I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
3
9
,
No
.
2
,
A
u
g
u
s
t
2
0
2
5
,
p
p
.
1
005
~
1
0
1
2
I
SS
N:
2
5
0
2
-
4
7
5
2
,
DOI
:
1
0
.
1
1
5
9
1
/ijeecs.v
3
9
.i
2
.
pp
1
0
0
5
-
1
0
1
2
1005
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Ethics in
huma
n
-
ro
bo
t
interac
tion
resea
rch
Ro
bin
s
o
n J
im
enez
M
o
re
no
1
,
Anny
Astr
id
E
s
p
it
ia
Cubi
llo
s
2
,
J
a
v
ier
E
du
a
rdo
M
a
rt
i
nez
B
a
qu
er
o
3
1
M
e
c
h
a
t
r
o
n
i
c
E
n
g
i
n
e
e
r
i
n
g
P
r
o
g
r
a
m
,
F
a
c
u
l
t
y
o
f
E
n
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
si
d
a
d
M
i
l
i
t
a
r
N
u
e
v
a
G
r
a
n
a
d
a
,
B
o
g
o
t
á
,
C
o
l
o
m
b
i
a
2
I
n
d
u
st
r
i
a
l
E
n
g
i
n
e
e
r
i
n
g
P
r
o
g
r
a
m
,
F
a
c
u
l
t
y
o
f
En
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
s
i
d
a
d
M
i
l
i
t
a
r
N
u
e
v
a
G
r
a
n
a
d
a
,
B
o
g
o
t
á
,
C
o
l
o
mb
i
a
3
En
g
i
n
e
e
r
i
n
g
S
c
h
o
o
l
,
F
a
c
u
l
t
y
o
f
B
a
s
i
c
S
c
i
e
n
c
e
s
a
n
d
En
g
i
n
e
e
r
i
n
g
,
U
n
i
v
e
r
s
i
d
a
d
d
e
l
o
s
Ll
a
n
o
s,
V
i
l
l
a
v
i
c
e
n
c
i
o
,
C
o
l
o
mb
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
Dec
10
,
2
0
2
4
R
ev
is
ed
Mar
18
,
2
0
2
5
Acc
ep
ted
J
u
l
1
,
2
0
2
5
Th
is
p
a
p
e
r
e
x
p
l
o
re
s
th
e
b
a
sic
e
th
i
c
a
l
a
n
d
b
i
o
e
th
ica
l
c
o
n
si
d
e
ra
ti
o
n
s
n
e
c
e
ss
a
ry
to
m
e
d
iate
in
tera
c
ti
o
n
wit
h
v
a
ri
o
u
s
e
v
e
ry
d
a
y
r
o
b
o
ts,
a
n
a
l
y
z
in
g
se
v
e
ra
l
sta
te
-
of
-
th
e
-
a
rt
re
p
o
r
ts
a
n
d
o
w
n
re
se
a
rc
h
,
c
o
n
si
d
e
rin
g
a
d
v
a
n
c
e
s
in
h
u
m
a
n
-
ro
b
o
t
in
tera
c
ti
o
n
(HRI)
a
n
d
a
rti
ficia
l
i
n
telli
g
e
n
c
e
(AI)
.
I
t
is
imp
o
rtan
t
t
o
i
n
d
ica
te
th
a
t
t
h
e
a
d
o
p
ti
o
n
o
f
ro
b
o
ti
c
a
ss
istan
c
e
sy
ste
m
s
is
li
m
it
e
d
b
y
u
se
rs'
n
e
rv
o
u
sn
e
ss
a
b
o
u
t
th
e
e
n
f
o
rc
e
m
e
n
t
o
f
e
th
ics
,
se
c
u
rit
y
a
n
d
p
riv
a
c
y
o
f
th
e
ir
in
fo
rm
a
ti
o
n
,
in
a
d
d
it
i
o
n
t
o
th
e
r
e
g
u
lar
t
h
re
a
ts
o
f
I
n
tern
e
t
u
se
,
c
o
n
sid
e
ri
n
g
th
a
t
HRI
m
u
st
re
a
so
n
it
s
so
c
ial
a
n
d
e
th
ica
l
imp
a
c
ts
b
y
in
c
l
u
d
i
n
g
sp
e
c
ifi
c
issu
e
s
a
ss
o
c
iate
d
with
HRI
su
c
h
a
s
a
u
t
o
n
o
m
y
,
tran
s
p
a
re
n
c
y
,
d
e
c
e
p
ti
o
n
a
n
d
p
o
li
c
ies
.
I
n
th
is
wa
y
,
it
is
re
lev
a
n
t
b
o
t
h
t
o
e
v
a
lu
a
te
h
o
w
r
o
b
o
ti
c
a
rc
h
it
e
c
tu
re
s
in
flu
e
n
c
e
p
e
o
p
le'
s
d
a
il
y
li
v
e
s
a
n
d
to
stu
d
y
h
o
w
t
o
a
v
o
i
d
p
o
ss
ib
l
e
n
e
g
a
ti
v
e
imp
a
c
ts.
F
in
a
ll
y
,
i
t
is
sig
n
if
ica
n
t
to
e
sta
b
li
sh
t
h
e
e
th
ica
l
c
o
n
s
id
e
ra
ti
o
n
s
r
e
q
u
ired
t
o
e
n
a
b
le
th
e
d
e
v
e
lo
p
m
e
n
t
o
f
AI
a
lg
o
rit
h
m
s
th
a
t
h
e
l
p
HRI
in
a
n
a
tu
ra
l
wa
y
.
K
ey
w
o
r
d
s
:
Ar
tific
ial
in
tellig
en
ce
B
io
eth
ics
E
th
ics o
f
tech
n
o
l
o
g
y
Hu
m
an
-
m
ac
h
i
n
e
in
ter
ac
tio
n
R
o
b
o
tics
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
:
An
n
y
Ast
r
id
E
s
p
itia Cu
b
illo
s
I
n
d
u
s
tr
ial
E
n
g
in
ee
r
in
g
Pro
g
r
a
m
,
Facu
lty
o
f
E
n
g
in
ee
r
in
g
,
U
n
i
v
er
s
id
ad
Militar
Nu
ev
a
Gr
an
a
d
a
C
ar
r
er
a
1
1
#
1
0
1
-
8
0
,
B
o
g
o
tá,
C
o
lo
m
b
ia
E
m
ail: a
n
n
y
.
esp
itia@
u
n
im
ilit
ar
.
ed
u
.
c
o
1.
I
NT
RO
D
UCT
I
O
N
T
h
e
in
cr
ea
s
in
g
p
r
esen
ce
o
f
r
o
b
o
ts
in
v
ar
io
u
s
e
n
v
ir
o
n
m
e
n
ts
im
p
lies
th
e
n
ee
d
f
o
r
h
u
m
an
-
r
o
b
o
t
in
ter
ac
tio
n
(
HR
I
)
th
at
is
n
o
t
o
n
ly
s
u
c
ce
s
s
f
u
l
b
u
t
also
ef
f
ic
ien
t
[
1
]
.
T
h
is
in
ter
ac
tio
n
p
r
o
c
ess
f
o
cu
s
es
o
n
th
e
s
tu
d
y
o
f
th
e
v
ar
io
u
s
way
s
in
wh
ich
th
e
r
elatio
n
s
h
ip
b
etwe
en
h
u
m
a
n
s
an
d
r
o
b
o
ts
is
p
o
s
s
ib
le
th
r
o
u
g
h
th
e
u
s
e
o
f
tech
n
o
lo
g
ies
s
u
ch
as
ar
tific
ial
in
tellig
en
ce
(
AI
)
an
d
in
p
a
r
ticu
lar
m
ac
h
in
e
lear
n
i
n
g
[
2
]
.
Giv
en
th
at
HR
I
is
in
d
ev
elo
p
m
e
n
t
an
d
a
g
r
o
win
g
b
o
o
m
,
in
o
r
d
er
to
d
esig
n
a
n
d
e
v
alu
ate
r
o
b
o
tic
s
y
s
tem
s
f
o
r
u
s
e
b
y
o
r
with
p
eo
p
le,
it
is
im
p
o
r
tan
t
to
p
o
i
n
t
o
u
t
in
th
is
ar
ea
s
o
m
e
m
in
im
u
m
et
h
ical
g
u
id
elin
es
th
at
m
u
s
t
b
e
m
et.
R
o
b
o
tic
s
y
s
tem
s
m
u
s
t h
av
e
th
e
a
b
i
lity
to
ad
a
p
t
to
th
e
ac
tio
n
s
an
d
b
eh
a
v
io
r
s
o
f
th
e
u
s
er
[
3
]
an
d
th
e
en
v
ir
o
n
m
en
t.
Un
d
er
s
tan
d
in
g
th
at
th
e
ch
ar
a
cter
is
tics
o
f
a
r
o
b
o
t
ca
n
b
e
s
o
b
r
o
ad
as
t
o
co
m
p
ly
with
t
h
e
laws
o
f
r
o
b
o
tics
estab
lis
h
ed
b
y
Asi
m
o
v
[
4
]
,
o
r
th
at
its
ch
ar
ac
ter
is
tics
ca
n
b
e
s
o
s
p
ec
i
f
ic
ac
co
r
d
in
g
to
th
e
s
p
ec
if
ic
p
r
o
p
er
ties
o
f
th
e
r
o
b
o
t
an
d
h
av
e
lim
ited
i
n
ter
ac
tio
n
with
th
e
h
u
m
a
n
u
s
er
.
I
n
g
en
er
al,
f
o
r
th
e
s
u
cc
ess
f
u
l
in
teg
r
atio
n
o
f
r
o
b
o
ts
it
is
n
ec
ess
ar
y
to
co
n
s
id
er
th
e
eth
ical
is
s
u
es
o
f
in
ter
ac
tio
n
with
th
eir
en
v
ir
o
n
m
en
t,
wh
ich
g
o
es
h
a
n
d
in
h
an
d
with
th
e
ty
p
e
o
f
d
ev
elo
p
m
en
t
an
d
d
e
p
lo
y
m
en
t
o
f
r
o
b
o
ts
ac
co
r
d
in
g
to
t
h
e
ap
p
licatio
n
s
th
at
ar
e
o
r
ien
te
d
.
E
th
ics
in
r
o
b
o
ti
cs
is
n
o
t
o
n
l
y
r
elev
a
n
t
f
o
r
th
e
s
cien
tific
co
m
m
u
n
ity
,
b
u
t
a
ls
o
f
o
r
d
ev
elo
p
er
s
,
tech
n
ician
s
an
d
u
s
er
s
[
5
]
.
T
h
er
ef
o
r
e,
t
h
e
p
r
ese
n
t
r
esear
c
h
s
ee
k
s
to
s
tu
d
y
th
e
b
asic
eth
i
ca
l
an
d
b
io
eth
ical
co
n
s
id
er
atio
n
s
n
ec
ess
ar
y
to
m
ed
iate
in
ter
ac
tio
n
with
ev
er
y
d
ay
r
o
b
o
ts
b
y
an
aly
zin
g
s
tate
-
of
-
t
he
-
ar
t r
ep
o
r
ts
an
d
o
wn
r
esear
ch
[
6
]
-
[
10
].
C
u
r
r
en
t
r
esear
ch
o
n
HR
I
ex
p
lo
r
es
m
o
r
e
c
o
n
tex
tu
alize
d
,
r
ef
lecti
v
e,
cr
itical,
an
d
in
cl
u
s
iv
e
d
esig
n
ap
p
r
o
ac
h
es
[
11
].
T
h
is
ar
ticle
is
o
r
g
an
ized
in
f
o
u
r
p
ar
ts
,
s
tar
tin
g
with
th
e
in
tr
o
d
u
ctio
n
.
T
h
e
s
ec
o
n
d
p
ar
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
2
,
Au
g
u
s
t
20
25
:
1
0
0
5
-
1
012
1006
ex
p
lain
s
th
e
m
eth
o
d
o
l
o
g
ical
s
tep
s
u
s
ed
,
th
e
th
ir
d
p
a
r
t
d
etail
s
an
d
d
is
cu
s
s
es
th
e
r
esu
lts
o
b
tain
ed
an
d
,
f
in
ally
,
th
e
f
o
u
r
th
p
ar
t
p
r
esen
ts
th
e
co
n
clu
s
io
n
s
.
2.
M
E
T
H
O
D
T
o
d
eter
m
in
e
et
h
ical
co
n
s
id
er
atio
n
s
r
eq
u
ir
ed
f
o
r
th
e
d
ev
elo
p
m
en
t o
f
AI
alg
o
r
ith
m
s
th
at
all
o
w
HR
I
in
a
n
atu
r
al
way
in
s
p
ec
if
ic
ca
r
e
task
s
,
an
a
n
aly
s
is
o
f
th
e
ad
v
an
ce
s
in
HR
I
an
d
AI
is
ca
r
r
i
ed
o
u
t,
co
n
s
id
er
in
g
d
o
cu
m
e
n
ted
r
esear
ch
p
u
b
lis
h
ed
in
s
cien
tific
jo
u
r
n
als
o
r
co
n
g
r
es
s
es
s
in
ce
2
0
2
0
an
d
o
w
n
r
esear
ch
,
[
6
]
-
[
10
]
with
r
esu
lts
p
u
b
lis
h
ed
d
u
r
in
g
th
e
s
am
e
p
er
io
d
.
T
h
e
ac
ad
e
m
ic
g
o
o
g
le
s
ea
r
ch
u
s
in
g
th
e
eq
u
atio
n
:
“e
th
ical
+
HR
I
”,
in
itially
y
ield
ed
9
3
r
esu
lts
,
f
ilter
in
g
b
y
y
ea
r
o
f
p
u
b
li
ca
tio
n
th
is
f
ig
u
r
e
is
r
ed
u
ce
d
to
8
6
d
o
cu
m
en
ts
th
at
ar
e
o
r
g
an
ized
b
y
r
elev
an
c
e.
B
y
v
er
if
y
in
g
th
e
titl
es
an
d
ab
s
t
r
ac
ts
o
f
th
e
p
ap
e
r
s
,
th
o
s
e
p
r
es
en
tin
g
a
p
ar
ticu
lar
f
o
cu
s
ass
o
ciate
d
with
g
en
d
er
,
co
u
n
tr
y
,
d
is
ab
ilit
y
an
d
r
eso
u
r
ce
s
ar
e
elim
in
ated
as
th
ey
d
o
n
o
t
f
o
cu
s
o
n
th
e
eth
ical
ap
p
r
o
ac
h
to
r
o
b
o
tic
i
n
ter
ac
tio
n
o
r
its
ap
p
licatio
n
.
E
th
ical
co
n
s
id
er
atio
n
s
ap
p
licab
le
to
s
cien
tific
r
esear
ch
in
HR
I
ar
e
ex
tr
ac
ted
f
r
o
m
th
e
s
elec
ted
p
a
p
er
s
.
Fi
g
u
r
e
1
s
h
o
ws
th
e
f
l
o
wch
ar
t
o
f
th
e
im
p
lem
en
ted
m
eth
o
d
o
l
o
g
y
.
Fig
u
r
e
1
.
Me
th
o
d
o
lo
g
y
f
lo
wch
ar
t
(
s
o
u
r
ce
:
a
d
a
p
t
ed
f
r
o
m
[
1
2
]
)
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
Scien
tific
r
esear
ch
in
an
y
ar
ea
h
as
th
r
ee
b
asic
p
h
ases
,
a
p
h
a
s
e
th
at
b
eg
in
s
with
a
c
o
n
ce
p
ti
o
n
p
r
o
ce
s
s
wh
er
e
th
e
r
esear
ch
p
r
o
ject
is
f
o
r
m
u
lated
.
Su
b
s
eq
u
en
tly
,
th
e
r
e
is
a
p
h
ase
th
at
i
n
v
o
lv
es
t
h
e
ex
ec
u
tio
n
p
r
o
ce
s
s
,
wh
er
e
wh
at
was
p
lan
n
ed
is
ca
r
r
ied
o
u
t,
an
d
f
in
ally
,
a
clo
s
in
g
p
h
ase,
wh
er
e
th
e
r
esu
lts
o
b
tain
ed
ar
e
co
m
m
u
n
icate
d
an
d
ev
i
d
en
ce
d
as
r
esear
ch
p
r
o
d
u
cts.
I
t
is
in
th
e
f
i
r
s
t
p
h
ases
wh
er
e
it
is
p
r
o
p
o
s
ed
to
k
ee
p
in
m
in
d
th
e
eth
ical
an
d
b
io
eth
ic
al
co
n
s
id
er
atio
n
s
in
s
cien
tific
r
esear
ch
r
elate
d
to
HR
I
,
wh
i
ch
o
f
co
u
r
s
e
m
u
s
t
en
s
u
r
e
co
m
p
lian
ce
with
s
cien
t
if
ic
in
teg
r
ity
f
r
o
m
t
h
e
co
n
ce
p
tio
n
o
f
th
e
r
esear
c
h
p
r
o
ject
to
t
h
e
d
is
s
em
in
atio
n
o
f
th
e
r
esu
lts
o
b
tain
e
d
th
e
r
ef
r
o
m
.
B
ea
r
in
g
in
m
i
n
d
t
h
at
th
e
f
ield
o
f
HR
I
is
p
r
o
g
r
ess
iv
ely
m
atu
r
i
n
g
i
n
to
a
n
au
to
n
o
m
o
u
s
d
is
cip
lin
e,
wit
h
its
o
wn
co
n
s
id
er
atio
n
s
,
p
r
ac
tices
an
d
ev
e
n
tu
ally
r
esear
ch
tr
a
d
itio
n
s
,
eth
ics
in
th
i
s
asp
ec
t
also
ar
is
e
s
in
itially
f
r
o
m
th
e
r
esear
ch
team
an
d
m
u
s
t
u
ltima
tely
b
e
d
ev
elo
p
ed
a
n
d
co
n
ce
p
tu
alize
d
b
y
th
e
r
o
b
o
t.
I
n
co
n
ce
p
tio
n
p
h
ase,
it
is
s
u
g
g
ested
to
in
clu
d
e
f
r
o
m
th
e
m
eth
o
d
o
lo
g
ical
d
esig
n
th
e
f
iv
e
p
r
in
cip
les
o
f
eth
ical
co
n
d
u
ct
wh
e
n
p
eo
p
le
ar
e
in
v
o
lv
e
d
,
n
am
el
y
:
ap
p
r
o
v
al
o
f
th
e
eth
ics
b
o
a
r
d
,
in
f
o
r
m
ed
co
n
s
en
t,
d
ata
p
r
o
tectio
n
an
d
p
r
iv
a
cy
,
d
ec
ep
tio
n
an
d
in
f
o
r
m
atio
n
[
5
]
.
So
m
e
o
f
th
ese
p
r
in
cip
les
m
ay
d
ep
en
d
o
n
th
e
ty
p
e
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
th
ics in
h
u
ma
n
-
r
o
b
o
t in
tera
c
tio
n
r
esea
r
ch
(
R
o
b
in
s
o
n
Jime
n
ez
Mo
r
en
o
)
1007
in
ter
ac
tio
n
,
f
o
r
ex
am
p
le,
a
v
ir
t
u
al
r
o
b
o
t
i
n
th
e
test
in
g
s
tag
e
wh
er
e
o
n
ly
t
h
e
r
esear
c
h
team
is
in
v
o
lv
ed
m
ay
n
o
t
r
eq
u
ir
e
in
f
o
r
m
ed
co
n
s
en
t,
d
at
a
p
r
o
tectio
n
a
n
d
p
r
iv
ac
y
,
f
ac
i
litatin
g
th
e
s
tr
u
ctu
r
in
g
an
d
a
d
v
an
ce
m
e
n
t
o
f
th
e
p
r
o
ject
with
o
u
t im
p
licatio
n
s
o
f
b
io
eth
ical
im
p
ac
t
[
6]
-
[8
]
.
Fo
r
th
e
ex
ec
u
tio
n
p
h
ase
an
d
i
ts
s
u
b
s
eq
u
en
t
d
is
s
em
in
atio
n
,
i
n
th
e
f
ir
s
t
in
s
tan
ce
we
ex
p
lo
r
e
wh
at
is
p
o
in
ted
o
u
t
b
y
[
1
]
,
wh
er
e
af
te
r
ex
c
h
an
g
in
g
r
esu
lts
o
f
ac
ad
e
m
ic
an
d
in
d
u
s
tr
ial
r
esear
ch
f
o
cu
s
ed
o
n
f
o
s
ter
in
g
an
ef
f
ec
tiv
e
an
d
l
o
n
g
-
last
in
g
h
u
m
an
-
r
o
b
o
t
co
llab
o
r
atio
n
;
it
is
u
s
ef
u
l
to
p
e
r
ce
iv
e,
i
n
th
e
co
n
tex
t
o
f
HR
I
,
th
e
p
er
ce
p
tio
n
,
d
is
ce
r
n
m
en
t,
in
t
ellig
en
ce
an
d
d
ec
is
io
n
m
a
k
in
g
p
r
o
ce
s
s
o
f
ac
to
r
s
wh
o
n
ee
d
to
wo
r
k
co
llab
o
r
ativ
ely
f
o
r
th
e
ac
h
iev
em
en
t
o
f
a
p
ar
ticu
lar
p
u
r
p
o
s
e.
T
h
is
r
eq
u
ir
es
p
e
o
p
le
to
ac
ce
p
t
an
d
tr
u
s
t
r
o
b
o
ts
,
wh
ich
is
ac
h
iev
ed
i
f
th
e
y
a
r
e
co
m
f
o
r
tab
le
with
in
ter
ac
tio
n
.
R
o
b
o
t
d
esig
n
m
u
s
t
av
o
id
an
y
em
o
tio
n
al
o
r
p
h
y
s
ical
h
ar
m
to
p
e
o
p
le
a
n
d
th
eir
b
elo
n
g
in
g
s
an
d
,
b
o
th
p
eo
p
le
an
d
r
o
b
o
ts
n
ee
d
to
i
n
ter
p
r
et
ea
ch
o
th
er
'
s
b
eh
av
io
r
to
ac
t,
t
h
is
is
wh
er
e
HR
I
tak
es
u
p
im
p
o
r
tan
ce
b
y
e
n
ab
lin
g
two
-
way
co
m
m
u
n
icati
o
n
[
1
2
]
,
[
1
3
]
.
T
h
e
n
th
e
d
esig
n
m
u
s
t
en
ab
le
r
o
b
o
ts
to
d
etec
t
an
d
r
esp
o
n
d
a
u
to
n
o
m
o
u
s
ly
to
v
ar
io
u
s
s
itu
atio
n
s
,
h
u
m
an
s
an
d
en
v
ir
o
n
m
en
ts
,
wh
ich
is
ac
h
iev
ed
,
f
o
r
e
x
am
p
le,
b
y
i
n
teg
r
ati
n
g
AI
tec
h
n
o
lo
g
ies
th
at
en
s
u
r
e
r
esp
ec
t
f
o
r
eth
ical
p
r
in
cip
les.
Alo
n
g
th
e
s
am
e
lin
es,
in
[
9
]
r
eg
ar
d
in
g
t
h
e
eth
ics
o
f
welf
ar
e
r
o
b
o
tics
,
th
r
ee
th
em
atic
g
r
o
u
p
s
ar
e
estab
lis
h
ed
: w
elf
ar
e,
ca
r
e
an
d
ju
s
tice
in
th
e
f
r
am
ewo
r
k
o
f
t
h
e
h
u
m
an
et
h
ical
d
im
en
s
io
n
to
wh
ich
th
e
lev
el
s
ar
e
lin
k
ed
: in
d
iv
i
d
u
al,
p
r
ac
tical
an
d
s
o
cio
-
p
o
liti
ca
l,
r
esp
ec
tiv
ely
.
T
h
e
f
ir
s
t th
em
e
co
n
ce
r
n
in
g
we
ll
-
b
ein
g
in
clu
d
es:
−
Priv
ac
y
an
d
d
ata
co
n
t
r
o
l,
co
n
s
id
er
in
g
th
e
r
ig
h
t
to
p
r
iv
ac
y
a
n
d
co
n
tr
o
l
o
f
p
er
s
o
n
al
in
f
o
r
m
at
io
n
g
iv
en
th
e
u
s
e
o
f
r
o
b
o
ts
with
tr
ac
k
in
g
ca
p
a
b
ilit
ies (
co
llectio
n
,
s
to
r
ag
e,
p
r
o
ce
s
s
in
g
an
d
ac
ce
s
s
to
p
er
s
o
n
al
d
ata)
.
−
Hu
m
an
au
to
n
o
m
y
,
s
in
ce
to
o
m
u
ch
ass
is
tan
ce
co
u
ld
ca
u
s
e
lo
s
s
o
r
atr
o
p
h
y
o
f
ca
p
a
b
ilit
ies
(
m
u
s
cu
lar
,
f
o
r
ex
am
p
le)
,
d
e
p
en
d
e
n
ce
o
n
tec
h
n
o
lo
g
y
an
d
in
a
d
eq
u
ate
d
ele
g
atio
n
o
f
d
ec
is
io
n
m
ak
in
g
,
wh
ich
in
ca
s
e
o
f
f
ailu
r
e
ca
n
lead
to
f
r
u
s
tr
atio
n
an
d
/o
r
s
tr
ess
am
o
n
g
o
th
er
s
.
−
L
o
s
s
o
f
h
u
m
an
co
n
tact,
s
in
ce
HR
I
co
u
ld
g
en
er
ate
r
o
b
o
t
e
m
o
tio
n
al
d
ep
en
d
en
ce
o
r
s
o
ci
al
is
o
latio
n
in
u
s
er
.
−
Saf
ety
f
o
r
h
u
m
an
p
h
y
s
ical
a
n
d
p
s
y
ch
o
lo
g
ical
i
n
teg
r
ity
,
wh
i
ch
is
r
elate
d
t
o
ac
cid
e
n
ts
r
is
k
d
er
iv
e
d
f
r
o
m
r
o
b
o
ts
s
h
ar
in
g
s
p
ac
e
an
d
in
te
r
ac
tin
g
with
h
u
m
an
s
,
wh
er
e
t
h
e
b
io
eth
ical
p
r
in
cip
le
o
f
n
o
n
-
m
alef
icen
c
e
ap
p
lies
.
−
Dig
n
ity
as r
o
b
o
ts
co
u
ld
im
p
ac
t it
b
ec
au
s
e
th
ey
ca
n
n
o
t c
ar
e,
d
is
tr
ess
,
o
r
r
ef
lect
s
u
p
p
o
r
tiv
e
em
o
tio
n
s
.
−
Hu
m
an
em
o
tio
n
al
att
ac
h
m
en
t
to
r
o
b
o
ts
.
−
R
ed
u
ctio
n
o
f
s
o
cial
life
,
s
in
ce
s
o
cial
in
ter
ac
tio
n
with
a
r
o
b
o
t
m
ay
af
f
ec
t
th
e
e
x
er
cise
o
f
h
u
m
an
m
o
r
al
f
ac
u
lties
(
em
p
ath
y
,
c
ar
in
g
,
.
.
.
)
.
−
User
f
r
ee
d
o
m
,
u
n
d
e
r
s
to
o
d
as t
h
e
ab
s
en
ce
o
f
r
estrictio
n
s
to
th
e
ac
tiv
ity
its
elf
,
is
r
elate
d
to
m
ac
h
i
n
e
eth
ics,
wh
ich
is
th
e
way
in
wh
ich
a
r
o
b
o
t
weig
h
s
co
n
f
lictin
g
v
alu
e
s
d
u
r
in
g
p
r
o
ce
s
s
o
f
s
elec
tin
g
b
eh
av
io
r
s
to
b
e
u
n
d
er
tak
e
n
.
−
R
eif
icatio
n
,
th
e
f
ee
lin
g
o
f
u
s
er
s
wh
en
in
te
r
ac
tin
g
with
r
o
b
o
tic
d
e
v
ices
an
d
th
e
d
ec
is
io
n
to
in
tr
o
d
u
c
e
ar
tific
ial
s
o
cial
ag
en
ts
f
o
r
ca
r
i
n
g
task
s
,
with
o
u
t in
ter
m
e
d
iate
em
o
tio
n
s
.
−
Hu
m
an
m
o
r
al
s
k
ills
b
y
p
s
eu
d
o
-
r
ec
o
g
n
itio
n
in
v
o
l
v
ed
in
HR
I
an
d
ad
o
p
tio
n
o
f
s
o
cial
r
o
b
o
ts
in
ca
r
eg
iv
in
g
co
u
ld
r
e
d
u
ce
o
p
p
o
r
tu
n
ities
to
cu
ltiv
ate
m
o
r
al
s
k
ills
r
elate
d
to
h
u
m
a
n
ca
r
eg
i
v
in
g
.
−
R
ec
o
g
n
itio
n
,
it
is
n
o
t
p
o
s
s
ib
le
f
o
r
th
e
r
o
b
o
t
to
h
av
e
a
g
en
u
in
ely
a
f
f
ec
tio
n
ate
r
elatio
n
s
h
ip
an
d
th
u
s
d
ep
r
iv
es h
u
m
an
s
o
f
r
ec
o
g
n
itio
n
.
−
I
d
en
tity
,
s
o
cial
ass
is
tiv
e
r
o
b
o
tics
(
SAR
)
ch
allen
g
e
id
en
tity
b
y
af
f
ec
tin
g
th
e
u
s
er
'
s
co
m
f
o
r
t w
ith
h
is
o
r
h
e
r
o
wn
im
ag
e
b
y
th
e
a
p
p
ea
r
a
n
ce
o
f
a
r
o
b
o
t.
I
n
th
e
s
ec
o
n
d
th
em
e
c
o
n
ce
r
n
in
g
ca
r
e:
−
L
eg
itima
cy
o
f
SAR
in
tr
o
d
u
cti
o
n
,
with
r
esp
ec
t to
to
o
l
-
task
c
o
n
s
is
ten
cy
r
eq
u
ir
em
e
n
ts
an
d
p
r
ed
ilectio
n
s
,
is
r
eso
lv
ed
with
u
s
er
-
ce
n
ter
ed
d
e
s
ig
n
.
−
Qu
ality
o
f
p
r
ac
tice
d
ep
en
d
s
o
n
th
e
d
is
tr
ib
u
tio
n
o
f
task
s
b
etw
ee
n
m
ed
ical
s
t
af
f
an
d
SAR
.
−
I
n
th
e
ca
s
e
o
f
h
u
m
an
m
o
r
al
p
r
ac
tices,
th
e
SA
R
m
ay
en
d
u
p
with
th
e
ac
tiv
ity
o
f
ca
r
in
g
f
o
r
o
th
er
s
as
a
s
ce
n
ar
io
wh
er
e
p
e
o
p
le'
s
m
o
r
als ar
e
ap
p
lied
.
−
T
r
u
s
t
in
h
er
e
n
t
in
ca
r
e
r
elatio
n
s
h
ip
s
,
as
th
e
in
s
titu
tio
n
r
e
q
u
ir
es
ass
u
r
an
ce
o
f
t
h
e
q
u
ality
-
of
-
ca
r
e
p
r
ac
tice.
Saf
ety
,
r
esp
o
n
s
ib
ilit
y
f
o
r
h
a
r
m
an
d
tr
u
s
t a
r
e
also
ass
o
ciate
d
t
o
ad
eq
u
ate
in
f
o
r
m
atio
n
o
f
a
r
o
b
o
t'
s
jo
b
s
an
d
s
k
ills
.
−
I
n
f
lu
en
ce
o
n
n
o
tio
n
o
f
ca
r
e,
c
h
an
g
es
m
ay
b
e
ca
u
s
ed
in
th
e
s
o
cial
v
alu
es
s
u
r
r
o
u
n
d
in
g
ca
r
e
,
as
well
as
in
th
e
s
o
cial
co
n
ce
p
t o
f
ca
r
e
f
o
r
t
h
e
eld
er
ly
.
−
Dis
r
u
p
tio
n
o
f
r
o
les d
u
e
t
o
th
e
d
is
tr
ib
u
tio
n
o
f
task
s
b
etwe
en
m
ed
ical
p
er
s
o
n
n
el
an
d
SAR
.
I
n
th
e
th
ir
d
th
em
e
c
o
n
ce
r
n
in
g
j
u
s
tice,
we
f
in
d
:
−
Dis
tr
ib
u
tiv
e
ju
s
tice
am
o
n
g
s
o
c
iety
.
−
SAR
tech
n
o
lo
g
y
p
o
licy
,
in
ter
e
s
ts
an
d
v
alu
es b
eh
in
d
SAR
in
itiati
v
es.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
2
,
Au
g
u
s
t
20
25
:
1
0
0
5
-
1
012
1008
−
R
esp
o
n
s
ib
ilit
y
,
m
ain
ly
b
y
v
ir
t
u
e
o
f
th
e
tech
n
o
lo
g
ical
au
to
n
o
m
y
o
f
r
o
b
o
ts
,
th
eir
ab
ilit
y
to
c
h
o
o
s
e
wh
at
to
d
o
b
ased
o
n
p
r
e
v
io
u
s
in
f
o
r
m
atio
n
p
r
o
ce
s
s
in
g
an
d
with
r
e
s
p
ec
t
to
p
r
e
d
ef
in
ed
g
o
als,
as
well
as
th
ei
r
ab
ilit
y
to
b
eh
a
v
e
ac
co
r
d
in
g
ly
.
−
So
cial
eq
u
alit
y
,
in
r
elatio
n
to
t
h
e
p
o
s
s
ib
ilit
ies o
f
ac
ce
s
s
to
q
u
ality
tr
ea
tm
en
ts
−
R
o
b
o
t
d
ec
is
io
n
m
ak
in
g
,
to
a
u
to
n
o
m
o
u
s
ly
p
er
f
o
r
m
ca
r
e
ta
s
k
s
,
r
eq
u
ir
es
alig
n
m
en
t
with
h
u
m
an
v
alu
es.
T
h
is
is
wh
er
e
m
ac
h
in
e
eth
ics
o
p
er
ates,
wh
ich
aim
s
to
en
d
o
w
r
ea
s
o
n
in
g
r
o
b
o
ts
with
eth
ic
al
p
r
in
cip
les
s
o
th
at
th
ey
m
ak
e
d
ec
is
io
n
s
b
y
u
n
d
er
s
tan
d
in
g
th
e
m
o
r
als in
h
er
en
t in
ea
ch
e
n
v
ir
o
n
m
en
t.
−
E
co
lo
g
ical
s
u
s
tain
ab
ilit
y
,
b
o
t
h
lo
ca
l a
n
d
g
lo
b
al.
Acc
o
r
d
in
g
to
[
2
]
th
e
ap
p
licati
o
n
o
f
co
g
n
itiv
e
m
o
d
elin
g
h
el
p
s
r
o
b
o
ts
to
u
n
d
er
s
tan
d
b
o
th
p
s
y
ch
o
lo
g
y
an
d
h
u
m
an
b
eh
av
io
r
,
th
e
c
o
g
n
itiv
e
m
o
d
el
o
f
HR
I
is
an
in
ter
ac
tiv
e
s
y
s
tem
th
at
ca
n
r
ep
r
esen
t
th
e
s
tep
s
ass
o
ciate
d
with
p
r
o
v
i
d
in
g
m
e
n
tal
co
m
m
an
d
s
to
r
o
b
o
ts
,
its
ap
p
licatio
n
co
u
p
led
with
th
e
u
s
e
o
f
tech
n
o
lo
g
ies
s
u
ch
as
AI
ca
n
h
elp
s
im
u
late
m
en
tal
p
r
o
ce
s
s
in
g
tech
n
iq
u
es
an
d
h
u
m
an
p
r
o
b
lem
s
o
lv
in
g
w
ith
in
r
o
b
o
ts
.
Usab
ilit
y
an
d
u
s
er
ex
p
er
ien
ce
d
esig
n
p
r
i
n
cip
les
ca
n
b
e
a
p
p
lied
to
th
e
HR
I
d
o
m
ain
to
d
e
s
ig
n
r
o
b
o
t
o
p
er
atio
n
s
aim
e
d
at
u
s
er
c
o
m
f
o
r
t
an
d
well
-
b
ein
g
b
u
t
s
till
r
e
q
u
ir
e
a
d
ap
tatio
n
f
o
r
th
e
eth
ica
l
ch
allen
g
es
o
f
u
s
er
p
r
iv
ac
y
a
n
d
au
t
o
n
o
m
y
.
I
n
th
is
r
eg
ar
d
i
n
[
1
0
]
th
e
y
p
r
o
p
o
s
e:
−
Prin
cip
le
o
f
f
ee
d
b
ac
k
with
lim
its
f
o
r
th
e
u
s
er
ab
o
u
t
in
ter
ac
ti
o
n
p
h
ases
,
ac
tio
n
s
,
d
ata,
c
o
n
cl
u
s
io
n
s
d
r
awn
,
an
d
p
o
s
s
ib
ilit
ies f
o
r
ch
an
g
in
g
th
em
.
−
Min
im
izatio
n
o
f
co
g
n
itiv
e
lo
a
d
f
o
cu
s
es o
n
in
f
o
r
m
atio
n
p
r
iv
ac
y
b
y
b
r
ea
k
in
g
in
f
o
r
m
atio
n
.
User
s
m
ay
also
b
e
r
em
in
d
e
d
o
f
th
eir
p
r
ev
io
u
s
ch
o
ices to
allo
w
f
o
r
a
n
ew
co
n
s
en
t.
−
E
r
r
o
r
p
r
ev
en
tio
n
in
clu
d
es
p
r
i
v
ac
y
-
r
elate
d
in
f
o
r
m
atio
n
with
in
s
tr
u
m
en
ts
to
n
o
tify
wh
at
in
f
o
r
m
atio
n
is
s
to
r
ed
,
wh
at
s
en
s
o
r
s
ar
e
u
s
ed
,
wh
at
alter
n
ativ
es a
r
e
s
elec
ted
an
d
h
o
w
t
o
m
o
d
if
y
th
e
m
.
−
C
o
n
s
is
ten
cy
in
cr
ea
s
es
with
th
e
u
s
e
o
f
d
esig
n
to
o
ls
th
at
f
ac
ilit
ate
in
ter
ac
tio
n
b
y
allo
w
in
g
r
o
b
o
ts
to
id
en
tify
in
ter
ac
tio
n
th
r
o
u
g
h
s
en
s
o
r
s
.
−
E
f
f
icien
cy
is
ad
j
u
s
ted
ac
co
r
d
in
g
to
th
e
in
ter
ac
tio
n
en
s
u
r
i
n
g
th
at
th
e
u
s
er
ca
n
s
elec
t
f
r
o
m
th
e
av
ailab
l
e
o
p
tio
n
s
,
wh
ich
a
r
e
cle
ar
ly
p
r
esen
ted
,
as we
ll a
s
th
e
co
n
d
itio
n
s
an
d
o
th
er
i
n
f
o
r
m
atio
n
.
Fo
r
[
1
1
]
t
h
e
r
e
q
u
ests
f
o
r
in
ter
ac
tio
n
an
d
co
lla
b
o
r
atio
n
b
etwe
en
h
u
m
a
n
s
an
d
r
o
b
o
ts
at
g
en
er
al
h
o
s
p
ital c
ar
e
ar
e:
−
Frie
n
d
ly
ap
p
ea
r
an
ce
r
o
b
o
t
n
o
t
f
r
ig
h
ten
in
g
with
h
u
m
an
a
p
p
ea
r
an
ce
.
−
Su
r
f
ac
e
f
o
r
p
h
y
s
ical
co
n
tact,
s
k
in
-
f
r
ien
d
l
y
,
with
s
o
m
e
d
eg
r
ee
o
f
f
le
x
ib
ilit
y
an
d
ca
p
ab
le
o
f
war
m
in
g
u
p
to
b
o
d
y
war
m
th
.
−
I
n
ter
ac
tiv
e
h
u
m
an
-
r
o
b
o
t
v
er
b
al
co
m
m
u
n
icatio
n
ca
p
a
b
ilit
ies,
with
r
eliab
le
r
ec
o
g
n
itio
n
o
f
s
p
ee
ch
a
n
d
in
ten
tio
n
s
,
th
e
v
o
ice
r
in
g
er
a
n
d
th
e
o
p
tio
n
o
f
lo
n
g
er
c
o
n
v
e
r
s
atio
n
len
g
th
s
,
p
lu
s
th
e
r
o
b
o
t
m
u
s
t
d
is
p
la
y
p
o
lite e
tiq
u
ette
wh
en
c
o
m
m
u
n
icatin
g
.
−
A
cr
u
cial
is
s
u
e
f
o
r
h
ea
lth
ca
r
e
s
p
ec
ialis
t
s
i
s
th
at
h
u
m
an
ca
r
e
co
n
tin
u
es
b
ein
g
a
r
esp
o
n
s
ib
ilit
y
f
o
r
th
em
,
co
n
tr
o
l
t
h
e
p
o
s
s
ib
ilit
ies
to
d
eleg
ate
s
o
m
e
r
u
t
in
al
task
s
lim
ited
b
ef
o
r
eh
an
d
,
a
n
d
r
o
b
o
ts
s
h
o
u
ld
h
av
e
a
s
y
s
tem
with
is
s
u
e
war
n
in
g
s
in
ca
s
e
o
f
d
eleg
atio
n
o
f
a
task
v
io
lates
th
e
d
u
ty
o
f
ca
r
e
ac
ti
v
ities
.
Du
r
in
g
in
tr
o
d
u
ctio
n
an
d
ca
p
ac
itatio
n
,
it
i
s
im
p
o
r
tan
t
to
in
d
icate
clea
r
ly
th
at
th
e
r
o
b
o
t
o
n
ly
is
a
s
u
p
p
o
r
t
n
o
t
a
s
u
b
s
titu
te
f
o
r
h
ea
lth
ca
r
e
p
r
o
f
e
s
s
io
n
als.
Step
s
co
u
ld
b
e
s
h
o
w
n
to
ac
k
n
o
wled
g
e
ca
r
e
g
iv
er
s
t
o
b
e
awa
r
e
o
f
a
r
o
b
o
t'
s
au
to
n
o
m
o
u
s
ac
tiv
ities
at
an
y
tim
e.
−
Patien
ts
wan
t
to
b
e
p
ar
t
o
f
a
n
in
ter
ac
tio
n
f
r
ien
d
ly
,
p
o
lite
an
d
,
s
p
ec
ially
,
p
er
s
o
n
alize
d
with
a
r
o
b
o
t;
tech
n
o
lo
g
y
s
h
o
u
l
d
b
e
a
b
le
to
r
ec
o
g
n
ize
d
if
f
er
e
n
t
p
atien
ts
an
d
s
p
ea
k
to
th
em
u
s
in
g
th
e
co
r
r
ec
t
n
am
e.
I
n
ad
d
itio
n
,
tech
n
o
lo
g
y
s
h
o
u
ld
o
f
f
er
all
th
e
s
o
p
o
r
t
an
d
in
f
o
r
m
atio
n
ad
ec
u
ated
d
f
o
r
ea
ch
p
e
r
s
o
n
ac
co
r
d
in
g
to
th
eir
p
ar
ticu
la
r
n
ee
d
s
an
d
r
o
u
tin
es.
−
Po
s
s
i
b
ilit
y
to
f
in
is
h
th
e
co
m
m
u
n
icatio
n
wh
e
n
th
e
p
atien
t
d
ec
id
es.
R
o
b
o
t
f
ac
ial
ex
p
r
ess
io
n
s
an
d
u
s
er
v
o
ice,
f
ac
e,
a
n
d
g
estu
r
e
r
ec
o
g
n
itio
n
ca
n
co
m
m
u
n
icate
d
if
f
er
en
t
s
o
cial
m
o
o
d
s
to
r
o
b
o
ts
,
u
s
ef
u
l
f
o
r
HR
I
s
ce
n
ar
io
s
[
1
2
]
,
[
1
4
]
.
T
h
e
ad
o
p
tio
n
o
f
ass
is
tiv
e
r
o
b
o
tic
s
y
s
tem
s
is
lim
ited
b
y
u
s
e
r
ap
p
r
e
h
en
s
io
n
s
r
elac
io
n
ated
with
eth
ical
p
r
in
cip
ies,
in
f
o
r
m
atio
n
s
ec
u
r
i
ty
,
an
d
p
r
iv
ac
y
,
in
a
d
d
itio
n
t
o
I
n
ter
n
et
th
r
ea
ts
,
r
o
b
o
tics
h
a
s
h
av
ed
im
p
o
r
ta
n
ts
ad
v
an
ce
s
in
in
ter
ac
tio
n
h
ab
ilit
ies
r
elate
d
with
task
s
as
r
ep
r
o
d
u
ce
s
au
d
io
,
g
en
er
a
tes
v
id
eo
,
p
er
m
it
to
u
c
h
,
a
n
d
g
estu
r
es
r
ec
o
g
n
itio
n
,
wh
ich
ca
n
r
ec
o
lecte
s
d
ata
f
r
o
m
u
s
er
.
T
h
er
ef
o
r
e
,
n
o
v
el
an
d
s
ec
u
r
e
i
n
ter
ac
tio
n
tech
n
i
q
u
es
ar
e
r
eq
u
ir
ed
t
o
p
r
o
tect
p
e
r
s
o
n
al
in
f
o
r
m
atio
n
.
T
h
e
b
lo
ck
ch
ai
n
th
r
o
u
g
h
a
s
o
u
r
ce
-
aler
t
f
r
am
e
wo
r
k
,
c
o
u
p
led
with
a
p
er
m
a
n
e
n
t
m
u
lti
-
f
ac
to
r
a
u
th
en
ticatio
n
p
r
o
ce
d
u
r
e,
is
en
v
is
i
o
n
ed
as
an
an
s
wer
t
o
m
a
k
e
s
y
s
tem
s
m
o
r
e
s
ec
u
r
e
f
r
o
m
co
n
ce
p
tio
n
;
co
n
s
eq
u
e
n
tly
,
s
tr
en
g
th
en
i
n
g
co
n
f
id
e
n
ce
,
a
p
p
r
o
p
r
iaten
ess
,
an
d
im
p
le
m
en
tatio
n
.
Am
o
n
g
th
e
p
r
in
cip
al
ch
allen
g
es
in
s
ec
u
r
ity
,
it
is
cr
itical
to
d
es
ig
n
in
tellig
en
t
an
d
a
u
to
n
o
m
o
s
r
o
b
o
ts
th
at
d
e
f
in
e
ap
p
r
o
p
r
iately
th
e
b
alan
ce
b
et
wee
n
co
n
tin
u
o
u
s
u
s
er
p
r
o
m
p
ts
an
d
s
y
s
tem
u
s
ab
ilit
y
b
ased
o
n
h
u
m
a
n
d
ata
an
d
p
ar
ticu
lar
p
r
e
f
er
en
ce
s
[
1
5
].
HR
I
s
h
o
u
ld
co
n
s
id
er
th
eir
s
o
cial
an
d
eth
ical
im
p
ac
ts
b
y
in
clu
d
in
g
s
p
ec
if
ic
is
s
u
es
ass
o
ciate
d
with
HR
I
s
u
ch
as
au
to
n
o
m
y
,
tr
a
n
s
p
ar
en
cy
,
d
ec
ep
tio
n
,
an
d
p
o
licies
[
1
6
]
,
[
1
7
].
Fo
llo
win
g
th
e
“E
th
ical
R
is
k
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
th
ics in
h
u
ma
n
-
r
o
b
o
t in
tera
c
tio
n
r
esea
r
ch
(
R
o
b
in
s
o
n
Jime
n
ez
Mo
r
en
o
)
1009
Ass
es
s
m
en
t
o
f
R
o
b
o
ts
”
(
E
R
A)
,
an
th
r
o
p
o
m
o
r
p
h
is
m
in
S
AR
s
is
s
u
g
g
ested
to
b
e
a
c
u
s
to
m
izab
le
f
ea
tu
r
e
ad
ap
tab
le
to
th
e
u
s
er
[
1
8
]
.
T
h
e
E
R
A
c
o
n
ce
p
t
h
as
b
ee
n
p
o
s
tu
lated
as
a
to
o
l
th
at
in
v
en
t
o
r
s
an
d
d
e
v
elo
p
e
r
s
co
u
ld
u
s
e
to
ass
ess
an
d
m
itig
ate
th
e
r
is
k
s
o
f
eth
ical
is
s
u
es
p
o
s
ed
b
y
a
p
a
r
ticu
lar
r
o
b
o
t
u
s
in
s
a
s
y
s
tem
atica
l
way
[
1
9
].
I
n
[
2
0
]
it
is
co
n
clu
d
ed
th
at
v
e
r
b
al
an
th
r
o
p
o
m
o
r
p
h
izatio
n
d
o
e
s
n
o
t
af
f
ec
t
th
e
p
er
ce
p
tio
n
o
r
e
f
f
icac
y
o
f
th
e
s
tu
d
ied
SAR
,
wh
ich
in
th
is
ca
s
e
ex
am
in
es
a
p
r
eg
n
an
t
wo
m
an
.
I
t
is
im
p
o
r
tan
t
to
ev
alu
ate
h
o
w
r
o
b
o
tic
ar
ch
itectu
r
es
in
f
lu
en
ce
p
eo
p
le
'
s
d
aily
ac
tiv
itie
s
an
d
to
s
tu
d
y
h
o
w
to
av
o
id
p
o
s
s
ib
le
n
eg
ativ
e
ef
f
ec
ts
,
s
u
ch
as
co
llid
in
g
with
a
r
o
b
o
t th
at
clea
n
s
o
r
g
en
e
r
atin
g
s
tr
ess
in
a
u
s
e
r
d
u
e
to
a
ch
atb
o
t in
ter
ac
tio
n
q
u
esti
o
n
-
an
s
wer
.
I
n
g
e
n
er
al,
m
a
k
in
g
an
“e
th
ic
al”
d
ec
is
io
n
is
a
ch
allen
g
e
e
v
en
f
o
r
p
eo
p
le,
in
th
is
r
e
g
ar
d
r
o
b
o
ts
ar
e
b
ein
g
d
ev
elo
p
ed
th
at
ar
e
ex
p
ec
ted
to
b
e
ab
le
to
ac
t
e
th
i
ca
lly
,
th
ey
ar
e
p
r
o
g
r
am
m
ed
b
y
:
lear
n
in
g
m
o
r
al
ex
am
p
les
an
d
u
s
in
g
p
r
ed
ef
in
ed
eth
ical
r
u
les
[
2
1
]
-
[
2
6
]
.
I
n
th
is
en
v
ir
o
n
m
e
n
t
th
e
AI
u
s
e
is
s
u
itab
le
f
o
r
th
is
p
u
r
p
o
s
e.
Pre
v
io
u
s
s
tu
d
ies o
f
HR
I
ap
p
licatio
n
s
in
th
e
r
ea
l
-
wo
r
ld
r
ea
l
-
wo
r
ld
h
a
v
e
b
ee
n
d
ev
el
o
p
ed
ar
o
u
n
d
s
o
cial
r
o
b
o
ts
[
2
7
]
wh
e
r
e
p
ar
ticip
ato
r
y
d
esig
n
a
n
d
m
i
x
ed
m
et
h
o
d
s
ar
e
h
ig
h
lig
h
ted
as
p
r
o
m
is
in
g
s
tr
ateg
ies
an
d
th
e
n
ee
d
to
ad
d
r
ess
eth
ical
is
s
u
e
s
at
th
e
b
eg
in
n
in
g
o
f
ea
ch
p
r
o
je
ct.
R
esu
lts
th
at
ca
n
b
e
ex
ten
d
ed
to
o
th
er
ar
ea
s
o
f
r
o
b
o
tics
.
I
n
[
2
8
]
a
u
s
ab
ilit
y
ev
alu
atio
n
m
o
d
el
is
p
r
esen
ted
,
ar
o
u
n
d
th
e
u
s
e
o
f
a
h
u
m
a
n
r
o
b
o
t
in
t
er
f
ac
e
f
o
r
ass
is
tan
ce
to
p
eo
p
le
with
r
ed
u
ce
d
m
o
b
ilit
y
.
W
h
er
e
th
e
ef
f
ec
tiv
en
ess
,
ef
f
icien
cy
an
d
u
s
e
r
s
atis
f
ac
tio
n
p
lay
a
f
u
n
d
am
e
n
tal
r
o
le
in
h
o
w
to
d
esig
n
an
d
e
v
alu
ate
th
is
ty
p
e
o
f
in
ter
f
ac
es
to
c
o
v
er
f
r
o
m
its
co
n
ce
p
tio
n
an
d
im
p
lem
en
tatio
n
,
th
e
f
u
n
ctio
n
a
l a
n
d
eth
ical
asp
ec
ts
th
at
in
teg
r
ate
a
HR
I
in
ter
f
ac
e.
Similar
ly
,
h
u
m
an
r
o
b
o
t
co
lla
b
o
r
atio
n
(
HR
C
)
,
wh
i
ch
to
d
a
y
is
b
o
o
m
in
g
d
u
e
to
th
e
r
ev
o
lu
tio
n
s
o
f
in
d
u
s
tr
y
4
an
d
5
.
0
,
in
v
o
lv
es
an
H
R
I
in
ter
f
ac
e,
as
p
r
esen
ted
in
[
29
]
in
th
e
ass
is
tiv
e
task
in
an
in
d
u
s
tr
ial
en
v
ir
o
n
m
en
t
to
s
u
p
p
o
r
t
r
o
b
o
ts
f
o
r
m
o
v
in
g
h
ea
v
y
lo
ad
s
.
So
th
at
th
e
ec
o
n
o
m
ic
im
p
licatio
n
s
o
f
t
h
e
HR
C
an
d
im
p
licit
HR
I
in
ter
f
ac
es,
p
r
esen
t
ad
v
an
tag
es
an
d
d
is
ad
v
a
n
tag
es
f
r
o
m
s
ev
er
al
f
r
o
n
ts
[
3
0
]
,
wh
o
s
e
in
f
lu
en
ce
will
b
e
n
o
ticea
b
le
in
th
e
d
ev
elo
p
m
en
t
an
d
in
cu
r
s
io
n
o
f
th
ese
t
ec
h
n
o
lo
g
ical
tr
en
d
s
in
th
e
m
e
d
iu
m
an
d
lo
n
g
ter
m
wh
o
s
e
eth
ical
ef
f
ec
ts
s
h
o
u
ld
p
r
o
v
id
e
f
o
r
t
h
e
r
o
le
o
f
t
h
e
h
u
m
an
b
ein
g
an
d
ad
ap
tab
ilit
y
b
o
th
lab
o
r
,
em
o
tio
n
al
an
d
in
tellectu
al
in
th
e
n
ew
co
n
tex
t r
e
th
e
in
d
u
s
tr
y
5
.
T
r
an
s
lated
with
Dee
p
L
.
co
m
(
f
r
ee
v
er
s
io
n
)
r
ec
en
tly
ad
v
a
n
ce
s
in
AI
u
n
d
er
lo
n
g
lan
g
u
a
g
e
m
o
d
els
(
L
L
M)
as
ch
atGPT
[
3
1
]
ex
p
o
s
e
th
e
r
ea
ctio
n
o
f
u
s
er
s
in
r
ela
tio
n
to
its
u
s
e,
wh
ich
m
a
y
well
b
e
s
ee
n
as
a
HR
I
in
ter
ac
tio
n
,
s
in
ce
th
e
u
s
er
in
ter
ac
ts
d
ir
ec
tly
to
o
b
tain
an
an
s
wer
th
at
alth
o
u
g
h
it
m
ay
b
e
b
iased
b
y
th
e
l
a
n
g
u
a
g
e
m
o
d
e
l
m
a
y
a
l
s
o
s
e
em
e
t
h
i
c
a
l
l
y
c
o
m
p
r
o
m
is
i
n
g
i
n
as
p
e
c
ts
s
u
c
h
as
r
a
c
is
m
o
r
u
n
d
e
r
v
u
l
n
e
r
a
b
i
l
i
t
i
es
[
3
2
]
o
f
th
e
in
f
o
r
m
atio
n
co
n
s
u
lted
,
as
th
e
d
esig
n
o
f
wea
p
o
n
s
.
Fin
ally
,
F
ig
u
r
e
2
s
u
m
m
a
r
izes
th
e
co
n
s
id
er
atio
n
s
to
b
e
ap
p
lied
in
ea
c
h
o
f
t
h
e
p
h
ases
o
f
th
e
s
cien
tific
r
esear
ch
p
r
o
ce
s
s
.
Fig
u
r
e
2
.
E
t
h
ical
co
n
s
id
er
atio
n
s
in
th
e
p
r
o
ce
s
s
o
f
s
ci
en
tific
r
esear
ch
r
elate
d
to
HR
I
4.
CO
NCLU
SI
O
N
T
h
er
e
ar
e
s
ev
er
al
et
h
ical
an
d
b
io
eth
ical
co
n
s
id
er
atio
n
s
to
b
e
tak
en
in
t
o
ac
co
u
n
t
in
th
e
d
if
f
er
en
t
p
h
ases
o
f
s
cien
tific
r
esear
ch
r
elate
d
to
HR
I
.
I
n
th
e
co
n
ce
p
tio
n
p
h
ase,
th
e
p
r
i
n
cip
les
o
f
eth
ical
co
n
d
u
ct
ar
e
h
ig
h
lig
h
ted
wh
en
p
e
o
p
le
ar
e
in
v
o
l
v
ed
;
in
th
e
ex
ec
u
tio
n
an
d
clo
s
u
r
e
p
h
ases
,
th
e
o
th
er
p
r
o
p
o
s
als
th
a
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
2
,
Au
g
u
s
t
20
25
:
1
0
0
5
-
1
012
1010
en
co
m
p
ass
th
e
eth
ical
d
im
en
s
io
n
s
o
f
h
u
m
an
life
ar
e
in
clu
d
ed
.
W
h
er
e
it is
co
n
clu
d
ed
th
at
th
e
d
esig
n
p
r
in
cip
les
o
f
u
s
ab
ilit
y
an
d
u
s
er
ex
p
e
r
ien
ce
,
n
ested
with
th
e
HR
I
r
eq
u
ir
em
en
ts
o
f
in
ter
ac
tio
n
b
ased
o
n
s
af
e
ty
,
r
ec
ip
r
o
city
an
d
e
f
f
ec
tiv
en
ess
,
ar
e
all
al
g
o
r
ith
m
ically
c
o
r
r
elate
d
th
r
o
u
g
h
AI
im
p
lem
e
n
tatio
n
s
f
o
r
a
ctio
n
,
d
ec
is
io
n
an
d
lo
g
ic
u
n
d
er
eth
ical
an
d
m
o
r
al
s
o
cial
p
r
in
ci
p
les,
all
f
r
a
m
ed
in
th
e
co
n
ce
p
t
o
f
s
cien
tific
in
teg
r
ity
.
Alth
o
u
g
h
r
o
b
o
tics
h
as
ad
v
a
n
ce
d
r
ap
i
d
ly
co
m
p
ar
ed
to
th
e
d
ev
elo
p
m
en
ts
o
f
th
e
las
t
ce
n
tu
r
y
,
cu
r
r
en
t
HR
I
ar
ch
itectu
r
es
p
r
esen
t
f
ew
ca
u
s
es
o
f
p
h
y
s
ical
an
d
m
en
tal
af
f
ec
tatio
n
f
o
r
p
eo
p
le,
p
ar
tly
d
u
e
t
o
th
e
h
ig
h
co
s
ts
o
f
ac
q
u
is
itio
n
an
d
au
to
m
ato
n
in
ter
ac
tio
n
th
at
ar
e
s
o
f
ar
b
ec
o
m
in
g
af
f
o
r
d
ab
l
e
in
b
asic r
o
b
o
tic
m
o
d
els.
I
t is co
n
clu
d
ed
th
at
th
e
in
ter
ac
tio
n
n
ee
d
s
ar
e
lim
ited
b
y
th
e
ca
p
a
b
ilit
ies
o
f
im
p
lem
en
tatio
n
a
n
d
b
eh
av
i
o
r
al
r
ep
lic
atio
n
o
f
th
e
r
o
b
o
t
in
f
r
o
n
t o
f
t
h
e
h
u
m
an
,
cu
r
r
e
n
tly
d
u
e
to
tech
n
o
l
o
g
ical
ad
v
an
ce
s
in
th
e
im
p
lem
en
tatio
n
o
f
AI
i
n
p
o
r
tab
l
e
h
a
r
d
war
e
s
u
ch
as
th
at
r
eq
u
ir
ed
b
y
a
r
o
b
o
t.
AI
tu
r
n
s
o
u
t
to
b
e
a
p
r
o
tag
o
n
is
t
in
th
e
p
u
r
p
o
s
e
o
f
ac
h
iev
in
g
th
at
r
o
b
o
ts
ar
e
d
esig
n
ed
in
s
u
ch
a
way
th
at
t
h
ey
ad
e
q
u
ately
in
ter
p
r
et
th
e
b
eh
av
io
r
o
f
p
eo
p
le
an
d
ac
t
ac
c
o
r
d
in
g
l
y
,
with
in
an
eth
ical
f
r
am
ewo
r
k
.
T
h
er
e
f
o
r
e,
it
is
co
n
clu
d
ed
th
at
t
h
e
m
o
r
a
l
eth
ical
ca
p
ac
ity
o
f
a
r
o
b
o
t
i
s
s
till
b
ased
o
n
th
e
h
u
m
an
a
b
ilit
y
to
tr
an
s
f
er
th
ese
co
n
ce
p
ts
to
r
o
b
o
tic
p
r
o
g
r
am
m
in
g
alg
o
r
ith
m
s
.
As
f
u
tu
r
e
r
esear
ch
,
it
is
p
r
o
p
o
s
ed
to
d
ee
p
e
n
th
e
s
tu
d
y
o
f
c
u
r
r
en
t
an
d
p
r
o
s
p
ec
tiv
e
d
e
v
elo
p
m
en
ts
in
HR
I
in
th
e
m
o
s
t
n
atu
r
al
way
p
o
s
s
ib
le
with
in
a
f
r
am
ewo
r
k
th
at
r
esp
ec
ts
th
e
eth
ical
co
n
s
id
er
atio
n
s
d
ef
in
ed
h
er
e,
r
ec
o
g
n
izin
g
th
e
lim
itatio
n
s
th
at
m
ay
ar
is
e
e
s
p
ec
ially
in
s
itu
atio
n
s
th
at
h
av
e
n
o
t b
ee
n
p
r
ec
is
ely
d
ef
in
ed
in
ad
v
an
ce
b
y
th
o
s
e
r
esp
o
n
s
ib
l
e
f
o
r
t
h
e
p
r
o
g
r
am
m
i
n
g
an
d
tr
ain
in
g
o
f
th
e
AI
alg
o
r
ith
m
s
n
ec
ess
ar
y
f
o
r
its
o
p
er
atio
n
,
u
n
d
er
s
tan
d
i
n
g
also
th
e
v
ar
iatio
n
s
th
at
d
er
iv
e
f
r
o
m
cu
ltu
r
al
d
if
f
e
r
en
ce
s
a
n
d
in
clu
d
in
g
a
s
y
s
tem
th
at
allo
ws
f
o
r
ac
c
o
u
n
tab
ilit
y
an
d
co
n
tin
u
o
u
s
ev
alu
atio
n
o
f
th
e
s
o
cial
an
d
ec
o
n
o
m
ic
im
p
ac
t
o
f
HR
I
d
ev
elo
p
m
e
n
ts
in
th
e
s
h
o
r
t,
m
ed
iu
m
a
n
d
lo
n
g
ter
m
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
Pro
d
u
ct
d
e
r
iv
ed
f
r
o
m
th
e
r
esear
ch
p
r
o
ject
titl
ed
“Diseñ
o
d
e
u
n
m
o
d
elo
d
e
in
ter
ac
ci
ó
n
h
u
m
an
o
-
r
o
b
o
t
u
tili
za
n
d
o
alg
o
r
itm
o
s
d
e
ap
r
e
n
d
izaje
p
r
o
f
u
n
d
o
”
I
NV
-
I
NG
-
3
9
7
1
f
in
an
ce
d
b
y
th
e
v
ice
-
r
e
cto
r
f
o
r
r
esear
ch
o
f
th
e
Un
iv
er
s
id
ad
Militar
Nu
ev
a
Gr
an
ad
a,
y
ea
r
2
0
2
4
.
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
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
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
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
O
E
Vi
Su
P
Fu
R
o
b
in
s
o
n
J
im
én
ez
-
Mo
r
en
o
✓
✓
✓
✓
✓
✓
✓
✓
An
n
y
Ast
r
id
E
s
p
itia
-
C
u
b
illo
s
✓
✓
✓
✓
✓
✓
✓
✓
✓
J
av
ier
E
d
u
ar
d
o
Ma
r
tín
ez
-
B
aq
u
er
o
✓
✓
✓
✓
C
:
C
o
n
c
e
p
t
u
a
l
i
z
a
t
i
o
n
M
:
M
e
t
h
o
d
o
l
o
g
y
So
:
So
f
t
w
a
r
e
Va
:
Va
l
i
d
a
t
i
o
n
Fo
:
Fo
r
mal
a
n
a
l
y
s
i
s
I
:
I
n
v
e
s
t
i
g
a
t
i
o
n
R
:
R
e
so
u
r
c
e
s
D
:
D
a
t
a
C
u
r
a
t
i
o
n
O
:
W
r
i
t
i
n
g
-
O
r
i
g
i
n
a
l
D
r
a
f
t
E
:
W
r
i
t
i
n
g
-
R
e
v
i
e
w
&
E
d
i
t
i
n
g
Vi
:
Vi
su
a
l
i
z
a
t
i
o
n
Su
:
Su
p
e
r
v
i
s
i
o
n
P
:
P
r
o
j
e
c
t
a
d
mi
n
i
st
r
a
t
i
o
n
Fu
:
Fu
n
d
i
n
g
a
c
q
u
i
si
t
i
o
n
CO
NF
L
I
C
T
O
F
I
N
T
E
R
E
S
T
ST
A
T
E
M
E
NT
Au
th
o
r
s
s
tate
n
o
co
n
f
lict o
f
in
t
er
est.
DATA
AV
AI
L
AB
I
L
I
T
Y
Data
av
ailab
ilit
y
is
n
o
t
ap
p
li
ca
b
le
to
th
is
p
ap
er
as
n
o
n
e
w
d
ata
wer
e
cr
ea
ted
o
r
an
aly
ze
d
in
th
is
s
tu
d
y
.
RE
F
E
R
E
NC
E
S
[
1
]
A
.
A
n
d
r
i
e
l
l
a
,
A
.
R
o
ss
i
,
S
.
R
o
ss
i
,
a
n
d
A
.
V
a
n
M
a
r
i
s
,
“
T
h
e
r
o
a
d
t
o
a
s
u
c
c
e
ssf
u
l
H
R
I
:
A
I
,
t
r
u
st
a
n
d
e
t
h
i
c
S
-
T
R
A
I
TS,”
i
n
A
C
M/
I
EEE
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
H
u
m
a
n
-
Ro
b
o
t
I
n
t
e
r
a
c
t
i
o
n
,
M
a
r
.
2
0
2
1
,
p
p
.
7
0
9
–
7
1
1
,
d
o
i
:
1
0
.
1
1
4
5
/
3
4
3
4
0
7
4
.
3
4
4
4
8
7
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
E
th
ics in
h
u
ma
n
-
r
o
b
o
t in
tera
c
tio
n
r
esea
r
ch
(
R
o
b
in
s
o
n
Jime
n
ez
Mo
r
en
o
)
1011
[
2
]
M
.
F
a
r
o
u
k
,
“
S
t
u
d
y
i
n
g
h
u
m
a
n
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
a
n
d
i
t
s
c
h
a
r
a
c
t
e
r
i
s
t
i
c
s,
”
I
n
t
e
rn
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
C
o
m
p
u
t
a
t
i
o
n
s,
I
n
f
o
rm
a
t
i
o
n
a
n
d
Ma
n
u
f
a
c
t
u
r
i
n
g
(
I
J
C
I
M)
,
v
o
l
.
2
,
n
o
.
1
,
M
a
y
2
0
2
2
,
d
o
i
:
1
0
.
5
4
4
8
9
/
i
j
c
i
m
.
v
2
i
1
.
7
3
.
[
3
]
B
.
N
.
D
.
C
a
r
o
l
i
s,
C
.
G
e
n
a
,
A
.
L
i
e
t
o
,
S
.
R
o
ssi
,
a
n
d
A
.
S
c
i
u
t
t
i
,
“
C
a
ESA
R
:
Th
e
f
o
u
r
t
h
w
o
r
k
sh
o
p
o
n
a
d
a
p
t
e
d
i
n
t
Er
a
c
t
i
o
n
w
i
t
h
S
o
c
i
A
l
r
o
b
o
t
s
,
”
i
n
A
C
M
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
P
ro
c
e
e
d
i
n
g
S
e
r
i
e
s
,
S
e
p
.
2
0
2
3
,
p
p
.
1
–
4
,
d
o
i
:
1
0
.
1
1
4
5
/
3
6
0
5
3
9
0
.
3
6
1
0
8
0
9
.
[
4
]
I
.
A
si
mo
v
,
“
R
u
n
a
r
o
u
n
d
,
”
A
st
o
u
n
d
i
n
g
S
c
i
e
n
c
e
F
i
c
t
i
o
n
,
v
o
l
.
2
9
,
n
o
.
1
,
p
p
.
9
4
–
1
0
3
,
1
9
4
2
.
[5
]
R
.
W
u
l
l
e
n
k
o
r
d
a
n
d
F
.
E
y
sse
l
,
“
S
o
c
i
e
t
a
l
a
n
d
e
t
h
i
c
a
l
i
ss
u
e
s
i
n
H
R
I
,
”
C
u
rre
n
t
Ro
b
o
t
i
c
s R
e
p
o
r
t
s
,
v
o
l
.
1
,
n
o
.
3
,
p
p
.
8
5
–
9
6
,
A
u
g
.
2
0
2
0
,
d
o
i
:
1
0
.
1
0
0
7
/
s
4
3
1
5
4
-
020
-
0
0
0
1
0
-
9.
[6
]
J
.
J
.
H
e
r
r
e
r
a
,
R
.
J
i
m
e
n
e
z
-
M
o
r
e
n
o
,
a
n
d
J
.
E
.
M
.
B
a
q
u
e
r
o
,
“
V
i
r
t
u
a
l
e
n
v
i
r
o
n
m
e
n
t
f
o
r
a
s
s
i
s
t
a
n
t
m
o
b
i
l
e
r
o
b
o
t
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
E
l
e
c
t
r
i
c
a
l
a
n
d
C
o
m
p
u
t
e
r
E
n
g
i
n
e
e
r
i
n
g
(
I
J
E
C
E
)
,
v
o
l
.
1
3
,
n
o
.
6
,
p
p
.
6
1
7
4
–
6
1
8
4
,
D
e
c
.
2
0
2
3
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
e
c
e
.
v
1
3
i
6
.
p
p
6
1
7
4
-
6
1
8
4
.
[7
]
R
.
J
i
m
e
n
e
z
-
M
o
r
e
n
o
,
A
.
E
s
p
i
t
i
a
,
a
n
d
E
.
R
o
d
r
í
g
u
e
z
,
“
V
i
r
t
u
a
l
a
s
s
i
s
t
a
n
t
r
o
b
o
t
f
o
r
p
h
y
s
i
c
a
l
t
r
a
i
n
i
n
g
e
x
e
r
c
i
s
e
s
s
u
p
e
r
v
i
s
i
o
n
,
”
I
r
a
n
i
a
n
J
o
u
r
n
a
l
o
f
E
l
e
c
t
r
i
c
a
l
a
n
d
E
l
e
c
t
r
o
n
i
c
E
n
g
i
n
e
e
r
i
n
g
,
v
o
l
.
2
0
,
n
o
.
4
,
p
.
3
4
2
8
,
2
0
2
4
.
[8
]
R
.
J
i
mé
n
e
z
M
o
r
e
n
o
,
A
.
A
.
Es
p
i
t
i
a
C
u
b
i
l
l
o
s
,
a
n
d
E.
R
o
d
r
í
g
u
e
z
C
a
r
m
o
n
a
,
“
I
n
t
e
r
a
c
t
i
v
e
c
o
mm
u
n
i
c
a
t
i
o
n
h
u
m
a
n
-
r
o
b
o
t
i
n
t
e
r
f
a
c
e
f
o
r
r
e
d
u
c
e
d
mo
b
i
l
i
t
y
p
e
o
p
l
e
a
ss
i
st
a
n
c
e
,
”
I
AE
S
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Art
i
f
i
c
i
a
l
I
n
t
e
l
l
i
g
e
n
c
e
(
I
J
-
AI
)
,
v
o
l
.
1
4
,
n
o
.
2
,
p
.
9
1
7
,
A
p
r
.
2
0
2
5
,
d
o
i
:
1
0
.
1
1
5
9
1
/
i
j
a
i
.
v
1
4
.
i
2
.
p
p
9
1
7
-
9
2
4
.
[9
]
R
.
K
l
e
b
b
e
,
K
.
K
l
ü
b
e
r
,
R
.
D
a
h
ms,
a
n
d
L
.
O
n
n
a
sc
h
,
“
C
a
r
e
g
i
v
e
r
s’
p
e
r
s
p
e
c
t
i
v
e
s
o
n
h
u
ma
n
–
r
o
b
o
t
c
o
l
l
a
b
o
r
a
t
i
o
n
i
n
i
n
p
a
t
i
e
n
t
e
l
d
e
r
l
y
c
a
r
e
s
e
t
t
i
n
g
s,”
M
a
c
h
i
n
e
s
,
v
o
l
.
1
1
,
n
o
.
1
,
p
.
3
4
,
D
e
c
.
2
0
2
3
,
d
o
i
:
1
0
.
3
3
9
0
/
ma
c
h
i
n
e
s
1
1
0
1
0
0
3
4
.
[
10
]
M
.
J
.
P
a
g
e
e
t
a
l
.
,
“
T
h
e
P
R
I
S
M
A
2
0
2
0
s
t
a
t
e
me
n
t
:
A
n
u
p
d
a
t
e
d
g
u
i
d
e
l
i
n
e
f
o
r
r
e
p
o
r
t
i
n
g
sy
s
t
e
m
a
t
i
c
r
e
v
i
e
w
s,
”
T
h
e
B
M
J,
v
o
l
.
3
7
2
,
2
0
2
1
,
d
o
i
:
1
0
.
1
1
3
6
/
b
mj
.
n
7
1
.
[1
1
]
N
.
F
r
o
n
e
m
a
n
n
,
K
.
P
o
l
l
ma
n
n
,
a
n
d
W
.
Lo
h
,
“
S
h
o
u
l
d
my
r
o
b
o
t
k
n
o
w
w
h
a
t
’
s
b
e
st
f
o
r
m
e
?
H
u
ma
n
–
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
b
e
t
w
e
e
n
u
s
e
r
e
x
p
e
r
i
e
n
c
e
a
n
d
e
t
h
i
c
a
l
d
e
s
i
g
n
,
”
AI
a
n
d
S
o
c
i
e
t
y
,
v
o
l
.
3
7
,
n
o
.
2
,
p
p
.
5
1
7
–
5
3
3
,
A
p
r
.
2
0
2
2
,
d
o
i
:
1
0
.
1
0
0
7
/
s
0
0
1
4
6
-
0
2
1
-
0
1
2
1
0
-
3.
[
1
2
]
M
.
K
y
r
a
r
i
n
i
e
t
a
l
.
,
“
A
s
u
r
v
e
y
o
f
r
o
b
o
t
s
i
n
h
e
a
l
t
h
c
a
r
e
,
”
T
e
c
h
n
o
l
o
g
i
e
s
,
v
o
l
.
9
,
n
o
.
1
,
p
.
8
,
Jan
.
2
0
2
1
,
d
o
i
:
1
0
.
3
3
9
0
/
t
e
c
h
n
o
l
o
g
i
e
s9
0
1
0
0
0
8
.
[
1
3
]
H
.
V
.
M
a
n
a
l
u
a
n
d
A
.
P
.
R
i
f
a
i
,
“
D
e
t
e
c
t
i
o
n
o
f
h
u
ma
n
e
m
o
t
i
o
n
s
t
h
r
o
u
g
h
f
a
c
i
a
l
e
x
p
r
e
ssi
o
n
s
u
s
i
n
g
h
y
b
r
i
d
c
o
n
v
o
l
u
t
i
o
n
a
l
n
e
u
r
a
l
n
e
t
w
o
r
k
-
r
e
c
u
r
r
e
n
t
n
e
u
r
a
l
n
e
t
w
o
r
k
a
l
g
o
r
i
t
h
m
,
”
I
n
t
e
l
l
i
g
e
n
t
S
y
s
t
e
m
s
w
i
t
h
Ap
p
l
i
c
a
t
i
o
n
s
,
v
o
l
.
2
1
,
p
.
2
0
0
3
3
9
,
M
a
r
.
2
0
2
4
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
i
sw
a
.
2
0
2
4
.
2
0
0
3
3
9
.
[
1
4
]
J.
P
.
B
o
a
d
a
,
B
.
R
.
M
a
e
s
t
r
e
,
a
n
d
C
.
T.
G
e
n
í
s
,
“
T
h
e
e
t
h
i
c
a
l
i
ss
u
e
s
o
f
s
o
c
i
a
l
a
ss
i
st
i
v
e
r
o
b
o
t
i
c
s:
A
c
r
i
t
i
c
a
l
l
i
t
e
r
a
t
u
r
e
r
e
v
i
e
w
,
”
T
e
c
h
n
o
l
o
g
y
i
n
S
o
c
i
e
t
y
,
v
o
l
.
6
7
,
p
.
1
0
1
7
2
6
,
N
o
v
.
2
0
2
1
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
t
e
c
h
s
o
c
.
2
0
2
1
.
1
0
1
7
2
6
.
[1
5
]
P
.
R
.
K
a
n
n
a
a
n
d
V
.
K
u
m
a
r
a
r
a
j
a
,
“
E
n
h
a
n
c
i
n
g
s
p
e
e
c
h
e
m
o
t
i
o
n
d
e
t
e
c
t
i
o
n
w
i
t
h
w
i
n
d
o
w
e
d
l
o
n
g
-
t
e
r
m
a
v
e
r
a
g
e
s
p
e
c
t
r
u
m
a
n
d
l
o
g
i
s
t
i
c
-
r
e
c
t
i
f
i
e
d
l
i
n
e
a
r
u
n
i
t
,
”
E
n
g
i
n
e
e
r
i
n
g
Ap
p
l
i
c
a
t
i
o
n
s
o
f
Art
i
f
i
c
i
a
l
I
n
t
e
l
l
i
g
e
n
c
e
,
v
o
l
.
1
3
7
,
p
.
1
0
9
1
0
3
,
N
o
v
.
2
0
2
4
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
e
n
g
a
p
p
a
i
.
2
0
2
4
.
1
0
9
1
0
3
.
[1
6
]
J.
M
a
r
c
h
a
n
g
a
n
d
A
.
D
i
N
u
o
v
o
,
“
A
ss
i
st
i
v
e
mu
l
t
i
m
o
d
a
l
r
o
b
o
t
i
c
s
y
st
e
m
(
A
M
R
S
y
s)
:
s
e
c
u
r
i
t
y
a
n
d
p
r
i
v
a
c
y
i
ss
u
e
s
,
c
h
a
l
l
e
n
g
e
s,
a
n
d
p
o
ss
i
b
l
e
s
o
l
u
t
i
o
n
s,
”
A
p
p
l
i
e
d
S
c
i
e
n
c
e
s
(
S
w
i
t
zer
l
a
n
d
)
,
v
o
l
.
1
2
,
n
o
.
4
,
p
.
2
1
7
4
,
F
e
b
.
2
0
2
2
,
d
o
i
:
1
0
.
3
3
9
0
/
a
p
p
1
2
0
4
2
1
7
4
.
[1
7
]
A
.
K
.
O
st
r
o
w
sk
i
e
t
a
l
.
,
“
E
t
h
i
c
s,
e
q
u
i
t
y
,
a
n
d
j
u
st
i
c
e
i
n
h
u
m
a
n
-
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
:
a
r
e
v
i
e
w
a
n
d
f
u
t
u
r
e
d
i
r
e
c
t
i
o
n
s
,
”
i
n
RO
-
MA
N
2
0
2
2
-
3
1
s
t
I
EEE
I
n
t
e
rn
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
R
o
b
o
t
a
n
d
H
u
m
a
n
I
n
t
e
r
a
c
t
i
v
e
C
o
m
m
u
n
i
c
a
t
i
o
n
:
S
o
c
i
a
l
,
As
o
c
i
a
l
,
a
n
d
A
n
t
i
so
c
i
a
l
R
o
b
o
t
s
,
A
u
g
.
2
0
2
2
,
p
p
.
9
6
9
–
9
7
6
,
d
o
i
:
1
0
.
1
1
0
9
/
R
O
-
M
A
N
5
3
7
5
2
.
2
0
2
2
.
9
9
0
0
8
0
5
.
[1
8
]
H
.
M
a
e
t
a
l
.
,
“
C
F
A
D
:
A
C
h
i
n
e
se
d
a
t
a
set
f
o
r
f
a
k
e
a
u
d
i
o
d
e
t
e
c
t
i
o
n
,
”
S
p
e
e
c
h
C
o
m
m
u
n
i
c
a
t
i
o
n
,
v
o
l
.
1
6
4
,
p
.
1
0
3
1
2
2
,
O
c
t
.
2
0
2
4
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
sp
e
c
o
m.
2
0
2
4
.
1
0
3
1
2
2
.
[
19
]
K
.
W
i
n
k
l
e
,
P
.
C
a
l
e
b
-
S
o
l
l
y
,
U
.
L
e
o
n
a
r
d
s,
A
.
T
u
r
t
o
n
,
a
n
d
P
.
B
r
e
m
n
e
r
,
“
A
ss
e
ssi
n
g
a
n
d
a
d
d
r
e
ssi
n
g
e
t
h
i
c
a
l
r
i
s
k
f
r
o
m
a
n
t
h
r
o
p
o
m
o
r
p
h
i
s
m
a
n
d
d
e
c
e
p
t
i
o
n
i
n
s
o
c
i
a
l
l
y
a
ss
i
st
i
v
e
r
o
b
o
t
s,”
i
n
A
C
M/
I
EE
E
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
H
u
m
a
n
-
R
o
b
o
t
I
n
t
e
r
a
c
t
i
o
n
,
M
a
r
.
2
0
2
1
,
p
p
.
1
0
1
–
1
0
9
,
d
o
i
:
1
0
.
1
1
4
5
/
3
4
3
4
0
7
3
.
3
4
4
4
6
6
6
.
[2
0
]
K
.
W
i
n
k
l
e
,
R
.
B
.
Ja
c
k
s
o
n
,
A
.
B
e
j
a
r
a
n
o
,
a
n
d
T
.
W
i
l
l
i
a
ms,
“
O
n
t
h
e
f
l
e
x
i
b
i
l
i
t
y
o
f
r
o
b
o
t
s
o
c
i
a
l
i
d
e
n
t
i
t
y
p
e
r
f
o
r
ma
n
c
e
:
b
e
n
e
f
i
t
s,
e
t
h
i
c
a
l
r
i
sk
s
a
n
d
o
p
e
n
r
e
s
e
a
r
c
h
q
u
e
s
t
i
o
n
s fo
r
H
R
I
,
”
H
RI
W
o
rks
h
o
p
o
n
R
o
b
o
-
I
d
e
n
t
i
t
y
,
2
0
2
1
.
[2
1
]
M
.
Zh
o
n
g
,
M
.
F
r
a
i
l
e
,
G
.
C
a
st
e
l
l
a
n
o
,
a
n
d
K
.
W
i
n
k
l
e
,
“
A
c
a
se
st
u
d
y
i
n
d
e
s
i
g
n
i
n
g
t
r
u
st
w
o
r
t
h
y
i
n
t
e
r
a
c
t
i
o
n
s
:
i
mp
l
i
c
a
t
i
o
n
s
f
o
r
so
c
i
a
l
l
y
a
ssi
s
t
i
v
e
r
o
b
o
t
i
c
s,”
Fr
o
n
t
i
e
rs
i
n
C
o
m
p
u
t
e
r
S
c
i
e
n
c
e
,
v
o
l
.
5
,
J
u
n
.
2
0
2
3
,
d
o
i
:
1
0
.
3
3
8
9
/
f
c
o
m
p
.
2
0
2
3
.
1
1
5
2
5
3
2
.
[
2
2
]
K
.
L
i
n
d
Z
.
“
E
t
h
i
c
s
o
f
r
o
b
o
t
i
c
s
a
p
p
l
i
c
a
t
i
o
n
s
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
r
e
n
c
e
o
n
C
o
g
n
i
t
i
v
e
b
a
s
e
d
I
n
f
o
rm
a
t
i
o
n
Pr
o
c
e
s
si
n
g
a
n
d
Ap
p
l
i
c
a
t
i
o
n
s (
C
I
PA
2
0
2
1
)
,
v
o
l
.
1
.
p
p
.
3
4
2
8
,
S
e
p
.
2
0
2
1
,
S
i
n
g
a
p
o
r
e
:
S
p
r
i
n
g
e
r
S
i
n
g
a
p
o
r
e
,
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
981
-
16
-
5
8
5
7
-
0
_
4
1
[2
3
]
G
.
W
.
M
o
r
a
n
,
E
.
J
.
M
a
r
g
o
l
i
n
,
C
.
N
.
W
a
n
g
a
n
d
G
.
J.
D
e
C
a
st
r
o
“
U
si
n
g
g
a
mi
f
i
c
a
t
i
o
n
t
o
i
n
c
r
e
a
se
r
e
si
d
e
n
t
e
n
g
a
g
e
me
n
t
i
n
s
u
r
g
i
c
a
l
t
r
a
i
n
i
n
g
:
o
u
r
e
x
p
e
r
i
e
n
c
e
w
i
t
h
a
r
o
b
o
t
i
c
su
r
g
e
r
y
si
m
u
l
a
t
i
o
n
l
e
a
g
u
e
,
”
T
h
e
Am
e
ri
c
a
n
J
o
u
rn
a
l
o
f
S
u
r
g
e
ry
,
v
o
l
.
2
2
4
,
n
o
.
1
,
p
p
.
3
2
1
-
3
2
2
,
Ju
l
.
2
0
2
2
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
a
mj
s
u
r
g
.
2
0
2
2
.
0
1
.
0
2
0
[2
4
]
S
.
C
h
e
n
,
R
.
S
u
r
e
n
d
r
a
n
,
A
.
R
.
W
a
g
n
e
r
,
J
.
B
o
r
e
n
s
t
e
i
n
,
a
n
d
R
.
C
.
A
r
k
i
n
,
“
T
o
w
a
r
d
e
t
h
i
c
a
l
r
o
b
o
t
i
c
b
e
h
a
v
i
o
r
i
n
h
u
m
a
n
-
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
s
c
e
n
a
r
i
o
s
.
t
h
e
r
o
a
d
t
o
a
s
u
c
c
e
s
s
f
u
l
H
R
I
:
A
I
,
t
r
u
s
t
a
n
d
e
t
h
i
c
s
,
”
T
R
A
I
T
S
W
o
r
k
s
h
o
p
a
t
t
h
e
H
u
m
a
n
-
R
o
b
o
t
I
n
t
e
r
a
c
t
i
o
n
C
o
n
f
e
r
e
n
c
e
,
2
0
2
2
.
[2
5
]
S
.
Lj
u
n
g
b
l
a
d
a
n
d
M
.
G
a
mb
o
a
,
“
C
r
i
t
i
c
a
l
p
e
r
sp
e
c
t
i
v
e
s
i
n
h
u
m
a
n
-
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
d
e
si
g
n
,
”
i
n
D
e
s
i
g
n
i
n
g
I
n
t
e
r
a
c
t
i
o
n
s
w
i
t
h
R
o
b
o
t
s
:
Me
t
h
o
d
s
a
n
d
P
e
rs
p
e
c
t
i
v
e
s
,
C
h
a
p
m
a
n
a
n
d
H
a
l
l
/
C
R
C
,
2
0
2
4
,
p
p
.
1
4
8
–
1
6
0
.
[2
6
]
Q
.
M
.
M
a
r
w
a
n
,
S
.
C
.
C
h
u
a
a
n
d
L
.
C
.
K
w
e
k
,
“
C
o
mp
r
e
h
e
n
s
i
v
e
r
e
v
i
e
w
o
n
r
e
a
c
h
i
n
g
a
n
d
g
r
a
sp
i
n
g
o
f
o
b
j
e
c
t
s
i
n
r
o
b
o
t
i
c
s”
,
R
o
b
o
t
i
c
a
,
v
o
l
.
3
9
,
n
o
.
1
0
,
p
p
.
1
8
4
9
-
1
8
8
2
,
F
e
b
.
2
0
2
1
,
d
o
i
:
1
0
.
1
0
1
7
/
S
0
2
6
3
5
7
4
7
2
1
0
0
0
0
2
3
[2
7
]
J.
R
o
sé
n
,
J
.
Li
n
d
b
l
o
m,
a
n
d
E.
B
i
l
l
i
n
g
,
“
R
e
p
o
r
t
i
n
g
o
f
e
t
h
i
c
a
l
c
o
n
d
u
c
t
i
n
h
u
ma
n
-
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
r
e
s
e
a
r
c
h
,
”
i
n
L
e
c
t
u
re
N
o
t
e
s
i
n
N
e
t
w
o
rks
a
n
d
S
y
st
e
m
s
,
v
o
l
.
2
6
8
,
S
p
r
i
n
g
e
r
I
n
t
e
r
n
a
t
i
o
n
a
l
P
u
b
l
i
sh
i
n
g
,
2
0
2
1
,
p
p
.
8
7
–
9
4
.
[2
8
]
F
.
C
a
r
r
o
s,
T
.
S
t
ö
r
z
i
n
g
e
r
,
A
.
W
i
e
r
l
i
n
g
,
A
.
P
r
e
u
ss
n
e
r
,
a
n
d
P
.
T
o
l
mi
e
,
“
E
t
h
i
c
a
l
,
l
e
g
a
l
a
n
d
p
a
r
t
i
c
i
p
a
t
o
r
y
c
o
n
c
e
r
n
s
i
n
t
h
e
d
e
v
e
l
o
p
m
e
n
t
o
f
h
u
ma
n
-
r
o
b
o
t
i
n
t
e
r
a
c
t
i
o
n
l
e
ss
o
n
s
f
r
o
m
e
i
g
h
t
r
e
se
a
r
c
h
p
r
o
j
e
c
t
s
w
i
t
h
s
o
c
i
a
l
r
o
b
o
t
s
i
n
r
e
a
l
-
w
o
r
l
d
s
c
e
n
a
r
i
o
s,
”
I
-
C
o
m
,
v
o
l
.
2
1
,
n
o
.
2
,
p
p
.
2
9
9
–
3
0
9
,
J
u
l
.
2
0
2
2
,
d
o
i
:
1
0
.
1
5
1
5
/
i
c
o
m
-
2
0
2
2
-
0
0
2
5
.
[
2
9
]
A
.
G
i
a
mm
a
r
i
n
o
,
J.
M
.
G
a
n
d
a
r
i
a
s,
P
.
B
a
l
a
t
t
i
,
M
.
Le
o
n
o
r
i
,
M
.
L
o
r
e
n
z
i
n
i
,
a
n
d
A
.
A
j
o
u
d
a
n
i
,
“
S
U
P
ER
-
M
A
N
:
S
U
P
ER
n
u
mer
a
r
y
r
o
b
o
t
i
c
b
o
d
i
e
s
f
o
r
p
h
y
si
c
a
l
a
ssi
s
t
a
n
c
e
i
n
h
u
M
A
N
–
r
o
b
o
t
c
o
n
j
o
i
n
e
d
a
c
t
i
o
n
s
,
”
Me
c
h
a
t
r
o
n
i
c
s
,
v
o
l
.
1
0
3
,
p
.
1
0
3
2
4
0
,
N
o
v
.
2
0
2
4
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
me
c
h
a
t
r
o
n
i
c
s
.
2
0
2
4
.
1
0
3
2
4
0
.
[
3
0
]
M
.
D
h
a
n
d
a
,
B
.
A
.
R
o
g
e
r
s,
S
.
H
a
l
l
,
E.
D
e
k
o
n
i
n
c
k
,
a
n
d
V
.
D
h
o
k
i
a
,
“
R
e
v
i
e
w
i
n
g
h
u
ma
n
-
r
o
b
o
t
c
o
l
l
a
b
o
r
a
t
i
o
n
i
n
ma
n
u
f
a
c
t
u
r
i
n
g
:
O
p
p
o
r
t
u
n
i
t
i
e
s
a
n
d
c
h
a
l
l
e
n
g
e
s
i
n
t
h
e
c
o
n
t
e
x
t
o
f
i
n
d
u
st
r
y
5
.
0
,
”
Ro
b
o
t
i
c
s
a
n
d
C
o
m
p
u
t
e
r
-
I
n
t
e
g
ra
t
e
d
M
a
n
u
f
a
c
t
u
ri
n
g
,
v
o
l
.
9
3
,
p
.
1
0
2
9
3
7
,
Ju
n
.
2
0
2
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
r
c
i
m.2
0
2
4
.
1
0
2
9
3
7
.
[
3
1
]
A
.
R
a
p
p
,
C
.
D
i
L
o
d
o
v
i
c
o
,
a
n
d
L
.
D
i
C
a
r
o
,
“
H
o
w
d
o
p
e
o
p
l
e
r
e
a
c
t
t
o
C
h
a
t
G
P
T
’
s
u
n
p
r
e
d
i
c
t
a
b
l
e
b
e
h
a
v
i
o
r
?
A
n
t
h
r
o
p
o
m
o
r
p
h
i
s
m
,
u
n
c
a
n
n
i
n
e
s
s
,
a
n
d
f
e
a
r
o
f
A
I
:
A
q
u
a
l
i
t
a
t
i
v
e
s
t
u
d
y
o
n
i
n
d
i
v
i
d
u
a
l
s
’
p
e
r
c
e
p
t
i
o
n
s
a
n
d
u
n
d
e
r
s
t
a
n
d
i
n
g
s
o
f
L
L
M
s
’
n
o
n
s
e
n
s
i
c
a
l
h
a
l
l
u
c
i
n
a
t
i
o
n
s
,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
H
u
m
a
n
C
o
m
p
u
t
e
r
S
t
u
d
i
e
s
,
v
o
l
.
1
9
8
,
p
.
1
0
3
4
7
1
,
A
p
r
.
2
0
2
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
i
j
h
c
s
.
2
0
2
5
.
1
0
3
4
7
1
.
[
3
2
]
M
.
A
.
F
e
r
r
a
g
e
t
a
l
.
,
“
G
e
n
e
r
a
t
i
v
e
A
I
i
n
c
y
b
e
r
sec
u
r
i
t
y
:
A
c
o
m
p
r
e
h
e
n
si
v
e
r
e
v
i
e
w
o
f
LL
M
a
p
p
l
i
c
a
t
i
o
n
s
a
n
d
v
u
l
n
e
r
a
b
i
l
i
t
i
e
s,
”
I
n
t
e
rn
e
t
o
f
T
h
i
n
g
s
a
n
d
C
y
b
e
r
-
Ph
y
si
c
a
l
S
y
s
t
e
m
s
,
v
o
l
.
5
,
p
p
.
1
–
4
6
,
2
0
2
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
i
o
t
c
p
s.
2
0
2
5
.
0
1
.
0
0
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
3
9
,
No
.
2
,
Au
g
u
s
t
20
25
:
1
0
0
5
-
1
012
1012
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Ro
b
in
so
n
J
i
m
e
n
e
z
Mo
r
e
n
o
is an
e
lec
tro
n
ic en
g
in
e
e
r
g
ra
d
u
a
ted
f
ro
m
Un
iv
e
rsid
a
d
Distrit
a
l
F
ra
n
c
isc
o
Jo
sé
d
e
Ca
l
d
a
s
in
2
0
0
2
.
He
re
c
e
iv
e
d
a
M
.
S
c
.
i
n
e
n
g
in
e
e
rin
g
fro
m
Un
iv
e
rsid
a
d
Na
c
io
n
a
l
d
e
Co
l
o
m
b
ia
in
2
0
1
2
a
n
d
P
h
.
D.
i
n
e
n
g
i
n
e
e
rin
g
a
t
Un
iv
e
rsid
a
d
Distrit
a
l
F
ra
n
c
isc
o
Jo
sé
d
e
Ca
l
d
a
s
in
2
0
1
8
.
His
c
u
rre
n
t
wo
rk
i
n
g
a
s
a
ss
o
c
i
a
te
p
ro
fe
ss
o
r
o
f
Un
i
v
e
rsid
a
d
M
il
it
a
r
Nu
e
v
a
G
ra
n
a
d
a
a
n
d
re
se
a
rc
h
fo
c
u
se
s
o
n
th
e
u
se
o
f
c
o
n
v
o
l
u
ti
o
n
a
l
n
e
u
ra
l
n
e
two
rk
s
fo
r
o
b
jec
t
re
c
o
g
n
it
i
o
n
a
n
d
ima
g
e
p
ro
c
e
ss
in
g
fo
r
ro
b
o
ti
c
a
p
p
li
c
a
ti
o
n
s
su
c
h
a
s
h
u
m
a
n
-
m
a
c
h
in
e
in
tera
c
ti
o
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
ro
b
i
n
so
n
.
ji
m
e
n
e
z
@u
n
imili
tar.ed
u
.
c
o
.
Ann
y
As
tr
id
Espi
ti
a
Cu
b
il
l
o
s
p
e
rfo
rm
e
d
h
e
r
u
n
d
e
rg
ra
d
u
a
te
st
u
d
ies
i
n
in
d
u
strial
e
n
g
in
e
e
rin
g
i
n
t
h
e
Un
i
v
e
rsid
a
d
M
il
it
a
r
N
u
e
v
a
G
ra
n
a
d
a
in
2
0
0
2
a
n
d
m
a
ste
r
in
i
n
d
u
strial
e
n
g
in
e
e
rin
g
fr
o
m
th
e
Un
i
v
e
rsid
a
d
d
e
L
o
s
An
d
e
s
in
2
0
0
6
.
S
h
e
is
a
n
a
ss
o
c
iate
p
ro
fe
ss
o
r
on
in
d
u
strial
e
n
g
in
e
e
rin
g
p
r
o
g
ra
m
a
t
Un
iv
e
rsid
a
d
M
il
it
a
r
Nu
e
v
a
G
ra
n
a
d
a
,
Bo
g
o
tá,
Co
l
o
m
b
ia.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
a
n
n
y
.
e
sp
it
ia@
u
n
imili
tar.ed
u
.
c
o
.
J
a
v
ier
Ed
u
a
r
d
o
M
a
r
tin
e
z
Ba
q
u
e
r
o
is
a
n
e
lec
tro
n
ic
e
n
g
i
n
e
e
r
g
ra
d
u
a
ted
fro
m
Un
iv
e
rsid
a
d
d
e
lo
s
Ll
a
n
o
s
in
2
0
0
2
.
P
o
sg
ra
d
u
a
ted
i
n
e
lec
tro
n
ic
in
str
u
m
e
n
tati
o
n
fro
m
Un
iv
e
rsid
a
d
S
a
n
t
o
To
m
a
s
in
2
0
0
4
,
p
o
sg
ra
d
u
a
ted
i
n
i
n
stru
m
e
n
tati
o
n
a
n
d
i
n
d
u
strial
c
o
n
tro
l
a
t
Un
iv
e
rsid
a
d
d
e
lo
s
Ll
a
n
o
s
in
2
0
2
0
a
n
d
M
.S
c
.
i
n
e
d
u
c
a
ti
v
e
tec
h
n
o
lo
g
y
a
n
d
in
n
o
v
a
ti
v
e
m
e
d
ia
fo
r
e
d
u
c
a
ti
o
n
a
t
Un
i
v
e
rsid
a
d
A
u
to
n
o
m
a
d
e
Bu
c
a
ra
m
a
n
g
a
in
2
0
1
3
.
His
c
u
rre
n
t
w
o
rk
i
n
g
a
s
a
ss
o
c
iate
d
p
ro
fe
ss
o
r
o
f
Un
i
v
e
rsid
a
d
d
e
lo
s
Ll
a
n
o
s
a
n
d
re
se
a
rc
h
fo
c
u
se
s
o
n
i
n
stru
m
e
n
tati
o
n
,
a
u
to
m
a
ti
o
n
,
c
o
n
tr
o
l
a
n
d
re
n
e
wa
b
le
e
n
e
rg
ies
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
e
m
a
il
:
jma
rti
n
e
z
@u
n
il
lan
o
s.e
d
u
.
c
o
.
Evaluation Warning : The document was created with Spire.PDF for Python.