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et
a
l.
[
1
1
]
a
n
d
B
h
ar
ti
et
a
l.
[
1
2
]
,
d
em
o
n
s
tr
ates
th
e
lim
itatio
n
s
o
f
s
in
g
le
-
m
icr
o
co
n
tr
o
ller
s
etu
p
s
,
s
u
ch
as
en
c
o
u
n
t
er
in
g
b
o
ttlen
ec
k
s
in
r
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
,
lead
i
n
g
to
d
elay
s
in
task
ex
ec
u
tio
n
an
d
r
ed
u
ce
d
o
v
er
all
ef
f
icien
cy
.
T
h
is
lim
its
th
eir
ef
f
ec
tiv
en
ess
in
m
u
lti
-
s
tep
task
s
,
p
ar
ticu
lar
ly
in
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
lik
e
a
g
r
icu
ltu
r
al
f
ield
s
.
T
o
o
v
er
co
m
e
th
ese
o
b
s
tacle
s
,
r
esear
ch
er
s
ten
d
to
u
s
e
m
icr
o
co
n
tr
o
ller
s
o
r
p
r
o
ce
s
s
o
r
s
with
h
ig
h
co
m
p
u
tatio
n
al
ab
ilit
ies th
at
in
cr
ea
s
e
th
e
o
v
er
all
s
y
s
tem
co
s
t.
I
n
a
g
r
icu
ltu
r
al
r
o
b
o
tics
,
g
r
ip
p
e
r
s
an
d
s
h
o
o
ter
s
ar
e
cr
itical
m
e
ch
an
is
m
s
f
o
r
p
e
r
f
o
r
m
in
g
d
y
n
a
m
ic
task
s
.
Gr
ip
p
er
s
en
ab
le
o
b
ject
m
a
n
ip
u
latio
n
,
en
s
u
r
in
g
d
elica
te
o
b
je
cts
s
u
ch
as
s
ee
d
lin
g
s
ca
n
b
e
s
ec
u
r
ely
g
r
asp
e
d
an
d
p
o
s
itio
n
ed
ac
cu
r
ately
[
1
3
]
.
Me
an
wh
ile,
s
h
o
o
ter
s
allo
w
f
o
r
co
n
tr
o
lled
p
r
o
jectio
n
o
f
o
b
jects,
s
u
ch
as
tr
an
s
f
er
r
in
g
h
ar
v
ested
m
ater
ials
to
d
esig
n
ated
z
o
n
es.
C
o
u
p
led
with
Me
ca
n
u
m
w
h
ee
ls
,
wh
ich
allo
w
o
m
n
id
ir
ec
tio
n
al
m
o
v
em
e
n
t,
t
h
ese
m
ec
h
an
is
m
s
p
r
o
v
id
e
s
ig
n
if
ican
t
ad
v
an
ta
g
es
in
n
av
ig
a
tin
g
an
d
o
p
er
atin
g
with
in
d
y
n
a
m
ic
en
v
ir
o
n
m
en
ts
s
u
ch
as
ag
r
icu
ltu
r
al
f
ield
s
.
M
ec
an
u
m
wh
ee
ls
a
r
e
p
a
r
ticu
lar
l
y
ad
v
a
n
tag
eo
u
s
f
o
r
ag
r
icu
ltu
r
al
task
s
d
u
e
to
th
eir
ab
ilit
y
to
m
an
eu
v
er
in
tig
h
t
s
p
ac
es,
ad
ap
t
to
u
n
ev
en
ter
r
ain
s
,
an
d
ex
ec
u
te
p
r
ec
is
e
m
o
v
em
e
n
ts
in
co
n
s
tr
ai
n
ed
en
v
ir
o
n
m
e
n
ts
[
1
4
]
,
[
1
5
]
.
T
ask
s
s
u
ch
as
s
ee
d
lin
g
p
lan
ti
n
g
,
s
o
r
tin
g
o
p
er
atio
n
s
,
an
d
th
e
co
llectio
n
o
f
h
ar
v
estab
le
c
r
o
p
s
r
eq
u
ir
e
n
o
t
o
n
ly
p
r
ec
is
io
n
b
u
t
also
ad
ap
tab
ilit
y
to
ch
an
g
in
g
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
Stu
d
ies
b
y
Yah
ay
a
et
a
l
.
[
1
6
]
an
d
Sin
g
h
et
a
l
.
[
1
7
]
h
ig
h
lig
h
t
m
ajo
r
o
b
s
tacle
s
in
ag
r
icu
ltu
r
al
r
o
b
o
tics
,
s
u
ch
as
p
ath
p
lan
n
in
g
,
en
v
ir
o
n
m
e
n
tal
v
ar
iab
ilit
y
,
a
n
d
s
ca
lab
ilit
y
.
Ho
wev
er
,
th
ese
s
tu
d
ies p
r
im
ar
ily
f
o
cu
s
o
n
h
ig
h
-
lev
el
r
o
b
o
tic
a
r
ch
itectu
r
es
with
o
u
t
ad
d
r
ess
in
g
s
p
ec
ialized
m
ec
h
a
n
is
m
s
,
s
u
ch
as g
r
ip
p
er
s
an
d
s
h
o
o
ter
s
,
th
at
ar
e
v
ital f
o
r
th
ese
task
s
.
T
h
is
s
tu
d
y
in
v
esti
g
ates
h
o
w
a
m
u
lti
-
m
icr
o
co
n
tr
o
ller
d
ig
i
tal
co
n
tr
o
l
s
y
s
tem
,
co
m
p
o
s
ed
o
f
lo
w
-
co
m
p
u
tatio
n
A
r
d
u
in
o
Nan
o
m
icr
o
co
n
tr
o
ller
s
,
ca
n
b
e
in
te
g
r
ated
with
a
s
in
g
le
E
SP
3
2
c
o
n
tr
o
ller
to
e
n
h
an
ce
m
u
ltit
ask
in
g
ca
p
a
b
ilit
ies
in
r
o
b
o
tic
ap
p
licatio
n
s
.
T
h
is
r
esear
ch
p
r
o
p
o
s
es
a
n
o
v
el
m
u
lti
-
m
ic
r
o
co
n
tr
o
ller
d
esig
n
u
tili
zin
g
E
SP
3
2
as
a
m
aster
d
ev
ice
an
d
m
u
ltip
le
Ar
d
u
in
o
Nan
o
m
icr
o
c
o
n
tr
o
ller
s
as
d
is
tr
ib
u
ted
co
n
tr
o
ller
s
,
e
a
c
h
a
s
s
i
g
n
e
d
w
it
h
a
s
p
ec
i
f
i
c
ta
s
k
.
T
h
e
s
y
s
t
e
m
i
s
i
n
t
e
g
r
a
t
e
d
in
t
o
a
n
a
g
r
i
c
u
l
t
u
r
a
l
r
o
b
o
t
t
h
at
f
a
c
i
l
it
a
t
es
m
o
v
e
m
e
n
t
u
s
in
g
Me
ca
n
u
m
wh
ee
ls
,
g
r
ip
p
er
s
,
an
d
s
h
o
o
ter
m
ec
h
an
is
m
s
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
’
s
ef
f
ec
tiv
en
ess
is
ev
alu
ated
in
m
an
ag
in
g
m
u
ltit
ask
in
g
i
n
th
e
I
n
d
o
n
esian
co
n
test
n
am
e
d
K
o
n
tes R
o
b
o
t A
b
u
I
n
d
o
n
esia (
K
R
AI
)
2
0
2
4
.
2.
M
E
T
H
O
D
W
e
im
p
lem
en
ted
a
r
em
o
tely
c
o
n
tr
o
lled
r
o
b
o
t
d
esig
n
u
tili
zin
g
a
Play
Statio
n
3
(
PS
3
)
co
n
tr
o
ller
as
th
e
p
r
im
ar
y
in
p
u
t
d
e
v
ice.
T
h
e
c
o
n
tr
o
l
s
ig
n
als
g
en
e
r
ated
b
y
th
e
PS
3
co
n
tr
o
ller
ar
e
r
ec
ei
v
ed
b
y
an
E
SP
3
2
m
icr
o
co
n
tr
o
ller
,
wh
ich
s
er
v
es
as
th
e
m
aster
d
e
v
ice
in
t
h
e
c
o
n
tr
o
l
s
y
s
tem
.
T
h
e
m
aster
d
ev
ice
is
co
n
f
ig
u
r
ed
t
o
co
m
m
u
n
icate
with
9
Ar
d
u
in
o
Nan
o
m
icr
o
c
o
n
tr
o
ller
s
,
ea
ch
d
esig
n
ated
as
a
s
lav
e
d
ev
ice.
Alth
o
u
g
h
i
n
ter
r
u
p
ts
an
d
m
u
ltip
le
p
u
ls
e
wid
th
m
o
d
u
latio
n
(
PW
M)
p
in
s
ca
n
b
e
u
s
ed
s
im
u
ltan
eo
u
s
ly
,
th
is
n
u
m
b
er
o
f
m
icr
o
co
n
tr
o
ller
s
is
ch
o
s
en
to
d
is
tr
ib
u
te
th
e
c
o
m
p
u
tatio
n
al
l
o
ad
o
f
r
o
b
o
t
f
u
n
ctio
n
alities
b
e
ca
u
s
e
o
f
t
h
e
lim
ited
co
m
p
u
tatio
n
al
ca
p
ab
ilit
ies
o
f
Ar
d
u
in
o
Nan
o
wh
en
it
co
m
es
to
m
u
ltit
ask
in
g
in
d
y
n
am
ic
an
d
co
m
p
lex
en
v
ir
o
n
m
en
ts
.
Mo
r
eo
v
er
,
u
s
in
g
m
o
r
e
ca
p
a
b
le
co
n
tr
o
ller
s
will
in
cr
ea
s
e
th
e
o
v
er
all
co
s
t.
T
h
ese
s
lav
e
d
ev
ices
ar
e
in
d
iv
id
u
ally
ad
d
r
ess
ed
with
u
n
iq
u
e
id
en
tifie
r
s
A,
B
,
C
,
D,
E
,
F,
H,
J
,
an
d
K.
E
ac
h
Ar
d
u
in
o
s
lav
e
d
e
v
ice
is
r
esp
o
n
s
ib
le
f
o
r
tr
an
s
m
itti
n
g
a
PW
M
s
ig
n
al
to
a
s
p
ec
if
ic
m
o
to
r
.
T
h
e
m
aster
an
d
s
lav
e
d
e
v
ice
co
n
f
ig
u
r
atio
n
s
s
er
v
e
as th
e
d
ig
ital c
o
n
tr
o
l o
f
t
h
e
r
o
b
o
t'
s
m
o
v
em
en
t.
2
.
1
.
M
a
s
t
er
dev
ice
a
nd
s
la
v
e
dev
ices int
eg
ra
t
io
n
T
h
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
m
aster
d
ev
ice
in
itiates
a
B
lu
eto
o
th
co
n
n
ec
tio
n
with
th
e
P
S3
r
em
o
te
co
n
tr
o
ller
.
T
h
e
PS
3
co
n
tr
o
ller
f
ea
tu
r
es
a
b
u
tto
n
co
n
f
ig
u
r
atio
n
with
f
o
u
r
lef
t
(
L
)
an
d
r
ig
h
t
(
R
)
b
u
tto
n
s
n
u
m
b
er
e
d
as
1
R
,
2
R
,
1
L
,
an
d
2
L
.
I
t
also
f
ea
tu
r
es b
u
tto
n
s
d
e
s
ig
n
ated
b
y
th
e
s
h
ap
es
o
f
a
t
r
ian
g
le,
s
q
u
ar
e,
cr
o
s
s
,
an
d
cir
cle.
Fu
r
t
h
er
m
o
r
e,
it
f
ea
tu
r
es
two
jo
y
s
tick
s
o
n
th
e
le
f
t
an
d
r
ig
h
t,
d
esig
n
ate
d
as
L
3
a
n
d
R
3
[
1
8
]
.
I
n
p
u
t
co
m
m
an
d
s
a
r
e
g
e
n
er
ated
b
y
th
e
PS
3
an
d
tr
an
s
m
itted
t
o
t
h
e
m
aster
d
e
v
ice,
wh
ic
h
p
e
r
f
o
r
m
s
th
e
n
ec
ess
ar
y
co
m
p
u
tatio
n
s
to
d
eter
m
i
n
e
th
e
p
ar
am
eter
s
to
b
e
s
en
t
to
th
e
s
l
av
e
d
ev
ices.
T
h
ese
p
ar
am
eter
s
ar
e
tr
an
s
m
itted
to
s
lav
e
d
ev
ices
v
ia
a
co
m
m
u
n
icatio
n
p
r
o
to
co
l
o
p
er
atin
g
at
a
b
a
u
d
r
ate
o
f
1
1
5
2
0
0
.
Af
ter
th
is
,
th
e
PW
M
elec
tr
ical
s
ig
n
als
ar
e
g
en
er
ate
d
u
s
in
g
t
h
e
Ar
d
u
in
o
s
lav
e
m
ic
r
o
co
n
tr
o
ller
s
,
wh
ich
u
s
e
an
8
-
b
it
tim
er
,
ca
p
a
b
le
o
f
p
r
o
d
u
cin
g
b
in
ar
y
v
alu
es
f
r
o
m
0
to
2
5
5
[
1
9
]
,
[
2
0
]
.
Ho
w
ev
er
,
to
en
s
u
r
e
o
p
er
atio
n
al
p
r
ec
is
io
n
,
we
s
et
th
e
m
ax
im
u
m
PW
M
v
alu
e
to
2
5
0
,
wh
ich
a
v
o
id
s
r
ea
c
h
in
g
th
e
m
a
x
im
u
m
PW
M
lim
it
o
f
2
5
5
a
n
d
p
r
o
v
id
es
a
b
u
f
f
er
.
T
h
ese
PW
M
s
ig
n
als co
n
tr
o
l th
e
s
p
ee
d
o
f
t
h
e
DC
m
o
to
r
s
u
s
ed
.
2
.
1
.
1
.
M
a
s
t
er
t
o
M
ec
a
nu
m
w
heels s
la
v
e
dev
ices c
o
ntr
o
l
T
h
e
E
SP
3
2
m
icr
o
co
n
tr
o
ller
m
aster
d
ev
ice
is
co
n
n
e
cted
to
t
h
e
s
lav
e
d
ev
ices
A,
B
,
C
,
an
d
D,
wh
ich
ar
e
r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
llin
g
f
o
u
r
Me
ca
n
u
m
wh
ee
ls
.
T
h
e
PW
M
v
alu
es sen
t to
th
e
s
lav
e
d
ev
ices A
,
B
,
C
,
an
d
D
ar
e
1
,
2
,
3
,
an
d
4
,
r
esp
ec
tiv
ely
.
T
h
ey
ar
e
ca
lcu
lated
b
ased
o
n
th
e
r
ea
l
s
p
ee
d
p
ar
am
eter
(
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I
n
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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t
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b
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to
m
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N:
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-
2
5
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6
Mu
lti
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micro
co
n
tr
o
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s
y
s
tem
fo
r
Meca
n
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m
r
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w
ith
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er
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s
h
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ter me
ch
a
n
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ms
(
Mo
h
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mme
d
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r
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183
d
esig
n
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wh
en
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e
R
1
b
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tto
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th
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PS
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n
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at
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f
th
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cr
e
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e
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s
2
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th
e
m
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ice
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lts
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0
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W
h
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th
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2
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tto
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e
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ee
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et
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0
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I
f
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R
1
n
o
r
R
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is
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ess
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e
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ee
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is
s
e
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to
1
0
0
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Flo
wch
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ts
o
f
th
e
s
y
s
tem
s
h
o
wn
in
Fig
u
r
e
s
1
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d
2
s
tar
t
f
r
o
m
th
e
PS
3
co
n
tr
o
ller
to
all
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o
b
o
t
f
u
n
ctio
n
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co
m
p
o
n
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ts
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am
ely
Me
c
an
u
m
wh
ee
ls
as
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e
g
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ip
p
er
s
an
d
s
h
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ter
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is
m
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u
r
e
1
s
h
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ws th
e
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n
o
f
th
e
Me
ca
n
u
m
wh
ee
l c
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n
tr
o
l sy
s
tem
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Fig
u
r
e
1
.
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s
ter
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e
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ice
to
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ices o
p
e
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m
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ee
l c
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in
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ts
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m
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l
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d
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ec
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ap
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ts
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we
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n
o
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tain
PW
M
p
ar
am
eter
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1
,
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d
4
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s
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g
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2
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to
(
5
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.
=
,
=
,
=
2
(
,
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(
1
)
1
=
min
{
(
+
4
)
−
0
.
7
,
250
}
(
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
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2
.
1
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2
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M
a
s
t
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rippers a
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t
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m
ec
ha
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m
s
s
la
v
e
dev
ices c
o
ntr
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l
Gr
ip
p
er
s
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d
s
h
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ter
m
ec
h
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n
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m
s
in
th
e
r
o
b
o
t
ar
e
co
n
tr
o
lled
b
y
s
lav
e
d
ev
ices
E
,
F,
H,
J
,
an
d
K.
Fig
u
r
e
2
s
h
o
ws
th
e
d
esig
n
o
f
t
h
e
g
r
ip
p
er
s
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d
s
h
o
o
ter
s
m
ec
h
an
is
m
s
co
n
tr
o
l
s
y
s
tem
.
T
h
e
g
r
ip
p
er
s
an
d
s
h
o
o
ter
s
lav
e
d
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ices
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eq
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ir
e
g
r
ip
O
n
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ian
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cr
o
s
s
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d
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k
T
r
ig
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er
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d
s
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d
Sh
o
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ar
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les.
T
h
ese
v
ar
iab
les ar
e
tr
an
s
m
itted
f
r
o
m
th
e
m
aster
d
ev
ice
to
s
lav
e
d
ev
ices.
Fig
u
r
e
2
.
Ma
s
ter
d
e
v
ice
to
s
lav
e
d
ev
ices o
p
e
r
atio
n
:
g
r
ip
p
er
an
d
s
h
o
o
ter
co
n
tr
o
l m
ec
h
a
n
is
m
s
T
h
e
g
r
ip
p
e
r
s
an
d
s
h
o
o
ter
s
lav
e
d
ev
ices'
p
ar
am
eter
s
ar
e
o
b
tain
ed
u
s
in
g
th
e
co
n
d
itio
n
al
lo
g
ic
ex
p
lain
ed
in
T
ab
le
1
.
I
n
th
e
s
y
s
tem
,
ea
ch
s
lav
e
d
e
v
ice
is
ass
ig
n
ed
s
p
ec
if
ic
p
ar
am
ete
r
s
b
a
s
ed
o
n
its
f
u
n
ctio
n
.
Slav
e
Dev
ice
(
E
)
r
ec
eiv
es
g
r
ip
On
an
d
tr
ian
g
leB
tn
to
co
n
tr
o
l
th
e
g
r
ip
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er
'
s
s
tate
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d
ad
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itio
n
al
m
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es.
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e
Dev
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(
F)
is
p
r
o
v
id
e
d
with
cr
o
s
s
B
tn
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s
p
d
L
if
t,
an
d
tr
ian
g
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tn
to
m
an
a
g
e
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o
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er
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n
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d
s
p
ee
d
.
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e
Dev
ices
(
H)
is
co
n
f
ig
u
r
ed
w
ith
cr
o
s
s
B
tn
an
d
s
p
d
L
if
t
f
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r
s
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ilar
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c
o
n
tr
o
l
f
u
n
ctio
n
s
.
s
lav
e
d
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ice
(
J
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r
ec
eiv
es
n
ec
k
T
r
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g
g
er
to
a
d
ju
s
t
th
e
n
ec
k
'
s
p
o
s
itio
n
.
Fin
ally
,
th
e
s
lav
e
d
e
v
ice
(
K)
is
ass
ig
n
ed
c
r
o
s
s
B
tn
an
d
s
p
d
Sh
o
o
ter
to
c
o
n
tr
o
l th
e
s
h
o
o
tin
g
m
ec
h
an
is
m
.
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
Mu
lti
-
micro
co
n
tr
o
ller
s
y
s
tem
fo
r
Meca
n
u
m
r
o
b
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ts
w
ith
g
r
ip
p
er
-
s
h
o
o
ter me
ch
a
n
is
ms
(
Mo
h
a
mme
d
Ma
r
ea
i
)
185
T
ab
le
1
.
Slav
e
d
e
v
ices (
E
,
F,
H,
J
,
an
d
K)
p
a
r
am
eter
s
m
an
ip
u
latio
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P
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v
e
dev
ices a
nd
ro
bo
t
env
iro
nm
ent
inte
g
ra
t
io
n
T
h
e
en
g
in
ee
r
ed
c
o
n
tr
o
l
s
y
s
te
m
em
p
lo
y
s
PW
M
s
ig
n
als
to
r
eg
u
late
th
e
s
p
ee
d
an
d
d
ir
ec
t
io
n
o
f
t
h
e
m
o
to
r
s
af
f
ix
e
d
to
th
e
r
o
b
o
t.
T
h
is
tech
n
iq
u
e
en
a
b
les
ea
ch
m
o
to
r
t
o
f
u
n
ctio
n
ac
co
r
d
i
n
g
to
th
e
d
is
tin
ct
r
eq
u
ir
em
e
n
ts
o
f
th
e
m
ec
h
a
n
is
m
it
g
o
v
er
n
s
,
in
clu
d
i
n
g
wh
ee
l
m
o
v
em
e
n
t,
g
r
ip
p
er
a
ctio
n
s
,
an
d
s
h
o
o
ter
o
p
er
atio
n
s
.
T
h
e
s
y
s
tem
d
esig
n
in
co
r
p
o
r
ates
d
i
v
er
s
e
DC
m
o
to
r
s
,
in
clu
d
in
g
PG4
5
,
PG3
6
,
an
d
R
S
-
7
7
5
,
alo
n
g
s
id
e
an
R
DS3
1
1
5
s
er
v
o
,
ch
o
s
en
ac
co
r
d
in
g
t
o
th
eir
d
is
ti
n
ct
f
ea
tu
r
es,
to
r
q
u
e,
a
n
d
s
p
ee
d
s
p
ec
if
icatio
n
s
.
2
.
2
.
1
.
Sla
v
e
dev
ices m
a
na
g
e
m
ent
f
o
r
M
ec
a
nu
m
wheels
T
h
e
s
lav
e
d
ev
ices
co
n
tr
o
llin
g
th
e
f
o
u
r
Me
ca
n
u
m
wh
ee
ls
’
m
o
tio
n
allo
w
th
e
r
o
b
o
t
to
m
o
v
e
with
f
lex
ib
ilit
y
in
all
d
ir
ec
tio
n
s
,
in
c
lu
d
in
g
f
o
r
war
d
,
b
ac
k
war
d
,
s
id
ewa
y
s
,
an
d
r
o
tatin
g
.
T
h
e
f
o
u
r
m
ain
s
lav
e
d
ev
ices
th
at
co
n
tr
o
l
Me
ca
n
u
m
wh
ee
ls
ar
e
A,
B
,
C
,
an
d
D.
E
ac
h
o
f
th
ese
s
lav
e
d
ev
ices
i
s
r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
llin
g
th
e
r
ig
h
t
f
r
o
n
t,
lef
t
f
r
o
n
t,
r
ig
h
t
r
ea
r
,
an
d
lef
t
r
ea
r
wh
ee
ls
in
d
ep
en
d
e
n
tly
.
W
ith
th
e
s
y
s
tem
'
s
ab
ilit
y
to
co
n
tr
o
l
ea
ch
wh
ee
l
in
d
ep
en
d
en
tly
,
th
e
r
o
b
o
t
ca
n
p
er
f
o
r
m
co
m
p
lex
an
d
p
r
ec
is
e
m
a
n
eu
v
er
s
,
p
r
o
v
id
in
g
ad
v
an
tag
es
i
n
m
o
b
ilit
y
an
d
f
lex
ib
ilit
y
in
r
ea
l tim
e.
E
ac
h
wh
ee
l
is
p
o
wer
ed
b
y
a
PG4
5
DC
m
o
to
r
,
s
elec
ted
f
o
r
its
ab
ilit
y
to
d
eliv
er
h
ig
h
to
r
q
u
e
with
ef
f
icien
t
p
o
wer
c
o
n
s
u
m
p
tio
n
.
T
h
is
m
o
to
r
is
av
ailab
le
in
d
if
f
er
en
t
m
o
d
els.
I
n
o
n
e
o
f
th
ese
m
o
d
els,
th
e
m
o
to
r
ca
n
p
r
o
v
id
e
a
n
ef
f
icien
t
t
o
r
q
u
e
o
f
1
9
7
k
g
f
.
cm
an
d
a
m
ax
im
u
m
f
o
r
ce
to
r
q
u
e
o
f
2
7
6
k
g
f
.
c
m
.
I
t
f
ea
tu
r
es
a
g
ea
r
r
atio
o
p
tim
ized
f
o
r
p
r
ec
is
e
s
p
ee
d
an
d
to
r
q
u
e
c
o
n
tr
o
l,
m
ak
i
n
g
it
s
u
itab
le
f
o
r
a
p
p
licatio
n
s
r
eq
u
ir
i
n
g
c
o
m
p
lex
m
an
eu
v
er
s
,
s
u
ch
as
Me
ca
n
u
m
-
wh
ee
led
r
o
b
o
ts
[
2
1
]
.
T
h
e
m
o
to
r
'
s
s
p
ee
d
an
d
d
ir
ec
tio
n
a
r
e
co
n
tr
o
lled
u
s
in
g
a
PW
M
s
ig
n
al.
2
.
2
.
2
.
Sla
v
e
dev
ices m
a
na
g
e
m
ent
f
o
r
g
rippers a
nd
s
ho
o
t
er
m
ec
ha
nis
m
s
Gr
ip
p
er
s
an
d
s
h
o
o
ter
m
ec
h
a
n
is
m
s
co
n
tr
o
l
is
ac
h
iev
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r
o
u
g
h
th
e
m
aster
d
ev
ice
th
at
c
o
o
r
d
in
ates
f
iv
e
s
lav
e
d
ev
ices: E
,
F,
H,
J
,
an
d
K.
E
ac
h
o
f
th
ese
s
lav
e
d
e
v
ices is r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
l
lin
g
s
p
ec
if
ic
m
o
to
r
s
an
d
m
ec
h
an
is
m
s
.
T
h
e
s
lav
e
d
e
v
ice
m
an
a
g
em
en
t
ap
p
r
o
ac
h
en
s
u
r
es
th
at
ea
ch
m
ec
h
a
n
is
m
o
n
th
e
r
o
b
o
t
o
p
er
ates
o
p
tim
ally
an
d
ac
co
r
d
i
n
g
to
its
s
p
ec
if
ic
n
ee
d
s
.
Slav
e
d
ev
ices
E
,
F,
H,
J
,
an
d
K
co
n
tr
o
l
PG3
6
an
d
R
S
-
7
7
5
DC
m
o
to
r
s
as
well
as
R
DS3
1
1
5
s
er
v
o
.
Slav
e
d
ev
ices
E
an
d
J
co
n
tr
o
l
PG3
6
m
o
to
r
s
,
wh
ich
o
f
f
er
h
ig
h
to
r
q
u
e
in
a
co
m
p
ac
t
s
ize,
m
ak
in
g
t
h
em
s
m
aller
an
d
m
o
r
e
s
p
ac
e
-
ef
f
icien
t
c
o
m
p
ar
ed
to
PG4
5
m
o
to
r
s
.
T
h
is
m
o
to
r
is
av
ailab
le
in
d
if
f
er
en
t
m
o
d
els.
An
ex
am
p
l
e
o
f
th
ese
m
o
d
els
is
th
at
th
e
y
c
an
o
p
e
r
ate
with
a
to
r
q
u
e
o
f
1
8
k
g
-
cm
at
1
2
v
o
lts
.
PG3
6
m
o
to
r
s
ar
e
well
-
s
u
ited
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
in
g
p
r
ec
is
e
co
n
tr
o
l,
s
u
ch
as
g
r
ip
p
e
r
s
an
d
n
ec
k
m
ec
h
an
is
m
s
[
2
2
]
.
Slav
e
d
e
v
ice
F
co
n
tr
o
ls
an
R
S
-
7
7
5
m
o
to
r
a
n
d
R
DS3
1
1
5
s
er
v
o
.
T
h
e
R
S
-
7
7
5
is
a
h
ig
h
-
s
p
ee
d
an
d
h
i
g
h
-
to
r
q
u
e
DC
m
o
to
r
ca
p
ab
le
o
f
o
p
er
atin
g
in
o
n
e
o
f
its
m
o
d
els
at
a
s
p
ee
d
o
f
3
5
0
0
r
p
m
f
o
r
1
2
V
[
2
3
]
.
I
t
is
well
-
s
u
ited
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
in
g
h
ig
h
p
o
wer
,
s
u
ch
as
to
p
lift
m
ec
h
a
n
is
m
s
.
T
h
e
R
DS3
1
1
5
s
er
v
o
,
weig
h
in
g
1
0
0
g
,
is
ca
p
ab
le
o
f
d
eliv
e
r
in
g
1
5
k
g
·
c
m
o
f
to
r
q
u
e
a
n
d
is
u
s
ed
f
o
r
p
r
ec
is
e
co
n
tr
o
l o
f
t
h
e
g
r
ip
p
er
m
ec
h
an
is
m
[
2
4
]
.
Slav
e
d
ev
ices H
an
d
K
ar
e
r
esp
o
n
s
ib
le
f
o
r
co
n
tr
o
llin
g
a
d
d
itio
n
al
R
S
-
7
7
5
m
o
to
r
s
.
2
.
2
.
3
.
Ro
bo
t
s
y
s
t
em
env
iro
nm
ent
T
h
e
d
ig
ital
co
n
tr
o
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s
y
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tem
is
in
teg
r
ated
with
th
e
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o
b
o
tic
m
ec
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an
ical
s
y
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tem
en
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ir
o
n
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s
h
o
wn
in
Fig
u
r
e
3
.
T
h
e
r
o
b
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t
f
ea
tu
r
es
a
m
etallic
f
r
am
e,
with
m
o
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r
s
m
o
u
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ted
o
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e
s
tr
u
ctu
r
e
u
s
in
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t
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p
last
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ec
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y
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r
p
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at
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Fin
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n
e
n
t
m
ad
e
o
f
p
last
ic,
d
esig
n
ed
to
ac
ce
ler
ate
th
e
s
h
o
o
tin
g
p
r
o
ce
s
s
.
A
d
ir
ec
tio
n
al
co
v
er
is
in
teg
r
ated
in
to
th
e
d
esig
n
o
f
t
h
e
s
h
o
o
ter
to
g
u
id
e
th
e
tr
ajec
to
r
y
o
f
th
e
p
r
o
jectiles f
o
r
war
d
.
(
a)
(
b
)
(
c)
(
d
)
Fig
u
r
e
4
.
R
o
b
o
t 3
D
d
esig
n
f
r
o
m
(
a)
lef
t
-
s
id
e,
(
b
)
u
p
p
e
r
-
s
id
e,
(
c)
r
ig
h
t
-
s
id
e,
an
d
(
d
)
b
o
tto
m
-
s
id
e
v
iew
All
co
m
p
o
n
en
ts
o
f
th
e
r
o
b
o
t
wo
r
k
to
g
eth
er
,
en
a
b
lin
g
it
to
p
er
f
o
r
m
its
f
u
n
ctio
n
s
.
T
h
e
r
o
b
o
t
m
o
v
es
ac
co
r
d
in
g
to
th
e
in
p
u
t
co
m
m
an
d
s
f
r
o
m
th
e
PS
3
co
n
tr
o
ller
u
s
in
g
its
Me
ca
n
u
m
wh
ee
ls
.
Af
ter
it
r
ea
ch
es
th
e
p
o
s
itio
n
in
wh
ich
an
o
b
ject
is
in
f
r
o
n
t o
f
it,
th
e
g
r
i
p
p
er
s
s
tar
t
to
w
o
r
k
.
T
h
e
r
o
b
o
t
is
f
ac
ilit
ated
with
r
u
b
b
le
r
o
d
s
th
at
en
ab
le
th
e
tr
an
s
f
e
r
o
f
o
b
jects
f
r
o
m
th
e
f
r
o
n
t
g
r
ip
p
e
r
s
to
th
e
ce
n
ter
o
f
t
h
e
r
o
b
o
t,
en
s
u
r
in
g
th
e
o
b
ject
r
em
ain
s
s
ec
u
r
ely
with
in
t
h
e
r
o
b
o
t’
s
s
tr
u
ctu
r
e.
A
f
ter
th
is
,
th
e
r
o
b
o
t
ca
n
b
e
m
o
v
ed
to
an
o
t
h
er
lo
ca
tio
n
wh
e
r
e
th
e
s
h
o
o
ter
ca
n
b
e
ac
tiv
ated
.
On
ce
th
e
s
h
o
o
ter
m
ec
h
a
n
is
m
is
ac
tiv
ated
,
a
s
ec
o
n
d
ar
y
s
et
o
f
r
u
b
b
er
r
o
d
s
p
r
o
p
els
th
e
o
b
ject
v
er
tically
.
T
h
e
m
o
u
n
ted
s
h
o
o
ter
,
eq
u
ip
p
ed
with
a
wh
ee
l,
f
u
r
th
e
r
ac
ce
ler
ates
th
e
o
b
ject,
wh
ile
th
e
s
h
o
o
ter
co
v
er
en
s
u
r
es th
at
t
h
e
tr
ajec
to
r
y
is
d
ir
ec
ted
f
o
r
war
d
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
p
r
ac
tical
im
p
lem
en
tatio
n
o
f
r
o
b
o
t
d
esig
n
is
illu
s
tr
ated
i
n
Fig
u
r
e
5
.
T
h
e
3
D
d
esig
n
wa
s
th
e
g
u
i
d
e
th
r
o
u
g
h
th
e
im
p
lem
e
n
tatio
n
p
r
o
ce
s
s
.
Ho
wev
er
,
s
o
m
e
ad
ju
s
tm
en
ts
wer
e
n
ee
d
ed
.
On
e
ad
j
u
s
tm
en
t
is
th
at
two
ad
d
itio
n
al
g
r
ip
p
e
r
s
,
p
o
wer
ed
b
y
two
s
er
v
o
m
o
to
r
s
,
wer
e
in
co
r
p
o
r
ated
to
en
h
a
n
ce
t
h
e
r
o
b
o
t'
s
g
r
ip
p
in
g
m
ec
h
an
is
m
,
as
s
h
o
w
n
in
th
e
f
r
o
n
t
o
f
t
h
e
r
o
b
o
t
in
Fig
u
r
e
5
(
a
)
.
T
h
e
d
u
al
g
r
ip
p
er
s
p
r
ev
i
o
u
s
ly
in
tr
o
d
u
ce
d
in
th
e
3
D
m
o
d
el
wer
e
r
etain
ed
f
o
r
h
an
d
lin
g
lef
t
an
d
r
ig
h
t
g
r
ip
p
in
g
task
s
,
wh
ile
t
h
e
n
ew
two
g
r
ip
p
er
s
h
a
n
d
le
f
r
o
n
t
g
r
ip
p
in
g
task
s
.
T
h
e
r
em
ain
d
er
o
f
t
h
e
r
o
b
o
t'
s
d
esig
n
was
co
n
s
tr
u
cted
in
alig
n
m
en
t
with
s
p
ec
if
icatio
n
s
d
etailed
in
th
e
3
D
m
o
d
el
with
s
lig
h
t
m
o
d
if
icatio
n
s
f
o
r
s
izin
g
an
d
d
im
en
s
io
n
s
,
s
u
ch
as
r
ed
u
cin
g
th
e
s
ize
o
f
th
e
r
o
llin
g
,
cy
lin
d
r
ical
co
m
p
o
n
e
n
t in
th
e
s
h
o
o
ter
m
ec
h
an
is
m
as sh
o
wn
i
n
Fig
u
r
e
5
(
b
)
.
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
Mu
lti
-
micro
co
n
tr
o
ller
s
y
s
tem
fo
r
Meca
n
u
m
r
o
b
o
ts
w
ith
g
r
ip
p
er
-
s
h
o
o
ter me
ch
a
n
is
ms
(
Mo
h
a
mme
d
Ma
r
ea
i
)
187
(
a)
(
b
)
Fig
u
r
e
5
.
R
o
b
o
t 3
D
d
esig
n
f
r
o
m
(
a)
to
p
-
s
id
e
an
d
(
b
)
f
r
o
n
t
-
s
id
e
v
iew
3
.
1
.
Ro
bo
t
p
er
f
o
r
m
a
nce
a
t
K
RAI 2
0
2
4
T
h
e
p
r
o
p
o
s
ed
r
o
b
o
t
was
ev
alu
ated
d
u
r
in
g
th
e
KR
AI
co
n
test
.
T
h
is
p
r
o
v
id
es
an
o
p
p
o
r
tu
n
ity
to
ass
es
s
th
e
r
o
b
o
t’
s
d
ig
ital
co
n
tr
o
l
s
y
s
tem
an
d
its
f
u
n
ctio
n
alities
u
n
d
er
co
m
p
etitiv
e
co
n
d
itio
n
s
[
2
5
]
.
I
n
th
e
co
n
test
,
th
e
r
o
b
o
t w
as e
x
p
ec
te
d
to
d
o
two
t
ask
s
in
two
d
if
f
er
en
t a
r
ea
s
.
T
h
ese
task
s
wer
e:
a.
Seed
lin
g
p
lan
tin
g
at
a
r
ea
1
:
t
h
e
r
o
b
o
t
was
task
ed
with
p
lan
tin
g
r
ep
r
esen
tatio
n
s
o
f
r
ice
s
ee
d
lin
g
s
,
m
im
ick
in
g
th
e
in
itial
s
tep
o
f
s
o
win
g
r
ice
s
ee
d
s
i
n
p
r
e
p
ar
ed
p
lo
ts
.
T
h
e
r
o
b
o
t
is
task
e
d
with
p
lan
tin
g
s
ee
d
lin
g
s
in
d
esig
n
ated
cir
cles
with
in
a
r
ea
1
.
b.
Han
d
lin
g
p
ad
d
y
r
ice
an
d
e
m
p
ty
g
r
ain
s
at
a
r
ea
2
:
r
o
b
o
ts
m
u
s
t
p
ick
u
p
b
alls
th
at
r
ep
r
e
s
en
t
m
atu
r
e
r
ice
g
r
ain
s
(
p
a
d
d
y
r
ice)
an
d
s
ep
ar
ate
o
u
t
e
m
p
ty
g
r
ain
s
,
s
im
u
latin
g
th
e
s
o
r
tin
g
an
d
co
llectio
n
o
f
h
ar
v
estab
le
r
ice.
T
h
e
r
o
b
o
t
’
s
task
was
to
co
llect
an
d
d
ep
o
s
it
“e
m
p
ty
g
r
ain
”
an
d
“p
ad
d
y
r
ice”
b
alls
i
n
to
th
e
s
to
r
ag
e
zo
n
e
at
a
r
ea
3
.
T
h
e
r
o
b
o
t
d
e
m
o
n
s
tr
ated
c
o
m
m
en
d
ab
le
p
er
f
o
r
m
an
ce
in
th
e
co
m
p
etitio
n
.
I
n
ar
ea
1
,
th
e
r
o
b
o
t
s
u
cc
ess
f
u
lly
p
lan
ted
s
ee
d
lin
g
s
f
o
u
r
tim
es
in
s
ix
attem
p
ts
,
y
i
eld
in
g
a
s
u
cc
ess
p
er
ce
n
tag
e
o
f
6
6
.
6
7
%.
I
n
a
r
ea
2
,
th
e
r
o
b
o
t
c
o
llected
b
alls
s
u
cc
ess
f
u
lly
in
f
iv
e
o
u
t
o
f
s
ix
m
at
ch
es,
y
ield
in
g
an
8
3
.
3
3
%
s
u
cc
ess
r
ate.
T
h
is
was
ac
co
m
p
lis
h
ed
u
s
in
g
th
e
Me
c
an
u
m
wh
ee
l
s
y
s
tem
th
at
f
ac
ilit
ated
o
m
n
id
ir
ec
tio
n
al
m
o
v
em
en
t
alo
n
g
with
g
r
ip
p
er
s
a
n
d
s
h
o
o
ter
m
ec
h
an
i
s
m
s
th
at
p
lay
ed
a
v
ital
r
o
le
in
en
s
u
r
in
g
d
r
ag
g
in
g
th
e
b
alls
an
d
s
h
o
o
tin
g
th
em
t
o
th
e
co
r
r
ec
t
p
lace
.
Du
r
in
g
th
e
co
n
test
,
f
ailu
r
es
in
s
o
m
e
o
f
th
e
co
n
test
m
atch
es
wer
e
o
b
s
er
v
ed
to
b
e
ca
u
s
ed
b
y
ce
r
tain
r
ea
s
o
n
s
.
T
h
e
f
ailu
r
e
th
at
o
cc
u
r
r
ed
in
th
e
b
all
-
th
r
o
win
g
s
y
s
tem
f
r
o
m
ar
ea
2
to
s
to
r
ag
e
zo
n
e
at
ar
ea
3
was
ca
u
s
ed
b
y
h
ig
h
-
f
r
e
q
u
en
c
y
v
i
b
r
atio
n
s
in
th
e
r
u
b
b
er
b
elt
s
y
s
tem
b
ec
au
s
e
it
was
r
o
tatin
g
at
h
ig
h
s
p
ee
d
.
T
h
e
d
ev
iatio
n
o
b
s
er
v
e
d
in
th
e
b
all
-
th
r
o
win
g
tr
ajec
to
r
y
a
v
er
ag
ed
±
1
5
d
eg
r
ee
s
f
r
o
m
th
e
in
ten
d
e
d
p
ath
.
T
h
e
g
r
ip
p
e
r
m
ec
h
an
is
m
,
d
esig
n
ed
t
o
h
o
ld
an
d
p
lan
t
m
u
ltip
le
s
ee
d
lin
g
s
,
h
as
th
e
lim
itatio
n
o
f
its
in
a
b
ilit
y
to
a
d
ju
s
t
its
p
o
s
itio
n
au
to
m
atica
lly
.
Fo
r
th
e
s
h
o
o
ter
m
ec
h
an
is
m
,
th
e
e
x
t
er
n
al
in
ter
f
e
r
en
ce
f
r
o
m
th
e
o
p
p
o
s
in
g
team
,
wh
ich
r
ep
o
s
itio
n
ed
th
e
b
alls
,
cr
ea
ted
ch
allen
g
es f
o
r
t
h
e
r
o
b
o
t d
u
r
in
g
th
e
co
llectio
n
p
r
o
ce
s
s
.
3
.
2
.
Co
m
pa
riso
n wit
h
o
t
her
m
et
ho
ds
Dig
ital
m
u
lti
-
m
icr
o
co
n
t
r
o
ller
co
n
tr
o
l
s
y
s
tem
s
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
in
m
an
y
p
r
ev
i
o
u
s
li
ter
atu
r
es.
Mo
n
d
ad
a
et
a
l
.
[
2
6
]
h
a
v
e
d
ev
elo
p
ed
a
m
u
lti
-
m
icr
o
c
o
n
tr
o
ller
ar
ch
itectu
r
e
u
s
ed
in
th
e
Kh
e
p
er
a
r
o
b
o
t.
I
n
th
is
ar
ch
itectu
r
e,
a
m
ain
m
icr
o
c
o
n
tr
o
ller
(
Mo
to
r
o
la
MC6
8
3
3
1
)
h
a
n
d
les
h
i
g
h
-
lev
el
co
n
t
r
o
l,
wh
ile
ad
d
itio
n
al
m
icr
o
co
n
tr
o
ller
s
m
an
ag
e
lo
w
-
lev
el
task
s
s
u
ch
as
s
en
s
o
r
d
ata
ac
q
u
is
itio
n
an
d
m
o
to
r
c
o
n
tr
o
l
.
Hen
r
ey
et
a
l
.
[
2
7
]
d
esig
n
ed
a
m
u
lti
-
p
r
o
ce
s
s
o
r
s
y
s
tem
-
on
-
ch
ip
(
MPSo
C
)
ar
ch
itectu
r
e
im
p
lem
en
te
d
o
n
a
f
ield
-
p
r
o
g
r
am
m
ab
le
g
ate
ar
r
ay
(
FP
GA)
.
T
h
e
s
y
s
tem
is
i
n
teg
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m
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o
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l m
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ased
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8
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ld
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itectu
r
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r
th
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m
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ak
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itab
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licatio
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ile
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ig
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-
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I
I
r
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b
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t c
o
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tr
o
l
m
eth
o
d
.
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CO
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h
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p
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esi
g
n
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p
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tatio
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f
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tem
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ca
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wh
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ip
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with
g
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d
s
h
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ter
m
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h
an
is
m
s
.
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h
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m
ain
c
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ib
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s
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f
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s
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t
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a
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m
icr
o
co
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tr
o
ller
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b
ased
d
ig
it
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co
n
tr
o
l
ar
c
h
itectu
r
e.
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h
e
co
n
tr
o
l
m
eth
o
d
is
o
p
tim
ized
f
o
r
m
u
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ask
in
g
,
h
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d
lin
g
Me
ca
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m
wh
ee
ls
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o
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m
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tio
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r
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r
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n
d
a
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h
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m
f
o
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ef
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o
b
ject
p
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.
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h
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s
tu
d
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also
p
r
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p
r
o
p
o
s
als
f
o
r
f
u
r
th
er
im
p
r
o
v
em
en
ts
.
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o
e
n
h
an
ce
th
e
in
tr
o
d
u
ce
d
g
r
ip
p
er
s
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d
s
h
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ter
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m
s
,
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e
in
teg
r
atio
n
o
f
m
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ad
v
a
n
ce
d
s
en
s
o
r
s
with
PID
f
ee
d
b
ac
k
lo
o
p
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is
p
r
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p
o
s
ed
.
T
h
e
d
esig
n
e
d
m
o
d
u
le
ca
n
also
b
e
ex
p
an
d
e
d
to
in
co
r
p
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ate
ad
v
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ce
d
a
u
to
m
atio
n
f
ea
tu
r
es,
e
n
ab
lin
g
s
ea
m
less
in
teg
r
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n
with
lar
g
er
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o
b
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tic
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tem
s
f
o
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m
p
le
x
task
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ch
as
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to
n
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o
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ject
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d
lin
g
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d
r
ea
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-
tim
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is
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n
-
m
ak
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.
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er
all,
th
is
s
tu
d
y
m
a
k
es
a
s
ig
n
if
ican
t
c
o
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tr
ib
u
tio
n
to
t
h
e
a
d
v
an
ce
m
e
n
t
o
f
c
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n
tr
o
l
m
o
d
u
les
in
r
o
b
o
tic
s
b
y
in
tr
o
d
u
cin
g
a
s
ca
lab
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m
u
lti
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f
u
n
ctio
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al,
lo
w
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co
s
t
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b
o
tic
co
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tr
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s
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ca
p
ab
le
o
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ex
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x
task
s
in
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
,
s
u
ch
as a
g
r
ic
u
ltu
r
al
ap
p
licatio
n
s
.
ACK
NO
WL
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DG
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M
E
NT
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T
h
e
au
th
o
r
s
in
ce
r
ely
t
h
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k
s
t
h
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Facu
lty
o
f
Ad
v
a
n
ce
d
T
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h
n
o
lo
g
y
an
d
Mu
ltid
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cip
lin
e
at
Air
lan
g
g
a
Un
iv
er
s
ity
f
o
r
th
eir
s
u
p
p
o
r
t
an
d
g
u
id
a
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ce
th
r
o
u
g
h
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u
t
th
is
wo
r
k
.
T
h
e
r
o
b
o
t
d
esig
n
wa
s
co
n
d
u
cted
u
s
in
g
m
ater
ials
av
ailab
le
in
th
e
f
ac
u
l
ty
r
esear
ch
lab
o
r
ato
r
y
.
F
UNDING
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NF
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R
M
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N
T
h
is
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esear
ch
was
p
ar
tially
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u
n
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ed
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y
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lty
o
f
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v
an
ce
d
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h
n
o
lo
g
y
an
d
Mu
ltid
is
cip
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e,
Air
lan
g
g
a
Un
iv
e
r
s
ity
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
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o
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y
(
C
R
ed
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to
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o
g
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ize
in
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iv
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al
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th
o
r
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tr
ib
u
tio
n
s
,
r
ed
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ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
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f
Aut
ho
r
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M
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Va
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Vi
Su
P
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h
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m
ed
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r
ea
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✓
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J
u
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en
Fas
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Mo
ch
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ad
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id
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o
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k
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ea
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C
:
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Au
th
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r
s
s
tate
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n
f
lict o
f
in
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er
est.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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I
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t
J
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b
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I
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N:
2722
-
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lti
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h
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ter me
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(
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)
189
DATA AV
AI
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AB
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h
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au
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ata
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7
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2
4
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T.
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.
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