it
is
s
o
u
g
h
t
to
ap
p
ly
t
h
e
r
atio
o
f
p
ix
el
s
to
m
etr
ic
u
n
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ts
to
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eter
m
in
e
th
e
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is
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w
h
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e
d
if
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er
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n
t
o
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esen
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m
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e
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ted
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T
h
is
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elatio
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ip
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lis
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im
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p
t
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h
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ata,
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eq
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ee
Fig
u
r
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6
.
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m
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m
at
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m
at
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ased
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itio
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ter
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lated
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Fig
u
r
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7
.
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ased
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F
ig
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,
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o
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ates
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C
a
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u
r
e
6
.
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ap
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et
w
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n
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m
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er
o
f
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n
d
r
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l d
is
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ce
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e
cu
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m
eter
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en
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li
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Fig
u
r
e
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.
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llu
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o
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o
tatio
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f
o
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lcu
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s
m
ad
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=
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w
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th
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o
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m
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t
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o
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th
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en
t
w
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ld
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ter
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et
th
at
t
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b
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t
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ea
l
a
m
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t
th
at
is
in
th
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w
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k
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ea
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d
r
a
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b
ac
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a
f
ilter
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itio
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f
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eg
r
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ted
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ates
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t
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t c
ap
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o
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leti
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3
6
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eg
r
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s
.
4.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
N
W
h
at
is
s
o
u
g
h
t
i
s
th
at
t
h
e
al
g
o
r
ith
m
i
s
g
e
n
er
ic,
d
u
e
to
th
i
s
,
th
e
n
u
m
b
er
o
f
o
b
j
ec
ts
in
t
h
e
w
o
r
k
ar
ea
ca
n
b
ec
o
m
e
n
,
w
h
er
e
n
→
∞,
f
o
r
th
is
r
ea
s
o
n
,
f
o
r
th
e
test
s
,
a
s
p
ec
if
ic
s
a
m
p
le
s
ize
is
n
o
t
estab
lis
h
ed
.
T
h
e
alg
o
r
ith
m
w
as
p
u
t
to
test
s
in
a
r
ea
l
a
n
d
co
n
tr
o
lled
en
v
ir
o
n
m
e
n
t
w
it
h
a
n
ar
ea
o
f
2
m
²,
w
h
er
e
3
c
u
b
es
w
er
e
r
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d
o
m
l
y
d
is
tr
ib
u
ted
w
ith
in
t
h
e
w
o
r
k
ar
ea
,
in
th
e
ce
n
ter
t
h
e
m
o
b
ile
ag
en
t
w
a
s
lo
ca
ted
an
d
it
w
a
s
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o
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ed
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ch
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k
t
h
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m
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s
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r
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m
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i
v
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b
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e
alg
o
r
it
h
m
to
co
m
p
ar
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th
e
m
w
it
h
th
e
r
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d
is
tan
ce
s
in
w
h
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h
ea
ch
cu
b
e
w
a
s
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ca
ted
.
I
n
Fig
u
r
e
8
,
th
e
f
i
r
s
t c
ase
s
t
u
d
ied
is
o
b
s
er
v
ed
.
Fig
u
r
e
8
.
First ca
s
e
s
t
u
d
y
i
n
a
r
ea
l
w
o
r
k
ar
ea
.
On
ce
th
e
o
b
j
ec
ts
w
er
e
lo
ca
t
ed
in
r
an
d
o
m
p
lace
s
,
th
e
al
g
o
r
ith
m
w
as
e
x
ec
u
ted
,
an
d
th
e
r
esu
l
ts
o
b
ta
in
ed
w
er
e
co
m
p
ar
ed
w
ith
t
h
e
r
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m
ea
s
u
r
e
m
e
n
t
s
th
at
w
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p
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m
en
tall
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,
ca
l
cu
lat
in
g
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ap
p
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i
m
ate
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r
as sh
o
wn
in
T
ab
le
2
.
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ab
le
2
.
C
o
m
p
ar
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o
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m
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r
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m
en
t
s
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k
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f
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m
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alg
o
r
it
h
m
w
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r
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e
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m
en
t
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f
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ir
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t c
ase
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O
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t
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r
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D
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As
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h
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o
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ith
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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I
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ACK
NO
WL
E
D
G
E
M
E
NT
S
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
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n
g
I
SS
N:
2088
-
8708
R
o
b
o
tic
n
a
vig
a
tio
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r
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m
w
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ma
ch
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(
C
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G.
P
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-
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u
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)
1315
T
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Gr
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RE
F
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[1
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.
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ig
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.
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c
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,
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Un
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it
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.
[5
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O.
Zap
a
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J.A
.
Ji
m
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.
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Dise
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[o
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]
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Av
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h
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[6
]
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-
A
g
e
n
te
Ro
b
ó
ti
c
o
p
a
ra
la
n
a
v
e
g
a
c
ió
n
c
o
lab
o
ra
ti
v
a
e
n
e
sc
e
n
a
rio
s
e
s
tru
c
tu
ra
d
o
s,"
[o
n
li
n
e
]
,
Av
a
il
a
b
le
a
t
:
h
tt
p
:
//
ww
w
.
b
d
ig
it
a
l.
u
n
a
l.
e
d
u
.
c
o
/
2
5
3
3
/1
/
7
1
6
7
7
9
7
8
.
2
0
1
0
_
1
.
p
d
f
.
Co
n
su
lt
d
a
te:
J
u
n
1
0
,
2
0
1
9
.
[7
]
K.
M
u
ra
k
a
m
i,
e
t
a
l.
,
“
Co
o
p
e
ra
ti
v
e
so
c
c
e
r
p
la
y
b
y
re
a
l
s
m
a
ll
-
siz
e
ro
b
o
t
,
”
In
R
o
b
o
t
S
o
c
c
e
r
W
o
rld
Cu
p
,
S
p
ri
n
g
e
r,
Be
rlin
,
He
id
e
l
b
e
rg
.
,
p
p
.
4
1
0
-
4
2
1
,
2
0
0
3
.
[8
]
C.
G
.
P
a
c
h
ó
n
-
S
u
e
sc
ú
n
,
C.
J.E
.
A
ra
g
ó
n
,
M
.
A
.
J.
G
ó
m
e
z
,
a
n
d
R.
Jim
e
n
e
z
-
M
o
re
n
o
,
2
0
1
7
,
“
Ob
sta
c
le
Ev
a
sio
n
A
lg
o
rit
h
m
f
o
r
Clu
ste
rin
g
T
a
s
k
s
w
it
h
M
o
b
il
e
Ro
b
o
t,
”
In
W
o
rk
sh
o
p
o
n
En
g
i
n
e
e
rin
g
A
p
p
li
c
a
ti
o
n
s.
S
p
rin
g
e
r
,
Ch
a
m
,
v
o
l.
7
4
2
,
p
p
.
8
4
-
95
,
2
0
1
7
.
[9
]
Ay
m
a
n
A
A
b
u
Ba
k
e
r,
Y
a
z
e
e
d
Gh
a
d
i,
“
M
o
b
il
e
r
o
b
o
t
c
o
n
tro
ll
e
r
u
si
n
g
n
o
v
e
l
h
y
b
rid
sy
st
e
m
,
”
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
IJ
ECE
,
I
S
S
N:
2
0
8
8
-
8
7
0
8
.
V
o
l
1
0
No
1
.
p
p
1
0
2
7
-
1
0
3
4
,
2
0
1
9
.
[1
0
]
S
.
G
e
o
rg
e
F
e
rn
a
n
d
e
z
,
K.
V
ij
a
y
a
k
u
m
a
r
,
R
P
a
lan
isa
m
y
,
K.
S
e
l
v
a
k
u
m
a
r,
D.
K
a
rth
ik
e
y
a
n
,
D.
S
e
lv
a
b
h
a
ra
th
i,
S
.
V
id
y
a
sa
g
a
r,
V
.
Ka
ly
a
n
a
su
n
d
h
ra
m
,
“
Un
m
a
n
n
e
d
a
n
d
a
u
t
o
n
o
m
o
u
s
g
ro
u
n
d
v
e
h
icle
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
IJ
ECE
,
IS
S
N:
2
0
8
8
-
8
7
0
8
.
Vo
l
9
No
5
.
p
p
4
4
6
6
-
4
4
7
2
,
2
0
1
8
.
[1
1
]
R.
J.
M
o
re
n
o
a
n
d
D.
Jo
rg
e
L
o
p
e
z
,
"
T
ra
jec
to
r
y
p
lan
n
in
g
f
o
r
a
ro
b
o
ti
c
m
o
b
il
e
u
si
n
g
f
u
z
z
y
c
-
m
e
a
n
s
a
n
d
m
a
c
h
in
e
v
isio
n
,
"
S
y
mp
o
si
u
m
o
f
S
ig
n
a
ls,
I
ma
g
e
s
a
n
d
Arti
fi
c
i
a
l
Vi
si
o
n
-
2
0
1
3
:
S
T
S
IV
A
-
2
0
1
3
,
Bo
g
o
ta,
2
0
1
3
,
p
p
.
1
-
4
.
d
o
i:
1
0
.
1
1
0
9
/
S
T
S
IV
A
.
2
0
1
3
.
6
6
4
4
9
1
2
.
[1
2
]
R.
Jim
é
n
e
z
M
o
re
n
o
a
n
d
L
.
Brit
o
M
.
,
"
P
la
n
e
a
c
ió
n
d
e
tray
e
c
to
rias
p
a
ra
u
n
m
ó
v
il
ro
b
ó
ti
c
o
e
n
u
n
a
m
b
ien
te
3
D,"
2
0
1
4
IEE
E
Bi
e
n
n
i
a
l
Co
n
g
re
ss
o
f
Arg
e
n
ti
n
a
(
AR
GENCON)
,
Ba
ril
o
c
h
e
,
2
0
1
4
,
p
p
.
1
2
5
-
1
2
9
.
d
o
i:
1
0
.
1
1
0
9
/A
RG
ENCON
.
2
0
1
4
.
6
8
6
8
4
8
3
.
[1
3
]
S
h
iri
n
Ra
h
m
a
n
p
o
u
r,
Re
z
a
M
a
h
b
o
o
b
i
Esf
a
n
jan
i,
“
En
e
rg
y
-
a
wa
re
p
lan
n
i
n
g
o
f
m
o
ti
o
n
a
n
d
c
o
m
m
u
n
i
c
a
ti
o
n
stra
teg
ies
f
o
r
n
e
tw
o
rk
e
d
m
o
b
il
e
ro
b
o
ts,
”
In
fo
rm
a
t
io
n
S
c
ien
c
e
s
,
Vo
lu
m
e
4
9
7
,
2
0
1
9
,
P
a
g
e
s
1
4
9
-
1
6
4
,
IS
S
N
0
0
2
0
-
0
2
5
5
,
h
tt
p
s:/
/d
o
i.
o
rg
/1
0
.
1
0
1
6
/j
.
i
n
s.2
0
1
9
.
0
5
.
0
3
4
.
[1
4
]
W
e
ih
u
a
L
i,
Zh
e
n
c
a
i
L
i,
Yiq
u
n
L
i
u
,
L
ian
g
Din
g
,
Ji
a
n
f
e
n
g
Wan
g
,
Ha
ib
o
G
a
o
,
Zo
n
g
q
u
a
n
De
n
g
,
“
S
e
m
i
-
a
u
to
n
o
m
o
u
s
b
il
a
tera
l
tele
o
p
e
ra
ti
o
n
o
f
six
-
w
h
e
e
led
m
o
b
il
e
ro
b
o
t
o
n
so
f
t
terra
in
s,
”
M
e
c
h
a
n
ica
l
S
y
ste
ms
a
n
d
S
ig
n
a
l
Pro
c
e
ss
in
g
,
V
o
l
u
m
e
1
3
3
,
2
0
1
9
,
1
0
6
2
3
4
,
IS
S
N
0
8
8
8
-
3
2
7
0
,
h
t
tp
s://
d
o
i.
o
rg
/1
0
.
1
0
1
6
/j
.
y
m
s
sp
.
2
0
1
9
.
0
7
.
0
1
5
.
[1
5
]
Qi
-
b
in
Zh
a
n
g
,
P
e
n
g
W
a
n
g
,
Zo
n
g
-
h
a
i
Ch
e
n
,
“
A
n
im
p
ro
v
e
d
p
a
rti
c
le
f
il
ter
f
o
r
m
o
b
il
e
ro
b
o
t
l
o
c
a
li
z
a
ti
o
n
b
a
se
d
o
n
p
a
rti
c
le
s
w
a
r
m
o
p
ti
m
iza
ti
o
n
,
”
Exp
e
rt
S
y
ste
ms
wit
h
Ap
p
li
c
a
ti
o
n
s
,
V
o
l
u
m
e
1
3
5
,
P
a
g
e
s
1
8
1
-
1
9
3
,
IS
S
N
0
9
5
7
-
4
1
7
4
,
2
0
1
9
,
h
tt
p
s://
d
o
i.
o
rg
/1
0
.
1
0
1
6
/j
.
e
s
w
a
.
2
0
1
9
.
0
6
.
0
0
6
.
[1
6
]
A
n
n
a
A
n
n
u
se
w
i
c
z
,
“
T
h
e
u
se
o
f
v
isio
n
sy
ste
m
s
in
th
e
a
u
t
o
n
o
m
o
u
s
c
o
n
tr
o
l
o
f
m
o
b
il
e
ro
b
o
ts
e
q
u
i
p
p
e
d
w
it
h
a
m
a
n
ip
u
lat
o
r,
”
T
ra
n
sp
o
rta
ti
o
n
Res
e
a
rc
h
Pro
c
e
d
ia
,
Vo
lu
m
e
4
0
,
P
a
g
e
s
1
3
2
-
1
3
5
,
IS
S
N
2
3
5
2
-
1
4
6
5
,
2
0
1
9
,
h
tt
p
s:/
/d
o
i.
o
rg
/1
0
.
1
0
1
6
/j
.
tr
p
ro
.
2
0
1
9
.
0
7
.
0
2
2
.
[1
7
]
F
.
Esp
i
n
o
sa
,
M
.
R.
Jim
é
n
e
z
,
L
.
R.
Cá
rd
e
n
a
s
a
n
d
J.
C.
A
p
o
n
te,
"
D
y
n
a
m
ic
o
b
sta
c
le
a
v
o
id
a
n
c
e
o
f
a
m
o
b
il
e
ro
b
o
t
th
ro
u
g
h
th
e
u
se
o
f
m
a
c
h
in
e
v
isio
n
a
lg
o
rit
h
m
s,"
S
y
mp
o
siu
m
o
f
S
ig
n
a
ls,
Ima
g
e
s
a
n
d
Arti
fi
c
i
a
l
Vi
sio
n
-
2
0
1
3
:
S
T
S
IVA
-
2
0
1
3
,
Bo
g
o
ta,
p
p
.
1
-
5
,
2
0
1
3
,
d
o
i
:
1
0
.
1
1
0
9
/S
T
S
IV
A
.
2
0
1
3
.
6
6
4
4
9
0
3
.
[1
8
]
N.A
.
Ib
ra
h
e
e
m
,
M
.
M
.
Ha
sa
n
,
R.
Z
.
Kh
a
n
,
a
n
d
P
.
K.
M
ish
ra
,
“
Un
d
e
rsta
n
d
i
n
g
c
o
lo
r
m
o
d
e
ls:
a
re
v
iew
,
”
AR
PN
J
o
u
r
n
a
l
o
f
sc
ien
c
e
a
n
d
tec
h
n
o
l
o
g
y
,
v
o
l.
2
,
n
o
.
3
,
p
p
.
2
6
5
-
2
7
5
,
2
0
1
2
.
[1
9
]
R.
F
a
rn
o
o
s
h
,
M
.
Ra
h
im
i,
a
n
d
P
.
Ku
m
a
r,
“
Re
m
o
v
in
g
n
o
ise
in
a
d
ig
it
a
l
i
m
a
g
e
u
sin
g
a
n
e
w
e
n
tro
p
y
m
e
th
o
d
b
a
se
d
o
n
in
tu
i
ti
o
n
isti
c
f
u
z
z
y
se
ts,”
In
2
0
1
6
IEE
E
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Fu
zz
y
S
y
ste
ms
(
FUZ
Z
-
IEE
E)
,
p
p
.
1
3
2
8
-
1
3
3
2
,
2
0
1
6
.
[2
0
]
S
.
A
z
a
m
,
a
n
d
M
.
M
.
Isla
m
,
“
Au
to
m
a
ti
c
li
c
e
n
se
p
late
d
e
tec
ti
o
n
in
h
a
z
a
rd
o
u
s
c
o
n
d
it
i
o
n
,
”
J
o
u
r
n
a
l
o
f
Vi
s
u
a
l
Co
mm
u
n
ica
ti
o
n
a
n
d
Ima
g
e
Rep
re
se
n
ta
ti
o
n
,
v
o
l.
3
6
,
p
p
.
1
7
2
-
1
8
6
,
2
0
1
6
.
[2
1
]
E.
Do
u
g
h
e
rty
,
“
M
a
th
e
m
a
ti
c
a
l
m
o
rp
h
o
lo
g
y
in
im
a
g
e
p
ro
c
e
ss
in
g
,
”
CRC
p
re
ss
,
2
0
1
8
.
[2
2
]
X
.
Zh
a
n
g
,
W
.
Qi,
Y
.
,
C
e
n
,
H.,
L
in
,
a
n
d
N.
W
a
n
g
,
“
De
n
o
isin
g
v
e
g
e
tatio
n
sp
e
c
tra
b
y
c
o
m
b
in
in
g
m
a
th
e
m
a
ti
c
a
l
-
m
o
rp
h
o
lo
g
y
a
n
d
w
a
v
e
let
-
tran
s
f
o
rm
-
b
a
s
e
d
f
il
ters
,
”
J
o
u
rn
a
l
o
f
A
p
p
li
e
d
Rem
o
te
S
e
n
sin
g
,
v
o
l.
1
3
,
n
o
.
1
,
p
.
0
1
6
5
0
3
,
2
0
1
9
.
[2
3
]
Op
e
n
CV,
“
Op
e
n
CV
Do
c
u
m
e
n
tatio
n
,
”
[
o
n
li
n
e
]
,
A
v
a
il
a
b
le
a
t
:
h
tt
p
:
//
d
o
c
s.o
p
e
n
c
v
.
o
rg
/2
.
4
/d
o
c
/t
u
t
o
rials/im
g
p
ro
c
/ero
sio
n
_
d
il
a
tati
o
n
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Evaluation Warning : The document was created with Spire.PDF for Python.