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o
k
e
d
th
a
t
cu
r
r
en
t
r
e
s
e
a
r
c
h
m
e
th
o
d
o
l
o
g
i
es
w
e
r
e
n
o
t
a
p
p
e
a
r
e
d
to
e
f
f
ec
t
iv
ely
b
en
ch
m
a
r
k
or
p
r
o
f
e
s
s
e
d
to
o
f
f
e
r
u
n
r
iv
al
l
e
d
n
av
i
g
a
t
i
o
n
a
l
f
r
am
ew
o
r
k
[
1
3
]
.
E
x
i
s
tin
g
s
p
e
c
i
a
l
is
ts
a
r
e
a
d
d
i
t
i
o
n
a
l
ly
en
d
e
a
v
o
r
in
g
to
b
u
i
l
d
c
o
s
t
-
ef
f
e
c
tiv
e
I
NS
-
G
PS
n
av
i
g
at
i
o
n
al
f
r
am
e
w
o
r
k
w
h
e
r
e
t
h
e
c
o
n
s
p
i
cu
o
u
s
te
s
t
is
to
c
o
r
r
e
c
t
ly
in
t
r
o
d
u
c
e
th
e
o
u
ts
i
d
e
e
d
g
e
i
n
f
e
r
a
b
l
e
f
r
o
m
a
c
o
r
r
u
p
t
ed
w
o
r
k
in
g
p
r
o
c
e
d
u
r
e
of
g
y
r
o
s
or
c
o
m
p
a
r
a
b
l
e
ty
p
e
s
of
d
if
f
e
r
en
t
s
en
s
o
r
s
.
O
n
e
of
t
h
e
p
o
w
e
r
f
u
l
in
s
t
r
u
m
en
ts
to
a
d
d
r
e
s
s
th
is
i
s
s
u
e
c
o
u
l
d
be
by
u
t
i
li
z
in
g
a
s
li
d
in
g
m
o
d
e
c
o
n
tr
o
l
l
e
r
(
S
MC
)
[
1
4
]
,
w
h
ic
h
is
th
e
c
o
r
e
of
ea
ch
d
e
v
e
l
o
p
m
en
t
c
o
n
t
r
o
l
f
r
am
e
w
o
r
k
.
F
o
r
each
u
n
p
r
e
d
i
c
t
a
b
l
e
a
n
d
p
r
o
g
r
e
s
s
e
d
v
e
h
i
cu
l
a
r
f
r
am
ew
o
r
k
a
cc
o
m
p
an
i
e
s
a
b
e
tt
e
r
r
o
u
te
th
a
t
is
f
it
f
o
r
u
t
i
li
z
in
g
th
e
tw
o
G
PS
an
d
I
NS
r
e
l
ate
d
s
ig
n
.
T
h
e
r
e
c
en
t
r
e
s
e
a
r
ch
of
[
1
5
]
h
as
p
r
o
v
i
d
e
d
th
e
i
d
e
a
of
S
MC
c
o
n
c
e
p
t
f
o
r
a
r
o
b
o
t
m
an
i
p
u
l
at
o
r
.
T
h
er
e
h
as
b
ee
n
a
n
o
te
w
o
r
th
y
n
u
m
b
er
of
r
esear
ch
w
o
r
k
b
ein
g
co
m
p
leted
to
w
ar
d
s
cr
ea
ti
n
g
s
lid
i
n
g
m
o
d
e
co
n
tr
o
l
f
r
a
m
e
w
o
r
k
;
be
th
at
as
it
m
a
y
,
t
h
e
lio
n
's
s
h
ar
e
of
th
e
m
ar
e
r
elate
d
w
ith
ce
r
tain
in
alie
n
ab
le
is
s
u
es
of
m
a
n
ag
i
n
g
d
y
n
a
m
ic
f
r
a
m
e
w
o
r
k
.
It
w
a
s
s
ee
n
th
at
cu
r
r
en
t
m
eth
o
d
o
lo
g
ie
s
d
o
n
't
p
r
o
v
id
e
f
o
o
d
up
to
th
e
v
u
l
n
er
ab
ilit
y
r
eq
u
e
s
ts
of
th
e
d
y
n
a
m
ic
f
r
a
m
e
w
o
r
k
,
p
ar
ticu
lar
l
y
in
tr
a
n
s
m
is
s
io
n
ar
r
an
g
e.
W
ith
d
o
m
i
n
an
t
p
ar
t
of
th
e
w
o
r
k
lac
k
in
g
b
en
c
h
m
ar
k
i
n
g
a
n
d
ex
cl
u
s
io
n
of
co
n
s
id
er
in
g
t
h
e
co
n
te
x
t
u
al
an
a
l
y
s
is
of
ta
k
i
n
g
ca
r
e
of
th
e
n
av
i
g
atio
n
al
is
s
u
e,
th
e
SMC
h
as
t
u
r
n
ed
o
u
t
to
be
o
n
e
of
th
e
less
in
v
es
ti
g
ated
ar
r
an
g
e
m
e
n
ts
to
w
ar
d
u
p
g
r
ad
in
g
r
o
u
te
f
r
a
m
e
w
o
r
k
u
tili
zi
n
g
GP
S
an
d
I
NS.
T
h
er
ef
o
r
e,
th
is
m
an
u
s
cr
ip
t
p
r
esen
ts
a
d
y
n
a
m
ic
cr
u
is
e
co
n
tr
o
l
s
y
s
te
m
(
DC
C
S)
to
ac
h
iev
e
b
etter
n
av
i
g
ati
o
n
p
er
f
o
r
m
a
n
ce
an
d
co
m
p
u
t
atio
n
al
co
m
p
lex
it
y
.
T
h
e
m
a
n
u
s
cr
ip
t
is
ca
teg
o
r
ized
w
it
h
d
if
f
er
en
t
s
ec
tio
n
s
li
k
e
r
ev
ie
w
of
liter
atu
r
e
in
Sectio
n
2,
p
r
o
b
lem
s
tate
m
e
n
t
in
Sectio
n
3,
p
r
o
p
o
s
ed
s
y
s
te
m
in
Sectio
n
4,
r
esu
lts
a
n
d
an
al
y
s
is
in
Sectio
n
5
,
an
d
co
n
cl
u
s
io
n
in
Sectio
n
6.
2.
B
ACK
G
RO
UND
Ma
n
y
r
esear
c
h
w
o
r
k
s
ar
e
p
r
esen
ted
by
co
n
ce
n
tr
atin
g
on
p
lan
n
in
g
a
p
o
w
er
f
u
l
n
a
v
ig
a
tio
n
al
f
r
a
m
e
w
o
r
k
u
ti
lizi
n
g
I
NS
j
u
s
t
as
GP
S,
w
it
h
ex
tr
ao
r
d
in
ar
y
s
tr
ateg
ie
s
an
d
m
ec
h
a
n
is
m
.
E
x
is
ti
n
g
w
o
r
k
s
ar
e
p
r
o
g
r
ess
iv
el
y
ce
n
ter
ed
on
to
ac
h
iev
e
b
etter
ac
cu
r
ac
y
,
w
h
er
e
th
e
in
v
e
s
ti
g
atio
n
d
r
iv
e
n
by
Dac
h
en
g
et
al.
[
1
6
]
d
em
o
n
s
tr
ated
u
p
g
r
ad
ed
af
f
ec
t
ab
ilit
y
by
li
m
it
in
g
Do
p
p
ler
f
r
eq
u
en
c
y
w
h
en
t
h
e
n
av
i
g
atio
n
al
ar
r
an
g
e
m
e
n
t
of
I
NS
is
co
o
r
d
in
ated
w
it
h
GP
S.
R
ec
ep
tio
n
s
y
s
te
m
of
ch
a
n
n
el
s
i
s
o
n
e
e
x
tr
ao
r
d
in
ar
y
m
et
h
o
d
o
lo
g
y
in
t
h
i
s
ex
a
m
in
at
io
n
co
u
r
s
e.
As
in
d
i
ca
ted
by
C
h
o
et
al.
[
1
7
]
,
an
u
p
g
r
ad
ed
Kal
m
a
n
c
h
an
n
el
w
o
u
ld
i
m
p
r
o
v
e
th
e
n
a
v
i
g
atio
n
a
l
ex
h
ib
itio
n
,
p
ar
ticu
lar
l
y
co
n
ce
n
tr
ati
n
g
on
co
s
t
-
ad
eq
u
ac
y
o
r
g
an
i
za
tio
n
p
er
s
p
ec
tiv
e
.
A
r
r
an
g
e
m
en
t
of
co
m
p
ar
ati
v
e
Kal
m
an
ch
a
n
n
el
of
b
r
o
ad
en
ed
t
y
p
e
w
a
s
f
o
u
n
d
in
i
n
tr
o
d
u
ce
d
by
Du
o
n
g
a
n
d
Ng
u
y
e
n
[
1
8
]
f
o
r
a
co
m
p
elli
n
g
esti
m
atio
n
of
p
h
y
s
ical
n
a
v
i
g
atio
n
al
p
ar
a
m
eter
s
f
o
r
ex
a
m
p
le
f
r
a
m
e
of
m
i
n
d
,
s
p
ee
d
,
ar
ea
,
an
d
so
f
o
r
th
.
Utilizatio
n
of
Kal
m
a
n
ch
a
n
n
el
w
a
s
lik
e
w
i
s
e
f
o
u
n
d
in
w
o
r
k
ex
a
m
i
n
ed
by
Fa
n
g
an
d
Go
n
g
[
1
9
]
w
h
er
e
th
e
p
r
i
m
e
g
o
al
w
a
s
to
co
n
s
o
lid
ate
a
p
r
escien
t
p
lan
of
an
i
n
co
r
p
o
r
ated
n
av
i
g
atio
n
a
l
ad
m
in
i
s
tr
atio
n
.
T
h
e
i
n
v
e
s
ti
g
at
io
n
w
as
tr
ied
o
v
er
co
n
s
ta
n
t
s
e
n
s
o
r
s
m
o
u
n
ted
on
an
air
p
lan
e
to
f
in
d
t
h
at
o
f
f
er
s
b
etter
ex
ac
tn
e
s
s
.
T
h
er
e
w
as
ad
d
itio
n
all
y
r
esear
ch
w
o
r
k
w
h
ich
s
a
y
s
t
h
at
cr
ea
ti
n
g
a
n
av
i
g
ati
o
n
al
f
r
a
m
e
w
o
r
k
f
o
r
a
s
u
b
m
er
g
ed
v
e
h
icle
is
e
x
tr
e
m
el
y
a
d
if
f
ic
u
lt
o
n
e.
S
u
c
h
r
esea
r
ch
w
o
r
k
h
as
b
ee
n
d
o
n
e
by
L
e
e
et
al.
[
2
0
]
,
w
h
ic
h
is
in
te
n
d
ed
f
o
r
li
m
iti
n
g
t
h
e
b
lu
n
d
er
s
in
n
a
v
i
g
atio
n
al
f
r
a
m
e
w
o
r
k
,
p
ar
ticu
lar
l
y
w
it
h
t
h
e
GP
S
in
f
o
r
m
a
tio
n
.
T
h
e
w
o
r
k
d
id
by
Li
an
d
S
u
n
[
2
1
]
h
as
ad
d
itio
n
all
y
u
tili
z
ed
Kal
m
an
c
h
an
n
el
of
b
r
o
ad
en
ed
s
tr
u
ct
u
r
e
f
o
r
i
m
p
r
o
v
i
n
g
t
h
e
p
r
ec
is
io
n
r
elate
d
to
n
av
ig
a
tio
n
al
i
n
f
o
r
m
atio
n
.
I
n
tr
o
d
u
ce
d
by
Wu
et
al.
[
2
2
]
h
av
e
co
n
ce
n
tr
ated
on
b
u
ild
in
g
up
a
p
r
escien
t
ca
lcu
latio
n
u
tili
z
in
g
a
Kal
m
an
ch
a
n
n
el.
T
h
e
ex
a
m
in
at
io
n
lik
e
w
i
s
e
d
etails
a
co
m
m
o
t
io
n
m
o
d
el
f
o
r
r
e
m
u
n
er
ati
n
g
t
h
e
s
i
g
n
.
Ya
n
et
al.
[
2
3
]
h
av
e
ad
d
itio
n
al
l
y
d
o
n
e
w
o
r
k
u
tili
zi
n
g
Kal
m
a
n
ch
a
n
n
el.
C
o
n
te
x
t
u
al
an
al
y
s
is
of
th
e
f
l
y
i
n
g
ar
ticle
a
n
d
its
i
m
p
r
o
v
e
m
en
t
of
r
o
u
te
in
f
o
r
m
a
tio
n
w
a
s
ex
a
m
i
n
ed
by
Nak
a
n
is
h
i
et
al.
[
2
4
]
.
T
h
e
r
es
ea
r
ch
er
h
as
ten
d
ed
to
th
e
is
s
u
e
r
elate
d
to
u
n
w
a
v
er
i
n
g
q
u
a
lit
y
of
i
n
f
o
r
m
atio
n
f
r
o
m
GP
S
by
e
x
ec
u
t
in
g
a
u
n
i
f
ied
s
y
s
te
m
of
s
en
s
o
r
co
m
b
i
n
atio
n
w
ith
a
g
u
id
e
of
u
p
d
ates
g
o
t
in
th
e
o
f
f
b
ea
t
m
et
h
o
d
of
co
r
r
esp
o
n
d
en
ce
.
C
o
n
tex
t
u
al
in
v
es
tig
a
tio
n
of
t
h
e
r
o
u
te
of
th
e
lan
d
v
e
h
icle
h
a
s
b
ee
n
co
n
s
id
er
ed
in
in
tr
o
d
u
ce
d
by
Qi
n
et
al.
[
2
5
]
,
w
h
er
e
t
h
e
r
esear
ch
er
h
as
u
tili
ze
d
Kal
m
a
n
ch
a
n
n
el
j
u
s
t
as
s
ta
n
d
ar
d
f
u
zz
y
in
f
er
en
ce
f
r
a
m
e
w
o
r
k
f
o
r
li
m
it
in
g
b
l
u
n
d
er
s
in
r
o
u
te
f
r
a
m
e
wo
r
k
.
An
o
th
er
r
esear
c
h
er
,
v
iz.
Su
n
et
al.
[
2
6
]
h
av
e
co
m
p
leted
a
te
s
t
b
ased
ex
a
m
i
n
atio
n
w
h
er
e
a
GP
S
I
NS
b
ase
d
r
o
u
te
f
r
a
m
e
w
o
r
k
.
It
w
as
ad
d
itio
n
all
y
d
is
co
v
er
e
d
th
at
co
u
p
li
n
g
a
m
o
n
g
th
e
n
av
i
g
atio
n
al
p
ar
a
m
eter
s
n
o
te
w
o
r
t
h
y
i
n
f
lu
e
n
ce
t
h
e
id
en
ti
f
icatio
n
of
s
ig
n
.
T
h
is
is
s
u
e
h
as
b
ee
n
ex
p
lo
r
ed
by
J
a
m
al
[
2
7
]
by
co
r
r
ec
tin
g
th
e
m
is
ta
k
es
r
elate
d
to
d
etec
tin
g
d
u
r
in
g
f
as
t
in
f
o
r
m
atio
n
ca
tc
h
.
As
in
d
icate
d
by
th
e
r
esear
ch
er
,
tig
h
t
co
u
p
li
n
g
o
u
tco
m
es
ar
e
in
ten
d
in
g
to
th
e
s
e
is
s
u
es.
Use
of
th
e
n
e
u
r
al
s
y
s
te
m
w
a
s
s
ee
n
in
in
tr
o
d
u
ce
d
by
J
ar
ad
at
an
d
Ha
f
ez
[
2
8
]
w
h
er
e
a
r
elap
s
e
b
ased
m
et
h
o
d
o
lo
g
y
w
a
s
e
x
ec
u
ted
f
o
r
ten
d
in
g
to
th
e
co
r
r
esp
o
n
d
en
ce
d
elay
in
r
o
u
te
f
r
a
m
e
wo
r
k
.
T
h
e
ex
is
ti
n
g
f
r
a
m
e
w
o
r
k
h
as
lik
e
w
i
s
e
s
ee
n
ex
a
m
in
at
io
n
to
w
ar
d
s
r
ec
o
g
n
i
zin
g
an
d
te
n
d
i
n
g
to
f
la
w
s
in
th
e
n
a
v
ig
a
tio
n
al
f
r
a
m
e
w
o
r
k
.
T
h
e
w
o
r
k
d
id
by
Xin
et
al.
[
2
8
]
h
as
u
ti
lized
m
e
asu
r
ab
le
b
ased
m
et
h
o
d
o
lo
g
y
f
o
r
d
ef
icien
c
y
d
is
tin
g
u
is
h
i
n
g
p
r
o
o
f
.
A
ls
o
t
h
er
e
ar
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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&
C
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g
I
SS
N:
2
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8
8
-
8708
A
d
yn
a
mic
cru
is
e
co
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tr
o
l sys
tem
fo
r
effec
tive
n
a
vig
a
tio
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ystem
(
T.
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o
mesw
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)
4647
d
if
f
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n
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ex
a
m
i
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s
to
w
ar
d
s
i
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p
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v
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a
v
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ex
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tio
n
,
y
e
t
a
p
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o
f
icien
t
co
n
tr
o
ller
can
be
o
b
tain
ed
u
tili
zi
n
g
a
s
lid
i
n
g
m
o
d
e
co
n
f
ig
u
r
at
io
n
ap
p
r
o
ac
h
.
T
h
er
e
h
a
v
e
b
ee
n
d
if
f
er
en
t
r
esear
c
h
-
b
a
s
ed
m
et
h
o
d
o
lo
g
ie
s
to
w
ar
d
s
SM
C
[
2
9
,
30]
to
w
ar
d
s
ten
d
in
g
to
v
ar
io
u
s
p
er
io
d
s
of
r
esear
ch
-
b
ased
is
s
u
e
s
.
E
lg
a
m
m
al
an
d
El
-
n
a
g
g
ar
[
3
1
]
h
as
u
tili
ze
d
th
i
s
m
et
h
o
d
o
lo
g
y
f
o
r
cr
ea
tin
g
d
y
n
a
m
ic
p
o
w
er
ch
a
n
n
el.
T
h
e
co
m
p
ar
at
iv
e
co
u
r
s
e
of
w
o
r
k
h
a
s
b
ee
n
f
o
u
n
d
in
i
n
tr
o
d
u
ce
d
by
Fei
et
al.
[
3
2
]
,
w
h
ich
o
b
s
er
v
ed
s
elec
tio
n
of
n
eu
r
al
s
y
s
te
m
j
u
s
t
as
th
e
f
u
zz
y
-
b
ased
s
lid
i
n
g
m
eth
o
d
o
lo
g
y
w
a
s
u
tili
ze
d
f
o
r
li
m
iti
n
g
t
h
e
g
ab
b
in
g
i
m
p
ac
t.
C
o
n
ce
n
tr
ate
to
w
ar
d
s
co
s
t
ad
v
an
ce
m
en
t
u
tili
z
in
g
f
u
zz
y
b
ased
co
n
tr
o
ller
co
n
f
ig
u
r
ati
o
n
h
as
b
ee
n
d
is
p
la
y
ed
by
Li
et
al.
[
3
3
]
w
h
er
e
th
e
r
esear
ch
er
h
a
s
o
r
d
in
ar
ily
u
s
ed
i
n
ter
i
m
s
o
r
t
t
w
o
f
u
zz
y
m
et
h
o
d
o
lo
g
ies
f
o
r
ten
d
i
n
g
to
p
o
s
tp
o
n
e
in
th
e
f
r
a
m
e
w
o
r
k
.
T
h
e
ex
h
ib
iti
o
n
of
co
n
tr
o
ller
co
n
f
ig
u
r
ati
o
n
u
tili
z
in
g
f
u
zz
y
b
ased
s
li
d
in
g
w
i
n
d
o
w
w
as
d
em
o
n
s
tr
ated
to
be
u
p
g
r
ad
ed
co
n
s
id
er
in
g
t
h
e
co
n
tex
tu
al
i
n
v
esti
g
a
tio
n
of
v
eh
icle
a
n
d
d
r
iv
i
n
g
is
s
u
e
s
.
A
w
o
r
k
of
Sh
e
n
et
al.
[
3
4
]
h
as
u
tili
ze
d
a
v
er
s
atile
co
m
p
o
n
e
n
t
of
b
u
il
d
in
g
up
a
co
n
tr
o
ller
f
r
a
m
e
w
o
r
k
u
tili
z
in
g
th
e
s
a
m
e
f
u
zz
y
p
u
t
to
g
et
h
er
m
et
h
o
d
o
lo
g
y
co
n
ce
r
n
in
g
th
e
h
i
g
h
e
s
t
p
o
in
t
of
d
iag
r
a
m
h
y
p
o
t
h
esi
s
.
T
h
e
b
u
s
i
n
es
s
lo
ca
les
th
e
i
s
s
u
es
r
elate
d
w
i
th
th
e
m
u
lti
-
o
p
er
ato
r
f
r
a
m
e
w
o
r
k
.
T
h
e
j
o
in
in
g
of
ad
ap
tiv
e
n
es
s
is
li
k
e
w
is
e
f
o
u
n
d
in
in
tr
o
d
u
ce
d
by
W
a
n
g
an
d
Fei
[
3
5
]
w
h
er
e
t
h
e
d
i
s
p
o
s
al
of
j
ab
b
er
in
g
h
a
s
b
ee
n
d
o
n
e
alo
n
g
s
id
e
a
v
er
s
a
tile
ele
m
e
n
t
of
d
ep
en
d
ab
ilit
y
.
W
en
et
al.
[
3
6
,
37]
h
av
e
b
u
il
t
up
a
co
m
p
o
n
en
t
w
h
er
e
th
e
d
y
n
a
m
ic
h
i
g
h
l
ig
h
t
s
h
av
e
b
ee
n
co
n
s
o
lid
ated
j
u
s
t
as
t
h
e
y
h
a
v
e
lik
e
w
i
s
e
ce
n
ter
ed
on
cr
ea
ti
n
g
s
h
o
r
tco
m
i
n
g
to
ler
an
t
ac
tu
ato
r
s
tr
u
ct
u
r
e
w
it
h
en
o
u
g
h
v
er
s
atile
h
ig
h
li
g
h
ts
.
An
o
th
er
ex
ce
p
tio
n
a
l
t
y
p
e
of
u
s
a
g
e
h
as
b
ee
n
s
ee
n
in
i
n
tr
o
d
u
ce
d
by
Yu
et
al.
[
3
8
]
w
h
er
e
a
b
io
-
m
o
ti
v
ated
ca
lcu
la
tio
n
h
as
b
ee
n
i
n
te
n
d
ed
f
o
r
b
et
ter
p
h
y
s
ical
co
n
tr
o
l
f
r
a
m
e
w
o
r
k
.
T
h
e
w
o
r
k
d
id
by
Z
h
ao
et
al.
[
3
9
]
h
as
p
lan
n
ed
a
f
u
zz
y
co
n
tr
o
ller
f
r
a
m
e
w
o
r
k
co
n
s
id
er
in
g
th
e
co
n
tex
t
u
al
i
n
v
esti
g
atio
n
of
s
h
u
t
cir
cle
f
r
a
m
e
w
o
r
k
r
elate
d
to
th
e
m
u
lti
-
i
n
p
u
t
a
n
d
m
u
lti
-
y
i
eld
f
r
a
m
e
w
o
r
k
.
A
ls
o
,
o
th
er
en
h
a
n
ce
m
en
t
b
ased
m
et
h
o
d
o
lo
g
ies
w
er
e
d
is
cu
s
s
e
d
w
it
h
SMC
p
la
n
,
f
o
r
ex
a
m
p
le,
So
m
es
w
ar
i
a
n
d
An
il
K
u
m
ar
T
i
w
ar
i
[
4
0
,
4
1
]
.
T
h
u
s
,
t
h
er
e
h
a
v
e
b
ee
n
d
if
f
er
e
n
t
f
ile
s
of
r
e
s
ea
r
ch
w
o
r
k
s
,
w
h
er
e
th
e
f
u
zz
y
-
b
ased
f
r
a
m
e
w
o
r
k
h
as
b
ee
n
o
b
s
er
v
ed
to
be
ef
f
ec
tiv
el
y
u
ti
lized
in
u
p
g
r
ad
in
g
th
e
p
r
esen
tatio
n
of
s
li
d
in
g
m
o
d
e
co
n
v
er
ter
an
d
also
a
n
u
m
b
er
of
w
o
r
k
b
ein
g
p
er
f
o
r
m
ed
to
w
ar
d
s
n
a
v
ig
a
tio
n
al
m
et
h
o
d
o
lo
g
ies
to
o
.
T
h
e
n
ex
t
s
ec
t
io
n
d
is
c
u
s
s
es
r
esear
ch
p
r
o
b
lem
s
ass
o
ciate
d
w
ith
t
h
e
e
x
is
t
in
g
s
y
s
te
m
.
3.
P
RO
B
L
E
M
I
DE
NT
I
F
I
CA
T
I
O
N
At
p
r
esen
t,
th
e
m
o
d
er
n
v
e
h
ic
les
ar
e
eq
u
ip
p
ed
w
it
h
a
cr
u
is
e
co
n
tr
o
l
s
y
s
te
m
,
w
h
ic
h
is
o
n
e
r
ed
u
ce
s
th
e
ef
f
o
r
t
of
m
an
u
all
y
m
ai
n
tai
n
in
g
t
h
e
ac
ce
ler
atio
n
w
h
ile
d
r
iv
i
n
g
.
Ho
w
ev
er
,
th
er
e
is
no
p
h
y
s
ical
co
n
n
ec
tio
n
b
et
w
ee
n
th
e
cr
u
is
e
co
n
tr
o
l
d
e
v
ice
an
d
n
a
v
i
g
atio
n
s
y
s
te
m
.
Ho
w
e
v
er
,
w
i
th
t
h
e
i
n
clu
s
io
n
of
m
o
r
e
s
m
ar
t
an
d
in
telli
g
e
n
t
co
m
p
o
n
e
n
t
s
on
-
v
e
h
icle
n
a
v
ig
a
tio
n
s
y
s
te
m
,
it
is
i
m
p
er
at
iv
e
t
h
at
t
h
e
cr
u
is
e
co
n
t
r
o
l
s
y
s
te
m
co
u
ld
be
f
u
r
t
h
er
in
teg
r
ated
w
it
h
th
e
n
a
v
ig
a
tio
n
al
s
y
s
te
m
.
At
p
r
esen
t,
th
er
e
is
n
o
t
a
s
i
n
g
le
r
esear
ch
w
o
r
k
to
w
ar
d
th
i
s
is
s
u
e.
H
o
w
e
v
er
,
th
er
e
is
a
g
o
o
d
p
o
s
s
ib
ilit
y
as
th
er
e
is
ce
r
t
ain
r
esear
ch
d
is
cu
s
s
io
n
on
u
s
in
g
T
C
P
f
o
r
cr
u
is
e
co
n
tr
o
l.
In
ca
s
e
of
i
n
ac
cu
r
ate
n
a
v
i
g
atio
n
al
d
ata
or
no
a
v
ail
ab
ilit
y
of
n
a
v
ig
a
tio
n
al
s
er
v
ice
,
th
e
cr
u
i
s
e
co
n
tr
o
l
co
u
ld
also
s
to
p
w
o
r
k
i
n
g
.
T
h
er
ef
o
r
e,
th
e
p
r
o
b
lem
s
tate
m
e
n
t
f
o
r
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
ca
n
be
s
tated
as
“
it
is
q
u
ite
ch
a
llen
g
i
n
g
to
meet
as
an
ef
f
ec
ti
v
e
cru
i
s
e
co
n
tr
o
l
s
yst
em
mu
s
t
be
a
b
le
to
p
erfo
r
m
p
r
o
p
er
n
a
vig
a
tio
n
by
u
n
d
ers
ta
n
d
in
g
th
e
s
ta
tic
a
n
d
d
yn
a
mic
a
ttr
ib
u
tes
a
s
s
o
cia
ted
w
ith
th
e
ex
i
s
tin
g
n
a
vig
a
tio
n
a
l
s
yste
m
”.
T
h
e
n
e
x
t
s
ec
tio
n
b
r
ief
s
ab
o
u
t
th
e
p
r
o
p
o
s
ed
r
esear
ch
m
et
h
o
d
o
lo
g
ies
u
s
e
d
to
ad
d
r
ess
th
e
ab
o
v
e
s
et
of
p
r
o
b
lem
s
.
4.
T
H
E
P
RO
P
O
SE
D
M
E
T
H
O
DO
L
O
G
Y
T
h
e
p
r
im
e
m
o
ti
v
e
of
p
r
o
p
o
s
ed
n
o
v
el
s
y
s
te
m
is
to
ev
o
l
v
e
up
o
f
f
er
i
n
g
r
eliab
le
a
n
d
f
au
lt
to
ler
an
t
n
av
i
g
atio
n
s
y
s
te
m
in
o
r
d
er
to
m
in
i
m
ize
th
e
d
ep
en
d
e
n
cies
on
GP
S
-
b
a
s
ed
in
f
o
r
m
at
io
n
an
d
m
ax
i
m
ize
th
e
u
tili
za
t
io
n
of
I
NS
b
ased
i
n
f
o
r
m
atio
n
w
h
ich
h
as
b
ee
n
not
m
u
ch
co
n
s
id
er
ed
in
th
e
ex
s
iitn
g
s
y
s
te
m
[
4
2
-
45
]
.
In
o
r
d
er
to
en
h
an
ce
th
e
p
er
f
o
r
m
an
ce
of
th
e
n
a
v
i
g
ati
o
n
al
s
y
s
te
m
,
th
e
i
n
tr
o
d
u
ce
d
s
t
u
d
y
i
n
co
r
p
o
r
ats
th
e
v
ar
iab
les
of
th
e
m
at
h
e
m
at
ical
m
o
d
el
w
it
h
t
h
e
p
la
n
ar
m
o
tio
n
of
t
h
e
v
eh
ic
le.
A
ls
o
,
it
h
as
b
ee
n
ai
m
ed
to
i
m
p
r
o
v
is
e
t
h
e
f
u
zz
y
co
n
tr
o
ll
er
u
s
in
g
s
l
id
in
g
m
o
d
e
(
p
r
o
p
o
s
ed
in
[
4
6
]
)
an
d
ac
h
iev
e
a
cc
u
r
ate
d
ir
ec
tio
n
of
m
o
b
il
it
y
co
n
s
id
er
i
n
g
th
e
v
e
h
i
cu
lar
ch
ar
ac
ter
is
tics
as
a
co
n
s
tr
ain
t.
In
t
h
i
s
m
o
d
el,
t
h
e
f
u
zz
y
lo
g
ic
is
as
s
o
ciate
d
w
it
h
t
h
e
f
o
r
m
u
lat
io
n
of
t
h
e
v
a
r
io
u
s
r
u
le
s
et
to
h
a
v
e
a
b
etter
d
ep
en
d
en
c
y
on
r
eso
u
r
ce
s
d
u
r
in
g
t
h
e
n
a
v
i
g
atio
n
a
l
p
r
o
ce
s
s
.
A
l
s
o
,
it
h
a
s
b
ee
n
o
b
s
er
v
ed
th
a
t
n
o
t
m
a
n
y
t
y
p
es
of
r
esear
ch
w
er
e
o
b
s
er
v
ed
with
o
p
ti
m
izatio
n
in
th
e
f
u
zz
y
p
r
o
ce
s
s
in
g
u
s
i
n
g
S
MC.
A
ls
o
,
th
e
u
s
e
of
co
n
v
en
ti
o
n
al
tr
ain
i
n
g
/lear
n
i
n
g
b
ased
alg
o
r
ith
m
can
e
n
h
an
c
e
th
e
d
ep
en
d
en
c
y
of
th
e
d
ataset
an
d
is
n
e
v
er
f
ea
s
ib
le
in
o
n
li
n
e
an
al
y
s
is
.
A
l
s
o
,
it
h
as
b
ee
n
o
b
s
er
v
ed
th
at
s
o
m
e
of
th
e
r
ec
en
t
r
esear
ch
es
h
av
e
u
s
ed
f
u
zz
y
lo
g
ic
t
y
p
e
-
2
an
d
S
MC
to
ad
d
r
ess
th
e
v
ar
io
u
s
is
s
u
e
s
of
th
e
co
n
tr
o
l
s
y
s
te
m
.
It
is
f
o
u
n
d
th
at
f
u
zz
y
lo
g
ic
t
y
p
e
-
2
h
as
g
o
o
d
p
o
ten
tial
to
h
an
d
le
u
n
ce
r
tain
t
y
p
r
o
b
le
m
s
but
ar
e
al
w
a
y
s
ass
o
ciate
d
w
ith
co
m
p
u
tatio
n
al
co
m
p
le
x
it
y
p
r
o
b
le
m
s
.
T
h
u
s
,
th
e
f
o
llo
w
i
n
g
m
o
d
el
is
i
n
tr
o
d
u
ce
d
to
f
u
l
f
ill
th
e
n
ee
d
s
of
p
er
f
o
r
m
a
n
ce
en
h
an
ce
m
e
n
t
in
ter
m
s
of
ac
c
u
r
ac
y
an
d
co
m
p
u
tat
io
n
al
ef
f
ic
i
en
c
y
.
T
h
e
d
esig
n
of
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
ca
r
r
ied
o
u
t
u
s
i
n
g
an
al
y
tica
l
r
ese
ar
ch
m
eth
o
d
o
lo
g
y
w
it
h
t
h
e
f
o
llo
w
in
g
s
ch
e
m
e,
as
s
h
o
w
n
in
Fi
g
u
r
e
1.
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
.
5
,
Octo
b
e
r
2
0
2
0
:
4
6
4
5
-
4654
4648
V
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λ
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p
p
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l
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r
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p
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R
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a
d
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g
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a
v
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a
t
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P
e
r
f
o
r
m
a
n
c
e
A
n
a
l
y
s
i
s
(
T
r
a
c
k
i
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g
e
r
r
o
r
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C
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p
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T
o
r
q
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e
)
Fig
u
r
e
1
.
A
r
ch
itectu
r
e
of
t
h
e
p
r
o
p
o
s
ed
s
tu
d
y
4
.
1
.
M
o
del
f
o
r
w
o
rk
ing
perf
o
r
m
a
nce
enha
nce
m
ent
T
h
e
p
r
o
p
o
s
ed
s
tu
d
y
is
in
te
n
d
ed
to
d
esig
n
a
p
lan
ar
m
o
tio
n
of
th
e
v
e
h
icle
w
it
h
t
h
e
tar
g
eted
d
esti
n
atio
n
.
In
p
r
ac
tical,
th
e
d
esti
n
a
tio
n
is
al
w
a
y
s
co
n
s
id
er
ed
to
be
s
tatic
(
e.
g
.
,
h
o
m
e,
o
f
f
ice,
p
ar
k
,
h
o
s
p
ital,
etc.
)
;
h
o
w
e
v
er
,
th
er
e
m
a
y
be
a
p
o
s
s
ib
ilit
y
t
h
at
s
u
c
h
d
esti
n
a
tio
n
co
u
ld
also
be
m
o
b
ile
(
e.
g
.
,
tr
ac
k
i
n
g
a
n
o
th
er
v
eh
ic
le)
.
T
h
er
ef
o
r
e,
th
e
tar
g
et
d
esti
n
atio
n
can
s
ta
tic
or
m
o
b
ile
an
d
th
e
s
y
s
te
m
u
s
e
s
I
NS
in
th
i
s
p
ar
t
to
f
ee
d
th
e
in
p
u
t
of
v
e
h
icle
s
p
ee
d
an
d
th
e
d
ir
ec
tio
n
alit
y
v
ec
to
r
of
d
esti
n
atio
n
.
Fo
r
s
i
m
p
ler
i
m
p
le
m
en
ta
tio
n
,
b
o
th
v
eh
ic
le
an
d
(
m
o
b
ile)
d
es
tin
a
t
io
n
h
a
v
e
co
n
s
id
er
ed
ap
p
r
o
x
im
atel
y
eq
u
al
s
p
ee
d
.
T
h
is
in
c
o
r
p
o
r
ates
th
e
m
o
s
t
ch
alle
n
g
i
n
g
s
ce
n
ar
io
in
n
a
v
i
g
atio
n
s
y
s
te
m
i
m
p
le
m
en
ted
till
d
ate.
Ma
th
em
a
tical
m
o
d
elin
g
is
ca
r
r
ied
o
u
t
f
o
r
f
o
r
m
u
lati
n
g
t
h
e
v
eh
ic
le
-
d
es
ti
n
atio
n
g
eo
m
etr
y
alo
n
g
w
it
h
co
n
s
id
er
atio
n
of
v
ar
io
u
s
f
o
r
m
s
of
u
n
ce
r
tai
n
t
y
p
r
o
b
lem
s
s
u
r
f
ac
ed
f
r
o
m
r
ea
d
in
g
s
of
I
NS
n
a
v
i
g
atio
n
al
s
y
s
t
e
m
.
T
h
e
s
tu
d
y
d
ev
elo
p
s
a
m
o
d
el
w
h
ic
h
r
elate
s
to
v
eh
icle
an
d
d
esti
n
atio
n
a
n
d
ex
tr
ac
ts
v
ar
io
u
s
u
n
ce
r
tai
n
in
f
o
r
m
atio
n
w
h
ic
h
is
f
ed
to
f
u
zz
y
lo
g
ic
an
d
s
lid
in
g
m
o
d
e
co
n
tr
o
l
f
o
r
o
b
tai
n
in
g
ac
cu
r
ate
n
av
i
g
atio
n
al
in
f
o
r
m
at
io
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
co
n
s
id
er
s
v
ar
io
u
s
is
s
u
es
in
t
h
e
n
a
v
i
g
atio
n
s
y
s
te
m
(
c
h
atter
i
n
g
)
an
d
in
co
r
p
o
r
ated
th
e
s
w
itc
h
i
n
g
co
n
tr
o
l
an
d
s
m
o
o
t
h
i
n
g
(
b
o
u
n
d
ar
y
la
y
er
)
m
ec
h
an
i
s
m
.
4
.
2
.
M
o
del
f
o
r
co
m
p
uta
t
io
na
l
ef
f
iciency
T
h
is
p
ar
t
of
t
h
e
s
t
u
d
y
ap
p
lies
an
a
n
al
y
tical
m
o
d
eli
n
g
ap
p
r
o
ac
h
to
p
er
f
o
r
m
o
p
t
i
m
izatio
n
.
T
h
e
co
m
p
lete
o
p
ti
m
izatio
n
is
b
ased
on
th
e
co
n
ce
p
t
th
at
SM
C
o
f
f
er
s
b
etter
co
m
p
en
s
atio
n
p
lan
f
o
r
m
iti
g
ati
n
g
u
n
ce
r
tai
n
t
y
p
r
o
b
le
m
s
alo
n
g
w
it
h
f
u
zz
y
lo
g
ic.
Ho
w
e
v
er
,
w
h
ile
d
o
in
g
s
o
,
it
ca
n
n
o
t
ad
d
r
ess
th
e
p
r
o
b
le
m
if
th
e
u
n
ce
r
tai
n
t
y
attr
ib
u
tes
ar
e
of
f
l
u
ctu
at
in
g
o
r
ig
i
n
,
an
d
in
s
u
c
h
ca
s
e,
SMC
is
no
lo
n
g
er
p
r
o
d
u
ctiv
e
w
h
e
n
w
o
r
k
i
n
g
w
i
th
t
h
e
f
u
zz
y
lo
g
ic
s
y
s
te
m
.
T
h
er
ef
o
r
e,
o
n
e
of
th
e
b
etter
s
o
l
u
tio
n
s
is
to
o
f
f
er
o
p
ti
m
izatio
n
.
In
t
h
is
ca
s
e,
th
e
s
u
r
f
ac
e
d
esig
n
of
s
li
d
in
g
m
o
d
e
is
i
n
tr
o
d
u
ce
d
by
re
-
co
n
s
id
er
in
g
th
e
p
r
o
p
o
s
ed
v
eh
icle
n
av
i
g
atio
n
al
s
y
s
te
m
th
a
t
is
ess
e
n
tia
ll
y
M
E
MS
-
b
ased
.
T
h
e
f
ir
s
t
p
ar
t
of
t
h
e
o
p
ti
m
izatio
n
is
m
ea
n
t
w
ith
d
eter
m
i
n
i
n
g
th
e
p
ar
a
m
eter
of
th
e
s
u
r
f
ac
e,
f
o
llo
w
ed
by
i
m
p
l
y
in
g
co
n
tr
o
l
la
w
by
co
n
s
id
er
in
g
s
tate
t
r
aj
ec
to
r
ies.
Si
m
p
le
m
at
h
e
m
a
tical
m
o
d
eli
n
g
w
i
ll
be
ca
r
r
ied
o
u
t
to
w
ar
d
s
ex
p
lo
i
tin
g
th
e
d
y
n
a
m
ics
of
s
lid
in
g
m
o
tio
n
in
o
r
d
er
to
in
co
r
p
o
r
ate
m
o
r
e
f
le
x
ib
ilit
y
in
d
esig
n
p
ar
a
m
eter
s
.
A
n
o
t
h
er
p
r
o
o
f
of
o
p
tim
izatio
n
w
ill
be
in
v
e
s
ti
g
ated
in
th
i
s
r
esear
ch
s
tag
e
by
m
in
i
m
izin
g
th
e
n
u
m
b
er
of
R
u
le
s
et
to
a
c
o
n
s
id
er
ab
l
y
lo
w
er
d
eg
r
ee
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
in
co
r
p
o
r
ates
th
e
d
esig
n
of
t
h
e
s
lid
in
g
s
u
r
f
ac
e,
co
n
tr
o
l
la
w
,
a
n
d
co
m
p
u
tatio
n
al
co
m
p
le
x
it
y
.
4
.
3
.
Sy
s
t
e
m
m
o
del
T
h
e
p
r
o
p
o
s
ed
s
tu
d
y
h
a
s
co
n
s
id
er
ed
th
at
at
s
o
m
e
co
n
d
iti
o
n
,
th
e
p
r
ec
is
e
s
y
s
te
m
m
o
d
elin
g
is
n
o
t
p
o
s
s
ib
le
as
th
e
ex
ter
n
al
asp
ec
ts
lik
e
f
r
ict
io
n
s
,
f
o
r
ce
s
a
f
f
ec
t
th
e
s
tab
ilit
y
of
th
e
s
y
s
te
m
.
As
it
is
o
b
s
er
v
ed
th
at
th
er
e
ar
e
p
r
ac
tical
d
i
f
f
icu
ltie
s
i
n
to
m
o
d
elli
n
g
a
cr
u
i
s
e
n
a
v
ig
a
tio
n
s
y
s
te
m
ac
c
u
r
atel
y
b
ec
au
s
e
of
v
ar
io
u
s
in
f
lu
e
n
ci
n
g
f
ac
to
r
s
of
f
o
r
ce
s
a
ctin
g
a
s
u
r
f
ac
e
i
n
cl
u
d
in
g
f
r
ict
i
o
n
an
d
all,
w
h
ich
h
as
g
o
t
s
i
g
n
i
f
ica
n
t
in
f
l
u
e
n
ce
on
th
e
s
tab
ili
t
y
of
th
e
co
n
tr
o
l
s
y
s
te
m
.
T
h
ese
k
i
n
d
s
of
h
i
g
h
l
y
d
y
n
a
m
ic
an
d
n
o
n
li
n
ea
r
s
y
s
te
m
s
r
eq
u
ir
ed
a
f
lex
ib
le
an
d
ad
ap
tiv
e
d
y
n
a
m
ic
cr
u
i
s
e
c
o
n
tr
o
l
s
y
s
te
m
.
To
ac
h
iev
e
t
h
is
f
u
zz
y
co
n
tr
o
l
m
ec
h
a
n
is
m
b
as
ed
on
s
lid
in
g
m
o
d
e
is
ad
o
p
ted
.
Fo
r
s
y
s
te
m
d
esi
g
n
,
t
h
e
m
at
h
e
m
a
tical
ap
p
r
o
ac
h
is
co
n
s
i
d
er
ed
w
h
er
e
if
t
h
e
DC
C
S
c
o
m
e
s
w
it
h
th
e
d
y
n
a
m
ics
'
a
n
d
co
n
tr
o
l
in
p
u
t
‘
n
’
f
o
r
t
h
e
co
n
tr
o
l
th
en
th
e
s
y
s
te
m
ca
n
be
d
ef
in
ed
as:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J
E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2
0
8
8
-
8708
A
d
yn
a
mic
cru
is
e
co
n
tr
o
l sys
tem
fo
r
effec
tive
n
a
vig
a
tio
n
s
ystem
(
T.
S
o
mesw
a
r
i
)
4649
(
⁄
)
=
(
,
)
+
(
)
T
h
e
p
r
o
p
o
s
ed
DC
C
S
is
as
s
u
m
ed
as
of
2
nd
o
r
d
er
an
d
is
n
o
r
m
alize
s
as
⃗
=
+
.
In
o
r
d
er
to
d
esig
n
a
co
n
tr
o
l
m
ec
h
a
n
i
s
m
f
o
r
d
is
p
lace
m
e
n
t
a
n
d
s
p
ee
d
.
T
h
e
d
y
n
a
m
ic
cr
u
i
s
e
co
n
tr
o
l
s
u
r
f
ac
e
(
S)
f
o
r
th
e
DC
C
S
is
d
esi
g
n
ed
as:
=
(
+
)
̃
+
⃗
w
h
er
e
is
m
ea
n
t
w
it
h
a
s
in
g
le
s
ca
lar
p
ar
am
eter
w
h
ich
h
as
t
h
e
m
a
in
i
m
p
ac
t
on
th
e
cr
u
i
s
e
co
n
tr
o
l
s
u
r
f
ac
e
(
S).
T
h
e
ch
an
g
e
in
S
at
S=0
,
an
d
̅
=
+
is
r
eso
lv
ed
as:
⃗
=
0
⃗
−
̅
+
̃
=
(
)
+
−
⃗
+
⃗
=
0
=
−
+
⃗
−
⃗
T
h
e
v
alu
e
of
t
h
e
s
ca
lar
p
ar
a
m
eter
(
)
w
it
h
a
p
o
s
itiv
e
p
ar
a
m
eter
is
al
m
o
s
t
ar
b
itra
r
y
,
an
d
it
r
ed
u
ce
s
th
e
d
y
n
a
m
ics
of
t
h
e
s
y
s
te
m
d
u
r
in
g
s
lid
in
g
.
T
h
e
DC
C
S
m
o
d
el
(
m
)
is
an
a
p
p
r
o
x
im
a
tio
n
of
t
h
e
D
C
C
S
m
o
d
el.
T
h
e
ap
p
r
o
x
i
m
ated
co
n
tr
o
l
la
w
ca
n
be
n
o
r
m
alize
d
as
̂
=
−
̂
+
̂
−
̂
.
F
ig
u
r
e
2
s
h
o
w
s
a
g
eo
m
etr
ical
v
ie
w
of
th
e
D
C
C
S
if
it
is
s
l
id
e
on
th
e
s
lid
i
n
g
s
u
r
f
ac
e
w
it
h
s
lo
p
e
o
n
l
y
.
In
o
r
d
er
to
m
ai
n
tai
n
th
e
w
o
r
k
i
n
g
of
t
h
e
s
y
s
te
m
in
a
s
lid
i
n
g
s
u
r
f
ac
e,
a
s
w
i
tch
in
g
ac
tio
n
is
i
n
tr
o
d
u
ce
d
.
T
h
e
s
w
itc
h
i
n
g
ac
t
io
n
(
)
can
be
d
ef
in
ed
as:
=
−
×
(
)
w
h
er
e
A
is
a
lar
g
e
p
o
s
iti
v
e
co
n
s
ta
n
t,
a
n
d
its
v
al
u
e
is
s
elec
te
d
if
=
{
−
@
>
0
@
<
0
.
T
h
is
s
w
itc
h
i
n
g
co
n
tr
o
l
is
d
is
co
n
ti
n
u
o
u
s
ac
r
o
s
s
t
h
e
cr
u
i
s
e
co
n
tr
o
l
s
u
r
f
ac
e
(
S)
=0
.
Du
r
in
g
s
tead
y
s
tate,
t
h
e
v
ar
iab
le
"
A
"
co
m
m
u
te
at
h
i
g
h
er
f
r
eq
u
en
c
y
lie
s
b
et
w
ee
n
=
an
d
=
−
.
T
h
e
co
n
tr
o
l
law
is
co
n
s
id
er
ed
b
et
w
ee
n
t
h
ese
lo
w
a
n
d
h
i
g
h
-
f
r
eq
u
en
c
y
co
n
tr
o
l.
As
a
r
esu
lt
,
th
e
d
is
co
n
tin
u
o
u
s
h
ig
h
-
f
r
eq
u
en
c
y
co
n
tr
o
l
of
s
w
i
tch
i
n
g
ac
tio
n
is
ap
p
r
o
p
r
iate
in
th
e
n
av
ig
at
io
n
s
y
s
te
m
,
b
u
t
it
lead
s
to
ch
atter
i
n
g
m
ec
h
a
n
i
s
m
in
co
n
tr
o
l
s
w
itc
h
in
g
.
T
h
e
ch
at
ter
in
g
is
t
h
e
h
ar
m
f
u
l
m
ec
h
a
n
i
s
m
w
h
ic
h
le
ad
s
to
lo
w
co
n
tr
o
l
ac
cu
r
ac
y
a
n
d
h
i
g
h
h
ea
t
lo
s
s
es
in
t
h
e
p
o
w
er
cir
c
u
its
.
Fi
g
u
r
e
3
in
d
icate
s
t
h
e
C
h
atter
i
n
g
p
h
en
o
m
en
o
n
in
th
e
co
n
tr
o
l
s
y
s
te
m
.
In
o
r
d
er
to
s
o
lv
e
th
e
ch
at
ter
i
n
g
p
r
o
b
le
m
,
s
m
o
o
t
h
i
n
g
is
p
er
f
o
r
m
ed
o
v
er
a
ch
atter
in
g
p
h
en
o
m
e
n
o
n
w
h
er
e
a
s
m
o
o
th
ap
p
r
o
x
i
m
ati
o
n
(
Sap
)
is
r
ep
lace
d
in
p
lace
of
th
e
d
is
c
o
n
ti
n
u
o
u
s
s
i
g
n
.
T
h
e
p
lo
t
in
Fig
u
r
e
4
in
d
icate
s
t
h
e
s
m
o
o
th
i
n
g
in
t
h
e
ch
atter
i
n
g
p
h
e
n
o
m
en
o
n
,
i.e
.
:
=
−
×
(
)
=
=
{
−
1
@
⁄
<
0
0
@
⁄
<
1
1
@
⁄
<
−
1
w
h
er
e
in
d
icate
s
t
h
e
t
h
ic
k
n
e
s
s
of
th
e
b
o
u
n
d
ar
y
la
y
er
.
T
h
e
m
at
h
e
m
atica
l
m
o
d
el
of
DC
C
S
is
d
er
iv
ed
f
r
o
m
t
h
e
f
u
zz
y
-
b
ased
s
lid
i
n
g
m
o
d
e
by
ad
d
r
ess
in
g
th
e
ab
o
v
e
-
s
ta
ted
p
r
o
b
lem
s
in
th
e
d
y
n
a
m
ic
m
o
d
elli
n
g
.
Fi
g
u
r
e
5
g
i
v
e
s
t
h
e
2
-
lin
k
s
y
s
te
m
of
co
n
tr
o
lli
n
g
ar
m
h
av
i
n
g
r
o
b
o
t
lin
k
s
1
a
n
d
2.
T
h
e
m
o
d
el
in
cl
u
d
es
d
i
s
p
lace
m
e
n
ts
1
an
d
2
w
it
h
t
h
e
le
n
g
t
h
of
li
n
k
s
1
an
d
2
.
T
h
e
m
as
s
of
ev
er
y
li
n
k
is
r
ep
r
esen
ted
as
1
an
d
2
.
Du
r
in
g
t
h
i
s
m
at
h
e
m
atica
l
m
o
d
elli
n
g
,
L
ag
r
an
g
e
-
E
u
le
r
f
o
r
m
atio
n
is
u
s
ed
w
it
h
th
e
f
o
ll
o
w
i
n
g
d
y
n
a
m
ic
eq
u
at
io
n
.
(
)
̈
+
(
,
̈
)
̈
+
(
)
=
[
11
12
12
22
]
×
[
̈
1
̈
2
]
+
[
−
12
̈
2
−
12
(
̈
1
+
̈
2
)
12
̈
1
0
]
×
[
̈
1
̈
2
]
+
[
1
2
]
=
[
1
2
]
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
.
5
,
Octo
b
e
r
2
0
2
0
:
4
6
4
5
-
4654
4650
w
h
er
e,
11
=
(
+
2
)
×
1
2
+
2
×
2
2
+
2
×
1
×
2
×
c
os
2
12
=
2
×
2
2
+
2
×
1
×
2
×
c
os
2
22
=
2
×
2
2
12
=
2
×
1
×
2
×
s
in
2
1
=
(
+
2
)
×
1
×
c
os
2
+
2
×
2
×
c
os
(
1
+
2
)
2
=
2
×
2
×
c
os
(
1
+
2
)
T
h
u
s
,
it
can
be
s
aid
th
a
t
t
h
e
p
r
o
p
o
s
ed
f
u
zz
y
SM
C
h
a
s
is
o
lates
t
h
e
u
n
k
n
o
w
n
p
ar
a
m
eter
s
in
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
.
T
h
e
s
y
s
te
m
h
as
ad
o
p
ted
a
co
n
tr
o
l
la
w
f
o
r
b
o
th
lo
w
f
r
eq
u
e
n
c
y
an
d
h
i
g
h
-
f
r
eq
u
e
n
c
y
co
n
tr
o
l.
In
th
is
D
C
C
S
s
y
s
te
m
,
th
e
r
o
b
u
s
t
n
es
s
is
p
ar
a
m
eter
i
ze
d
by
co
n
s
id
er
in
g
t
h
e
f
ast
v
ar
y
in
g
clo
s
ed
lo
o
p
s
w
h
ile
t
h
e
ch
atter
i
n
g
in
t
h
e
s
y
s
te
m
is
m
i
n
i
m
ized
by
u
s
i
n
g
b
o
u
n
d
ar
y
la
y
er
(
s
m
o
o
t
h
i
n
g
)
t
ec
h
n
iq
u
e.
T
h
e
n
ex
t
s
ec
tio
n
h
ig
h
li
g
h
ts
t
h
e
r
es
u
lts
a
n
d
an
al
y
s
i
s
of
t
h
e
p
r
o
p
o
s
ed
D
C
C
S
m
ec
h
an
is
m
.
Fig
u
r
e
2
.
Gr
ap
h
ical
r
ep
r
esen
ta
tio
n
o
f
s
lid
in
g
s
u
r
f
ac
e
Fig
u
r
e
3
.
Gr
ap
h
ical
r
ep
r
esen
ta
tio
n
o
f
ch
a
tter
in
g
in
co
n
tr
o
l s
w
itc
h
i
n
g
Fig
u
r
e
4.
S
m
o
o
th
i
n
g
in
c
h
atter
in
g
p
h
en
o
m
en
o
n
Fig
u
r
e
5.
Gr
ap
h
ical
r
ep
r
esen
ta
tio
n
of
ch
a
tter
in
g
in
co
n
tr
o
l
s
w
itc
h
i
n
g
5.
RE
SU
L
T
S
AND
AN
AL
Y
SI
S
T
h
e
s
y
s
tem
d
e
s
ig
n
of
th
e
p
r
o
p
o
s
e
d
DC
C
S
m
o
d
e
l
is
p
e
r
f
o
r
m
e
d
by
u
s
in
g
MA
T
L
A
B
b
a
s
e
d
s
im
u
l
at
i
o
n
.
T
h
e
s
y
s
t
em
c
o
n
s
i
d
e
r
s
th
e
f
u
z
zy
in
p
u
t
f
o
r
c
r
u
is
e
c
o
n
t
r
o
l
.
T
h
e
p
e
r
f
o
r
m
an
c
e
of
th
e
s
y
s
tem
is
an
a
ly
z
e
d
in
t
e
r
m
s
of
a
c
c
u
r
ac
y
in
i
d
en
ti
f
y
in
g
th
e
e
r
r
o
r
a
n
d
c
o
m
p
u
t
a
t
i
o
n
a
l
c
o
m
p
l
ex
i
ty
.
Fig
u
r
e
6
g
iv
e
s
th
e
e
r
r
o
r
a
n
a
ly
s
i
s
in
DC
C
S
m
o
d
e
l
in
te
r
m
s
of
t
r
a
ck
in
g
e
r
r
o
r
(
i
n
r
a
d
i
an
s
)
Vs
.
tim
e
(
i
n
s
e
c
o
n
d
s
)
f
o
r
b
o
th
th
e
(
a
)
l
in
k
1
an
d
(
b
)
li
n
k
2.
T
h
e
s
im
u
l
a
ti
o
n
is
c
o
n
d
u
ct
e
d
o
v
e
r
th
e
DC
C
S
s
y
s
t
em
f
o
r
10
s
e
c
of
t
im
e
(x
-
ax
i
s
)
.
T
h
e
m
as
s
of
th
e
l
in
k
s
1,
2
is
a
d
ju
s
t
e
d
as
0
.
7
5
kg
an
d
1
.
2
5
kg
r
es
p
e
c
ti
v
e
ly
w
h
il
e
t
h
e
s
c
a
l
a
r
p
a
r
am
et
e
r
(
)
is
a
d
ju
s
te
d
to
5
f
o
r
b
o
t
h
th
e
l
in
k
s
.
F
u
r
t
h
e
r
,
th
e
b
o
u
n
d
a
r
y
lay
e
r
th
i
c
k
n
ess
is
a
d
ju
s
t
e
d
to
0
.
0
2
.
T
h
e
o
u
t
c
o
m
es
a
r
e
g
iv
en
in
F
ig
u
r
e
6
s
u
g
g
es
ts
th
a
t
t
h
e
t
r
a
ck
in
g
of
e
r
r
o
r
s
in
th
e
n
av
ig
a
ti
o
n
s
y
s
t
em
is
g
r
a
d
u
a
l
ly
i
n
c
r
e
a
s
in
g
an
d
b
e
c
o
m
es
e
r
r
o
r
f
r
ee
as
th
e
t
im
e
g
o
es
in
t
r
a
c
k
in
g
th
e
p
a
th
.
H
en
c
e
,
it
c
an
be
o
b
s
e
r
v
e
d
th
at
th
e
in
10
s
e
c
o
n
d
s
of
tim
e
,
th
e
t
r
a
ck
in
g
e
r
r
o
r
b
e
c
o
m
es
z
e
r
o
.
T
h
e
to
r
q
u
e
in
th
e
n
a
v
i
g
atio
n
s
y
s
te
m
ac
c
u
r
ac
y
o
f
t
h
e
D
C
C
S
m
o
d
el.
I
n
Fi
g
u
r
e
7
,
t
h
e
to
r
q
u
e
at
li
n
k
-
1
w
h
er
e
it
ca
n
b
e
o
b
s
er
v
ed
th
at
to
r
q
u
e
(
is
r
ep
r
esen
ted
in
th
e
y
-
a
x
i
s
)
ag
ai
n
s
t
ti
m
e
(
in
x
-
a
x
is
)
.
Her
e,
th
e
to
r
q
u
e
v
ar
iatio
n
is
i
n
tiall
y
lead
in
g
to
w
it
h
b
etter
ac
cu
r
ac
y
in
n
av
i
g
a
tio
n
an
d
d
ec
r
em
e
n
t
i
n
to
r
q
u
e
r
ate
is
o
b
s
er
v
ed
d
u
e
ch
atter
i
n
g
e
f
f
ec
t.
I
n
t
h
e
n
a
v
i
g
atio
n
s
y
s
te
m
,
t
h
e
s
p
ee
d
o
f
th
e
cr
u
is
e
is
co
n
tr
o
lled
b
y
th
e
to
r
q
u
e.
Sim
i
lar
l
y
,
Fig
u
r
e
8
i
n
d
icate
s
t
h
e
to
r
q
u
e
v
ar
iatio
n
s
at
li
n
k
-
2
w
h
er
e
t
h
e
to
r
q
u
e
is
i
n
tiall
y
l
ea
d
in
g
w
i
t
h
b
etter
ac
c
u
r
ac
y
i
n
n
av
i
g
atio
n
an
d
i
n
later
p
ar
t th
e
s
w
itch
in
g
ac
tio
n
i
s
tak
in
g
p
la
ce
in
th
e
n
av
ig
at
io
n
s
y
s
te
m
.
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:
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4651
Fig
u
r
e
6.
T
r
ac
k
in
g
er
r
o
r
an
al
y
s
is
at
(
a)
lin
k
-
1
an
d
(
b
)
lin
k
-
2
Fig
u
r
e
7
.
T
o
r
q
u
e
an
al
y
s
i
s
at
li
n
k
-
1
Fig
u
r
e
8
.
T
o
r
q
u
e
an
al
y
s
i
s
at
li
n
k
-
2
In
th
e
p
r
o
p
o
s
ed
DC
C
S
m
o
d
el
,
th
e
b
o
u
n
d
ar
y
la
y
er
co
n
ce
p
t
is
u
s
ed
to
co
n
tr
o
l
th
e
n
a
v
i
g
ati
o
n
s
y
s
te
m
b
eh
av
io
u
r
b
et
w
ee
n
li
n
k
-
1
a
n
d
lin
k
-
2,
w
h
er
e
t
h
e
e
n
er
g
y
in
t
h
is
b
o
u
n
d
ar
y
la
y
er
is
li
n
k
ed
to
th
e
s
lid
i
n
g
s
u
r
f
ac
e
of
th
e
cr
u
is
e.
T
h
is
d
y
n
a
m
ic
n
a
tu
r
e
of
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
b
r
in
g
s
e
f
f
ec
t
iv
e
h
an
d
li
n
g
of
t
h
e
s
p
ee
d
of
th
e
cr
u
i
s
e.
In
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
,
t
h
e
r
o
b
u
s
tn
es
s
is
m
ea
s
u
r
e
w
it
h
t
h
e
r
ed
u
ce
d
ch
a
tter
in
g
in
t
h
e
n
av
i
g
atio
n
s
y
s
te
m
,
an
d
th
i
s
is
ac
h
iev
ed
t
h
r
o
u
g
h
b
o
u
n
d
ar
y
la
y
er
.
Fu
r
t
h
er
,
th
e
co
m
p
u
tat
io
n
al
co
m
p
le
x
it
y
an
a
l
y
s
is
is
p
er
f
o
r
m
ed
by
co
n
s
id
er
in
g
t
h
e
ti
m
e
of
co
m
p
u
tatio
n
,
t
h
e
clo
c
k
s
p
ee
d
of
t
h
e
n
av
i
g
atio
n
s
y
s
te
m
.
Fro
m
t
h
e
s
i
m
u
lat
io
n
,
it
is
o
b
s
er
v
ed
th
at
th
e
s
i
m
u
la
tio
n
p
h
ase
co
n
s
id
er
ed
o
n
l
y
28
s
ec
an
d
a
clo
ck
s
p
ee
d
of
1801
MH
z
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
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8708
I
n
t J
E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
10
,
No
.
5
,
Octo
b
e
r
2
0
2
0
:
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6
4
5
-
4654
4652
6.
CO
NCLU
SI
O
N
T
h
is
m
a
n
u
s
cr
ip
t
p
r
esen
ts
a
D
C
C
S
to
ac
h
ie
v
e
b
etter
n
a
v
ig
a
tio
n
u
n
d
er
u
n
ce
r
tain
ties
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
i
n
co
r
p
o
r
ates
th
e
f
u
zz
y
lo
g
ic
a
n
d
s
lid
i
n
g
m
o
d
e
tec
h
n
iq
u
e
alo
n
g
w
i
th
co
n
tr
o
l
la
w
.
T
h
e
p
er
f
o
r
m
a
n
ce
of
th
e
s
y
s
te
m
is
a
n
al
y
ze
d
by
i
n
co
r
p
o
r
atin
g
s
lid
in
g
m
o
d
e
an
d
f
u
zz
y
lo
g
ic
an
d
ac
h
ie
v
es
b
etter
ac
cu
r
ac
y
in
tr
ac
k
in
g
er
r
o
r
,
co
m
p
u
tatio
n
al
co
m
p
le
x
it
y
(
2
8
s
ec
of
s
i
m
u
lat
io
n
ti
m
e)
u
n
d
er
c
h
atter
i
n
g
an
d
s
w
itc
h
in
g
ac
tio
n
o
p
er
atio
n
.
T
h
u
s
,
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
ca
n
h
an
d
le
t
h
e
d
y
n
a
m
ic
d
is
t
u
r
b
an
ce
s
in
t
h
e
n
av
ig
atio
n
s
y
s
te
m
,
a
n
d
it
can
h
an
d
le
th
e
cu
r
r
e
n
t
n
av
ig
a
tio
n
i
s
s
u
es
in
GP
S
a
n
d
I
NS.
Fu
r
t
h
er
,
th
e
p
r
o
p
o
s
ed
s
y
s
te
m
can
be
i
n
co
r
p
o
r
ated
w
it
h
o
th
er
m
ac
h
in
e
lear
n
i
n
g
a
p
p
r
o
ac
h
es
to
en
h
an
ce
t
h
e
p
er
f
o
r
m
a
n
ce
of
t
h
e
n
a
v
i
g
atio
n
.
RE
F
E
R
E
NC
E
S
[1
]
N.
De
y
a
n
d
A
.
M
u
k
h
e
rjee
,
“
Em
b
e
d
d
e
d
sy
ste
m
s
a
n
d
ro
b
o
t
ics
w
it
h
o
p
e
n
s
o
u
rc
e
t
o
o
ls
,”
CRC
Pre
ss
,
2
0
1
8
.
[2
]
D.
Da
k
o
p
o
u
l
o
s
a
n
d
N
.
G.
Bo
u
r
b
a
k
is
,
“
W
e
a
ra
b
le
o
b
sta
c
le
a
v
o
id
a
n
c
e
e
lec
tro
n
ic
trav
e
l
a
id
s
f
o
r
b
li
n
d
:
a
su
rv
e
y
,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
on
S
y
ste
ms
,
M
a
n
,
and
Cy
b
e
rn
e
ti
c
s,
Pa
rt
C
(
Ap
p
li
c
a
ti
o
n
s
a
n
d
Rev
iews
)
,
v
o
l.
4
0
,
n
o
.
1
,
p
p
.
25
-
35
,
2
0
0
9
.
[3
]
V
.
E.
Ba
las
,
L.
C.
Ja
in
,
a
n
d
X.
Zh
a
o
,
“
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
In
telli
g
e
n
t
T
ra
n
sp
o
rtat
io
n
S
y
ste
m
s,”
Pro
c
e
e
d
in
g
s
of
th
e
2
n
d
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
on
I
n
fo
rm
a
ti
o
n
T
e
c
h
n
o
lo
g
y
a
n
d
In
telli
g
e
n
t
T
ra
n
sp
o
rta
ti
o
n
S
y
ste
ms
(
IT
IT
S
2
0
1
7
)
,
X
i’an
,
C
h
i
n
a
,
IOS
P
re
ss
,
2
0
1
7
.
[4
]
G
.
Ca
i,
J
.
Dia
s,
a
n
d
L
.
S
e
n
e
v
iratn
e
,
“
A
su
rv
e
y
of
s
m
a
ll
-
sc
a
le
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
s:
Re
c
e
n
t
a
d
v
a
n
c
e
s
a
n
d
f
u
tu
re
d
e
v
e
lo
p
m
e
n
t
tren
d
s
,
”
Un
ma
n
n
e
d
S
y
ste
ms
,
v
o
l.
2
,
n
o
.
02
,
p
p
.
1
7
5
-
1
9
9
,
2
0
1
4
.
[5
]
G
.
Hu
,
e
t
a
l
,
“
M
o
d
if
ied
f
e
d
e
ra
ted
Ka
lma
n
f
il
ter
f
o
r
INS/
G
NSS
/CN
S
in
teg
ra
ti
o
n
,
”
i
n
Pr
o
c
e
e
d
in
g
s
of
th
e
In
sti
tu
ti
o
n
of
M
e
c
h
a
n
ic
a
l
E
n
g
i
n
e
e
rs
,
Pa
rt
G:
J
o
u
rn
a
l
of
Aer
o
s
p
a
c
e
En
g
i
n
e
e
rin
g
,
v
o
l.
2
3
0
,
n
o
.
1
,
p
p
.
30
-
44
,
2
0
1
6
.
[6
]
M.
Ko
u
r
o
g
i,
e
t
a
l
.
,
“
In
d
o
o
r/
o
u
t
d
o
o
r
p
e
d
e
strian
n
a
v
ig
a
ti
o
n
w
it
h
an
e
m
b
e
d
d
e
d
G
P
S
/RF
ID/se
lf
-
c
o
n
tai
n
e
d
se
n
so
r
s
y
ste
m
,
”
in
In
ter
n
a
ti
o
n
a
l
c
o
n
fer
e
n
c
e
on
a
rtif
ici
a
l
re
a
li
ty
a
n
d
tele
x
i
ste
n
c
e
,
p
p
1
3
1
0
-
1
3
2
1
,
2
0
0
6
.
[7
]
M.
Ro
m
a
n
o
v
a
s,
R
.
Zi
e
b
o
ld
,
a
n
d
L
.
L
a
n
ç
a
,
“
A
m
e
th
o
d
f
o
r
IM
U/GN
S
S
/Do
p
p
ler
V
e
l
o
c
it
y
L
o
g
in
teg
ra
ti
o
n
in
m
a
rin
e
a
p
p
li
c
a
ti
o
n
s
,
”
in
2
0
1
5
In
ter
n
a
ti
o
n
a
l
Asso
c
i
a
ti
o
n
of
I
n
stit
u
tes
of
N
a
v
ig
a
ti
o
n
W
o
rld
C
o
n
g
re
ss
(
IAI
N)
,
2
0
1
5
.
[8
]
L
.
L
a
s
m
a
d
i,
e
t
a
l
.
,
“
In
e
rt
ial
n
a
v
ig
a
ti
o
n
f
o
r
q
u
a
d
ro
t
o
r
u
sin
g
Ka
lma
n
f
il
ter
w
it
h
d
rif
t
c
o
m
p
e
n
sa
ti
o
n
,
”
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
t
e
r E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
7,
n
o
.
5
,
p
p
.
2
5
9
6
-
2
6
0
4
,
2
0
1
7
.
[9
]
S.
Nu
rm
a
in
i
a
n
d
B
.
T
u
tu
k
o
,
“
I
n
telli
g
e
n
t
Ro
b
o
ti
c
s
Na
v
ig
a
ti
o
n
S
y
st
e
m
:
P
ro
b
lem
s,
M
e
th
o
d
s,
a
n
d
A
lg
o
rit
h
m
,
”
In
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
E
lec
trica
l
a
n
d
C
o
mp
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
7,
n
o
.
6
,
p
p
.
3
7
1
1
-
3
7
2
6
,
2
0
1
7
.
[1
0
]
H.
V
.
P
a
n
t
,
“
In
d
ia'
s
Nu
c
lea
r
Do
c
tri
n
e
a
n
d
Co
m
m
a
n
d
S
tru
c
tu
re
:
Im
p
li
c
a
ti
o
n
s
f
o
r
In
d
ia
a
n
d
th
e
W
o
rld
,
”
Co
mp
a
ra
t
ive
S
tra
teg
y
,
v
o
l.
2
4
,
n
o
.
3
,
p
p
.
2
7
7
-
2
9
3
,
2
0
0
5
.
[1
1
]
G
.
E.
Clu
b
b
,
“
T
h
e
S
e
n
so
r
Iro
n
y
:
Ho
w
Re
li
a
n
c
e
on
S
e
n
so
r
T
e
c
h
n
o
lo
g
y
is
L
i
m
it
in
g
Ou
r
V
iew
of
t
h
e
Ba
tt
lef
ield
,
”
M
a
ste
r'
s th
e
sis
,
Na
ti
o
n
a
l
De
f
e
n
se
Un
iv
No
rf
o
lk
Va
Jo
in
t
A
d
v
a
n
c
e
d
W
a
r
f
ig
h
ti
n
g
S
c
h
o
o
l,
2
0
1
0
.
[1
2
]
D.
S
tro
ik
o
s
,
“
Ch
i
n
a
,
In
d
ia
in
sp
a
c
e
a
n
d
th
e
o
r
b
it
of
in
tern
a
ti
o
n
a
l
so
c
iety
:
p
o
w
e
r,
sta
tu
s,
a
n
d
o
r
d
e
r
on
t
h
e
h
ig
h
f
ro
n
ti
e
r,
”
Ph
.
D.
T
h
e
sis
,
T
h
e
L
o
n
d
o
n
S
c
h
o
o
l
of
Eco
n
o
m
ics
a
n
d
P
o
li
t
ica
l
S
c
ien
c
e
(L
S
E),
2
0
1
6
.
[1
3
]
M.
S
h
a
f
iee
,
K
.
O'
Ke
e
fe
,
a
n
d
G
.
L
a
c
h
a
p
e
ll
e
,
“
Co
n
tex
t
-
a
w
a
re
a
d
a
p
ti
v
e
e
x
ten
d
e
d
Ka
l
m
a
n
f
il
terin
g
u
sin
g
Wi
-
Fi
sig
n
a
ls
f
o
r
G
P
S
n
a
v
ig
a
ti
o
n
,
”
in
I
ON
GNS
S
,
P
o
rtl
a
n
d
,
OR
,
2
0
1
1.
[1
4
]
Ed
w
a
rd
s,
Ch
risto
p
h
e
r,
a
n
d
S
a
ra
h
S
p
u
rg
e
o
n
,
“
S
li
d
in
g
m
o
d
e
c
o
n
tro
l
:
th
e
o
ry
a
n
d
a
p
p
li
c
a
ti
o
n
s
,”
C
RC
P
re
ss
,
1
9
9
8
.
[1
5
]
A
.
M
a
n
u
ru
n
g
,
“
A
S
li
d
i
n
g
M
o
d
e
Co
n
tr
o
l
f
o
r
Ro
b
o
t
M
a
n
i
p
u
lato
r
,
”
2
0
1
0
.
[1
6
]
L.
Da
c
h
e
n
g
,
L.
Zh
ig
u
o
,
a
n
d
Z.
S
h
u
a
i,
“
A
n
a
l
y
sis
on
th
e
in
f
lu
e
n
c
e
of
th
e
INS
p
re
c
isio
n
in
an
u
lt
ra
-
t
ig
h
tl
y
c
o
u
p
led
INS/
G
P
S
in
teg
ra
ti
o
n
,
”
in
2
0
1
6
I
EE
E
In
f
o
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
,
N
e
two
rk
in
g
,
El
e
c
tro
n
ic
a
n
d
A
u
to
ma
ti
o
n
Co
n
tro
l
Co
n
fer
e
n
c
e
,
Ch
o
n
g
q
i
n
g
,
2
0
1
6
,
p
p
.
1
1
0
6
-
1
1
1
1
.
[1
7
]
S.
Y.
Ch
o
,
“
IM
-
f
il
ter
f
o
r
INS/
G
P
S
-
in
teg
ra
ted
n
a
v
ig
a
ti
o
n
sy
ste
m
c
o
n
tai
n
in
g
lo
w
-
c
o
st
g
y
ro
s,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
on
Aer
o
sp
a
c
e
a
n
d
El
e
c
tro
n
ic
S
y
ste
ms
,
v
o
l.
5
0
,
n
o
.
4,
p
p
.
2
6
1
9
-
2
6
2
9
,
2
0
1
4
.
[1
8
]
B.
P.
D
u
o
n
g
a
n
d
V.
H.
Ng
u
y
e
n
,
“
De
v
e
lo
p
m
e
n
t
of
a
G
P
S
/INS
i
n
te
g
ra
ted
n
a
v
ig
a
ti
o
n
sy
ste
m
f
o
r
m
o
d
e
l
a
ircra
f
t,
”
in
2
0
1
4
1
4
t
h
I
n
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
on
Co
n
tro
l,
A
u
to
m
a
ti
o
n
a
n
d
S
y
ste
ms
(
ICCAS
2
0
1
4
)
,
S
e
o
u
l,
2
0
1
4
,
p
p
.
2
0
1
-
2
0
6
.
[1
9
]
J.
F
a
n
g
a
n
d
X.
G
o
n
g
,
“
P
re
d
icti
v
e
Itera
t
e
d
Ka
l
m
a
n
F
il
ter
f
o
r
I
NS/
G
P
S
In
teg
ra
ti
o
n
a
n
d
Its
A
p
p
li
c
a
ti
o
n
to
S
A
R
M
o
ti
o
n
Co
m
p
e
n
sa
ti
o
n
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
on
In
str
u
me
n
ta
ti
o
n
and
M
e
a
su
re
me
n
t
,
v
o
l.
5
9
,
no.
4,
pp.
9
0
9
-
9
1
5
,
2
0
1
0
.
[2
0
]
I.
U.
L
e
e
,
e
t
a
l
.
,
“
Na
v
ig
a
ti
o
n
sy
st
e
m
d
e
v
e
lo
p
m
e
n
t
of
th
e
Un
d
e
rw
a
ter
V
e
h
icle
s
u
sin
g
t
h
e
G
P
S
/
INS
se
n
so
r
f
u
sio
n
,
”
in
2
0
1
4
1
4
t
h
In
ter
n
a
ti
o
n
a
l
Co
n
f
e
re
n
c
e
on
Co
n
tro
l
,
Au
t
o
ma
ti
o
n
and
S
y
ste
ms
(
ICCAS
2014)
,
S
e
o
u
l,
p
p
.
6
1
0
-
6
1
2
,
2
0
1
4
.
[2
1
]
Q.
Li
a
n
d
F.
S
u
n
,
“
S
tr
o
n
g
trac
k
i
n
g
c
u
b
a
tu
re
Ka
l
m
a
n
f
il
ter
a
lg
o
rit
h
m
f
o
r
G
P
S
/INS
In
teg
ra
ted
Na
v
i
g
a
ti
o
n
S
y
ste
m
,
”
in
2
0
1
3
IE
EE
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
on
M
e
c
h
a
tro
n
ics
a
n
d
Au
t
o
ma
ti
o
n
,
T
a
k
a
m
a
tsu
,
pp.
1
1
1
3
-
1
1
1
7
,
2
0
1
3
.
[2
2
]
Z.
W
u
,
e
t
a
l
.
,
“
A
f
il
terin
g
a
lg
o
rit
h
m
f
o
r
G
P
S
/INS
i
n
teg
ra
ted
n
a
v
ig
a
ti
o
n
S
y
ste
m
b
a
s
e
d
on
IM
M
-
A
F
,
”
in
2
0
1
6
IEE
E
In
ter
n
a
t
io
n
a
l
Ge
o
sc
ien
c
e
and
Re
mo
te
S
e
n
si
n
g
S
y
mp
o
si
u
m
(
IGAR
S
S
)
,
Be
ij
i
n
g
,
p
p
.
8
3
8
-
8
4
1
,
2
0
1
6
.
[2
3
]
W.
Ya
n
,
e
t
a
l
.
,
“
Hig
h
a
c
c
u
ra
c
y
N
a
v
ig
a
ti
o
n
S
y
ste
m
u
sin
g
G
P
S
a
n
d
INS
s
y
ste
m
in
teg
r
a
ti
o
n
stra
teg
y
,
”
in
2
0
1
6
IEE
E
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
on
Cy
b
e
r
T
e
c
h
n
o
lo
g
y
in
Au
t
o
ma
ti
o
n
,
Co
n
tr
o
l,
a
n
d
In
tel
li
g
e
n
t
S
y
ste
ms
(
CY
BE
R)
,
Ch
e
n
g
d
u
,
p
p
.
3
6
5
-
3
6
9
,
2
0
1
6
.
[2
4
]
H.
Na
k
a
n
ish
i,
S.
Ka
n
a
ta
a
n
d
T.
S
a
wa
ra
g
i,
“
G
P
S
-
INS
-
BA
RO
h
y
b
rid
n
a
v
ig
a
ti
o
n
sy
st
e
m
ta
k
in
g
in
to
a
c
c
o
u
n
t
g
ro
u
n
d
e
ffe
c
t
f
o
r
th
e
a
u
to
n
o
m
o
u
s
u
n
m
a
n
n
e
d
h
e
li
c
o
p
ter,
”
in
2
0
1
2
IEE
E
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m
on
S
a
fety
,
S
e
c
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rity,
a
n
d
Res
c
u
e
Ro
b
o
ti
c
s
(
S
S
RR
)
,
Co
ll
e
g
e
S
tatio
n
,
T
X
,
p
p
.
1
-
6
,
2
0
1
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J
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&
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I
SS
N:
2
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8
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tive
n
a
vig
a
tio
n
s
ystem
(
T.
S
o
mesw
a
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i
)
4653
[2
5
]
H.
Qin
,
L.
Co
n
g
a
n
d
X.
S
u
n
,
“
A
c
c
u
ra
c
y
i
m
p
ro
v
e
m
e
n
t
of
G
P
S
/M
EM
S
-
INS
i
n
teg
ra
ted
n
a
v
ig
a
ti
o
n
sy
ste
m
d
u
rin
g
G
P
S
sig
n
a
l
o
u
tag
e
f
o
r
lan
d
v
e
h
icle
n
a
v
ig
a
ti
o
n
,
”
J
o
u
r
n
a
l
of
S
y
ste
ms
En
g
in
e
e
rin
g
a
n
d
El
e
c
tro
n
ics
,
v
o
l.
23,
no.
2,
pp.
2
5
6
-
2
6
4
,
2
0
1
2
.
[2
6
]
C
.
-
J
.
S
u
n
,
e
t
a
l
.
,
“
Im
p
lem
e
n
tatio
n
of
G
P
S
/INS
n
a
v
ig
a
ti
o
n
sy
ste
m
u
sin
g
lo
w
-
c
o
st
M
EM
S
se
n
s
o
rs,
”
in
2
0
1
0
5
th
IEE
E
Co
n
fer
e
n
c
e
on
In
d
u
stri
a
l
El
e
c
tro
n
ics
a
n
d
A
p
p
li
c
a
ti
o
n
s
,
T
a
ich
u
n
g
,
pp.
1
5
8
8
-
1
5
9
2
,
2
0
1
0
.
[2
7
]
S.
Z.
Ja
m
a
l,
“
T
i
g
h
tl
y
c
o
u
p
led
G
P
S
/INS
a
irb
o
rn
e
n
a
v
ig
a
ti
o
n
sy
ste
m
,
”
IEE
E
Aer
o
sp
a
c
e
a
n
d
El
e
c
tro
n
ic
S
y
ste
ms
M
a
g
a
zin
e
,
v
o
l.
2
7
,
n
o
.
4,
p
p
.
39
-
4
2
,
2
0
1
2
.
[2
8
]
M.
A.
K.
Ja
ra
d
a
t
a
n
d
M.
F.
A
b
d
e
l
-
Ha
f
e
z
,
“
No
n
li
n
e
a
r
A
u
to
re
g
re
ss
iv
e
De
l
a
y
-
De
p
e
n
d
e
n
t
INS/
G
P
S
Na
v
ig
a
ti
o
n
S
y
st
e
m
Us
in
g
Ne
u
ra
l
Ne
t
w
o
rk
s,
”
IEE
E
S
e
n
so
rs
J
o
u
r
n
a
l
,
v
o
l.
1
7
,
n
o
.
4,
p
p
.
1
1
0
5
-
1
1
1
5
,
2
0
1
7
.
[2
9
]
W.
X
in
,
e
t
a
l
,
“
F
a
u
lt
d
e
tec
ti
o
n
a
n
d
d
iag
n
o
sis
in
t
h
e
INS/
G
P
S
n
a
v
ig
a
ti
o
n
s
y
ste
m
,
”
in
2014
W
o
rld
Au
to
ma
ti
o
n
Co
n
g
re
ss
(
W
AC)
,
W
a
ik
o
lo
a
,
HI,
pp.
27
-
32
,
2
0
1
4
.
[3
0
]
J.
Ye
,
P.
M
a
ly
sz
,
a
n
d
A.
Em
a
d
i,
“
A
F
ix
e
d
-
S
w
it
c
h
in
g
-
F
re
q
u
e
n
c
y
In
teg
ra
l
S
li
d
in
g
M
o
d
e
C
u
rre
n
t
Co
n
tro
ll
e
r
f
o
r
S
w
it
c
h
e
d
Re
lu
c
tan
c
e
M
o
to
r
Driv
e
s,
”
IEE
E
J
o
u
rn
a
l
of
Eme
rg
i
n
g
a
n
d
S
e
lec
ted
T
o
p
ics
in
Po
we
r
El
e
c
tro
n
ics
,
v
o
l.
3,
no.
2,
p
p
.
3
8
1
-
3
9
4
,
2
0
1
5
.
[3
1
]
A.
A.
A.
El
g
a
m
m
a
l
a
n
d
M.
F.
El
-
n
a
g
g
a
r,
“
M
OP
S
O
-
b
a
se
d
o
p
t
im
a
l
c
o
n
tro
l
of
sh
u
n
t
a
c
ti
v
e
p
o
w
e
r
f
il
ter
u
sin
g
a
v
a
riab
le
stru
c
tu
re
f
u
z
z
y
lo
g
ic
slid
in
g
m
o
d
e
c
o
n
tro
l
ler
f
o
r
h
y
b
rid
(F
C
-
PV
-
W
in
d
-
Ba
tt
e
ry
)
e
n
e
rg
y
u
ti
li
sa
ti
o
n
sc
h
e
m
e
,
”
IET
Ren
e
wa
b
le
P
o
we
r
Ge
n
e
ra
ti
o
n
,
v
o
l.
1
1
,
no.
8,
p
p
.
1
1
4
8
-
1
1
5
6
,
2
0
1
6
.
[3
2
]
J.
F
e
i,
Y.
T
h
e
Ch
u
a
n
d
S.
Ho
u
,
"A
Ba
c
k
ste
p
p
in
g
Ne
u
ra
l
G
lo
b
a
l
S
li
d
in
g
M
o
d
e
Co
n
tr
o
l
Us
in
g
F
u
z
z
y
A
p
p
ro
x
im
a
to
r
f
o
r
T
h
re
e
-
P
h
a
se
A
c
ti
v
e
P
o
w
e
r
F
il
ter,"
in
IEE
E
Acc
e
ss
,
v
o
l.
5,
p
p
.
1
6
0
2
1
-
1
6
0
3
2
,
2
0
1
7
.
[3
3
]
H.
L
i,
e
t
a
l
.
,
“
Op
ti
m
a
l
G
u
a
ra
n
te
e
d
Co
st
S
li
d
in
g
-
M
o
d
e
Co
n
tro
l
of
In
terv
a
l
Ty
p
e
-
2
F
u
z
z
y
T
i
m
e
-
D
e
la
y
S
y
st
e
m
s,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
on
Fu
zz
y
S
y
st
e
ms
,
v
o
l.
2
6
,
n
o
.
1,
p
p
.
2
4
6
-
2
5
7
,
2
0
1
8
.
[3
4
]
Q.
S
h
e
n
,
P.
S
h
i
a
n
d
Y.
S
h
i,
“
Di
strib
u
te
d
A
d
a
p
ti
v
e
F
u
z
z
y
Co
n
tro
l
f
o
r
No
n
li
n
e
a
r
M
u
lt
iag
e
n
t
S
y
ste
m
s
V
ia
S
li
d
i
n
g
M
o
d
e
O
b
se
rv
e
rs,
”
IEE
E
T
ra
n
s
a
c
ti
o
n
s
on
Cy
b
e
rn
e
ti
c
s
,
v
o
l.
4
6
,
n
o
.
12,
p
p
.
3
0
8
6
-
3
0
9
7
,
2
0
1
6
.
[3
5
]
T.
W
a
n
g
a
n
d
J.
F
e
i,
“
A
d
a
p
ti
v
e
Ne
u
ra
l
Co
n
tro
l
of
A
c
ti
v
e
P
o
w
e
r
F
il
ter
Us
in
g
F
u
z
z
y
S
li
d
in
g
M
o
d
e
C
o
n
tro
ll
e
r,
”
I
EE
E
Acc
e
ss
,
v
o
l.
4,
pp.
6
8
1
6
-
6
8
2
2
,
2
0
1
6
.
[3
6
]
S.
W
e
n
,
M.
Z.
Q.
C
h
e
n
,
Z.
Zen
g
,
X.
Yu
a
n
d
T.
Hu
a
n
g
,
“
F
u
z
z
y
Co
n
tr
o
l
f
o
r
U
n
c
e
rtain
V
e
h
icle
A
c
ti
v
e
S
u
sp
e
n
sio
n
S
y
st
e
m
s
v
i
a
D
y
n
a
m
ic
S
li
d
in
g
-
M
o
d
e
A
p
p
ro
a
c
h
,
”
IE
EE
T
r
a
n
sa
c
ti
o
n
s
on
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s:
S
y
ste
ms
,
v
o
l.
4
7
,
no.
1,
p
p
.
24
-
32,
2
0
1
7
.
[3
7
]
S.
W
e
n
,
M.
Z.
Q.
Ch
e
n
,
Z.
Zen
g
,
T.
Hu
a
n
g
,
a
n
d
C.
L
i,
“
A
d
a
p
ti
v
e
Ne
u
ra
l
-
F
u
z
z
y
S
li
d
in
g
-
M
o
d
e
F
a
u
lt
-
T
o
lera
n
t
Co
n
tr
o
l
f
o
r
Un
c
e
rtain
No
n
li
n
e
a
r
S
y
st
e
m
s,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
on
S
y
ste
ms
,
M
a
n
,
a
n
d
Cy
b
e
rn
e
ti
c
s:
S
y
ste
ms
,
v
o
l.
47,
no.
8,
p
p
.
2
2
6
8
-
2
2
7
8
,
2
0
1
7
.
[3
8
]
M.
Ha
b
b
a
b
,
A
.
Ha
z
z
a
b
,
a
n
d
P
.
S
ica
rd
,
“
Re
a
l
T
i
m
e
I
m
p
le
m
e
n
tatio
n
of
F
u
z
z
y
A
d
a
p
ti
v
e
PI
-
slid
i
n
g
M
o
d
e
Co
n
tro
ll
e
r
f
o
r
In
d
u
c
ti
o
n
M
a
c
h
i
n
e
Co
n
tro
l
,
”
In
ter
n
a
ti
o
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
tri
c
a
l
a
n
d
C
o
mp
u
ter
En
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l.
8,
no.
5
,
p
p
.
2
8
8
3
-
2
8
9
3
,
2
0
1
8
.
[3
9
]
X.
Z
h
a
o
,
e
t
a
l
.
,
“
A
d
a
p
ti
v
e
F
u
z
z
y
Hie
ra
rc
h
ica
l
S
li
d
in
g
-
M
o
d
e
Co
n
t
ro
l
f
o
r
a
Clas
s
of
M
IM
O
No
n
li
n
e
a
r
T
i
m
e
-
De
la
y
S
y
st
e
m
s
w
it
h
In
p
u
t
S
a
t
u
ra
ti
o
n
,
”
I
EE
E
T
ra
n
sa
c
ti
o
n
s
on
Fu
zz
y
S
y
ste
ms
,
v
o
l.
2
5
,
n
o
.
5,
p
p
.
1
0
6
2
-
1
0
7
7
,
2
0
1
7
.
[4
0
]
T
.
S
o
m
e
s
wa
ri,
A
.
K
.
T
i
w
a
ri,
a
n
d
R.
Na
g
a
ra
j
,
“
P
ro
b
i
n
g
th
e
e
f
f
ic
a
c
y
of
re
se
a
r
c
h
c
o
n
tri
b
u
ti
o
n
to
w
a
rd
s
f
u
z
z
y
slid
in
g
m
o
d
e
c
o
n
tro
ll
e
r
,
”
i
n
2
0
1
7
I
n
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
on
Circ
u
it
s
,
Co
n
tro
ls,
a
n
d
C
o
mm
u
n
ic
a
ti
o
n
s
(
CCUBE)
,
2
0
1
7
.
[4
1
]
T
.
S
o
m
e
s
w
a
ri
a
n
d
A
.
K.
T
i
w
a
r
i,
“
De
v
e
lo
p
m
e
n
t
of
S
li
d
in
g
M
o
d
e
F
u
z
z
y
Co
n
tro
ll
e
r
f
o
r
A
d
v
a
n
c
e
d
Na
v
i
g
a
ti
o
n
S
y
st
e
m
,
”
De
v
e
lo
p
me
n
t
,
v
o
l
.
6
,
n
o
.
1
,
2
0
1
7.
[4
2
]
X
.
Li
a
n
d
W
.
Zh
a
n
g
,
“
An
a
d
a
p
t
iv
e
fa
u
lt
-
to
lera
n
t
m
u
lt
ise
n
so
r
n
a
v
ig
a
ti
o
n
stra
teg
y
f
o
r
a
u
to
m
a
ted
v
e
h
icle
s
,
”
IEE
E
T
ra
n
sa
c
ti
o
n
s
on
Veh
icu
la
r
T
e
c
h
n
o
lo
g
y
,
v
o
l.
5
9
,
n
o
.
6
,
p
p
.
2
8
1
5
-
2
8
2
9
,
2
0
1
0
.
[4
3
]
F.
Ya
n
g
,
e
t
a
l
.
,
“
P
ra
c
ti
c
a
l
in
teg
ra
ted
n
a
v
ig
a
ti
o
n
f
a
u
lt
d
e
tec
ti
o
n
a
lg
o
rit
h
m
b
a
se
d
on
se
q
u
e
n
ti
a
l
h
y
p
o
t
h
e
sis
tes
ti
n
g
,
”
J
o
u
rn
a
l
of
S
y
ste
ms
En
g
in
e
e
rin
g
a
n
d
E
lec
tro
n
ics
,
v
o
l
.
2
2
,
n
o
.
1
,
p
p
.
146
-
1
4
9
,
2
0
1
1
.
[4
4
]
D.
L
i,
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