I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
13
,
No
.
4
,
Dec
em
b
er
20
24
,
p
p
.
3
7
3
~
3
7
9
I
SS
N:
2722
-
2
5
8
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,
DOI
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.
1
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1
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v
13
i
4
.
pp
3
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379
373
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p
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e
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e
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h
a
n
ism
s
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n
d
is
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iv
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d
in
to
t
wo
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n
it
s
:
th
e
r
o
b
o
t
a
n
d
th
e
sta
ti
c
u
n
it
.
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e
ro
b
o
t
is
e
q
u
ip
p
e
d
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t
h
re
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flam
e
se
n
so
rs
to
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e
tec
t
flam
e
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(in
fra
re
d
ra
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iatio
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)
i
n
th
re
e
d
irec
ti
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s,
a
n
u
lt
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se
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so
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to
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u
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it
,
a
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iv
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o
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se
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g
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o
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.
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e
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a
s
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r
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rs
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d
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sm
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ter
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t
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sm
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a
ls
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e
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,
w
h
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e
l
p
s
p
re
v
e
n
t
t
h
e
e
sc
a
latio
n
o
f
fires
in
th
e
h
o
m
e
a
s
it
c
a
n
d
e
tec
t,
n
a
v
ig
a
te
a
n
d
e
x
ti
n
g
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ish
flam
e
s wh
il
e
a
v
o
id
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n
g
o
b
sta
c
les
a
u
to
n
o
m
o
u
sly
.
K
ey
w
o
r
d
s
:
Ar
d
u
in
o
Ma
g
n
eto
m
eter
Mic
r
o
co
n
tr
o
ller
R
o
b
o
t
Ultr
aso
n
ic
s
en
s
o
r
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ad
ek
u
n
le
T
a
o
f
ee
k
O
y
elam
i
Dep
ar
tm
en
t o
f
Me
ch
atr
o
n
ics E
n
g
in
ee
r
in
g
,
Fed
er
al
Un
i
v
er
s
ity
o
f
Ag
r
ic
u
ltu
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e
Ab
eo
k
u
ta,
Nig
e
r
ia
E
m
ail: o
y
elam
iat@
f
u
n
aa
b
.
ed
u
.
n
g
1.
I
NT
RO
D
UCT
I
O
N
Fire
is
a
ch
em
ical
r
ea
ctio
n
t
h
a
t
p
r
o
d
u
ce
s
h
ea
t
an
d
lig
h
t
as
it
co
n
s
u
m
es
a
f
u
el
s
o
u
r
ce
in
th
e
p
r
esen
ce
o
f
o
x
y
g
e
n
.
A
f
ir
ef
ig
h
ter
ca
n
b
e
s
im
p
ly
p
u
t
as
a
p
er
s
o
n
wh
o
p
u
ts
o
u
t f
ir
es,
u
tili
zin
g
to
o
ls
w
ith
th
e
ca
p
a
b
ilit
y
to
ex
tin
g
u
is
h
a
n
d
c
o
n
tain
f
ir
es,
th
er
eb
y
p
r
ev
en
tin
g
th
e
lo
s
s
o
f
liv
es
an
d
p
r
o
p
er
ties
[
1
]
.
Fire
f
ig
h
tin
g
is
a
p
h
y
s
ically
d
em
an
d
i
n
g
,
cr
itica
l,
an
d
h
az
ar
d
o
u
s
task
th
at
o
f
ten
p
u
ts
th
e
f
ir
ef
ig
h
ter
'
s
liv
es
at
r
is
k
[
2
]
–
[
4
]
.
Ad
v
an
ce
s
in
tech
n
o
lo
g
y
h
a
v
e
m
ad
e
f
ir
e
f
ig
h
tin
g
ea
s
ier
,
b
r
id
g
in
g
th
e
g
ap
b
etwe
en
f
ir
e
f
ig
h
tin
g
an
d
m
ac
h
in
es,
th
er
eb
y
c
r
ea
tin
g
a
m
o
r
e
ef
f
icien
t a
n
d
ef
f
ec
tiv
e
m
eth
o
d
o
f
f
ir
e
f
ig
h
tin
g
[
5
]
–
[
7
]
.
A
r
o
b
o
t
is
an
au
to
m
ated
in
te
llig
en
t
m
ec
h
an
ical
b
ein
g
,
i.e
.
a
m
ac
h
in
e
d
esig
n
ed
to
b
eh
a
v
e
lik
e
a
h
u
m
an
o
r
o
th
e
r
elem
en
ts
to
ca
r
r
y
o
u
t
co
m
p
lex
task
s
b
y
m
o
v
in
g
p
h
y
s
ically
af
ter
b
ein
g
p
r
o
g
r
am
m
ed
[
8
]
–
[
1
1
]
.
Oy
elam
i
et
a
l
.
[
1
2
]
d
is
cu
s
s
ed
th
e
s
ig
n
if
ican
t
r
is
e
in
r
o
b
o
t
u
s
ag
e
ac
r
o
s
s
s
ev
er
al
f
ield
s
.
R
o
b
o
ts
ca
n
b
e
d
iv
id
e
d
in
to
v
ar
io
u
s
g
r
o
u
p
s
,
with
s
o
m
e
g
r
o
u
p
ed
b
ased
o
n
th
e
m
o
d
e
o
f
o
p
er
atio
n
.
T
h
ese
in
cl
u
d
e
An
d
r
o
id
r
o
b
o
ts
,
wh
ich
ar
e
d
esig
n
ed
t
o
ac
t
lik
e
h
u
m
a
n
s
an
d
m
im
ic
th
eir
ac
tio
n
s
,
an
d
a
u
to
n
o
m
o
u
s
r
o
b
o
ts
,
wh
ich
ar
e
ca
p
ab
le
o
f
ac
tin
g
o
n
th
eir
o
wn
o
r
in
d
ep
e
n
d
en
tly
[
1
3
]
–
[
1
5
]
.
Mo
b
ile
r
o
b
o
ts
,
u
n
lik
e
f
ix
ed
r
o
b
o
ts
,
h
a
v
e
a
m
o
v
ab
le
b
ase
an
d
ca
n
n
av
ig
ate
u
s
in
g
i
n
s
tr
u
ctio
n
s
f
r
o
m
h
u
m
a
n
b
ein
g
s
.
T
ele
-
r
o
b
o
ts
an
d
T
elep
r
esen
ce
r
o
b
o
ts
ar
e
q
u
ite
s
im
ilar
in
o
p
er
atio
n
,
th
e
tech
n
ical
d
if
f
er
en
ce
b
etwe
en
th
em
is
th
at
th
e
latter
g
iv
es
f
ee
d
b
ac
k
in
d
ig
ital
f
o
r
m
ats
lik
e
a
v
id
eo
,
s
o
u
n
d
clip
,
an
d
o
th
er
m
ed
ia
d
ata.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
13
,
No
.
4
,
Dec
em
b
er
20
24
:
3
7
3
-
3
7
9
374
T
h
e
m
ain
ch
allen
g
es
f
o
r
th
e
d
ev
elo
p
m
en
t
o
f
au
to
n
o
m
o
u
s
walk
in
g
r
o
b
o
ts
as
s
u
m
m
ar
ized
b
y
No
n
am
i
et
a
l
.
[
1
6
]
a
r
e
i)
t
h
e
n
ee
d
f
o
r
en
er
g
y
-
ef
f
icien
t
ac
tu
ato
r
s
wit
h
o
p
tim
al
weig
h
t
-
to
-
to
r
q
u
e
an
d
v
o
lu
m
e
-
to
-
to
r
q
u
e
r
atio
s
;
ii)
th
e
av
ailab
ilit
y
o
f
r
eliab
le
an
d
ec
o
n
o
m
ical
s
en
s
o
r
s
;
iii)
th
e
u
s
e
o
f
lig
h
tweig
h
t
b
u
t
m
ec
h
a
n
ically
s
tr
o
n
g
m
ater
ials
f
o
r
co
n
s
tr
u
c
tio
n
;
iv
)
th
e
r
eq
u
ir
em
en
t
f
o
r
s
m
all
b
u
t
h
ig
h
co
m
p
u
tin
g
p
o
wer
in
o
n
b
o
ar
d
co
m
p
u
ter
s
; a
n
d
v
)
T
h
e
n
ec
ess
ity
o
f
lig
h
tweig
h
t p
o
wer
s
o
u
r
ce
s
f
o
r
ex
ten
d
ed
o
p
er
atio
n
al
d
u
r
atio
n
.
An
au
to
n
o
m
o
u
s
f
ir
ef
ig
h
tin
g
r
o
b
o
t
is
n
o
t
en
tire
ly
n
ew,
r
esear
ch
w
o
r
k
s
h
a
v
e
s
h
o
wn
p
r
o
g
r
ess
u
s
in
g
d
if
f
e
r
en
t
tech
n
o
lo
g
ies,
b
u
t
also
with
n
o
ta
b
le
co
n
s
tr
ai
n
ts
.
T
h
e
d
ev
el
o
p
m
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t
o
f
a
f
ir
ef
ig
h
tin
g
r
o
b
o
t
b
y
Alif
f
et
a
l
.
[
8
]
u
s
es
Ar
d
u
in
o
Un
o
as
its
m
icr
o
co
n
tr
o
ller
e
q
u
ip
p
e
d
with
a
web
ca
m
f
o
r
v
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u
al
f
ee
d
b
ac
k
,
a
n
u
ltra
s
o
n
ic
s
en
s
o
r
f
o
r
o
b
s
tacle
av
o
id
an
ce
,
a
f
lam
e
s
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s
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r
,
a
wate
r
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,
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d
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t
m
o
to
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a
n
d
also
a
tr
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s
m
itter
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em
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co
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tr
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f
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co
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o
llin
g
th
e
r
o
b
o
t r
em
o
tely
.
T
h
e
r
o
b
o
t h
as a
lim
ited
f
lam
e
s
en
s
in
g
r
an
g
e
o
f
4
0
cm
wh
ic
h
ca
n
b
e
m
a
n
u
ally
m
o
n
ito
r
ed
b
y
u
s
in
g
a
c
am
er
a
th
at
co
n
n
ec
ts
to
a
s
m
ar
tp
h
o
n
e
o
r
r
em
o
te
d
ev
ices
an
d
co
n
tr
o
ls
it
to
th
e
s
ite
o
f
th
e
f
lam
e.
Ar
c
h
an
a
a
n
d
Su
m
a
[
5
]
i
n
co
r
p
o
r
ated
an
L
M3
5
tem
p
er
atu
r
e
s
en
s
o
r
,
with
th
e
m
ajo
r
lim
itatio
n
to
th
e
d
esig
n
b
ein
g
th
e
s
en
s
in
g
r
an
g
e.
T
h
e
in
tellig
en
t
wir
eless
f
ir
e
ex
tin
g
u
is
h
in
g
r
o
b
o
t
by
I
s
lam
et
a
l
.
[
9
]
,
h
o
wev
er
,
to
o
k
ad
v
an
tag
e
o
f
th
e
I
n
ter
n
et
o
f
T
h
in
g
s
to
m
ak
e
an
in
ter
n
et
-
co
n
tr
o
lled
r
o
b
o
t.
I
t
u
s
es
Ar
d
u
in
o
Un
o
to
c
o
n
tr
o
l
t
h
e
r
o
b
o
t,
an
d
Ar
d
u
in
o
Yu
n
h
as
b
u
ilt
-
in
E
th
er
n
et
an
d
W
i
-
Fi
f
o
r
ex
ter
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al
co
m
m
u
n
icatio
n
a
n
d
v
id
eo
f
ee
d
b
ac
k
th
r
o
u
g
h
th
e
web
ca
m
.
T
h
e
r
e
w
as
also
an
in
s
tan
ce
o
f
u
tili
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n
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o
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p
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ed
to
an
A
r
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in
o
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n
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o
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m
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is
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n
tr
o
l
o
f
th
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r
o
b
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s
m
o
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an
d
r
esp
o
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s
es,
as we
ll a
s
m
o
r
e
ac
cu
r
ate
f
ir
e
ex
tin
g
u
is
h
in
g
ca
p
ab
ilit
ies
[
1
4
]
.
I
t
ca
n
b
e
n
o
te
d
th
at
th
e
d
esig
n
s
m
en
tio
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ed
ab
o
v
e
f
ea
tu
r
e
d
lim
ited
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lam
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en
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in
g
r
an
g
e,
w
h
ile
o
th
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s
r
elied
o
n
r
em
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te
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n
tr
o
l o
r
in
t
er
n
et
co
n
n
ec
tiv
ity
,
wh
ic
h
m
ay
n
o
t b
e
p
r
ac
tical
in
all
f
ir
ef
ig
h
t
in
g
s
ce
n
ar
io
s
.
T
h
is
p
r
o
ject
ad
d
r
ess
es
th
ese
lim
itat
io
n
s
b
y
d
e
v
elo
p
in
g
an
a
u
to
n
o
m
o
u
s
f
ir
ef
ig
h
tin
g
r
o
b
o
t
with
a
n
ex
ten
d
e
d
s
en
s
in
g
r
an
g
e
an
d
en
h
an
ce
d
au
t
o
n
o
m
o
u
s
ca
p
ab
ilit
ies.
T
h
e
p
r
o
p
o
s
e
d
s
o
lu
tio
n
in
clu
d
es
a
s
tatic
s
e
n
s
in
g
u
n
it
eq
u
ip
p
e
d
with
m
u
ltip
le
f
lam
e
s
en
s
o
r
s
a
n
d
a
tr
an
s
m
itter
to
r
elay
f
ir
e
lo
ca
tio
n
in
f
o
r
m
atio
n
to
th
e
r
o
b
o
t.
T
h
e
r
o
b
o
t its
elf
is
d
esig
n
ed
with
a
p
r
o
p
o
r
tio
n
al
m
o
to
r
c
o
n
tr
o
l
s
y
s
tem
f
o
r
b
i
-
d
ir
ec
tio
n
al
m
o
v
em
en
t,
an
u
l
tr
aso
n
ic
s
en
s
o
r
f
o
r
o
b
s
tacle
av
o
id
an
ce
,
an
d
th
r
ee
in
f
r
ar
ed
f
lam
e
s
en
s
o
r
s
f
o
r
c
o
m
p
r
eh
e
n
s
iv
e
f
ir
e
d
etec
tio
n
.
T
h
ese
co
m
p
o
n
e
n
ts
in
ter
ac
t
with
a
m
icr
o
co
n
t
r
o
ller
th
at
o
p
e
r
ates
a
wate
r
p
u
m
p
to
ex
tin
g
u
is
h
d
etec
ted
f
ir
es
[
1
7
]
,
aim
in
g
to
p
r
o
v
id
e
an
ex
ten
d
e
d
r
an
g
e,
m
o
r
e
ef
f
ec
tiv
e,
an
d
a
u
to
n
o
m
o
u
s
f
ir
e
f
ig
h
t
in
g
s
o
lu
tio
n
.
2.
M
E
T
H
O
D
T
h
e
co
n
s
tr
u
ctio
n
o
f
th
is
p
r
o
je
ct
u
tili
ze
d
s
ev
er
al
k
ey
co
m
p
o
n
en
ts
,
in
clu
d
in
g
th
e
Ar
d
u
in
o
Me
g
a
an
d
Ar
d
u
in
o
Un
o
m
ic
r
o
co
n
tr
o
ller
s
,
f
lam
e
s
en
s
o
r
s
,
s
er
v
o
m
o
to
r
s
,
L
2
9
8
N
m
o
to
r
d
r
i
v
er
,
wate
r
p
u
m
p
,
wate
r
tan
k
,
u
ltra
s
o
n
ic
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en
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o
r
s
,
lith
iu
m
-
i
o
n
b
atter
ies,
4
3
3
MH
z
tr
a
n
s
m
itter
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r
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ei
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a
n
d
th
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QM
C
5
8
8
3
L
m
ag
n
eto
m
eter
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T
h
ese
co
m
p
o
n
en
ts
wer
e
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eticu
lo
u
s
ly
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elec
ted
b
ased
o
n
th
eir
r
eliab
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y
,
co
s
t
-
ef
f
ec
tiv
e
n
ess
,
an
d
co
m
p
atib
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y
with
t
h
e
d
esig
n
s
p
ec
if
icatio
n
s
o
f
th
e
a
u
to
n
o
m
o
u
s
f
ir
ef
ig
h
tin
g
r
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b
o
t.
T
h
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co
m
p
o
n
en
ts
wer
e
f
u
r
th
e
r
d
iv
id
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d
in
to
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n
its
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n
d
m
o
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(
r
o
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2
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1
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t
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a
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p
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d
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o
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f
o
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r
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r
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a
4
3
3
MH
z
tr
an
s
m
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tter
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d
a
p
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u
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ly
.
Fo
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r
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ar
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at
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it
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aid
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r
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b
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ca
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W
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I
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-
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Fig
u
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2
.
R
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ased
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g
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e
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2
9
3
N
m
o
d
u
le
m
o
to
r
d
r
iv
er
b
ased
o
n
th
e
in
f
o
r
m
ati
o
n
r
ec
eiv
ed
f
r
o
m
th
e
f
lam
e,
u
ltra
s
o
n
ic
s
en
s
o
r
,
an
d
r
ad
io
f
r
eq
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en
c
y
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eiv
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.
Flam
e
s
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o
r
s
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e
a
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en
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in
g
r
an
g
e
o
f
a
b
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u
t
1
m
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d
a
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f
6
0
°
th
er
e
b
y
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ak
i
n
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le
to
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m
b
in
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f
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e
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en
s
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to
g
iv
e
a
to
tal
co
v
er
ag
e
an
g
le
o
f
1
8
0
°
[
1
8
]
,
[
1
9
]
.
I
n
th
is
way
,
th
e
s
en
s
o
r
s
n
o
t
o
n
ly
in
cr
ea
s
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en
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itiv
ity
r
an
g
e
b
u
t a
ls
o
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e
r
o
b
o
t so
m
e
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en
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e
o
f
d
ir
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tio
n
; le
f
t,
f
o
r
war
d
,
an
d
r
i
g
h
t.
T
h
e
u
ltra
s
o
n
ic
s
en
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o
r
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p
o
s
iti
o
n
ed
o
n
th
e
c
h
ass
is
at
th
e
f
r
o
n
t
o
f
th
e
r
o
b
o
t.
T
h
e
m
ai
n
f
u
n
c
tio
n
o
f
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
is
to
s
en
s
e
t
h
e
p
r
esen
ce
o
f
o
b
s
tacle
s
in
th
e
r
o
b
o
t
p
at
h
s
[
2
0
]
–
[
2
3
]
.
Ob
s
tacle
s
m
ay
in
clu
d
e
a
wall
o
r
a
s
o
lid
o
b
ject
th
at
th
r
o
ws
th
e
r
o
b
o
t
o
u
t
o
f
b
ala
n
ce
.
I
f
th
e
s
tatic
u
n
it
s
en
s
es
th
e
f
ir
e,
th
e
r
o
b
o
t
p
r
o
ce
ed
s
to
war
d
s
it
in
th
e
d
ir
ec
tio
n
o
f
t
h
e
s
en
s
in
g
s
en
s
o
r
u
s
in
g
its
u
lt
r
aso
n
ic
s
en
s
o
r
to
av
o
id
o
b
s
tacle
s
.
I
t
ex
tin
g
u
is
h
es
it b
y
p
o
wer
i
n
g
th
e
wate
r
p
u
m
p
an
d
s
er
v
o
m
o
t
o
r
th
at
s
p
r
a
y
wate
r
in
a
s
wee
p
m
o
tio
n
.
T
h
e
en
v
ir
o
n
m
e
n
t
f
o
r
im
p
lem
e
n
tatio
n
was
ca
r
ef
u
lly
m
ap
p
e
d
o
u
t
in
to
f
iv
e
k
e
y
lo
ca
tio
n
s
:
0
,
th
e
in
itial
s
tar
tin
g
p
o
in
t,
an
d
1
,
2
,
3
,
a
n
d
4
,
wh
ich
co
r
r
esp
o
n
d
to
th
e
f
o
u
r
co
r
n
er
s
o
f
th
e
en
v
ir
o
n
m
e
n
t a
n
d
th
e
p
o
s
itio
n
s
o
f
th
e
f
lam
e
s
en
s
o
r
s
co
n
n
ec
ted
to
th
e
s
tatic
u
n
it.
T
h
is
s
tr
ateg
i
c
ar
r
an
g
em
e
n
t
en
s
u
r
es
co
m
p
r
eh
en
s
iv
e
co
v
er
a
g
e
an
d
ac
cu
r
ate
f
ir
e
d
etec
tio
n
th
r
o
u
g
h
o
u
t
th
e
e
n
tire
ar
ea
.
T
h
e
p
r
ec
is
e
b
ea
r
in
g
s
an
d
c
o
o
r
d
in
a
tes
o
f
all
lo
ca
tio
n
s
r
elativ
e
to
ea
c
h
o
th
e
r
wer
e
ca
r
ef
u
lly
en
c
o
d
ed
in
to
th
e
r
o
b
o
t'
s
n
av
ig
atio
n
s
y
s
tem
,
allo
win
g
i
t
to
au
to
n
o
m
o
u
s
ly
an
d
ef
f
icien
tly
tr
av
el
to
an
y
s
p
ec
if
ied
lo
ca
tio
n
with
in
th
e
m
ap
p
ed
ar
ea
[
2
4
]
–
[
2
6
]
.
T
h
is
s
etu
p
n
o
t
o
n
ly
en
h
an
ce
s
th
e
r
o
b
o
t'
s
o
p
er
atio
n
al
ef
f
icien
cy
b
u
t
also
m
a
x
im
izes
its
ab
ilit
y
to
r
esp
o
n
d
q
u
i
ck
ly
an
d
ef
f
ec
tiv
ely
to
f
ir
e
in
cid
en
ts
.
A
v
is
u
al
r
ep
r
esen
tatio
n
o
f
th
is
m
ap
p
in
g
c
an
b
e
s
ee
n
in
th
e
ac
co
m
p
an
y
i
n
g
Fig
u
r
e
3
an
d
th
e
r
o
b
o
t
p
r
o
to
t
y
p
e
in
Fig
u
r
e
4
.
Fig
u
r
e
3
.
R
o
b
o
t
p
ath
way
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
13
,
No
.
4
,
Dec
em
b
er
20
24
:
3
7
3
-
3
7
9
376
Fig
u
r
e
4
.
R
o
b
o
t
p
r
o
to
ty
p
e
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
d
esig
n
was
im
p
lem
en
ted
o
n
a
f
o
u
r
-
wh
ee
l
d
r
i
v
e
ch
ass
is
.
T
h
e
ch
ass
is
h
o
u
s
es
all
th
e
co
m
p
o
n
e
n
ts
wh
ich
in
clu
d
e
th
e
m
o
t
o
r
,
b
att
er
ies,
m
o
to
r
s
h
ield
s
,
s
en
s
o
r
s
,
m
ag
n
eto
m
eter
,
tr
an
s
ce
iv
e
r
,
a
n
d
s
er
v
o
m
o
t
o
r
s
.
I
t
p
r
o
tects
th
em
f
r
o
m
an
y
d
am
a
g
e
f
r
o
m
t
h
e
f
ir
e
s
o
u
r
ce
.
T
h
e
r
o
b
o
t
s
u
cc
ess
f
u
lly
d
etec
ted
m
u
ltip
le
f
lam
es
f
r
o
m
ar
o
u
n
d
it
a
n
d
also
r
ec
eiv
ed
s
ig
n
als
f
r
o
m
th
e
tr
an
s
ce
iv
er
at
th
e
s
tatic
u
n
its
,
th
er
ea
f
te
r
,
n
a
v
ig
atin
g
to
wa
r
d
t
h
e
f
lam
e
with
th
e
d
ir
ec
tio
n
al
aid
o
f
th
e
co
m
p
ass
an
d
ex
tin
g
u
is
h
in
g
th
e
f
lam
e
f
r
o
m
a
s
af
e
d
is
tan
ce
.
An
aly
s
is
o
f
th
e
r
esu
lts
o
b
tai
n
ed
is
d
i
v
id
ed
in
to
th
e
f
o
llo
win
g
s
u
b
s
y
s
tem
s
:
i)
th
e
f
lam
e
d
etec
tio
n
s
y
s
tem
,
ii)
th
e
o
b
s
tacle
av
o
id
a
n
ce
s
y
s
tem
,
an
d
iii)
th
e
n
av
ig
a
tio
n
an
d
tr
a
n
s
m
is
s
io
n
s
y
s
tem
.
3
.
1
.
F
l
a
m
e
det
ec
t
io
n sy
s
t
em
T
h
is
test
co
n
d
u
cted
was
to
d
e
ter
m
in
e
th
e
co
v
e
r
ag
e
d
is
tan
ce
an
d
th
e
an
g
le
o
f
th
e
th
r
ee
an
alo
g
f
lam
e
s
en
s
o
r
s
in
s
talled
o
n
th
e
r
o
b
o
t.
Acc
o
r
d
in
g
t
o
th
e
d
atash
ee
t,
e
ac
h
f
lam
e
s
en
s
o
r
h
as
a
co
v
er
a
g
e
an
g
le
o
f
6
0
°
a
n
d
ca
n
s
en
s
e
f
lam
e
u
p
to
1
0
0
c
m
awa
y
an
d
th
is
test
wa
s
ca
r
r
ied
o
u
t
to
en
s
u
r
e
th
e
o
b
tain
e
d
d
ata
was
ac
cu
r
ate.
T
h
is
r
o
b
o
t
u
s
es
th
r
ee
f
lam
e
s
en
s
o
r
s
an
d
is
ar
r
an
g
e
d
in
s
u
ch
a
way
as
to
p
r
o
v
id
e
it
with
1
8
0
°
o
f
f
lam
e
d
etec
tio
n
.
T
h
e
a
n
g
le
was
m
ea
s
u
r
ed
f
r
o
m
th
e
le
f
tm
o
s
t
s
e
n
s
o
r
an
d
t
h
e
test
s
o
u
g
h
t
to
co
n
f
ir
m
th
e
f
lam
e
d
etec
tio
n
an
g
le
a
n
d
r
an
g
e.
T
h
e
r
esu
lt a
t 1
0
0
c
m
is
s
h
o
wn
in
T
ab
le
1
.
T
ab
le
1
.
Sen
s
o
r
ics
an
aly
s
is
at
d
if
f
er
en
t
f
lam
e
d
etec
tio
n
a
n
g
l
es
S
/
N
A
n
g
l
e
(
°
)
R
e
s
p
o
n
se
T
i
me
(
s)
S
e
n
s
o
r
S
e
n
si
t
i
v
i
t
y
(
s/
c
m)
S
e
n
s
o
r
R
e
a
d
i
n
g
Te
st
R
e
su
l
t
1
0
0
0
.
0
0
1
0
2
4
F
A
I
LED
2
20
10
0
.
1
0
2
5
0
P
A
S
S
3
40
8
0
.
0
8
2
0
0
P
A
S
S
4
60
2
0
.
0
2
1
5
0
P
A
S
S
5
80
1
0
.
0
1
1
3
7
P
A
S
S
6
1
0
0
1
0
.
0
1
1
3
6
P
A
S
S
7
1
2
0
4
0
.
0
4
1
3
8
P
A
S
S
8
1
4
0
6
0
.
0
6
1
5
1
P
A
S
S
9
1
6
0
8
0
.
0
8
2
0
0
P
A
S
S
10
1
8
0
0
0
.
0
0
1
0
2
4
F
A
I
LED
3
.
2
.
O
bs
t
a
cle
a
v
o
ida
nce
s
y
s
t
em
re
s
po
ns
e
T
h
is
test
was
co
n
d
u
cted
b
y
p
lacin
g
o
b
s
tacle
s
o
n
th
e
r
o
b
o
t’
s
p
ath
an
d
an
aly
zin
g
th
e
r
esp
o
n
s
e.
T
h
e
p
r
o
g
r
a
m
m
ed
r
esp
o
n
s
e
o
f
th
e
r
o
b
o
t
is
to
h
alt
if
it
is
3
0
c
m
a
way
f
r
o
m
a
n
o
b
s
tacle
,
ch
ec
k
i
f
th
e
le
f
t
p
ath
is
f
r
ee
b
y
r
o
tatin
g
t
h
e
s
er
v
o
m
o
to
r
t
h
at
h
o
l
d
s
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
to
war
d
s
t
h
e
lef
t,
an
d
th
en
r
ea
d
an
d
r
ec
o
r
d
th
e
d
is
tan
ce
,
b
ef
o
r
e
r
o
tatin
g
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
to
th
e
r
ig
h
t
to
also
ch
ec
k
th
e
d
is
tan
ce
t
o
war
d
s
th
e
r
i
g
h
t.
I
t
th
e
n
co
m
p
ar
es
th
e
two
v
alu
es
an
d
tak
es
th
e
p
ath
with
a
clea
r
er
p
ath
an
d
th
e
r
esu
lt
o
b
tain
ed
f
r
o
m
th
is
test
is
s
h
o
wn
in
T
ab
le
2
.
T
ab
le
2
.
R
esp
o
n
s
e
an
aly
s
is
b
a
s
ed
o
n
o
b
s
tacle
s
o
n
th
e
r
o
b
o
t’
s
p
ath
S
/
N
O
b
st
a
c
l
e
D
i
st
a
n
c
e
(
c
m)
D
i
st
a
n
c
e
R
o
b
o
t
H
a
l
t
e
d
(
c
m)
Le
f
t
P
a
t
h
O
b
st
a
c
l
e
D
i
st
a
n
c
e
R
i
g
h
t
P
a
t
h
O
b
st
a
c
l
e
D
i
st
a
n
c
e
(
c
m)
C
o
r
r
e
c
t
P
a
t
h
t
o
t
a
k
e
P
a
t
h
R
o
b
o
t
t
o
o
k
I
s
t
h
e
r
o
b
o
t
c
o
r
r
e
c
t
?
1
1
0
0
28
70
80
R
i
g
h
t
R
i
g
h
t
Y
e
s
2
50
25
50
20
Le
f
t
Le
f
t
Y
e
s
3
30
30
60
65
R
i
g
h
t
R
i
g
h
t
Y
e
s
4
15
15
0
60
R
i
g
h
t
R
i
g
h
t
Y
e
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Lo
w
-
co
s
t
mu
lti
-
s
en
s
in
g
fir
e
-
fi
g
h
tin
g
r
o
b
o
t wi
th
o
b
s
ta
cle
a
vo
id
a
n
ce
mec
h
a
n
is
m
(
A
d
ek
u
n
le
Ta
o
feek
Oye
la
mi
)
377
3
.
3
.
Na
v
ig
a
t
io
n a
nd
t
ra
ns
m
i
s
s
io
n sy
s
t
em
T
h
is
test
was
ca
r
r
ied
o
u
t
b
y
tr
ig
g
er
in
g
th
e
f
lam
e
s
en
s
o
r
s
co
n
n
ec
ted
to
th
e
s
tatic
u
n
it
an
d
m
ea
s
u
r
in
g
th
e
tim
e
tak
en
f
o
r
th
e
r
o
b
o
t
t
o
r
esp
o
n
d
.
T
h
er
e
ar
e
f
iv
e
d
if
f
er
en
t
lo
ca
tio
n
s
as
s
tated
in
th
e
m
eth
o
d
o
lo
g
y
.
T
h
e
r
o
b
o
t
was
p
lace
d
at
o
n
e
ea
c
h
tim
e
an
d
th
e
s
tatic
u
n
it
s
en
d
s
a
s
ig
n
al
f
o
r
th
e
r
em
ain
in
g
f
o
u
r
lo
ca
ti
o
n
s
.
T
h
e
d
is
tan
ce
b
etwe
en
l
o
ca
tio
n
s
w
as
also
m
ea
s
u
r
ed
.
Fo
r
th
e
o
b
t
ain
ed
r
esu
lts
,
o
n
e
ca
n
o
b
tain
th
e
s
ig
n
al
r
esp
o
n
s
e
s
p
e
ed
a
n
d
als
o
th
e
r
o
b
o
t’
s
n
a
v
i
g
at
io
n
s
p
ee
d
.
T
h
e
c
o
m
p
l
ete
r
es
u
lts
o
b
tai
n
e
d
f
r
o
m
t
h
is
t
est
ar
e
s
h
o
wn
i
n
T
ab
le
3
.
T
ab
le
3
.
R
o
b
o
t r
esp
o
n
s
e
tim
e
t
o
f
lam
e
s
en
s
in
g
S
/
N
C
u
r
r
e
n
t
Lo
c
a
t
i
o
n
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t
a
t
i
c
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n
i
t
S
i
g
n
a
l
D
i
st
a
n
c
e
b
e
t
w
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e
n
l
o
c
a
t
i
o
n
(
c
m)
R
e
s
p
o
n
se
Ti
me
(
sec
)
R
e
s
p
o
n
se
S
p
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d
(
c
m/
se
c
)
Tr
a
v
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l
Ti
me
(
sec
)
R
o
b
o
t
N
a
v
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g
a
t
i
o
n
S
p
e
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d
(
c
m/
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7
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3
4.
CO
NCLU
SI
O
N
T
h
e
d
ev
elo
p
ed
r
o
b
o
t
is
a
p
r
o
to
ty
p
e
o
f
a
s
em
i
-
ad
v
an
ce
d
f
ir
ef
ig
h
tin
g
r
o
b
o
t
cr
ea
ted
o
n
a
lim
ited
b
u
d
g
et.
Desp
ite
f
in
an
cial
co
n
s
tr
ain
ts
,
th
e
r
o
b
o
t
d
em
o
n
s
tr
at
es
ac
cu
r
ate
an
d
ef
f
icien
t
o
b
s
tacle
av
o
id
an
ce
an
d
f
ir
e
d
etec
tio
n
ca
p
ab
ilit
ies.
I
t
ca
n
d
etec
t
f
ir
e
with
in
a
wa
v
elen
g
th
r
a
n
g
e
o
f
7
6
0
to
1
1
0
0
n
m
an
d
a
d
is
tan
ce
f
r
o
m
1
0
cm
to
1
0
0
cm
o
n
th
e
m
ain
.
T
h
e
r
an
g
e
ex
ten
s
io
n
f
r
o
m
th
e
s
tatic
u
n
its
al
s
o
p
r
o
v
id
e
d
an
ex
ten
d
ed
1
0
0
cm
s
en
s
in
g
r
an
g
e,
m
a
r
k
in
g
a
s
ig
n
if
ican
t
im
p
r
o
v
em
en
t
an
d
an
ad
d
itio
n
al
ad
v
a
n
tag
e
co
m
p
ar
ed
to
o
th
er
s
im
ilar
s
etu
p
s
.
B
u
ild
in
g
an
au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
t
n
a
v
ig
atio
n
s
y
s
tem
is
ch
allen
g
in
g
,
p
ar
ticu
lar
ly
i
n
u
n
k
n
o
wn
o
r
u
n
m
ap
p
ed
en
v
ir
o
n
m
en
ts
.
T
h
e
s
y
s
tem
s
u
cc
ess
f
u
lly
in
teg
r
ates
m
u
ltip
le
s
en
s
o
r
s
to
g
at
h
er
co
m
p
r
eh
e
n
s
iv
e
en
v
ir
o
n
m
en
tal
d
ata,
e
n
ab
lin
g
it
to
g
e
n
er
ate
a
p
p
r
o
p
r
iate
b
eh
av
io
r
s
an
d
ac
h
iev
e
its
o
b
jectiv
es
au
to
n
o
m
o
u
s
ly
.
T
h
is
in
teg
r
atio
n
is
cr
u
cial
f
o
r
th
e
r
o
b
o
t
to
o
p
er
ate
e
f
f
ec
tiv
el
y
in
en
v
ir
o
n
m
en
ts
th
at
ar
e
o
u
t
o
f
h
u
m
a
n
r
ea
ch
o
r
to
o
d
an
g
er
o
u
s
f
o
r
h
u
m
an
in
ter
v
en
tio
n
.
I
n
co
n
clu
s
io
n
,
th
e
s
u
cc
ess
f
u
l
d
ev
elo
p
m
en
t
an
d
test
in
g
o
f
th
is
au
to
n
o
m
o
u
s
f
ir
ef
ig
h
t
in
g
r
o
b
o
t
p
r
o
to
ty
p
e
d
em
o
n
s
tr
ates
its
p
o
ten
tial
as
a
p
r
ac
tical
an
d
in
n
o
v
ativ
e
s
o
lu
tio
n
f
o
r
f
ir
e
d
is
aster
m
an
ag
e
m
en
t.
B
y
ad
d
r
ess
in
g
k
ey
ch
allen
g
es
in
f
ir
e
d
etec
tio
n
an
d
n
av
ig
a
tio
n
,
th
is
r
esear
ch
p
av
es
th
e
way
f
o
r
f
u
tu
r
e
ad
v
an
ce
m
e
n
ts
in
au
to
n
o
m
o
u
s
f
ir
ef
ig
h
tin
g
tech
n
o
lo
g
y
,
p
r
o
m
is
in
g
s
af
er
an
d
m
o
r
e
e
f
f
ici
en
t
o
p
e
r
atio
n
s
.
T
h
e
p
r
o
ject'
s
o
u
tco
m
es
s
u
g
g
est
a
t
r
an
s
f
o
r
m
ativ
e
im
p
ac
t
o
n
f
ir
ef
i
g
h
tin
g
p
r
ac
tices,
s
ig
n
if
ica
n
tly
r
ed
u
cin
g
th
e
r
is
k
s
f
ac
ed
b
y
h
u
m
a
n
f
ir
e
f
ig
h
ter
s
an
d
en
h
a
n
cin
g
o
v
er
all
f
ir
e
m
an
a
g
em
en
t stra
teg
ies.
RE
F
E
R
E
NC
E
S
[
1
]
“
F
i
r
e
f
i
g
h
t
e
r
-
j
o
b
p
r
o
f
i
l
e
,
1
3
S
e
p
t
e
m
b
e
r
2
0
1
7
,
”
N
a
t
i
o
n
a
l
C
a
ree
r
s
S
e
rv
i
c
e
.
h
t
t
p
s
:
/
/
n
a
t
i
o
n
a
l
c
a
r
e
e
r
s.se
r
v
i
c
e
.
g
o
v
.
u
k
/
j
o
b
-
p
r
o
f
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l
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s
/
f
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r
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f
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g
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t
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r
(
a
c
c
e
ss
e
d
N
o
v
.
1
2
,
2
0
2
1
)
.
[
2
]
A
.
H
e
y
d
a
r
i
,
A
.
O
st
a
d
t
a
g
h
i
z
a
d
e
h
,
A
.
A
r
d
a
l
a
n
,
A
.
E
b
a
d
i
,
I
.
M
o
h
a
mm
a
d
f
a
m,
a
n
d
D
.
K
h
o
r
a
s
a
n
i
-
Za
v
a
r
e
h
,
“
E
x
p
l
o
r
i
n
g
t
h
e
c
r
i
t
e
r
i
a
a
n
d
f
a
c
t
o
r
s
a
f
f
e
c
t
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n
g
f
i
r
e
f
i
g
h
t
e
r
s’
r
e
si
l
i
e
n
c
e
:
A
q
u
a
l
i
t
a
t
i
v
e
st
u
d
y
,
”
C
h
i
n
e
s
e
J
o
u
r
n
a
l
o
f
T
r
a
u
m
a
t
o
l
o
g
y
-
E
n
g
l
i
sh
E
d
i
t
i
o
n
,
v
o
l
.
2
5
,
n
o
.
2
,
p
p
.
1
0
7
–
1
1
4
,
M
a
r
.
2
0
2
2
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
c
j
t
e
e
.
2
0
2
1
.
0
6
.
0
0
1
.
[
3
]
B
.
Y
a
n
g
,
X
.
X
u
,
T.
Z
h
a
n
g
,
Y
.
L
i
,
a
n
d
J
.
T
o
n
g
,
“
A
n
i
n
d
o
o
r
n
a
v
i
g
a
t
i
o
n
sy
s
t
e
m
b
a
se
d
o
n
st
e
r
e
o
c
a
m
e
r
a
a
n
d
i
n
e
r
t
i
a
l
s
e
n
s
o
r
s
w
i
t
h
p
o
i
n
t
s
a
n
d
l
i
n
e
s
,
”
J
o
u
r
n
a
l
o
f
S
e
n
so
r
s
,
v
o
l
.
2
0
1
8
,
p
p
.
1
–
1
4
,
J
u
l
.
2
0
1
8
,
d
o
i
:
1
0
.
1
1
5
5
/
2
0
1
8
/
4
8
0
1
5
8
4
.
[
4
]
V
.
K
u
mar,
A
.
H
u
ss
a
i
n
,
a
n
d
R
.
P
v
,
“
F
i
r
e
f
i
g
h
t
i
n
g
r
o
b
o
t
w
i
t
h
g
sm
t
e
c
h
n
o
l
o
g
y
a
n
d
G
P
S
,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
C
re
a
t
i
v
e
Re
se
a
rc
h
T
h
o
u
g
h
t
s
,
v
o
l
.
1
0
,
n
o
.
5
,
2
0
2
2
.
[
5
]
B
.
T
.
A
r
c
h
a
n
a
a
n
d
K
.
S
u
ma
,
“
D
e
si
g
n
a
n
d
f
a
b
r
i
c
a
t
i
o
n
o
f
a
n
a
u
t
o
n
o
m
o
u
s
f
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f
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g
h
t
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n
g
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o
t
w
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t
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o
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s
t
a
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t
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t
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t
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o
n
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si
n
g
A
r
d
u
i
n
o
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
Re
s
e
a
r
c
h
J
o
u
rn
a
l
o
f
E
n
g
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n
e
e
ri
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
2
0
1
9
.
[
6
]
I
.
D
.
La
w
r
e
n
c
e
,
J.
A
g
n
i
s
h
w
a
r
,
a
n
d
R
.
V
i
j
a
y
a
k
u
mar,
“
R
e
v
o
l
u
t
i
o
n
i
z
i
n
g
f
i
r
e
f
i
g
h
t
i
n
g
:
a
n
e
x
p
e
r
i
me
n
t
a
l
j
o
u
r
n
a
l
o
n
t
h
e
d
e
si
g
n
a
n
d
p
e
r
f
o
r
m
a
n
c
e
o
f
d
r
o
n
e
s i
n
f
i
r
e
s
u
p
p
r
e
s
si
o
n
,
”
E
u
r
o
p
e
a
n
C
h
e
m
i
c
a
l
B
u
l
l
e
t
i
n
,
v
o
l
.
1
2
,
n
o
.
1
2
,
p
p
.
1
2
3
8
–
1
2
5
2
,
2
0
2
3
.
[
7
]
R
.
R
o
ss
i
,
“
F
i
r
e
f
i
g
h
t
i
n
g
a
n
d
i
t
s
i
n
f
l
u
e
n
c
e
o
n
t
h
e
b
o
d
y
,
”
Er
g
o
n
o
m
i
c
s
,
v
o
l
.
4
6
,
n
o
.
1
0
,
p
p
.
1
0
1
7
–
1
0
3
3
,
A
u
g
.
2
0
0
3
,
d
o
i
:
1
0
.
1
0
8
0
/
0
0
1
4
0
1
3
0
3
1
0
0
0
1
2
1
9
6
8
.
[
8
]
M
.
A
l
i
f
f
,
M
.
Y
u
s
o
f
,
N
.
S
.
S
a
n
i
,
a
n
d
A
.
Za
i
n
a
l
,
“
D
e
v
e
l
o
p
me
n
t
o
f
f
i
r
e
f
i
g
h
t
i
n
g
r
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