I
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t
io
na
l J
o
urna
l o
f
E
lect
rica
l a
nd
Co
m
pu
t
er
E
ng
ineering
(
I
J
E
CE
)
Vo
l.
12
,
No
.
1
,
Feb
r
u
ar
y
20
22
,
p
p
.
285
~
292
I
SS
N:
2088
-
8
7
0
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DOI
: 1
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.
1
1
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.
v
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.
pp
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to
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rts,
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l
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s
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OS)
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e
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e
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P
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d
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e
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e
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t;
in
G
P
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a
h
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h
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h
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ll
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t,
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a
n
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e
u
se
d
a
s
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o
th
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P
OS
a
n
d
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w
it
h
k
e
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e
l
m
o
d
i
fica
ti
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n
s.
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n
th
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d
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tw
o
Li
n
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istri
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b
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P
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rd
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s,
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ly
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m
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p
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o
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m
b
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re
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se
d
to
p
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rf
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th
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trac
k
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tas
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u
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a
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d
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s
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n
d
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n
t
h
is
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y
,
b
o
th
th
e
p
e
rfo
rm
a
n
c
e
o
f
two
d
iffere
n
t
Li
n
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x
d
istri
b
u
ti
o
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s in
r
o
b
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a
p
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li
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s we
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o
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se
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e
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a
n
d
c
o
m
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re
d
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n
two
fo
rm
s,
G
P
OS,
a
n
d
RTOS
.
K
ey
w
o
r
d
s
:
GPOS
Mo
b
ile
r
o
b
o
tics
Mu
lti
-
r
o
b
o
t sy
s
tem
s
Path
p
lan
n
in
g
R
T
OS
T
h
is i
s
a
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o
p
e
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a
c
c
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ss
a
rticle
u
n
d
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r th
e
CC B
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li
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se
.
C
o
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r
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s
p
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nd
ing
A
uth
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r
:
Gö
k
h
an
E
r
d
em
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Dep
ar
tm
en
t o
f
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lectr
ical
an
d
E
lectr
o
n
ics E
n
g
in
ee
r
i
n
g
,
I
s
tan
b
u
l Sab
ah
attin
Z
aim
Un
i
v
er
s
ity
Halk
ali,
Ku
cu
k
ce
k
m
ec
e
,
I
s
tan
b
u
l 3
4
3
0
3
,
T
u
r
k
ey
E
m
ail: g
o
k
h
a
n
.
er
d
e
m
ir
@
izu
.
ed
u
.
tr
1.
I
NT
RO
D
UCT
I
O
N
I
n
r
ec
e
n
t,
al
m
o
s
t
all
o
f
elec
tr
o
n
ic
d
ev
ices
ar
e
d
esig
n
e
d
f
o
r
th
e
d
ev
ices
to
o
p
er
ate
in
d
e
p
en
d
en
tly
f
r
o
m
h
u
m
an
b
ein
g
s
an
d
au
to
n
o
m
o
u
s
ly
h
av
e
o
p
er
atin
g
s
y
s
tem
s
to
p
er
f
o
r
m
a
s
p
ec
if
ic
task
[
1
]
-
[
5
]
.
C
o
m
m
o
n
ly
u
s
ed
o
p
er
atin
g
s
y
s
tem
s
ca
n
b
e
lis
ted
as
an
d
r
o
id
f
o
r
m
o
b
ile
d
ev
ices,
win
d
o
ws
f
o
r
PC
s
,
L
in
u
x
an
d
iOS
f
o
r
b
o
t
h
p
latf
o
r
m
s
.
T
h
e
m
ain
p
u
r
p
o
s
e
o
f
o
p
er
atin
g
s
y
s
tem
s
is
to
u
s
e
th
e
h
ar
d
war
e
m
o
s
t
ef
f
ec
tiv
ely
an
d
also
to
f
u
lf
ill
th
e
task
s
in
th
e
f
astes
t
way
[
6
]
.
On
th
e
o
th
e
r
h
a
n
d
,
o
p
er
atin
g
s
y
s
tem
s
h
av
e
s
o
m
e
d
ep
en
d
e
n
cies
wh
ile
p
er
f
o
r
m
in
g
d
escr
ib
ed
task
s
.
T
h
e
tim
e
i
s
o
n
e
o
f
t
h
e
im
p
o
r
tan
t
d
e
p
en
d
e
n
cies
f
o
r
o
p
er
atin
g
s
y
s
tem
s
.
T
h
e
ca
lcu
latio
n
o
f
th
e
p
r
o
ce
s
s
in
g
t
im
e
is
cr
u
cial
p
ar
am
eter
in
es
p
ec
ially
tim
e
d
ep
en
d
ed
o
n
o
p
e
r
atio
n
s
an
d
task
s
.
I
t
is
an
im
p
o
r
tan
t
p
ar
am
eter
t
h
at
d
eter
m
i
n
es
th
e
p
er
f
o
r
m
a
n
ce
o
f
an
o
p
er
atin
g
s
y
s
tem
an
d
m
i
n
im
izes
th
e
p
o
s
s
ib
ilit
y
o
f
e
r
r
o
r
[
6
]
.
T
h
e
r
ef
o
r
e,
all
o
p
er
atin
g
s
y
s
tem
s
h
av
e
tim
e
d
e
p
en
d
en
cies.
T
wo
d
if
f
e
r
en
t
tim
e
ca
lcu
latio
n
m
eth
o
d
s
h
a
v
e
b
ee
n
u
s
ed
w
h
ich
wer
e
n
am
e
d
b
a
s
ed
o
n
t
h
eir
k
er
n
el
s
tr
u
ct
u
r
es
wh
ich
d
ep
en
d
o
n
o
p
er
atin
g
s
y
s
tem
s
ty
p
e
[
4
]
,
[
7
]
-
[
1
3
]
.
T
h
ese
ar
e
g
e
n
er
al
p
u
r
p
o
s
e
o
p
er
atin
g
s
y
s
tem
(
GP
OS)
an
d
r
ea
l
-
tim
e
o
p
er
atin
g
s
y
s
tem
(
R
T
OS)
.
GPOS
i
s
a
co
m
m
o
n
o
p
er
atin
g
s
y
s
tem
ty
p
e
s
u
ch
as
w
in
d
o
ws,
L
in
u
x
,
an
d
r
o
i
d
.
th
at
is
d
esig
n
ed
to
f
u
lf
ill
p
er
s
o
n
al
u
s
e.
T
h
e
m
ain
p
u
r
p
o
s
e
o
f
GPOS,
wh
ich
is
an
o
p
er
atin
g
s
y
s
tem
d
esig
n
t
h
at
ca
n
b
e
u
s
ed
b
y
ev
er
y
b
o
d
y
,
is
h
ig
h
ef
f
icien
cy
.
E
f
f
icien
cy
is
d
ir
ec
tly
r
elate
d
to
th
e
n
u
m
b
e
r
o
f
task
s
co
m
p
let
ed
p
er
u
n
it c
y
cle.
I
t
m
ea
n
s
th
at
GPO
Ss
m
u
s
t
s
u
p
p
o
r
t m
u
lti
-
task
in
g
[
8
]
,
[
1
4
]
.
On
th
e
o
th
er
h
an
d
,
task
s
ch
ed
u
lin
g
an
d
allo
ca
tio
n
ar
e
p
er
f
o
r
m
ed
with
o
u
t
p
r
io
r
ity
lev
els
o
f
th
e
task
s
in
GPOSs
[
1
5
]
.
I
t
is
p
o
s
s
ib
le
to
ex
ec
u
te
lo
wer
p
r
io
r
ity
task
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
12
,
No
.
1
,
Feb
r
u
ar
y
20
22
:
2
8
5
-
292
286
in
s
tead
o
f
h
ig
h
er
p
r
io
r
ity
task
s
,
p
r
im
ar
ily
.
I
n
th
is
way
,
s
y
s
tem
p
er
f
o
r
m
an
ce
c
an
b
e
in
cr
e
ased
wh
ich
d
ep
e
n
d
s
o
n
th
e
task
-
s
ch
ed
u
lin
g
al
g
o
r
it
h
m
s
.
I
t
m
ea
n
s
th
at
s
y
s
tem
ef
f
i
cien
cy
ca
n
in
cr
ea
s
e
at
th
e
s
am
e
tim
e.
Ho
wev
e
r
,
it
is
p
o
s
s
ib
le
to
o
cc
u
r
d
elay
s
in
p
r
o
ce
s
s
in
g
tim
e
in
GPOS.
T
h
i
s
is
a
to
ler
ab
le
er
r
o
r
,
an
d
it c
a
n
b
e
s
o
lv
ed
b
y
u
s
in
g
ef
f
ec
tiv
e
task
-
s
ch
ed
u
lin
g
a
n
d
allo
ca
tio
n
alg
o
r
ith
m
s
.
B
u
t,
th
i
s
s
itu
atio
n
ca
n
ca
u
s
e
cr
u
cial
e
r
r
o
r
s
if
th
e
task
h
as
tim
e
d
ep
en
d
en
cy
[
4
]
,
[
1
6
]
-
[
1
9
]
.
Fo
r
e
x
am
p
le,
i
n
th
e
o
b
s
tacle
av
o
id
a
n
ce
f
o
r
m
o
b
ile
r
o
b
o
ts
,
wh
en
a
n
o
b
s
tacle
is
d
etec
ted
,
an
o
b
s
tacle
av
o
id
an
ce
task
m
u
s
t
b
e
p
er
f
o
r
m
e
d
s
im
u
ltan
eo
u
s
ly
.
I
t
m
ea
n
s
th
at
th
e
task
m
u
s
t
h
a
v
e
h
ig
h
er
p
r
i
o
r
ity
.
Oth
er
wis
e,
th
e
r
o
b
o
t
m
ay
h
it
th
e
o
b
s
tacle
an
d
an
ac
cid
en
t
o
cc
u
r
s
.
T
h
is
is
an
u
n
d
esira
b
le
an
d
u
n
ex
p
ec
te
d
s
itu
atio
n
.
I
n
o
r
d
er
to
av
o
id
s
u
c
h
an
e
r
r
o
r
,
th
e
task
with
h
ig
h
p
r
io
r
it
y
s
h
o
u
ld
b
e
ex
ec
u
ted
q
u
ick
ly
.
R
T
OSs
h
av
e
b
ee
n
d
esig
n
ed
t
o
s
o
lv
e
h
ig
h
-
tim
e
d
ep
e
n
d
en
c
y
task
s
[
9
]
,
[
1
6
]
,
[
1
7
]
,
[
2
0
]
.
R
T
OSs
ar
e
d
iv
id
ed
in
t
o
th
r
ee
s
u
b
ca
teg
o
r
ies
ac
co
r
d
in
g
to
th
eir
tim
e
d
ep
en
d
en
cy
.
T
h
ese
ar
e
s
o
f
t
r
ea
l
-
ti
m
e,
h
ar
d
r
ea
l
-
tim
e
,
an
d
f
i
r
m
r
ea
l
-
tim
e,
r
esp
ec
tiv
ely
[
3
]
,
[
9
]
,
[
2
1
]
.
T
h
e
task
p
r
o
ce
s
s
in
g
an
d
c
o
m
p
letio
n
ti
m
es
ar
e
a
b
s
o
lu
tely
ce
r
tain
in
R
T
OS
[
2
2
]
.
Sin
ce
th
e
task
th
at
is
p
r
o
ce
s
s
ed
will
f
in
is
h
at
th
e
en
d
o
f
a
p
r
ed
et
er
m
in
ed
m
ax
im
u
m
s
ch
ed
u
lin
g
tim
e,
it
is
ter
m
in
at
ed
o
r
c
o
m
p
leted
i
n
a
ce
r
tain
tim
e
[1
1
]
,
[
2
3
]
.
H
o
wev
er
,
i
n
s
o
m
e
p
o
s
s
ib
le
d
elay
s
,
th
e
r
esp
o
n
s
es
o
f
th
e
s
y
s
tem
a
r
e
v
ar
io
u
s
wh
ich
d
ep
en
d
s
o
n
th
e
ty
p
e
o
f
R
T
OS.
Dela
y
s
ar
e
t
o
ler
a
b
le
in
s
o
f
t
r
ea
l
-
tim
e
s
y
s
tem
s
,
p
o
o
r
ly
to
ler
ab
l
e
in
h
ar
d
r
ea
l
-
tim
e
s
y
s
tem
s
,
an
d
n
o
t
o
ler
an
ce
in
f
i
r
m
r
ea
l
-
tim
e
s
y
s
tem
s
[
1
2
]
,
[
2
4
]
-
[
2
6
]
.
I
f
th
e
task
is
n
o
t
c
o
m
p
leted
o
n
tim
e,
it
is
ter
m
in
ated
o
r
ca
n
ce
le
d
in
f
ir
m
r
ea
l
-
tim
e
s
y
s
tem
s
[
1
2
]
,
[
2
4
]
-
[
2
6
]
.
I
t
is
cr
u
cially
im
p
o
r
tan
t
to
h
av
e
h
ig
h
ly
p
r
ec
is
e
d
ec
is
io
n
ab
ilit
y
f
o
r
au
to
n
o
m
o
u
s
r
o
b
o
t
ap
p
licatio
n
s
in
a
d
y
n
am
ic
a
n
d
u
n
k
n
o
wn
en
v
ir
o
n
m
e
n
t
[
2
7
]
-
[
2
9
]
.
T
h
e
d
ec
i
s
io
n
p
r
o
ce
s
s
is
o
n
e
o
f
th
e
h
ig
h
-
tim
e
d
e
p
en
d
e
n
cy
task
s
,
esp
ec
ially
,
d
etec
tio
n
an
d
id
en
tific
atio
n
o
f
o
b
s
tacle
s
[
2
8
]
,
[
3
0
]
,
[
3
1
]
.
R
T
OSs
ar
e
d
iv
id
ed
in
to
two
ty
p
es
ac
co
r
d
in
g
to
th
eir
c
o
r
e
a
r
ch
itectu
r
es
wh
ich
ar
e
m
o
n
o
li
th
ic
k
er
n
el
an
d
m
icr
o
k
er
n
el
[
3
2
]
-
[
3
5
]
,
as
well.
I
n
a
m
o
n
o
lith
ic
k
er
n
el,
all
p
r
o
ce
s
s
es
in
th
e
o
p
er
atin
g
s
y
s
tem
ar
e
d
ef
in
ed
in
th
e
k
er
n
el.
All
p
r
o
ce
s
s
es
s
u
ch
as
f
ile
m
an
ag
e
m
en
t
a
n
d
n
etwo
r
k
in
g
.
r
u
n
i
n
th
e
k
er
n
el.
On
th
e
o
th
er
h
a
n
d
,
ap
p
licatio
n
s
wo
r
k
o
n
th
e
u
s
er
s
id
e.
T
h
e
d
is
ad
v
a
n
tag
e
o
f
th
i
s
d
esig
n
is
th
e
en
tire
s
y
s
tem
ca
n
b
e
af
f
ec
ted
b
y
an
y
n
eg
ativ
ity
i
n
th
e
k
er
n
el
[
3
2
]
,
[
3
3
]
.
I
n
th
is
s
tr
u
ctu
r
e,
th
e
wh
o
le
k
er
n
el
m
u
s
t
b
e
r
ec
o
m
p
iled
f
o
r
a
ch
a
n
g
e
th
at
ca
n
b
e
p
er
f
o
r
m
e
d
[
3
2
]
,
[
3
3
]
.
A
n
d
,
th
is
p
r
o
ce
s
s
is
a
ca
u
s
e
o
f
th
e
tim
e
lo
s
s
[
3
2
]
,
[
3
3
]
.
T
h
e
wh
o
le
o
p
er
atin
g
s
y
s
tem
p
r
o
ce
s
s
es
wo
r
k
o
n
th
e
u
s
er
s
id
e
in
m
icr
o
k
e
r
n
el
s
y
s
t
em
s
[
3
2
]
-
[
3
4
]
.
All
p
r
o
ce
s
s
es
co
m
m
u
n
icate
with
ea
ch
o
th
er
.
T
h
is
ap
p
r
o
ac
h
in
cr
ea
s
es
th
e
m
ess
ag
e
tr
af
f
ic
a
n
d
d
ec
r
ea
s
es
p
er
f
o
r
m
an
ce
.
B
u
t,
th
e
m
icr
o
k
e
r
n
el
ar
ch
itectu
r
e
is
m
o
r
e
s
ec
u
r
e
th
an
th
e
m
o
n
o
lith
ic
k
e
r
n
el
ar
c
h
i
tectu
r
e.
An
o
cc
u
r
r
e
d
er
r
o
r
d
u
r
in
g
task
-
p
r
o
ce
s
s
in
g
d
o
es n
o
t a
f
f
ec
t th
e
wh
o
le
s
y
s
t
em
.
I
t is n
o
t m
o
r
e
co
m
p
lex
b
e
ca
u
s
e
it c
o
n
tain
s
less
co
d
e
[
3
2
]
-
[
3
4
]
.
I
n
th
is
s
tu
d
y
,
GPOS
an
d
R
T
OS
v
er
s
io
n
s
o
f
U
b
u
n
t
u
an
d
P
ar
d
u
s
wh
ich
ar
e
two
L
in
u
x
d
i
s
tr
ib
u
tio
n
s
wer
e
an
aly
ze
d
to
co
m
p
ar
e
th
eir
p
er
f
o
r
m
a
n
ce
s
o
n
p
ath
p
lan
n
in
g
o
f
th
e
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
.
Mo
r
eo
v
er
,
it
is
p
o
s
s
ib
le
to
co
m
p
ar
e
th
e
p
er
f
o
r
m
an
ce
o
f
r
o
b
o
t
o
p
er
atin
g
s
y
s
tem
(
R
OS
)
o
n
t
h
ese
two
d
is
tr
ib
u
tio
n
s
,
in
th
is
s
tu
d
y
.
R
o
b
o
t
g
r
o
u
p
s
with
d
if
f
er
e
n
t
n
u
m
b
e
r
s
o
f
m
em
b
er
s
wer
e
u
s
ed
to
p
er
f
o
r
m
th
e
p
ath
t
r
ac
k
in
g
task
s
u
s
in
g
b
o
th
Ub
u
n
tu
an
d
Par
d
u
s
as
GPOS
an
d
R
T
OS
to
an
aly
z
e
th
eir
p
er
f
o
r
m
an
ce
in
th
e
t
u
r
tles
im
s
im
u
latio
n
en
v
ir
o
n
m
en
t.
I
n
th
is
way
,
b
o
th
th
e
p
er
f
o
r
m
a
n
ce
o
f
two
d
if
f
er
en
t
L
in
u
x
d
is
tr
ib
u
tio
n
s
in
m
u
lti
-
r
o
b
o
tic
ap
p
licatio
n
s
wer
e
o
b
s
er
v
e
d
a
n
d
c
o
m
p
ar
e
d
.
T
wo
d
if
f
er
e
n
t
p
ath
p
la
n
n
in
g
ca
s
es
wer
e
p
er
f
o
r
m
ed
,
an
d
r
esu
lts
wer
e
d
is
cu
s
s
ed
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
I
n
th
is
s
tu
d
y
,
GPOS a
n
d
R
T
OS w
er
e
in
s
talled
o
n
two
d
if
f
er
en
t
L
in
u
x
d
is
tr
ib
u
tio
n
s
wh
ich
ar
e
Ub
u
n
tu
an
d
Pa
r
d
u
s
,
an
d
s
y
s
tem
p
e
r
f
o
r
m
an
ce
s
wer
e
a
n
aly
ze
d
.
Ub
u
n
tu
is
o
n
e
o
f
th
e
m
o
s
t
p
o
p
u
lar
L
in
u
x
d
is
tr
ib
u
tio
n
with
a
L
in
u
x
k
er
n
el,
u
s
in
g
th
e
D
eb
ian
in
f
r
astru
ctu
r
e
a
n
d
a
r
c
h
itectu
r
e
[
3
6
]
.
T
h
is
o
p
er
atin
g
s
y
s
tem
,
d
is
tr
ib
u
ted
as
o
p
en
-
s
o
u
r
ce
,
h
as
b
ee
n
d
e
v
elo
p
ed
s
in
ce
Octo
b
er
2
0
0
4
an
d
is
cu
r
r
en
tly
th
e
m
o
s
t
p
o
p
u
lar
L
in
u
x
-
b
ased
s
y
s
te
m
[
3
6
]
.
Par
d
u
s
is
an
o
p
e
n
-
s
o
u
r
ce
o
p
e
r
atin
g
s
y
s
tem
d
ev
elo
p
e
d
b
y
Ulak
b
im
an
d
T
ü
b
itak
u
s
in
g
th
e
Deb
ia
n
in
f
r
astru
ctu
r
e.
I
ts
d
is
tr
ib
u
tio
n
s
h
av
e
b
ee
n
o
n
th
e
m
a
r
k
et
s
in
ce
2
0
0
5
[
3
7
]
.
E
x
p
er
im
e
n
t
al
s
tu
d
ies
o
n
th
e
s
im
u
latio
n
h
av
e
b
ee
n
p
er
f
o
r
m
ed
o
n
R
OS.
Alth
o
u
g
h
R
OS i
s
p
er
ce
iv
ed
as a
r
ea
l o
p
er
atin
g
s
y
s
tem
,
it is
ac
tu
ally
s
o
f
twar
e
b
ased
o
n
a
n
o
p
e
r
atin
g
s
y
s
tem
an
d
u
s
ed
f
o
r
r
o
b
o
t
co
n
tr
o
l
[
3
8
]
-
[
4
3
]
.
I
t
is
p
o
s
s
ib
le
to
test
m
o
b
ile
r
o
b
o
ts
in
a
v
ir
tu
al
en
v
ir
o
n
m
en
t
with
th
e
t
u
r
tles
im
p
ac
k
ag
e
in
s
talled
in
th
e
R
O
S
n
o
etic
v
er
s
io
n
.
T
h
e
tu
r
tles
im
p
ac
k
ag
e
is
a
v
is
u
aliza
tio
n
to
o
l
th
at
allo
ws
u
s
t
o
o
b
s
er
v
e
th
e
m
o
v
em
en
ts
o
f
a
v
ir
t
u
al
r
o
b
o
t
b
y
wo
r
k
in
g
o
n
R
OS
v
ia
u
s
er
c
o
d
es
[
3
8
]
-
[
4
0
]
.
R
OS
r
q
t
p
lu
g
in
f
o
r
t
u
r
tle
s
im
was
u
s
ed
as
a
tr
ajec
to
r
y
p
lan
n
in
g
a
p
p
licatio
n
o
f
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
[
4
4
]
.
Fre
e
d
is
tr
ib
u
tio
n
a
n
d
u
s
ag
e
p
e
r
m
is
s
io
n
s
ar
e
g
iv
e
n
in
th
e
licen
s
e
f
ile
in
th
e
ap
p
licatio
n
[
4
5
]
.
T
h
e
t
u
r
tle
s
im
p
lu
g
-
in
in
th
e
r
q
t
o
f
[
4
4
]
,
a
s
elec
ted
p
ictu
r
e
as
a
p
lan
n
ed
p
ath
is
d
r
a
wn
with
th
e
h
elp
o
f
s
war
m
r
o
b
o
ts
.
I
n
d
r
awin
g
th
e
p
ictu
r
e,
th
e
n
u
m
b
er
o
f
r
o
b
o
ts
is
v
ar
io
u
s
ac
co
r
d
in
g
to
th
e
s
ize
an
d
c
o
m
p
lex
ity
o
f
th
e
p
ictu
r
e
[
4
4
]
.
I
n
ca
s
e
s
tu
d
i
es,
th
e
co
m
p
u
ter
w
h
ich
h
as
a
n
I
n
tel
Ato
m
®
N2
6
0
0
1
.
6
G
h
z
p
r
o
ce
s
s
o
r
,
2
GB
DDR3
R
AM
,
5
0
0
GB
h
ar
d
d
is
k
was u
s
ed
.
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
-
8
7
0
8
P
erfo
r
ma
n
ce
a
n
a
lysi
s
o
f rea
l
-
time
a
n
d
g
e
n
era
l
-
p
u
r
p
o
s
e
o
p
er
a
tin
g
s
ystems
…
(
S
eç
kin
C
a
n
b
a
z
)
287
3.
E
XP
E
R
I
M
E
N
T
A
L
ST
UDI
E
S
All
ex
p
er
im
en
tal
s
tu
d
ies
wer
e
d
esig
n
ed
f
o
r
p
ath
p
lan
n
in
g
an
d
f
o
r
m
atio
n
co
n
t
r
o
l
o
f
m
u
lti
-
r
o
b
o
t
s
y
s
tem
.
Of
f
icial
lo
g
o
s
o
f
o
p
er
atin
g
s
y
s
tem
s
wer
e
u
s
ed
.
I
n
all
ca
s
e
s
tu
d
ies,
[
4
4
]
wer
e
u
s
ed
to
d
r
aw
r
o
b
o
ts
'
s
p
ath
s
.
3
.
1
.
E
x
perim
ent
1
d
ra
w
a
p
a
t
h us
ing
P
a
rdus
lo
g
o
I
n
th
is
ex
p
er
im
en
t,
P
ar
d
u
s
l
o
g
o
was
d
r
awn
as
s
im
p
le
p
at
h
p
l
an
n
in
g
u
s
in
g
[
4
4
]
.
Par
d
u
s
GPOS
-
R
T
OS
an
d
U
b
u
n
tu
GPOS
-
R
T
OS
o
p
er
atin
g
s
y
s
tem
s
wer
e
u
s
ed
with
th
e
s
am
e
p
ar
am
eter
s
.
T
h
e
r
esu
lts
wer
e
r
ec
o
r
d
ed
,
an
d
p
e
r
f
o
r
m
an
ce
co
m
p
ar
is
o
n
was
p
er
f
o
r
m
e
d
.
I
n
Fig
u
r
e
1
,
Par
d
u
s
o
f
f
icial
lo
g
o
an
d
s
e
lecte
d
p
ath
s
wer
e
s
h
o
wn
,
s
ep
ar
ately
.
T
h
e
co
d
e
was
r
u
n
with
its
d
ef
au
lt
s
ettin
g
s
with
o
u
t
ch
an
g
in
g
an
d
th
e
s
am
e
s
h
ap
e
was
d
r
awn
in
4
d
if
f
er
e
n
t
o
p
e
r
atin
g
s
y
s
tem
s
.
I
n
Fig
u
r
e
2
,
d
r
awi
n
g
p
at
h
s
b
y
r
o
b
o
ts
ar
e
s
h
o
wn
b
y
u
s
in
g
tu
r
tles
im
.
T
h
u
s
,
p
r
o
ce
s
s
o
r
u
s
ag
e
an
d
p
r
o
ce
s
s
in
g
tim
e
o
n
th
e
tu
r
tles
im
wer
e
m
ea
s
u
r
ed
a
n
d
r
ec
o
r
d
ed
in
th
e
d
ata
ta
b
le.
R
esu
lts
wer
e
p
r
esen
ted
in
Fig
u
r
e
3
,
s
ep
ar
ately
.
Acc
o
r
d
in
g
t
o
r
esu
lts
wh
ich
wer
e
s
h
o
wn
i
n
Fig
u
r
e
3
,
c
e
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
(
C
PU
)
u
s
ag
e
is
lo
wer
an
d
p
r
o
ce
s
s
in
g
tim
e
is
s
h
o
r
ter
th
an
o
th
er
o
p
er
a
tin
g
s
y
s
tem
s
wh
en
U
b
u
n
tu
GPOS
was
u
s
ed
.
On
t
h
e
o
th
er
h
an
d
,
lo
w
C
PU
u
s
ag
e
o
f
R
T
OSs
wer
e
o
b
s
er
v
ed
th
an
GPOS
v
er
s
io
n
s
,
in
Fig
u
r
e
3
,
as we
ll.
Fig
u
r
e
1
.
Par
d
u
s
lo
g
o
an
d
r
q
t
t
u
r
tles
im
v
iew
Fig
u
r
e
2
.
Dr
awin
g
Pad
u
s
lo
g
o
p
ath
r
esu
lt d
r
awn
u
s
in
g
tu
r
tles
im
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
12
,
No
.
1
,
Feb
r
u
ar
y
20
22
:
2
8
5
-
292
288
Fig
u
r
e
3
.
Pro
ce
s
s
o
r
u
s
ag
e
g
r
a
p
h
s
f
o
r
e
x
p
er
im
e
n
t 1
3.
2
.
E
x
perim
ent
2
dra
w
a
p
a
t
h us
ing
Ubu
ntu
-
L
i
nu
x
lo
g
o
I
n
th
is
e
x
p
er
im
e
n
t,
U
b
u
n
tu
-
L
in
u
x
lo
g
o
was
d
r
awn
as
s
im
p
le
p
at
h
p
lan
n
in
g
u
s
in
g
[
4
4
]
.
Par
d
u
s
GPOS
-
R
T
OS
an
d
Ub
u
n
tu
GP
OS
-
R
T
OS
o
p
er
atin
g
s
y
s
tem
s
wer
e
u
s
ed
with
th
e
s
am
e
p
a
r
a
m
eter
s
.
T
h
e
r
esu
lts
wer
e
r
ec
o
r
d
ed
,
a
n
d
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
was
p
e
r
f
o
r
m
ed
.
I
n
Fig
u
r
e
4
,
U
b
u
n
tu
-
L
in
u
x
o
f
f
icial
lo
g
o
an
d
s
elec
ted
p
ath
s
wer
e
s
h
o
wn
,
s
e
p
ar
ately
.
T
h
e
co
d
e
was
r
u
n
w
ith
its
d
ef
au
lt
s
et
tin
g
s
with
o
u
t
ch
an
g
in
g
an
d
th
e
s
am
e
s
h
ap
e
was
d
r
aw
n
in
4
d
if
f
er
en
t
o
p
er
atin
g
s
y
s
tem
s
.
I
n
Fig
u
r
e
5
,
d
r
awin
g
p
ath
s
b
y
r
o
b
o
ts
ar
e
s
h
o
wn
b
y
u
s
in
g
tu
r
tles
im
.
T
h
u
s
,
p
r
o
ce
s
s
o
r
u
s
ag
e
an
d
p
r
o
ce
s
s
in
g
tim
e
o
n
th
e
tu
r
tl
esim
wer
e
m
ea
s
u
r
ed
an
d
r
ec
o
r
d
e
d
i
n
th
e
d
ata
tab
le.
R
esu
lts
wer
e
p
r
esen
ted
in
Fig
u
r
e
6
,
s
ep
ar
a
tely
.
Acc
o
r
d
in
g
to
r
esu
lts
wh
ich
wer
e
s
h
o
wn
in
Fig
u
r
e
6
,
C
PU
u
s
ag
e
i
s
lo
we
r
an
d
p
r
o
ce
s
s
in
g
tim
e
is
s
h
o
r
ter
th
an
o
th
er
o
p
er
atin
g
s
y
s
tem
s
wh
en
Ub
u
n
tu
GPOS
wa
s
u
s
ed
.
On
th
e
o
th
er
h
an
d
,
lo
w
C
PU
u
s
ag
e
o
f
R
T
OSs
wer
e
o
b
s
er
v
ed
th
an
GPOS
v
er
s
io
n
s
,
in
Fig
u
r
e
6
.
L
o
w
C
PU
u
s
ag
e
o
f
R
T
OS
was
o
b
s
er
v
ed
in
b
o
th
ex
p
e
r
im
en
ts
.
W
e
ca
n
s
ay
th
at
th
e
m
ain
r
ea
s
o
n
f
o
r
th
is
is
th
at
th
e
lo
n
g
p
r
o
ce
s
s
es a
r
e
ter
m
in
ated
an
d
th
e
o
th
e
r
p
r
o
ce
s
s
is
ex
e
cu
ted
,
in
R
T
OS.
Fig
u
r
e
4
.
Ub
u
n
tu
-
L
in
u
x
lo
g
o
an
d
r
q
t t
u
r
tles
im
v
iew
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
-
8
7
0
8
P
erfo
r
ma
n
ce
a
n
a
lysi
s
o
f rea
l
-
time
a
n
d
g
e
n
era
l
-
p
u
r
p
o
s
e
o
p
er
a
tin
g
s
ystems
…
(
S
eç
kin
C
a
n
b
a
z
)
289
Fig
u
r
e
5
.
D
r
awin
g
Ub
u
n
tu
-
L
i
n
u
x
lo
g
o
p
at
h
r
esu
lt d
r
aw
n
u
s
in
g
tu
r
tles
im
Fig
u
r
e
6
.
Pro
ce
s
s
o
r
u
s
ag
e
g
r
a
p
h
s
f
o
r
e
x
p
er
im
e
n
t 2
4.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
N
I
n
ex
p
er
im
e
n
t
1
an
d
2
,
co
m
p
lex
tr
ajec
to
r
y
tr
ac
k
in
g
an
d
f
o
r
m
atio
n
co
n
tr
o
l
f
o
r
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
wer
e
p
er
f
o
r
m
e
d
b
y
u
s
in
g
[
4
4
]
o
n
all
o
p
er
atin
g
s
y
s
tem
s
.
T
h
e
p
r
o
ce
s
s
in
g
tim
es
f
o
r
ea
ch
o
p
er
atin
g
s
y
s
tem
ar
e
p
r
esen
ted
in
T
ab
le
1
.
As
ca
n
b
e
s
ee
n
f
r
o
m
th
e
r
esu
lts
in
T
ab
le
1
,
in
th
e
co
m
p
ar
is
o
n
o
f
R
T
OS
an
d
GPOS,
GPOS
s
g
iv
e
b
etter
r
esu
lts
th
a
n
R
T
OS
in
p
r
o
ce
s
s
in
g
tim
e.
T
h
e
m
ain
r
ea
s
o
n
f
o
r
th
is
is
wh
il
e
d
r
awin
g
a
p
ictu
r
e
in
GPOS,
wh
en
ea
ch
r
o
b
o
t'
s
task
is
f
in
is
h
ed
d
u
r
in
g
d
r
awi
n
g
,
th
e
o
p
er
atin
g
s
y
s
tem
r
ea
d
s
th
e
v
alu
e
an
d
th
e
p
r
o
ce
s
s
o
f
th
e
n
ex
t
r
o
b
o
t
b
eg
in
s
.
B
u
t
b
ef
o
r
e
b
eg
in
n
in
g
o
f
th
e
p
r
o
ce
s
s
in
R
T
OS,
th
e
b
eg
in
n
in
g
an
d
en
d
in
g
tim
es
o
f
th
e
p
r
o
ce
s
s
is
d
eter
m
in
ed
.
I
f
t
h
e
p
r
o
ce
s
s
in
g
tim
e
is
s
et
as
1
0
0
m
illi
s
ec
o
n
d
s
f
o
r
ea
ch
p
r
o
ce
s
s
,
ev
en
if
r
o
b
o
t
co
m
p
letes
its
task
b
ef
o
r
e
1
0
0
m
illi
s
ec
o
n
d
s
,
th
e
r
eso
u
r
ce
s
will
b
e
av
ailab
le
f
o
r
th
e
o
th
er
r
o
b
o
t
at
th
e
en
d
o
f
th
e
1
0
0
m
illi
s
ec
o
n
d
s
.
Alth
o
u
g
h
,
th
is
s
itu
atio
n
in
cr
ea
s
es
s
y
s
tem
s
ec
u
r
ity
an
d
r
ed
u
ce
s
th
e
m
ar
g
in
o
f
e
r
r
o
r
,
it
ca
u
s
es d
elay
s
in
p
r
o
ce
s
s
in
g
ti
m
es a
s
it e
x
ten
d
s
th
e
p
r
o
ce
s
s
in
g
tim
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
12
,
No
.
1
,
Feb
r
u
ar
y
20
22
:
2
8
5
-
292
290
T
ab
le
1
.
T
h
e
p
r
o
ce
s
s
in
g
tim
es f
o
r
ea
ch
o
p
er
atin
g
s
y
s
tem
(
m
il
lis
ec
o
n
d
s
)
Ex
p
e
r
i
m
e
n
t
U
b
u
n
t
u
P
a
r
d
u
s
G
P
O
S
R
TO
S
G
P
O
S
R
TO
S
1
6
1
.
8
9
0
6
8
.
9
4
0
7
6
.
7
0
0
7
8
0
0
0
2
4
8
.
1
3
0
4
9
.
9
6
0
5
7
.
1
6
0
5
8
.
2
1
0
As
a
r
esu
lt
o
f
th
is
ap
p
licatio
n
,
th
er
e
ar
e
two
r
esu
lts
th
at
ca
n
b
e
o
b
s
er
v
ed
clea
r
l
y
in
th
e
p
e
r
f
o
r
m
a
n
ce
ev
alu
atio
n
o
f
m
u
lti
-
r
o
b
o
ts
in
p
ath
p
lan
n
in
g
an
d
f
o
r
m
atio
n
co
n
tr
o
l.
T
h
e
f
ir
s
t
o
n
e
is
,
GP
OSs
co
m
p
leted
th
eir
task
ea
r
lier
th
an
R
T
OSs
in
t
wo
d
if
f
er
en
t
o
p
er
a
tin
g
s
y
s
tem
s
.
T
h
e
s
ec
o
n
d
o
n
e
is
,
U
b
u
n
tu
GPOS
an
d
R
T
OS
co
m
p
leted
p
r
o
ce
s
s
es
f
aster
th
an
P
ar
d
u
s
with
lim
ited
r
eso
u
r
ce
s
.
At
th
e
s
am
e
tim
e,
it
h
as
b
ee
n
o
b
s
er
v
e
d
th
at
all
o
p
er
atin
g
s
y
s
tem
s
co
m
p
leted
t
h
eir
task
s
with
o
u
t a
n
y
p
r
o
b
le
m
s
.
5.
CO
NCLU
SI
O
N
I
n
th
is
s
tu
d
y
,
o
p
e
n
-
s
o
u
r
ce
o
p
e
r
atin
g
s
y
s
tem
s
,
Ub
u
n
tu
an
d
Par
d
u
s
,
wer
e
u
s
ed
as
o
p
e
r
atin
g
s
y
s
tem
s
in
o
r
d
er
to
f
r
ee
ly
m
o
d
if
y
in
th
e
co
r
e
co
d
es
an
d
s
tr
u
ctu
r
e
.
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h
e
m
ain
aim
o
f
th
is
s
tu
d
y
is
to
o
b
s
er
v
e
a
n
d
to
co
m
p
ar
e
u
s
ab
ilit
y
o
f
R
T
OS
an
d
GPOS
in
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
.
R
T
OSs
wer
e
co
m
p
leted
t
ask
s
later
th
an
th
e
GPOS
s
as
ex
p
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ted
.
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ec
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s
e,
ev
en
if
th
e
p
r
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ce
s
s
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wer
e
c
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m
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leted
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o
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atin
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s
y
s
te
m
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ea
d
th
e
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alu
e
at
th
e
en
d
o
f
th
e
ex
ac
t
p
r
o
ce
s
s
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g
tim
e
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eter
m
in
e
d
f
o
r
th
e
p
r
o
ce
s
s
es.
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h
e
r
esu
lts
v
ar
y
d
u
e
to
th
e
s
tr
u
ctu
r
al
f
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tu
r
es
o
f
t
h
e
o
p
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atin
g
s
y
s
tem
s
.
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h
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ch
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o
s
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g
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n
o
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atin
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tem
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o
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t
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m
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ap
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s
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ch
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o
s
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ail
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e
co
n
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itio
n
s
,
p
r
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s
s
s
ec
u
r
ity
,
p
r
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ce
s
s
in
g
tim
e
s
p
ee
d
s
s
h
o
u
ld
b
e
tak
en
i
n
to
co
n
s
id
er
atio
n
.
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d
ef
i
n
ed
p
r
o
c
ess
is
ter
m
in
ated
o
r
co
m
p
lete
d
at
ce
r
tain
tim
e
wh
e
n
a
p
r
o
c
ess
r
u
n
o
n
R
T
OS.
T
h
is
is
v
er
y
im
p
o
r
tan
t
f
ea
tu
r
e
,
if
r
o
b
o
t
is
u
s
ed
i
n
tim
e
d
ep
e
n
d
en
cy
ap
p
licatio
n
s
.
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ce
th
e
p
r
o
ce
s
s
in
g
tim
es
ar
e
clea
r
ly
d
ef
in
ed
,
th
at
task
is
ca
n
ce
led
in
th
e
d
elay
th
at
o
cc
u
r
s
in
a
task
an
d
th
e
wh
o
le
s
y
s
tem
is
n
o
t a
f
f
ec
ted
b
y
an
er
r
o
r
t
h
at
o
cc
u
r
s
an
d
th
e
s
y
s
tem
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em
ain
s
aliv
e.
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d
R
T
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e
co
m
p
a
r
ed
f
o
r
p
ath
p
lan
n
in
g
a
n
d
f
o
r
m
atio
n
c
o
n
tr
o
l
o
f
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
u
s
in
g
two
d
if
f
er
en
t
L
in
u
x
d
is
tr
ib
u
tio
n
s
.
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o
r
d
in
g
to
th
e
ex
p
er
im
en
tal
r
esu
lts
,
it
was
s
ee
n
th
at
GPOS
co
n
clu
d
ed
all
d
ef
in
ed
task
f
aster
th
an
R
T
OS.
GPO
S
ca
n
b
e
p
r
ef
er
r
e
d
in
a
way
th
at
p
er
f
o
r
m
an
ce
is
i
n
th
e
f
o
r
eg
r
o
u
n
d
i
n
s
tu
d
ies
to
b
e
ca
r
r
ie
d
o
u
t
i
n
th
e
f
ield
o
f
m
u
lti
-
r
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b
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tic
s
y
s
tem
s
.
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f
th
e
task
h
a
s
tim
e
d
ep
e
n
d
en
c
y
o
r
th
e
task
r
eq
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ir
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tai
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ti
m
e,
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tely
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ted
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tan
b
u
l
Sab
ah
attin
Z
aim
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ity
Scien
tific
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: BAP
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3
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P
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ma
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a
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[
4
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.
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a
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s
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s,"
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t
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.
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n
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G
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.
[
5
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H
.
P
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s
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d
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s,
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V
i
l
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,
D
.
R
a
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M
.
M
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z
,
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x
-
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6
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A
.
M
u
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k
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,
V
.
P
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a
k
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h
,
a
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T
.
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g
n
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sw
a
r
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n
,
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P
e
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ma
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s
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f
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me
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m
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p
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d
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.
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7
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.
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[
8
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.
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[
9
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S
.
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s
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