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Dec
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20
24
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CC B
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C
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Un
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1.
I
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p
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aid
s
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th
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q
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ality
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f
life
[
1
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.
T
h
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2
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1
5
in
ter
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s
u
s
p
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n
d
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ce
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ac
tiv
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f
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aily
liv
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[
2
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–
[
4
]
.
A
wh
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lch
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is
o
n
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o
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t
h
e
m
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aid
s
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s
with
d
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[
1
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,
[
5
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–
[
7
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.
W
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u
ch
as
v
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g
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itio
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[
8
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–
[
1
0
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,
jo
y
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tick
co
n
tr
o
l
[
1
1
]
–
[
1
4
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,
elec
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c
ep
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alo
g
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a
p
h
(
E
E
G)
s
ig
n
al
[
1
5
]
,
[
1
6
]
o
r
elec
tr
o
m
y
o
g
r
ap
h
y
(
E
MG
)
s
ig
n
als
[
1
7
]
–
[
2
2
]
.
Saf
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s
u
ch
as
o
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s
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tan
ce
f
r
o
m
o
b
s
tr
u
ctio
n
s
[
2
3
]
,
[
2
4
]
.
E
f
f
ec
tiv
e
s
af
ety
co
n
tr
o
l
i
n
wh
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lc
h
air
s
is
ch
allen
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if
th
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s
er
r
elies
s
o
lely
o
n
b
io
lo
g
ical
s
ig
n
al
co
n
tr
o
l,
s
o
p
r
o
x
im
ity
s
en
s
o
r
s
m
u
s
t b
e
a
d
d
e
d
[
1
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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2
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I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
14
,
No
.
6
,
Dec
em
b
e
r
20
24
:
7
0
0
1
-
7
0
1
2
7002
Pre
v
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u
s
s
tu
d
y
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wh
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lch
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co
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Ho
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2
5
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s
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d
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ee
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s
.
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ety
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s
er
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r
ity
[
2
6
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[
2
7
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.
T
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q
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est
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o
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o
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as
its
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[
2
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[
2
9
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Ultr
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e
b
lin
d
s
p
o
t
ag
ain
s
t
o
b
s
tr
u
ctio
n
s
[
2
8
]
.
Ultr
aso
n
ic
s
en
s
o
r
s
ar
e
u
s
u
ally
in
s
talled
at
th
e
f
r
o
n
t
o
r
b
ac
k
o
f
th
e
wh
ee
lch
air
to
d
etec
t
an
d
s
to
p
o
b
s
tr
u
ctio
n
s
at
a
p
r
ed
eter
m
in
ed
d
is
tan
ce
.
I
n
R
u
za
ij
an
d
Po
o
n
g
u
z
h
ali
'
s
r
esear
ch
[
3
2
]
,
th
e
s
et
d
is
tan
ce
was
1
m
,
b
u
t
th
e
av
er
ag
e
wh
ee
lch
air
s
to
p
p
ed
at
0
.
4
m
f
r
o
m
an
o
b
s
tr
u
ctio
n
d
u
e
to
in
er
tia
f
o
r
ce
.
T
h
u
s
,
it
is
n
ec
ess
ar
y
to
r
eg
u
late
m
o
to
r
s
p
ee
d
wh
en
th
e
s
en
s
o
r
d
etec
ts
an
o
b
s
tr
u
ctio
n
to
en
s
u
r
e
th
e
wh
ee
lch
air
s
to
p
s
co
m
p
letely
at
th
e
s
et
d
is
tan
ce
.
I
n
Deb
n
at
h
et
a
l.
r
es
ea
r
ch
[
3
3
]
,
wh
ee
lc
h
air
s
p
ee
d
was
co
n
tr
o
lled
u
s
in
g
An
d
r
o
id
-
b
ased
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
,
r
esu
ltin
g
in
m
o
r
e
lin
ea
r
an
d
co
m
f
o
r
ta
b
le
s
p
ee
d
c
h
an
g
es
f
o
r
t
h
e
u
s
er
.
Ho
wev
er
,
u
s
er
-
co
n
tr
o
lled
s
p
ee
d
ad
ju
s
tm
en
t
v
ia
An
d
r
o
id
m
ad
e
th
e
w
h
ee
lch
air
less
r
esp
o
n
s
iv
e
to
th
e
en
v
ir
o
n
m
e
n
t
an
d
r
eq
u
ir
ed
h
ig
h
er
u
s
er
p
r
ec
is
io
n
.
Fu
r
t
h
er
m
o
r
e,
San
k
a
r
d
o
s
s
an
d
Gee
th
a
n
jali
[
3
4
]
co
m
p
ar
ed
s
p
ee
d
c
o
n
tr
o
l
b
etwe
en
p
r
o
p
o
r
tio
n
al
-
i
n
teg
r
al
-
d
er
iv
ativ
e
(
PID
)
an
d
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
.
T
h
e
s
tu
d
y
f
o
u
n
d
th
at
PID
co
n
tr
o
l
p
r
o
d
u
ce
d
a
s
ig
n
if
ican
t
o
v
e
r
s
h
o
o
t
wh
en
th
e
r
e
was
a
ch
an
g
e
in
s
p
ee
d
,
eith
er
ac
ce
ler
ati
n
g
o
r
d
ec
eler
atin
g
.
Ad
d
in
g
a
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
f
o
r
s
p
ee
d
r
eg
u
latio
n
m
ad
e
th
e
wh
ee
lc
h
air
m
o
v
em
e
n
t
s
m
o
o
th
er
a
n
d
s
af
er
wh
en
th
er
e
was a
co
n
tr
o
l sy
s
tem
er
r
o
r
o
r
u
s
er
co
m
m
a
n
d
er
r
o
r
,
h
elp
in
g
av
o
i
d
co
llis
io
n
s
o
r
o
b
s
tr
u
ctio
n
s
[
3
5
]
.
B
ased
o
n
th
e
p
r
o
b
lem
s
an
d
r
e
f
er
en
ce
s
id
en
tifie
d
ab
o
v
e,
it
c
an
b
e
co
n
clu
d
ed
th
at
th
e
p
r
e
v
i
o
u
s
ly
u
s
ed
u
ltra
s
o
n
ic
s
en
s
o
r
in
wh
ee
lch
a
ir
s
h
as
a
lim
itatio
n
o
f
a
n
ar
r
o
w
1
5
°
r
ea
d
in
g
a
n
g
le,
r
esu
ltin
g
in
a
wid
er
b
lin
d
s
p
o
t.
An
o
th
er
is
s
u
e
is
th
at
p
e
o
p
le
with
d
is
ab
ilit
ies
s
til
l
f
in
d
it
d
if
f
icu
lt
to
u
s
e
An
d
r
o
id
-
b
ased
PW
M
s
p
ee
d
co
n
tr
o
ller
s
.
T
h
is
r
esear
ch
aim
s
to
d
esig
n
an
ad
ap
ti
v
e
s
af
ety
s
y
s
tem
f
o
r
a
wh
ee
lch
air
b
y
a
d
d
r
ess
in
g
th
ese
p
r
o
b
lem
s
.
T
h
e
s
o
l
u
tio
n
in
v
o
l
v
es
r
ep
lacin
g
th
e
s
en
s
o
r
with
o
n
e
th
at
h
as
a
wid
er
r
a
n
g
e,
s
p
ec
if
ically
th
e
L
V
-
Ma
x
So
n
ar
E
Z
1
s
en
s
o
r
,
wh
ich
p
r
o
v
id
es a
d
etec
tio
n
an
d
d
is
ta
n
ce
r
an
g
e
f
r
o
m
0
to
2
5
4
in
ch
e
s
an
d
tr
an
s
m
its
l
ig
h
t
with
a
b
ea
m
wid
th
o
f
3
3
°
[
3
6
]
.
Ad
d
itio
n
ally
,
to
ad
d
r
ess
t
h
e
s
p
ee
d
r
eg
u
latio
n
is
s
u
e,
th
is
s
tu
d
y
p
r
o
p
o
s
es
an
ad
ap
tiv
e
s
p
ee
d
co
n
tr
o
l
s
y
s
tem
th
at
au
to
m
atica
lly
ad
ju
s
ts
th
e
wh
ee
lch
air
'
s
s
p
ee
d
b
ased
o
n
th
e
d
is
tan
ce
to
th
e
o
b
s
tr
u
ctio
n
.
A
f
u
zz
y
l
o
g
ic
co
n
tr
o
ller
s
y
s
tem
will b
e
u
s
ed
to
r
eg
u
late
th
e
m
o
t
o
r
s
p
ee
d
b
ased
o
n
PW
M.
2.
M
E
T
H
O
D
2
.
1
.
E
x
perim
ent
a
l
s
et
up
T
h
e
s
tu
d
y
em
p
lo
y
e
d
an
u
ltra
s
o
n
ic
s
en
s
o
r
(
L
V
-
Ma
x
So
n
ar
E
Z
1
)
th
at
d
etec
ted
o
b
jects
f
r
o
m
0
in
ch
es
to
2
5
4
i
n
ch
es
(
6
.
4
5
m
)
an
d
s
u
p
p
lied
s
o
n
ar
r
an
g
e
in
f
o
r
m
atio
n
w
ith
a
r
eso
lu
tio
n
o
f
1
in
c
h
.
T
h
e
av
ailab
le
in
ter
f
ac
e
o
u
tp
u
t
f
o
r
m
s
in
clu
d
e
p
u
ls
e
wid
th
o
u
tp
u
t,
an
alo
g
v
o
ltag
e
o
u
tp
u
t,
an
d
s
er
ial
o
u
tp
u
t
[
3
7
]
.
T
h
is
s
en
s
o
r
tr
an
s
m
itted
a
b
ea
m
with
a
wid
th
o
f
3
3
°
[
3
6
]
.
T
h
e
m
o
v
e
m
en
t
o
f
t
h
e
wh
ee
lch
air
is
co
n
tr
o
lled
u
s
in
g
E
MG
s
ig
n
al
d
etec
tio
n
a
n
d
f
o
u
r
L
V
-
Ma
x
So
n
ar
E
Z
1
u
ltra
s
o
n
ic
s
en
s
o
r
s
to
d
etec
t
im
p
ac
t
d
is
tan
ce
an
d
a
d
ju
s
t
s
p
ee
d
u
s
in
g
f
u
zz
y
lo
g
ic
co
n
tr
o
l
.
As
s
h
o
wn
in
Fig
u
r
e
1
,
th
e
f
o
u
r
s
en
s
o
r
s
ar
e
lo
ca
ted
at
th
e
f
r
o
n
t,
r
ea
r
,
r
ig
h
t,
an
d
lef
t
o
f
th
e
wh
ee
lch
ai
r
.
Fig
u
r
e
1
.
W
h
ee
lch
air
with
4
u
l
tr
aso
n
ic
s
en
s
o
r
s
LV
-
Ma
x
So
n
a
r
E
Z
1
L
ef
t
M
o
t
o
r
L
ef
t
M
o
t
o
r
R
i
g
h
t
M
o
t
o
r
R
i
g
h
t
M
o
t
o
r
R
i
g
h
t
M
o
t
o
r
U
l
t
raso
u
n
d
1
(
U
1)
U
l
t
raso
u
n
d
2
(
U
2)
U
l
t
raso
u
n
d
4
(
U
4)
U
l
t
raso
u
n
d
1
(
U
1)
U
l
t
raso
u
n
d
3
(
U
3)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
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&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
Wh
ee
lch
a
ir
s
a
fety
s
ystem
u
s
in
g
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
to
a
vo
i
d
o
b
s
tr
u
ctio
n
(
E
n
d
r
o
Yu
lia
n
t
o
)
7003
F
ig
u
r
e
2
ex
p
lain
s
h
o
w
th
e
s
y
s
tem
wo
r
k
s
.
T
h
e
s
y
s
tem
s
tar
t
s
f
r
o
m
th
e
in
p
u
t
b
lo
ck
,
wh
ic
h
r
ec
eiv
es
co
m
m
an
d
s
f
r
o
m
th
e
E
MG
s
ig
n
als
an
d
th
e
L
V
-
Ma
x
So
n
a
r
E
Z
1
u
ltra
s
o
n
ic
s
en
s
o
r
s
.
E
MG
s
ig
n
als
s
er
v
e
as
in
p
u
ts
f
o
r
wh
ee
lc
h
air
m
o
v
em
e
n
t
co
m
m
an
d
s
s
u
ch
as
f
o
r
war
d
,
b
ac
k
war
d
,
r
ig
h
t,
an
d
lef
t.
T
h
ese
i
n
p
u
ts
ar
e
h
an
d
led
b
y
an
Ar
d
u
in
o
Nan
o
.
Fu
zz
y
lo
g
i
c
co
n
tr
o
l
t
a
k
es
th
e
d
is
tan
ce
d
ata
f
r
o
m
th
e
u
ltra
s
o
n
ic
s
en
s
o
r
s
to
g
en
er
ate
PW
M
v
alu
es,
wh
ich
a
r
e
class
if
ied
as
r
ap
id
,
m
ed
iu
m
,
s
lo
w,
a
n
d
s
to
p
.
T
h
e
r
esu
ltin
g
s
p
ee
d
s
ar
e
t
h
en
co
n
n
ec
ted
t
o
th
e
s
p
ee
d
co
n
tr
o
l c
ir
cu
it o
f
th
e
r
ig
h
t a
n
d
lef
t m
o
to
r
s
,
r
esp
ec
tiv
el
y
[
3
8
]
.
Fig
u
r
e
2
.
W
h
ee
lch
air
b
lo
ck
d
i
ag
r
am
T
h
e
s
y
s
tem
h
as
two
ar
ea
s
:
f
r
e
e
an
d
co
r
r
id
o
r
.
T
h
e
co
r
r
id
o
r
i
n
clu
d
es
two
m
o
d
es:
f
o
llo
win
g
th
e
r
ig
h
t
wall
an
d
f
o
llo
win
g
th
e
lef
t
wall.
Fig
u
r
e
3
if
d
ep
icts
h
o
w
th
e
wh
ee
lch
air
u
s
es
u
ltra
s
o
n
ic
s
en
s
o
r
s
to
ch
o
o
s
e
a
r
eg
io
n
.
O
b
s
tr
u
ctio
n
m
ea
s
u
r
e
m
en
ts
ar
e
p
er
f
o
r
m
ed
b
y
s
en
s
o
r
s
U2
(
lef
t
-
s
id
e
s
en
s
o
r
)
an
d
U3
(
r
ig
h
t
-
s
id
e
s
en
s
o
r
)
.
Fig
u
r
e
3
(
a)
d
ep
icts
th
e
lef
t
wall
-
f
o
llo
win
g
m
o
d
e.
W
h
en
U2
(
lef
t
-
s
id
e
s
en
s
o
r
)
i
d
en
tifi
es
a
s
h
o
r
t
d
is
tan
ce
to
an
im
p
ed
im
en
t,
th
e
wh
ee
lch
air
m
o
v
es
f
o
r
war
d
wh
ile
r
em
ain
in
g
s
af
e
f
r
o
m
th
e
lef
t
wall.
I
f
U3
(
th
e
r
ig
h
t
-
s
id
e
s
en
s
o
r
)
d
etec
ts
a
n
o
b
s
tr
u
ctio
n
at
a
s
h
o
r
t d
is
tan
ce
,
t
h
e
wh
ee
lch
air
ad
v
an
ce
s
f
o
r
wa
r
d
wh
ile
r
em
ain
in
g
s
af
e
f
r
o
m
th
e
r
i
g
h
t
wall
,
as
s
h
o
wn
in
Fig
u
r
e
3
(
b
)
.
Fig
u
r
e
3
(
c)
s
h
o
ws
th
at
if
b
o
t
h
U2
an
d
U3
id
en
tify
s
h
o
r
t
d
is
tan
ce
s
to
b
ar
r
ier
s
,
th
e
wh
ee
lch
air
s
lo
ws
d
o
wn
an
d
m
o
v
es
s
lo
wly
.
I
f
b
o
th
s
en
s
o
r
s
d
etec
t
v
er
y
clo
s
e
o
b
s
tr
u
ctio
n
s
,
th
e
wh
ee
lc
h
air
w
ill co
m
e
to
a
co
m
p
lete
s
to
p
.
I
f
n
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zz
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ase
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t
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u
r
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o
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th
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ativ
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−
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atis
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ie
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e
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ati
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n
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1
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at
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I
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2
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8
8
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0
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14
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6
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Dec
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7
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4
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tem
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ch
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[
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F
(
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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.
14
,
No
.
6
,
Dec
em
b
e
r
20
24
:
7
0
0
1
-
7
0
1
2
7006
2
.
4
.
T
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e
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e
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d
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u
r
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(
a)
s
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n
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m
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p
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Fig
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es
7
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b
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d
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s
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h
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s
af
e)
d
is
tan
ce
.
T
h
e
d
ata
co
llectio
n
in
th
is
ex
p
er
im
en
t
b
eg
an
b
y
estab
lis
h
in
g
an
in
itial
d
is
tan
ce
b
etwe
en
th
e
w
h
ee
lch
air
an
d
t
h
e
wall.
T
h
e
s
en
s
o
r
t
h
en
ad
j
u
s
ts
th
e
wh
ee
lch
air
'
s
p
o
s
itio
n
to
m
ain
tain
th
e
s
p
ec
if
ied
d
is
tan
ce
f
r
o
m
th
e
wall.
2
.
5
.
F
uzzif
ica
t
io
n
I
n
th
is
p
r
o
ce
s
s
,
t
h
e
cr
is
p
v
al
u
e
(
o
u
tp
u
t
f
r
o
m
th
e
s
en
s
o
r
)
i
s
co
n
v
er
te
d
in
t
o
a
m
em
b
er
s
h
ip
lev
el
o
f
f
u
zz
y
s
et
lin
g
u
is
tic
ter
m
s
.
T
h
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
d
is
tan
ce
in
Fig
u
r
e
7
(
a
)
is
s
h
o
wn
i
n
Fig
u
r
e
8
,
an
d
its
er
r
o
r
in
Fig
u
r
e
7
(
b
)
an
d
Fig
u
r
e
7
(
c
)
is
s
h
o
wn
in
Fig
u
r
e
9
.
T
h
is
co
n
v
e
r
s
io
n
in
v
o
lv
es
tr
a
n
s
f
o
r
m
in
g
th
e
e
x
ac
t
n
u
m
er
ical
v
alu
e
o
f
th
e
s
en
s
o
r
in
to
d
eg
r
ee
s
m
em
b
er
s
h
ip
co
r
r
esp
o
n
d
in
g
to
a
lin
g
u
is
tic
ter
m
in
a
f
u
zz
y
s
et.
T
h
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
is
a
cu
r
v
e
th
at
tr
a
n
s
f
er
s
ea
ch
p
o
in
t
in
th
e
in
p
u
t
s
p
ac
e
to
a
m
e
m
b
er
s
h
ip
v
alu
e
r
an
g
in
g
f
r
o
m
0
to
1
,
in
d
icatin
g
h
o
w
m
u
ch
o
f
th
e
in
p
u
t b
elo
n
g
s
to
th
e
f
u
zz
y
s
et.
T
h
e
m
em
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
d
is
tan
ce
illu
s
tr
ated
s
h
o
ws
h
o
w
s
h
ar
p
d
is
tan
ce
v
alu
es
ar
e
ca
teg
o
r
ized
in
to
ter
m
s
s
u
ch
as
“
ve
r
y
n
ea
r
(
vn
)
,
”
“
n
e
a
r
(
n
r
)
,
”
“
fa
r
(
fr
)
,
”
an
d
“
ve
r
y
fa
r
(
vfr)
.
”
Similar
ly
,
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
s
f
o
r
er
r
o
r
s
,
e
x
p
lain
h
o
w
v
ar
io
u
s
lev
els
o
f
er
r
o
r
s
ar
e
class
if
ied
in
to
ter
m
s
s
u
ch
as
“
n
eg
a
tive
b
ig
(
n
b
)
,
”
“
n
eg
a
tive
med
iu
m
(
n
m)
,
”
“
n
e
g
a
tive
s
ma
ll
(
n
s
)
,
”
“
z
ero
(
z
e)
,
”
“
p
o
s
itive
s
ma
ll (
p
s
)
,
”
“
p
o
s
itive
med
iu
m
(
p
m)
,
”
o
r
“
p
o
s
itive
b
ig
(
p
b
)
.
”
(
a)
(
b
)
Fig
u
r
e
7
.
T
ec
h
n
ical
m
o
v
em
en
t
s
f
o
r
(
a)
w
h
ee
lch
air
m
o
b
ilit
y
f
o
r
war
d
o
r
b
ac
k
war
d
in
a
f
r
ee
a
r
ea
,
(
b
)
lef
t w
all
f
o
llo
win
g
m
o
d
e,
a
n
d
(
c
)
r
ig
h
t
wall
f
o
llo
win
g
m
o
d
e
2
.
6
.
Rule
ba
s
e
inte
rf
er
ence
I
n
th
is
s
tu
d
y
,
t
h
e
r
esear
c
h
er
p
r
o
p
o
s
ed
a
b
asis
o
f
in
f
er
en
ce
r
u
les
f
o
r
f
r
ee
ar
ea
s
an
d
h
allway
ar
ea
s
,
as
s
h
o
wn
in
T
a
b
le
1
an
d
T
ab
le
2
.
Fo
r
f
r
ee
a
r
ea
s
,
f
o
u
r
r
u
les
wer
e
u
s
ed
.
I
n
T
a
b
le
1
,
if
th
e
d
is
tan
ce
is
v
er
y
n
ea
r
(
)
,
th
en
PW
M
is
v
er
y
s
lo
w
(
)
.
I
f
th
e
d
is
tan
ce
is
n
ea
r
(
)
,
th
e
n
PW
M
i
s
s
lo
w
(
)
.
I
f
th
e
d
is
tan
ce
is
f
ar
(
)
,
th
en
PW
M
is
f
ast
(
)
.
I
f
th
e
d
is
tan
ce
is
v
er
y
f
ar
(
)
,
th
en
P
W
M
is
v
er
y
f
ast
(
)
.
Fo
r
th
e
h
allway
ar
ea
,
a
wall
-
f
o
llo
win
g
p
r
o
g
r
a
m
was u
s
ed
with
a
s
p
ec
if
ied
d
is
tan
ce
an
d
a
to
tal
o
f
s
ev
en
r
u
les.
I
n
T
ab
le
2
,
if
th
e
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
Wh
ee
lch
a
ir
s
a
fety
s
ystem
u
s
in
g
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
to
a
vo
i
d
o
b
s
tr
u
ctio
n
(
E
n
d
r
o
Yu
lia
n
t
o
)
7007
er
r
o
r
v
al
u
e
is
s
m
aller
(
m
o
r
e
n
eg
ativ
e
o
r
NB
)
,
th
en
t
h
e
s
teer
in
g
v
alu
e
is
also
s
m
aller
(
_
)
.
I
f
th
e
er
r
o
r
v
alu
e
is
ze
r
o
(
)
,
th
en
th
e
s
teer
in
g
v
al
u
e
is
also
ze
r
o
(
_
)
.
I
f
th
e
er
r
o
r
v
alu
e
is
la
r
g
er
(
m
o
r
e
p
o
s
itiv
e
o
r
p
b
)
,
th
e
n
th
e
s
teer
in
g
v
alu
e
is
also
lar
g
er
(
_
).
Fig
u
r
e
8
.
Me
m
b
er
s
h
ip
f
u
zz
if
ic
atio
n
f
o
r
f
o
r
war
d
an
d
r
ev
e
r
s
e
co
m
m
an
d
-
f
r
ee
a
r
ea
s
Fig
u
r
e
9
.
Me
m
b
er
s
h
ip
f
u
n
ctio
n
f
o
r
c
o
r
r
id
o
r
ar
ea
s
T
ab
le
1
.
R
u
le
b
ase
f
o
r
th
e
f
r
ee
ar
ea
I
n
p
u
t
O
u
t
p
u
t
(
)
ℎ
(
)
(
)
ℎ
(
)
(
)
ℎ
(
)
(
)
ℎ
(
)
T
ab
le
2
.
R
u
le
b
ase
f
o
r
wall
f
o
l
lo
win
g
b
eh
a
v
io
r
I
n
p
u
t
O
u
t
p
u
t
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
(
)
ℎ
(
_
)
VN
NR
FR
V
F
R
0
1
0
50
100
150
200
250
300
de
g
r
e
e
o
f
m
e
m
be
r
sh
i
p
i
n
p
u
t
vari
ab
l
e
"d
i
s
tan
c
e
(
c
m)
"
Me
m
b
e
rs
h
ip
Fu
n
ctio
n
o
f
f
re
e
ar
e
as
m
o
d
e
NB
NM
NS
ZE
PS
PM
PB
0
1
-15
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-9
-7
-5
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-1
1
3
5
7
9
11
13
15
d
e
g
re
e
o
f
me
mb
e
rs
h
i
p
i
n
p
u
t
vari
ab
l
e
"e
rr
o
r d
i
s
tan
c
e
"
Me
m
b
e
rs
h
ip
f
u
n
ctio
n
o
f
co
rrid
o
r
ar
e
a
m
o
d
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.
14
,
No
.
6
,
Dec
em
b
e
r
20
24
:
7
0
0
1
-
7
0
1
2
7008
2
.
7
.
Def
uzzif
ica
t
io
n
T
h
is
s
tu
d
y
em
p
lo
y
ed
f
u
zz
y
S
u
g
en
o
,
t
h
er
ef
o
r
e
th
e
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
to
o
k
th
e
f
o
r
m
o
f
a
r
o
d
.
T
h
e
o
u
tp
u
t
m
em
b
er
s
h
ip
f
u
n
ctio
n
o
f
th
e
PW
M
s
ettin
g
in
th
e
f
r
e
e
ar
ea
f
o
llo
win
g
t
h
e
wall
is
s
h
o
wn
in
Fig
u
r
e
1
0
.
Me
an
wh
ile,
th
e
o
u
tp
u
t
m
em
b
er
s
h
ip
d
is
p
lace
m
en
t
o
f
t
h
e
PW
M
s
ett
in
g
in
th
e
f
r
ee
ar
ea
f
o
llo
win
g
th
e
wall
is
s
h
o
wn
in
Fig
u
r
e
1
1
.
Fig
u
r
e
1
0
.
Me
m
b
er
s
h
ip
f
u
n
cti
o
n
f
o
r
s
p
ee
d
d
ef
u
zz
if
icatio
n
o
u
tp
u
t f
r
o
m
f
r
ee
ar
ea
s
Fig
u
r
e
1
1
.
Me
m
b
er
s
h
ip
f
u
n
cti
o
n
f
o
r
s
teer
in
g
d
ef
u
zz
if
icatio
n
o
u
tp
u
t
f
r
o
m
co
r
r
i
d
o
r
a
r
ea
s
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Dec
re
a
s
e
in P
WM
v
a
lue
Acc
o
r
d
in
g
to
Fig
u
r
e
1
2
,
wh
en
th
e
wh
ee
lch
air
ap
p
r
o
ac
h
es
an
o
b
s
tr
u
ctio
n
,
th
e
in
itial
d
r
o
p
d
is
tan
ce
is
2
0
0
cm
f
r
o
m
th
e
s
en
s
o
r
to
t
h
e
b
ar
r
ier
.
T
h
is
also
o
cc
u
r
s
as
th
e
wh
ee
lch
air
m
o
v
es
b
ac
k
w
ar
d
s
.
At
th
e
in
itial
d
r
o
p
f
r
o
m
2
0
0
-
7
0
cm
,
th
e
d
r
o
p
p
r
o
ce
s
s
in
v
o
lv
es
a
lar
g
e
d
ec
r
ea
s
e
o
f
u
p
to
9
%
in
PW
M
.
I
n
th
e
s
u
b
s
eq
u
en
t
d
ec
lin
e,
th
er
e
is
a
s
h
ar
p
d
r
o
p
.
W
h
en
th
e
wh
ee
lch
air
m
o
v
es
f
o
r
war
d
,
th
e
PW
M
d
ec
r
ea
s
e
r
ea
ch
es
4
.
3
%.
Me
an
wh
ile,
wh
en
th
e
wh
ee
lc
h
air
m
o
v
es
b
ac
k
war
d
,
th
e
d
e
cr
ea
s
e
in
PW
M
r
ea
ch
es
4
.
7
%.
T
h
is
ca
u
s
es
th
e
m
o
to
r
to
n
o
lo
n
g
er
b
e
s
tr
o
n
g
e
n
o
u
g
h
to
m
o
v
e
th
e
wh
ee
lch
air
.
I
n
p
r
io
r
ex
p
er
im
en
ts
,
wh
ee
l
ch
air
s
with
P
W
M
co
n
tr
o
l
w
er
e
m
o
r
e
lin
ea
r
an
d
co
m
f
o
r
tab
le
with
p
er
ce
n
tag
es
o
f
4
0
%,
6
0
%,
8
0
%,
an
d
1
0
0
%.
Ho
wev
e
r
,
th
e
r
ig
h
t
an
d
lef
t
m
o
to
r
s
r
ec
eiv
e
d
PW
M
v
alu
es
f
r
o
m
An
d
r
o
id
co
m
m
an
d
s
[
3
3
]
.
T
h
is
m
eth
o
d
allo
ws
th
e
wh
ee
lc
h
air
to
m
o
v
e
at
v
ar
ied
r
ates
d
ep
en
d
in
g
o
n
th
e
d
is
tan
ce
to
th
e
im
p
ed
im
en
t,
w
h
ich
im
p
r
o
v
es
u
s
er
s
af
ety
.
Fu
r
th
er
m
o
r
e
,
f
o
r
d
is
tan
ce
s
h
ig
h
e
r
th
an
2
0
0
cm
,
t
h
e
wh
ee
lch
air
m
o
v
es
s
wif
tly
an
d
g
r
ad
u
ally
d
ec
r
ea
s
es
s
p
ee
d
.
M
o
v
in
g
f
o
r
war
d
,
th
e
av
er
a
g
e
d
i
s
tan
ce
b
etwe
en
th
e
wh
ee
lch
air
an
d
t
h
e
im
p
ed
im
e
n
t
was
3
4
.
0
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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C
o
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p
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I
SS
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2088
-
8
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Wh
ee
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z
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n
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u
r
e
1
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.
PW
M
g
r
ap
h
as th
e
wh
ee
lch
air
m
o
v
es f
o
r
war
d
an
d
b
ac
k
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d
in
th
e
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r
ee
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d
th
e
o
b
s
tr
u
ctio
n
3
.
2
.
Co
rr
ido
r
a
re
a
Fig
u
r
e
1
3
s
h
o
ws
th
at
b
o
t
h
s
tu
d
ies
s
tar
ted
at
a
d
is
tan
ce
o
f
4
0
cm
.
B
o
th
wh
ee
lch
air
s
s
im
u
ltan
eo
u
s
ly
m
o
v
ed
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y
wh
e
n
th
ey
d
etec
ted
th
e
d
is
tan
ce
.
Su
b
s
eq
u
en
tly
,
th
e
s
en
s
o
r
ad
ju
s
ted
th
e
wh
ee
lch
air
'
s
p
o
s
itio
n
to
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ain
tain
th
e
s
et
d
is
tan
ce
f
r
o
m
th
e
wall.
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n
th
e
r
i
g
h
t
-
f
o
llo
win
g
m
o
d
e,
th
e
f
a
r
th
est
d
is
tan
ce
b
etwe
en
th
e
wh
ee
lch
air
an
d
th
e
r
ig
h
t
wall
was
6
8
cm
,
wh
ile
th
e
clo
s
est
d
is
tan
ce
was
2
8
cm
.
I
n
th
is
ca
s
e,
th
er
e
was
a
s
p
ik
e
in
th
e
d
ata
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tain
ed
b
y
th
e
s
en
s
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r
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ely
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u
e
to
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ter
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er
en
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r
o
m
o
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en
s
o
r
s
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e
a
n
w
h
i
l
e
,
i
n
t
h
e
l
e
f
t
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f
o
l
l
o
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g
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h
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r
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h
e
s
t
g
a
p
b
e
t
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n
t
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e
w
h
e
e
l
c
h
a
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r
a
n
d
t
h
e
l
e
f
t
w
a
l
l
w
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s
5
6
c
m
,
a
n
d
t
h
e
c
l
o
s
e
s
t
w
a
s
2
8
c
m
.
Fig
u
r
e
1
3
.
T
h
e
g
r
ap
h
ic
d
ep
icts
th
e
d
is
tan
ce
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etwe
en
th
e
w
h
e
elch
air
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d
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e
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th
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r
r
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o
r
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n
t
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e
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c
t
u
a
l
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t
u
p
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r
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g
h
t
a
n
d
l
e
f
t
m
o
t
o
r
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c
o
n
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u
r
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s
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e
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a
d
j
u
s
t
e
d
t
o
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n
a
b
l
e
t
h
e
w
h
e
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l
c
h
a
i
r
t
o
t
r
ac
k
a
s
t
r
a
i
g
h
t
li
n
e
.
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o
w
e
v
e
r
,
i
t
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n
c
o
u
n
t
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r
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d
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r
a
t
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c
m
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n
t
s
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h
e
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l
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n
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h
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h
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h
e
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h
t
o
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l
e
f
t
w
a
l
l
;
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o
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t
h
e
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ess
,
t
h
e
w
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c
h
a
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r
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s
p
l
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y
e
d
wi
n
d
i
n
g
m
o
v
e
m
e
n
t
s
[
4
2
]
.
A
s
s
h
o
w
n
i
n
F
i
g
u
r
e
1
3
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r
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n
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25
0
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200
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300
PWM
(%
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m
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40
60
80
100
120
140
160
d
is
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(c
m
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time
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Di
s
t
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t
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t
w
all
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w
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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.
14
,
No
.
6
,
Dec
em
b
e
r
20
24
:
7
0
0
1
-
7
0
1
2
7010
3
.
3
.
Sens
o
r
re
a
din
g
a
re
a
An
ex
p
er
im
en
t
was
co
n
d
u
cted
to
d
eter
m
in
e
th
e
wid
th
o
f
th
e
s
en
s
o
r
co
v
er
ag
e
ar
ea
u
s
in
g
a
5
cm
wid
e
b
r
ick
with
a
f
lat
s
u
r
f
ac
e.
T
h
e
s
en
s
o
r
ca
n
d
etec
t
o
b
s
tr
u
ctio
n
s
u
p
to
±
3
0
°
at
a
d
is
tan
ce
o
f
1
0
0
cm
.
Fig
u
r
e
1
4
illu
s
tr
ates h
o
w
th
e
s
h
ap
e
an
d
s
u
r
f
ac
e
ar
ea
o
f
th
e
o
b
s
tacle
in
f
l
u
en
ce
d
th
e
s
en
s
o
r
r
esp
o
n
s
e.
Fig
u
r
e
1
4
.
L
V
-
Ma
x
So
n
a
r
E
Z
1
r
ea
d
in
g
a
r
ea
m
ap
p
in
g
4.
CO
NCLU
SI
O
N
T
h
e
g
o
al
o
f
th
is
s
tu
d
y
was
t
o
d
ev
elo
p
a
w
h
ee
lch
air
with
E
MG
co
n
tr
o
l
an
d
an
ad
a
p
tiv
e
s
af
ety
s
y
s
tem
em
p
lo
y
in
g
f
u
zz
y
l
o
g
ic
c
o
n
tr
o
l
.
T
h
e
L
V
-
Ma
x
So
n
a
r
E
Z
1
u
ltr
aso
n
ic
s
en
s
o
r
ca
n
d
etec
t
o
b
s
tr
u
ctio
n
s
u
p
to
±
3
0
°
,
p
r
o
v
id
i
n
g
a
b
r
o
ad
e
r
s
en
s
o
r
r
a
n
g
e
th
a
n
t
h
e
HC
-
SR
0
4
s
en
s
o
r
.
T
h
e
s
en
s
o
r
r
esp
o
n
s
e
is
a
f
f
ec
t
ed
b
y
th
e
f
o
r
m
an
d
s
u
r
f
ac
e
ar
ea
o
f
th
e
im
p
ed
im
e
n
t
b
ein
g
r
ea
d
.
Fu
r
th
er
m
o
r
e,
th
e
r
esu
lts
o
f
th
is
r
esear
ch
s
h
o
w
t
h
at
th
e
wh
ee
lch
air
s
af
ety
co
n
tr
o
l
d
esig
n
ca
n
r
e
d
u
ce
s
p
ee
d
lin
ea
r
ly
wh
e
n
an
o
b
s
tr
u
ctio
n
is
d
etec
ted
,
co
n
v
er
t
in
g
lin
g
u
is
tic
in
p
u
t
f
r
o
m
d
is
tan
ce
r
ea
d
i
n
g
s
in
to
PW
M
f
o
r
m
o
t
o
r
o
u
tp
u
t
u
s
in
g
a
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
.
T
h
e
wh
ee
lch
air
s
tar
ts
to
r
ed
u
ce
its
s
p
ee
d
at
a
d
i
s
tan
ce
o
f
2
m
.
T
h
e
wh
ee
lch
air
ca
n
o
p
er
ate
a
s
af
ety
r
id
in
g
s
y
s
tem
in
b
o
th
f
r
ee
ar
ea
s
an
d
h
allway
s
.
I
t
ca
n
s
to
p
at
an
a
v
e
r
ag
e
d
is
tan
ce
o
f
3
4
.
0
6
cm
wh
en
m
o
v
i
n
g
f
o
r
war
d
an
d
at
an
av
er
ag
e
d
is
tan
ce
o
f
4
5
.
1
6
cm
wh
en
m
o
v
in
g
b
ac
k
war
d
.
T
o
ac
q
u
ir
e
th
e
b
est
r
es
u
lts
,
it
is
v
ital
to
d
eter
m
in
e
t
h
e
p
r
ec
is
e
lo
ca
ti
o
n
o
f
th
e
s
en
s
o
r
an
d
co
n
s
id
er
th
e
m
o
v
em
en
t
o
f
th
e
wh
ee
ls
to
a
v
o
i
d
alter
in
g
s
en
s
o
r
r
ea
d
in
g
s
wh
e
n
th
e
wh
ee
lc
h
air
is
m
o
v
in
g
.
E
x
ce
s
s
iv
e
u
s
e
o
f
m
u
l
tis
en
s
o
r
y
s
y
s
tem
s
n
ee
d
s
to
b
e
m
in
im
ized
to
p
r
e
v
en
t
s
en
s
o
r
d
ata
lo
s
s
,
wh
ich
ca
n
af
f
ec
t
th
e
f
u
zz
y
p
r
o
ce
s
s
.
T
h
e
r
ef
o
r
e,
a
s
elf
-
test
is
n
ee
d
ed
o
n
th
e
wh
ee
lch
ai
r
to
en
s
u
r
e
th
at
all
s
en
s
o
r
s
ar
e
f
u
n
ctio
n
in
g
p
r
o
p
er
ly
.
T
h
e
r
esear
ch
r
esu
lts
ca
n
b
e
im
p
lem
en
t
ed
as
a
s
af
ety
s
y
s
tem
s
o
lu
tio
n
f
o
r
wh
ee
lc
h
air
s
f
o
r
tetr
ap
leg
ic
s
u
f
f
er
er
s
to
h
elp
s
u
p
p
o
r
t th
ei
r
d
aily
liv
es.
RE
F
E
R
E
NC
E
S
[
1
]
F
.
U
t
a
mi
n
i
n
g
r
u
m
e
t
a
l
.
,
“
D
e
v
e
l
o
p
me
n
t
o
f
c
o
mp
u
t
e
r
v
i
s
i
o
n
b
a
se
d
o
b
s
t
a
c
l
e
d
e
t
e
c
t
i
o
n
a
n
d
h
u
ma
n
t
r
a
c
k
i
n
g
o
n
sma
r
t
w
h
e
e
l
c
h
a
i
r
f
o
r
d
i
s
a
b
l
e
d
p
a
t
i
e
n
t
,
”
i
n
5
t
h
I
n
t
e
r
n
a
t
i
o
n
a
l
S
y
m
p
o
s
i
u
m
o
n
C
o
m
p
u
t
a
t
i
o
n
a
l
a
n
d
B
u
si
n
e
ss
I
n
t
e
l
l
i
g
e
n
c
e
,
A
u
g
.
2
0
1
7
,
p
p
.
1
–
5
,
d
o
i
:
1
0
.
1
1
0
9
/
I
S
C
B
I
.
2
0
1
7
.
8
0
5
3
5
3
3
.
[
2
]
J.
H
.
Ju
n
g
e
t
a
l
.
,
“
Ef
f
e
c
t
s
o
f
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Evaluation Warning : The document was created with Spire.PDF for Python.