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–
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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n
al
m
ater
ial
-
h
an
d
lin
g
s
o
lu
tio
n
s
[
1
0
]
.
T
h
ese
f
in
d
in
g
s
illu
s
tr
ate
th
e
ec
o
n
o
m
ic
an
d
o
p
er
atio
n
al
v
iab
ilit
y
of
AM
R
d
ep
lo
y
m
en
t
in
f
in
al
ass
em
b
ly
in
tr
alo
g
is
tics
.
Desp
ite
s
u
ch
p
r
o
g
r
ess
,
cr
itical
r
esear
ch
g
ap
s
r
em
ain
in
a
r
ea
s
s
u
ch
as
h
ig
h
-
ac
cu
r
ac
y
l
o
ca
lizatio
n
u
n
d
er
d
y
n
am
ic
co
n
d
itio
n
s
,
s
ea
m
less
in
teg
r
atio
n
i
n
to
d
ig
ital
m
an
u
f
ac
tu
r
in
g
s
y
s
tem
s
,
an
d
r
e
al
-
wo
r
ld
v
alid
atio
n
of
SLAM
p
er
f
o
r
m
an
ce
in
c
o
m
p
lex
en
v
ir
o
n
m
e
n
ts
.
E
x
is
ti
n
g
s
y
s
tem
s
ar
e
o
f
ten
lim
ite
d
by
s
en
s
o
r
d
r
if
t,
ca
lib
r
atio
n
d
em
a
n
d
s
,
an
d
e
n
v
ir
o
n
m
e
n
t
clu
tter
,
r
estrictin
g
th
eir
r
eliab
ilit
y
at
in
d
u
s
tr
ial
s
ca
le
[
1
1
]
–
[
1
6
]
.
Ad
d
r
ess
in
g
th
ese
ch
allen
g
es
is
ess
en
tial
f
o
r
r
ea
lizin
g
th
e
f
u
ll
p
o
ten
tial
of
AM
R
s
in
ass
em
b
ly
lin
e
d
eliv
er
y
.
To
th
is
en
d
,
th
e
p
r
esen
t
s
tu
d
y
co
n
tr
i
b
u
tes
a
s
y
s
tem
atic
ap
p
r
o
ac
h
to
AM
R
im
p
lem
en
tati
o
n
in
f
in
al
ass
em
b
ly
m
ater
ial
d
eliv
er
y
,
c
o
m
p
r
is
in
g
:
i)
Desig
n
in
g
th
e
d
eliv
er
y
s
y
s
tem
ar
ch
itectu
r
e,
with
em
p
h
asis
o
n
o
b
s
tacle
av
o
id
a
n
ce
an
d
p
at
h
ad
ap
tab
ilit
y
;
ii)
E
v
alu
atin
g
m
ap
p
in
g
an
d
lo
ca
lizatio
n
ac
c
u
r
ac
y
u
s
in
g
SLAM
u
n
d
er
d
y
n
am
ic
f
ac
to
r
y
-
lik
e
co
n
d
itio
n
s
;
an
d
iii)
Me
as
u
r
in
g
d
eliv
er
y
p
e
r
f
o
r
m
an
ce
m
etr
ics
—
ac
cu
r
ac
y
,
r
esp
o
n
s
iv
en
ess
,
an
d
s
ca
lab
ilit
y
—
th
r
o
u
g
h
ex
p
er
im
en
tal
tr
ial
s
.
T
h
e
n
o
v
el
co
n
tr
ib
u
tio
n
of
th
is
wo
r
k
lies
in
b
r
id
g
in
g
th
e
g
ap
b
etwe
en
alg
o
r
ith
m
ic
p
e
r
f
o
r
m
a
n
ce
ev
alu
atio
n
an
d
p
r
ac
tical
ass
em
b
ly
in
teg
r
atio
n
,
p
r
o
v
i
d
in
g
q
u
an
tifia
b
le
ev
i
d
en
ce
of
AM
R
ef
f
ec
tiv
en
ess
in
m
ater
ial
d
eliv
er
y
.
Un
lik
e
p
r
i
o
r
s
tu
d
ies
th
at
f
o
cu
s
n
ar
r
o
wly
on
eith
er
n
av
ig
atio
n
alg
o
r
ith
m
s
or
lo
g
is
tics
f
ea
s
ib
ilit
y
,
th
is
r
esear
ch
o
f
f
er
s
an
en
d
-
to
-
en
d
v
alid
atio
n
f
r
am
ewo
r
k
,
co
m
b
in
in
g
ex
p
er
im
en
tal
SLAM
ass
es
s
m
en
t
with
in
tr
alo
g
is
tics
p
er
f
o
r
m
an
ce
b
e
n
ch
m
a
r
k
in
g
[
1
3
]
,
[
1
7
]
,
[
1
8
]
.
T
h
e
im
p
licatio
n
s
of
th
is
s
tu
d
y
ar
e
f
ar
-
r
ea
c
h
in
g
.
B
ey
o
n
d
i
m
p
r
o
v
i
n
g
f
in
al
ass
em
b
ly
o
p
e
r
atio
n
s
,
th
e
o
u
tco
m
es
p
r
o
v
id
e
a
r
o
ad
m
a
p
f
o
r
in
d
u
s
tr
ies
to
ad
o
p
t
AM
R
s
as
s
ca
lab
le,
m
o
d
u
lar
lo
g
is
tics
s
o
lu
tio
n
s
wi
th
o
u
t
co
s
tly
in
f
r
astru
ctu
r
e
m
o
d
if
ica
tio
n
s
.
Fu
r
th
er
m
o
r
e,
th
e
d
e
m
o
n
s
tr
ated
im
p
r
o
v
em
en
ts
in
lo
c
aliza
tio
n
ac
cu
r
ac
y
an
d
ad
ap
tiv
e
n
av
ig
atio
n
lay
th
e
g
r
o
u
n
d
wo
r
k
f
o
r
i
n
teg
r
atin
g
AM
R
s
with
d
ig
ital
twin
s
,
p
r
ed
ictiv
e
m
ain
ten
an
ce
s
y
s
tem
s
,
an
d
AI
-
d
r
iv
en
s
ch
e
d
u
lin
g
p
latf
o
r
m
s
.
Ultim
ately
,
th
is
r
esear
ch
ad
v
an
ce
s
th
e
d
ev
el
o
p
m
en
t
of
r
esil
ien
t
an
d
in
tellig
en
t
in
tr
al
o
g
is
tics
s
y
s
tem
s
,
p
o
s
itio
n
in
g
AM
R
s
as
a
co
r
n
er
s
to
n
e
tec
h
n
o
lo
g
y
in
n
ex
t
-
g
en
er
atio
n
m
an
u
f
ac
tu
r
in
g
,
p
a
r
ticu
lar
ly
in
h
ig
h
-
v
alu
e
in
d
u
s
tr
ies
s
u
ch
as
au
to
m
o
tiv
e,
ae
r
o
s
p
ac
e,
an
d
elec
tr
o
n
ics
ass
em
b
ly
[
5
]
,
[
6
]
,
[
1
0
]
,
[
1
6
]
.
T
h
is
p
ap
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws
:
Sect
io
n
2
o
u
tlin
es
th
e
m
eth
o
d
o
l
o
g
y
,
an
d
th
e
s
tep
s
i
n
v
o
lv
e
d
in
im
p
lem
en
tin
g
th
e
AM
R
.
Sec
tio
n
3
ev
alu
ates
th
e
AM
R
'
s
ac
cu
r
ac
y
in
f
o
llo
win
g
v
ir
tu
al
p
ath
s
b
ased
on
ex
p
er
im
en
tal
r
esu
lts
an
d
d
ata
g
ath
er
ed
f
r
o
m
t
h
e
m
eth
o
d
o
lo
g
y
.
T
h
e
s
tu
d
y
’
s
co
n
clu
s
io
n
s
an
d
p
o
ten
tial
im
p
licatio
n
s
f
o
r
AM
R
tech
n
o
l
o
g
y
in
ass
em
b
ly
p
r
o
ce
s
s
es
ar
e
d
is
cu
s
s
ed
in
th
e
f
in
al
s
ec
tio
n
.
2.
M
E
T
H
O
D
T
h
e
im
p
lem
en
tatio
n
of
an
AM
R
in
th
e
f
in
al
as
s
em
b
ly
m
ater
ial
d
eliv
er
y
s
y
s
tem
was
co
n
d
u
cte
d
th
r
o
u
g
h
a
s
tr
u
ctu
r
ed
s
er
ies
of
s
tep
s
.
T
h
ese
in
clu
d
ed
d
esig
n
in
g
th
e
AM
R
s
y
s
tem
ar
ch
itectu
r
e,
d
ef
i
n
in
g
th
e
m
ater
ial
d
eliv
er
y
p
r
o
ce
s
s
,
d
ev
elo
p
in
g
a
c
u
s
to
m
ized
tr
o
l
ley
,
co
n
f
ig
u
r
in
g
an
d
p
r
o
g
r
a
m
m
in
g
t
h
e
AM
R
,
v
alid
atin
g
n
av
i
g
atio
n
ac
cu
r
ac
y
,
an
d
in
te
g
r
atin
g
th
e
r
o
b
o
t
d
is
p
atch
s
y
s
tem
(
R
DS)
f
o
r
co
o
r
d
in
ated
o
p
er
atio
n
.
E
ac
h
s
tag
e
is
d
escr
ib
ed
in
d
etail
b
elo
w.
2
.
1
.
AM
R
s
y
s
t
em
co
nfig
ura
t
io
n
T
h
e
AM
R
s
y
s
tem
co
n
s
is
ted
of
f
iv
e
m
ain
c
o
m
p
o
n
en
ts
:
th
e
AM
R
u
n
it,
R
o
b
o
Sh
o
p
ap
p
licatio
n
,
R
DS,
war
eh
o
u
s
e
co
n
tr
o
l
s
y
s
tem
(
W
C
S)
s
er
v
er
,
an
d
WCS
clien
t.
Fig
u
r
e
1
illu
s
tr
ates
th
e
o
v
er
all
s
y
s
tem
co
n
f
ig
u
r
atio
n
,
wh
ile
T
ab
le
1
s
u
m
m
ar
izes
th
e
s
p
ec
if
icatio
n
s
,
f
u
n
ctio
n
s
,
an
d
c
o
m
m
u
n
icatio
n
p
r
o
to
co
ls
f
o
r
each
co
m
p
o
n
en
t.
Fig
u
r
e
1
an
d
T
ab
le
1
o
u
tlin
e
th
e
a
r
ch
itectu
r
e,
co
m
m
u
n
icatio
n
f
lo
w,
an
d
f
u
n
ctio
n
al
r
o
les
with
in
an
AM
R
s
y
s
tem
u
s
ed
f
o
r
m
ater
ial
h
an
d
lin
g
in
a
war
eh
o
u
s
e
o
r
f
in
al
ass
em
b
ly
en
v
ir
o
n
m
en
t.
T
h
e
f
i
g
u
r
e
d
em
o
n
s
tr
ates
th
e
in
ter
ac
tio
n
s
b
etwe
en
f
iv
e
m
ain
co
m
p
o
n
en
ts
:
W
C
S
web
clien
t
,
W
C
S
web
s
er
v
er
,
R
DS,
R
o
b
o
Sh
o
p
,
a
n
d
th
e
AM
R
its
elf
.
C
o
m
m
u
n
icatio
n
f
lo
ws
th
r
o
u
g
h
v
ar
i
o
u
s
p
r
o
t
o
co
ls
,
in
clu
d
i
n
g
HT
T
P
an
d
R
E
ST
API
o
v
er
E
th
er
n
et,
a
n
d
T
C
P/IP
o
v
er
Wi
-
Fi
o
r
E
th
er
n
et,
e
n
s
u
r
in
g
s
ea
m
less
d
ata
tr
an
s
f
e
r
an
d
co
o
r
d
in
atio
n
ac
r
o
s
s
co
m
p
o
n
en
ts
.
T
h
e
tab
le
p
r
o
v
id
es
a
d
etailed
b
r
ea
k
d
o
wn
o
f
ea
ch
c
o
m
p
o
n
en
t'
s
s
p
ec
if
icatio
n
s
,
f
u
n
ctio
n
s
,
an
d
co
n
n
ec
tio
n
m
eth
o
d
s
:
a.
AM
R
:
T
h
e
r
o
b
o
tic
u
n
it
r
esp
o
n
s
ib
le
f
o
r
m
o
v
in
g
m
ater
ials
,
wi
th
a
lo
ad
ca
p
ac
ity
o
f
5
0
0
k
g
a
n
d
laser
SLAM
n
av
ig
atio
n
.
I
t
r
ec
eiv
es
in
s
tr
u
c
tio
n
s
f
r
o
m
th
e
R
DS
an
d
c
an
co
m
m
u
n
icate
with
R
o
b
o
Sh
o
p
f
o
r
s
etu
p
o
v
e
r
T
C
P/IP.
b.
R
o
b
o
Sh
o
p
:
A
d
esk
to
p
a
p
p
lic
atio
n
p
r
o
v
id
ed
b
y
th
e
AM
R
s
u
p
p
lier
f
o
r
co
n
f
ig
u
r
in
g
AM
R
p
ar
am
eter
s
,
in
clu
d
in
g
n
etwo
r
k
s
etu
p
,
r
o
u
te
p
lan
n
in
g
,
an
d
in
teg
r
atio
n
with
th
e
R
DS v
ia
T
C
P/IP.
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.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
5
8
-
173
160
c.
R
DS:
A
d
is
p
a
tc
h
i
n
g
w
e
b
a
p
p
li
ca
ti
o
n
t
h
at
o
r
c
h
est
r
a
tes
AM
R
m
o
v
em
en
ts
,
m
o
n
it
o
r
s
r
o
u
tes
a
n
d
t
as
k
s
tat
u
s
es
,
an
d
c
o
m
m
u
n
ic
ates
b
i
-
d
i
r
ec
ti
o
n
al
ly
w
it
h
b
o
t
h
t
h
e
A
MR
a
n
d
th
e
W
C
S
we
b
s
e
r
v
e
r
u
s
in
g
Wi
-
Fi
a
n
d
E
t
h
er
n
e
t
wit
h
R
E
S
T
AP
I
.
d.
W
C
S
web
s
er
v
er
:
A
ce
n
tr
al
a
p
p
licatio
n
with
a
GUI
f
o
r
m
ater
ial
r
eq
u
est
h
an
d
lin
g
,
s
en
d
i
n
g
co
m
m
a
n
d
s
to
th
e
R
DS
f
o
r
AM
R
task
m
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v
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d
by
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M
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s
u
p
p
l
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d
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n
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m
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v
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t
of
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M
R
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e
n
d
t
a
s
k
s
to
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M
R
.
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o
n
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t
o
r
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n
g
of
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M
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st
a
t
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n
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a
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a
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m w
e
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a
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ser
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I
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f
o
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q
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t
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to
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to
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v
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n
d
c
o
mm
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to
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h
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h
p
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l
R
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st
A
P
I
5.
W
a
r
e
h
o
u
se
c
o
n
t
r
o
l
sy
st
e
m w
e
b
c
l
i
e
n
t
W
e
b
serv
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r
a
p
p
l
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c
a
t
i
o
n
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e
n
d
c
o
mm
a
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d
s
to
t
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v
e
r
to
c
o
n
t
r
o
l
t
h
e
mo
v
e
m
e
n
t
of
A
M
R
−
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i
t
h
W
C
S
u
si
n
g
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-
Fi
w
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p
r
o
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o
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l
H
TTP
2
.
2
.
P
r
o
j
ec
t
s
co
pe
a
nd
deliv
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pro
ce
s
s
In
th
is
p
r
o
ject,
a
s
in
g
le
AM
R
is
d
ep
lo
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ed
to
tr
an
s
p
o
r
t
m
ater
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to
th
r
ee
d
esig
n
ated
ar
ea
s
f
o
r
f
in
al
ass
em
b
ly
.
Fig
u
r
e
2
(
a
)
p
r
esen
t
s
th
e
d
eliv
er
y
r
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u
te
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n
co
m
p
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s
s
in
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r
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f
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ass
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ly
lo
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tio
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s
:
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t
r
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th
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f
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s
s
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ly
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s
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ater
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AM
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in
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m
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r
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I
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161
m
ater
ial
r
eq
u
est
d
ata
f
r
o
m
th
e
WCS
web
clien
t.
A
Ka
n
b
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ca
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e
p
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in
Fig
u
r
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2
(
b
)
,
p
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id
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en
tial
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o
r
m
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n
r
eg
ar
d
in
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th
e
m
at
er
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r
eq
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ir
em
en
ts
f
o
r
f
in
al
ass
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b
ly
,
in
clu
d
in
g
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e
m
ater
ia
l’
s
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e,
q
u
an
tity
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m
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tlin
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a.
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h
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in
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at
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p
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ca
tio
n
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d
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ty
p
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ater
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tr
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s
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ted
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h
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d
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g
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o
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ab
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2
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ata
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tim
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t
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ater
ial
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p
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e
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o
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.
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h
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m
ater
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r
eq
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em
en
t
ca
r
d
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esig
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s
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at
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with
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lan
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e
d
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tp
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t.
b.
W
h
en
m
ater
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ar
e
d
ep
leted
in
th
e
f
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al
ass
em
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ly
ar
ea
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th
e
o
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er
ato
r
m
u
s
t
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tiv
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e
tr
ig
g
er
o
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th
e
W
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web
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t
o
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t
th
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th
at
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ater
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ep
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h
m
e
n
t
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n
ee
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ed
.
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h
e
o
p
er
ato
r
th
en
r
e
m
o
v
es
th
e
em
p
t
y
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an
d
l
o
ad
s
it with
th
e
r
e
q
u
ir
ed
c
o
m
p
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n
en
ts
f
o
r
th
e
n
e
x
t d
eliv
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y
.
c.
Up
o
n
r
ec
eiv
in
g
th
e
s
ig
n
al,
th
e
AM
R
m
o
v
es
to
th
e
d
esig
n
ated
m
ater
ial
p
ick
u
p
ar
ea
as
s
p
ec
if
ied
b
y
th
e
R
DS
task
.
On
ce
it
ar
r
iv
es,
th
e
AM
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u
n
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ad
s
th
e
m
ater
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at
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tem
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o
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tag
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g
ar
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,
th
en
p
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ce
ed
s
to
th
e
r
ec
y
clin
g
ar
ea
to
c
o
llect
an
em
p
ty
t
r
o
lley
an
d
th
e
Kan
b
an
ca
r
d
.
T
h
e
o
p
er
ato
r
tr
an
s
p
o
r
ts
th
e
m
ater
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to
th
e
f
in
al
ass
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b
ly
s
tatio
n
s
.
d.
T
h
e
war
eh
o
u
s
e
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ec
eiv
es
em
p
t
y
ca
r
ts
an
d
Kan
b
a
n
ca
r
d
s
f
r
o
m
th
e
AM
R
.
T
h
is
p
r
o
ce
s
s
is
r
ep
ea
ted
wh
en
ev
e
r
m
ater
ials
n
ee
d
to
b
e
d
eliv
er
ed
to
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ar
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o
u
s
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ca
tio
n
s
.
W
ith
th
e
AM
R
u
s
in
g
Kan
b
a
n
ca
r
d
s
,
m
ater
ial
d
eliv
er
ies ca
n
b
e
ca
r
r
ied
o
u
t a
u
to
m
atica
lly
an
d
e
f
f
icien
tly
w
ith
o
u
t c
o
n
s
tan
t h
u
m
an
s
u
p
er
v
i
s
io
n
.
(
a)
(
b
)
Fig
u
r
e
2
.
Ma
ter
ial
d
eliv
e
r
y
s
y
s
tem
:
(
a)
th
e
r
o
u
te
o
f
tr
a
v
el
th
at
AM
R
tak
es
to
d
eliv
er
m
ater
ials
an
d
(
b
)
Kan
b
a
n
c
ar
d
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
5
8
-
173
162
T
ab
le
2
.
R
ep
len
is
h
m
en
t ta
b
le
R
e
p
l
e
n
i
sh
m
e
n
t
d
e
l
i
v
e
r
y
m
a
t
e
r
i
a
l
=
1
h
o
u
r
O
u
t
p
u
t
/
h
o
u
r
/
F
i
n
a
l
A
ssem
b
l
y
5
5
0
P
c
s
M
a
t
e
r
i
a
l
o
n
t
r
o
l
l
e
y
5
5
0
P
c
s
To
t
a
l
M
a
t
e
r
i
a
l
1
1
0
0
P
c
s
2
.
3
.
T
ro
lley
d
esig
n
T
h
e
AM
R
r
eq
u
ir
es
a
tr
o
lley
ca
p
ab
le
of
tr
an
s
p
o
r
tin
g
m
u
ltip
le
item
s
in
a
s
in
g
le
tr
ip
to
ef
f
icien
tly
move
k
itti
n
g
m
ater
ials
f
r
o
m
t
h
e
war
eh
o
u
s
e
to
th
e
f
in
al
ass
em
b
ly
ar
ea
.
Ma
ter
ials
p
r
ep
a
r
e
d
in
th
e
war
eh
o
u
s
e
will
be
o
r
g
an
ized
in
b
in
s
,
wh
i
ch
ar
e
ar
r
an
g
ed
in
r
o
ws
on
th
e
tr
o
lley
d
u
r
in
g
d
eliv
er
y
.
In
th
i
s
p
r
o
ject,
th
e
tr
o
lley
b
ase
f
ea
tu
r
es
a
s
p
ec
ially
d
es
ig
n
ed
s
p
ac
e
allo
win
g
th
e
AM
R
to
m
an
eu
v
er
b
en
ea
th
it
an
d
lift
th
e
tr
o
lley
.
C
o
n
s
eq
u
en
tly
,
th
e
tr
o
lley
f
r
a
m
e
m
u
s
t
be
co
n
s
tr
u
cted
f
r
o
m
d
u
r
a
b
le
ir
o
n
to
s
u
p
p
o
r
t
t
h
e
t
r
an
s
p
o
r
ted
lo
ad
an
d
m
u
s
t
be
s
ized
to
m
atch
th
e
AM
R
’
s
ca
p
ac
ity
,
p
r
e
v
en
tin
g
an
y
tilt
t
h
at
co
u
ld
d
is
lo
d
g
e
t
h
e
b
i
n
s
.
T
h
e
f
r
a
m
e
co
n
s
is
ts
of
th
r
ee
f
lat
p
allets,
each
ac
co
m
m
o
d
atin
g
up
to
10
to
12
b
in
s
.
T
h
e
tr
o
lley
wh
ee
ls
ar
e
b
u
ilt
f
o
r
s
m
o
o
th
m
o
v
em
en
t
o
v
er
a
s
tab
le,
f
lat
s
u
r
f
ac
e,
with
lo
ck
in
g
m
ec
h
a
n
is
m
s
on
b
o
th
th
e
f
r
o
n
t
an
d
r
e
ar
wh
ee
ls
to
s
ec
u
r
e
th
em
o
n
ce
p
o
s
itio
n
ed
.
Fig
u
r
e
3
d
is
p
lay
s
th
e
So
lid
W
o
r
k
s
3D
d
esig
n
s
p
ec
if
icatio
n
s
,
in
clu
d
in
g
tr
o
lley
d
im
en
s
io
n
s
.
T
h
is
tr
o
lley
,
o
p
er
ated
with
AM
R
ass
is
tan
ce
,
can
be
tr
an
s
p
o
r
ted
to
d
esig
n
ate
d
lo
ca
tio
n
s
.
On
ce
in
p
o
s
itio
n
,
th
e
AM
R
’
s
co
n
tr
o
l
s
y
s
tem
lifts
th
e
m
ater
ials
;
af
ter
u
n
lo
a
d
in
g
,
th
e
tr
o
lley
is
lo
we
r
ed
,
an
d
th
e
AM
R
r
etu
r
n
s
it
to
th
e
war
e
h
o
u
s
e.
Fig
u
r
e
3
.
T
r
o
lley
d
esig
n
2
.
4
.
AM
R
s
et
-
up
a
nd
p
ro
g
ra
m
m
ing
T
h
is
s
ec
tio
n
o
u
tlin
es
th
e
s
tep
s
r
eq
u
ir
ed
to
im
p
lem
en
t
an
AM
R
f
o
r
m
ater
ial
d
is
tr
ib
u
tio
n
,
d
et
ailin
g
th
e
in
teg
r
atio
n
b
etwe
en
th
e
AM
R
an
d
th
e
s
o
f
twar
e
u
s
ed
f
o
r
its
co
n
f
ig
u
r
atio
n
an
d
co
n
tr
o
l.
It
ex
p
lain
s
how
to
co
n
n
ec
t
th
e
AM
R
to
R
o
b
o
Sh
o
p
an
d
c
o
v
er
s
th
e
p
r
o
ce
s
s
es
f
o
r
lo
ca
lizin
g
an
d
m
ap
p
in
g
th
e
AM
R
,
as
well
as
s
ettin
g
its
way
p
o
in
ts
an
d
tr
av
e
l
r
o
u
tes.
T
h
ese
r
o
u
tes
d
ef
in
e
th
e
p
ath
th
e
AM
R
will
f
o
llo
w
to
d
eliv
er
m
ater
ials
to
d
esig
n
ated
lo
ca
tio
n
s
.
T
h
e
f
o
llo
win
g
p
r
o
v
id
es
a
c
o
m
p
r
e
h
e
n
s
iv
e
g
u
id
e
to
th
e
AM
R
s
etu
p
p
r
o
ce
d
u
r
es.
2
.
4
.
1
.
Sy
s
t
em
c
o
nn
ec
t
io
n
To
co
n
n
ec
t
th
e
AM
R
to
R
o
b
o
Sh
o
p
,
s
ev
er
al
s
tep
s
ar
e
r
eq
u
ir
ed
to
estab
lis
h
co
m
m
u
n
icatio
n
b
etwe
en
th
e
AM
R
an
d
th
e
R
o
b
o
Sh
o
p
p
latf
o
r
m
.
First,
co
n
n
ec
t
t
h
e
A
MR
to
a
co
m
p
u
ter
u
s
in
g
a
ca
b
le
to
ad
ju
s
t
its
lo
ca
l
IP
ad
d
r
ess
,
th
en
ad
d
th
is
IP
a
d
d
r
ess
to
R
o
b
o
Sh
o
p
.
Nex
t,
in
p
u
t
th
e
AM
R
’
s
w
ir
eless
IP
a
d
d
r
ess
ass
ig
n
ed
by
R
o
b
o
Sh
o
p
to
e
n
ab
le
Wi
-
Fi
co
n
n
ec
tiv
ity
.
On
ce
th
e
AM
R
r
ec
o
g
n
izes
th
e
R
o
b
o
Sh
o
p
p
latf
o
r
m
,
s
im
u
latio
n
test
s
an
d
d
ata
c
o
llectio
n
can
be
p
er
f
o
r
m
ed
to
v
alid
ate
p
e
r
f
o
r
m
an
c
e
an
d
en
s
u
r
e
s
y
s
tem
f
u
n
ctio
n
a
lity
.
2
.
4
.
2
.
M
a
pp
ing
a
nd
l
o
ca
liza
t
io
n
Dete
r
m
in
in
g
th
e
ex
ac
t
l
o
ca
tio
n
o
f
AM
R
m
o
v
em
e
n
ts
is
o
n
e
o
f
th
e
m
o
s
t
ch
allen
g
in
g
asp
ec
ts
o
f
m
ap
b
u
ild
in
g
.
I
n
s
elec
tin
g
an
ap
p
r
o
p
r
iate
m
ap
r
ep
r
esen
tatio
n
,
th
r
ee
p
r
im
ar
y
f
ac
t
o
r
s
s
h
o
u
ld
b
e
co
n
s
id
er
ed
:
i
)
th
e
m
ap
’
s
ac
cu
r
ac
y
in
r
ep
r
esen
tin
g
th
e
AM
R
'
s
tar
g
et
d
esti
n
atio
n
,
ii
)
th
e
alig
n
m
en
t
o
f
th
e
AM
R
s
en
s
o
r
'
s
d
ata
ty
p
e
with
th
e
m
ap
'
s
r
eq
u
ir
em
e
n
ts
,
an
d
iii
)
th
e
m
a
p
’
s
co
m
p
lex
it
y
,
wh
ich
ca
n
im
p
ac
t
th
e
AM
R
'
s
n
av
ig
atio
n
an
d
m
ap
p
in
g
p
er
f
o
r
m
an
ce
[
1
9
]
.
I
n
au
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
,
m
ap
p
in
g
an
d
lo
ca
lizatio
n
ar
e
f
o
u
n
d
atio
n
al
co
n
ce
p
ts
.
Ma
p
p
i
n
g
in
v
o
lv
es
c
r
ea
tin
g
a
r
e
p
r
esen
tatio
n
o
f
th
e
AM
R
’
s
p
h
y
s
ical
en
v
ir
o
n
m
e
n
t
,
wh
ile
lo
ca
lizatio
n
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
A
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
t imp
leme
n
ta
tio
n
fo
r
fin
a
l a
s
s
emb
ly
ma
teri
a
l
…
(
A
h
ma
d
R
iy
a
d
F
i
r
d
a
u
s
)
163
d
eter
m
in
es
th
e
AM
R
’
s
p
o
s
it
io
n
r
elativ
e
to
th
is
m
ap
.
T
h
e
A
MR
r
elies
o
n
s
en
s
o
r
s
s
u
ch
as
lig
h
t
d
etec
tio
n
an
d
r
an
g
in
g
(
L
iDAR
)
,
ca
m
er
as,
an
d
p
r
o
x
im
ity
s
en
s
o
r
s
to
g
ath
er
en
v
ir
o
n
m
en
tal
d
ata,
wh
ich
is
th
en
p
r
o
ce
s
s
ed
to
p
r
o
d
u
ce
d
etailed
m
a
p
s
[
2
0
]
.
T
h
ese
m
ap
s
g
u
id
e
t
h
e
AM
R
’
s
au
to
n
o
m
o
u
s
n
av
i
g
atio
n
[
9
]
,
[
2
1
]
.
L
o
ca
lizatio
n
r
elies
o
n
tech
n
o
lo
g
ies
s
u
ch
as
o
d
o
m
etr
y
,
in
e
r
tial
s
en
s
o
r
s
,
an
d
GPS
to
estab
lis
h
th
e
AM
R
’
s
p
r
ec
is
e
lo
ca
tio
n
o
n
th
e
en
v
ir
o
n
m
e
n
tal
m
ap
.
I
n
teg
r
atin
g
th
ese
s
en
s
o
r
s
en
ab
les
h
ig
h
-
p
r
ec
is
io
n
p
o
s
itio
n
in
g
ess
en
tial
f
o
r
AM
R
d
ec
is
io
n
-
m
ak
in
g
an
d
ta
s
k
ex
ec
u
tio
n
ac
cu
r
ac
y
[
2
2
]
,
[
2
3
]
.
Ma
p
p
in
g
an
d
lo
ca
lizatio
n
s
y
s
tem
s
wo
r
k
in
co
n
ju
n
ctio
n
,
s
u
p
p
o
r
tin
g
AM
R
o
p
e
r
atio
n
s
b
y
m
in
im
izin
g
er
r
o
r
s
an
d
en
h
an
cin
g
p
r
o
d
u
ctiv
ity
[
2
4
]
,
[
2
5
]
.
I
n
R
o
b
o
Sh
o
p
-
b
ased
m
ap
p
i
n
g
an
d
l
o
ca
lizatio
n
,
th
e
in
itial
s
tep
in
v
o
lv
es
p
r
ep
ar
i
n
g
th
e
en
v
ir
o
n
m
en
t
b
y
clea
r
i
n
g
clu
tt
er
an
d
co
n
f
ig
u
r
i
n
g
a
n
ew
p
r
o
ject
with
th
e
AM
R
’
s
I
P
ad
d
r
e
s
s
an
d
p
ar
am
eter
s
.
Usi
n
g
th
e
SLAM
to
o
l,
th
e
A
MR
s
ca
n
s
it
s
r
o
u
te,
id
en
tifie
s
o
b
s
tacle
s
,
an
d
g
en
e
r
ates
a
m
a
p
.
Data
f
r
o
m
o
n
b
o
ar
d
s
en
s
o
r
s
,
in
clu
d
in
g
L
iDAR
an
d
in
er
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
s
)
,
ar
e
co
n
tin
u
o
u
s
ly
an
aly
ze
d
an
d
r
e
f
in
ed
as
th
e
AM
R
n
av
ig
ates,
r
esu
ltin
g
in
a
h
ig
h
l
y
ac
cu
r
ate
a
n
d
d
y
n
a
m
ic
m
ap
,
as sh
o
wn
in
Fig
u
r
e
4
[
2
6
]
,
[
2
7
]
.
On
ce
th
e
m
ap
is
c
o
m
p
lete,
th
e
AM
R
is
p
o
s
itio
n
ed
with
in
th
e
m
a
p
p
ed
en
v
ir
o
n
m
en
t,
all
o
win
g
th
e
lo
ca
lizatio
n
p
r
o
ce
s
s
to
b
eg
in
.
L
o
ca
lizatio
n
en
s
u
r
es
th
e
A
MR
ca
n
d
eter
m
in
e
its
p
o
s
itio
n
in
th
e
p
r
e
-
m
ap
p
e
d
en
v
ir
o
n
m
en
t,
p
e
r
f
o
r
m
in
g
task
s
with
ac
cu
r
ac
y
an
d
ef
f
icie
n
cy
.
I
n
itially
,
th
e
AM
R
’
s
s
tar
tin
g
p
o
s
itio
n
is
d
ef
in
ed
u
s
in
g
s
en
s
o
r
d
ata,
an
d
as
it
m
o
v
es,
its
s
en
s
o
r
s
co
n
tin
u
o
u
s
ly
u
p
d
ate
th
e
AM
R
’
s
p
o
s
itio
n
o
n
th
e
r
ea
l
-
tim
e
m
a
p
.
T
h
is
iter
ativ
e
p
r
o
ce
s
s
o
f
p
o
s
itio
n
ad
ju
s
tm
en
t
an
d
m
ap
r
ef
in
em
en
t
en
ab
les
th
e
AM
R
to
m
ain
tain
h
ig
h
p
r
ec
is
io
n
in
d
y
n
a
m
ic,
r
ea
l
-
wo
r
ld
en
v
ir
o
n
m
en
ts
.
T
h
e
lo
ca
liz
atio
n
p
r
o
ce
s
s
will
co
n
tin
u
e
in
r
ea
l
tim
e,
u
p
d
atin
g
th
e
AM
R
’
s
p
o
s
itio
n
as it n
av
ig
ates th
e
en
v
ir
o
n
m
en
t
[
2
1
]
,
[
2
8
]
,
[
2
9
]
.
Fig
u
r
e
4
.
L
o
ca
tio
n
m
a
p
g
e
n
er
ated
b
y
SLAM
2
.
4
.
3
.
Ro
ute
a
nd
s
et
-
po
int
cr
ea
t
io
n
On
ce
th
e
AM
R
co
m
p
letes
th
e
m
ap
cr
ea
tio
n
,
th
e
n
ex
t
s
tep
is
to
d
esig
n
ate
th
e
p
ath
it
wil
l
f
o
llo
w
to
r
ea
ch
th
e
f
in
al
ass
em
b
ly
ar
e
a.
Usi
n
g
th
e
R
o
b
o
Sh
o
p
a
p
p
licatio
n
,
u
s
er
s
can
p
l
o
t
a
r
o
u
te
an
d
ad
d
ch
ec
k
p
o
in
ts
at
v
ar
io
u
s
in
ter
v
als
alo
n
g
th
e
wa
y
.
T
h
e
p
r
o
ce
s
s
f
o
r
estab
lis
h
in
g
an
AM
R
tr
av
el
r
o
u
te
is
as
f
o
ll
o
ws
.
Step
1:
Select
th
e
"Map
E
d
ito
r
"
o
p
tio
n
.
Usi
n
g
t
h
e
"M
ar
k
Sh
o
r
tc
u
t"
to
o
l,
m
a
r
k
s
p
ec
if
ic
p
o
in
ts
on
th
e
m
a
p
,
s
u
ch
as
p
ar
k
in
g
p
o
in
ts
,
ch
a
r
g
i
n
g
p
o
i
n
ts
,
an
d
ac
tio
n
p
o
in
ts
,
wh
er
e
th
e
AM
R
will
p
er
f
o
r
m
p
r
ed
ef
in
e
d
ac
tio
n
s
.
E
ac
h
p
o
in
t
ty
p
e
c
o
r
r
e
s
p
o
n
d
s
to
s
p
ec
if
ic
ac
tio
n
s
r
e
q
u
ir
ed
alo
n
g
th
e
r
o
u
te.
Step
2:
Af
ter
d
ef
in
in
g
t
h
e
p
o
in
ts
,
u
s
e
th
e
"Ad
d
Path
"
to
o
l
to
co
n
n
ec
t
th
em
,
ad
ju
s
tin
g
th
e
p
at
h
’
s
s
h
ap
e
an
d
len
g
th
b
ased
on
th
e
AM
R
’
s
r
o
u
te
r
eq
u
ir
e
m
en
ts
.
T
h
en
,
in
"
Ma
p
E
d
ito
r
,
"
o
p
e
n
th
e
"Ro
u
te
E
d
ito
r
"
to
ar
r
an
g
e
t
h
e
p
o
i
n
ts
an
d
p
at
h
s
in
s
eq
u
en
ce
.
T
h
e
"Ro
u
te
E
d
ito
r
"
estab
lis
h
es
th
e
o
r
d
er
in
wh
ich
th
e
AM
R
will
f
o
llo
w
th
e
p
ath
an
d
in
ter
ac
t
with
each
p
o
i
n
t
d
u
r
in
g
task
s
.
Af
ter
co
n
f
ig
u
r
i
n
g
th
e
r
o
u
tes
an
d
p
o
in
ts
,
s
av
e
an
d
ap
p
ly
t
h
em
to
th
e
AM
R
.
On
ce
co
m
p
lete,
th
e
s
y
s
tem
will
g
en
er
ate
a
r
o
u
te,
as
s
h
o
wn
in
Fig
u
r
e
5
,
illu
s
tr
atin
g
th
e
co
n
f
ig
u
r
e
d
tr
av
el
p
ath
.
T
h
e
d
eliv
er
y
r
o
u
te
f
o
r
th
e
AM
R
to
r
ea
ch
f
in
al
ass
em
b
ly
3
is
illu
s
tr
ated
in
Fig
u
r
e
6
,
s
h
o
win
g
v
ar
io
u
s
p
r
ed
ef
in
e
d
s
et
-
p
o
in
ts
an
d
A
MR
p
o
s
itio
n
s
wh
er
e
ac
tio
n
s
will
b
e
p
er
f
o
r
m
e
d
,
alo
n
g
with
th
e
r
o
u
te
th
e
AM
R
will
f
o
llo
w
f
o
r
m
ater
ial
d
eliv
er
y
.
B
ey
o
n
d
cr
ea
tin
g
s
et
-
p
o
in
ts
an
d
r
o
u
tes,
th
e
e
d
ito
r
m
e
n
u
in
clu
d
es
ad
d
itio
n
al
o
p
tio
n
s
th
at
e
n
h
an
ce
th
e
e
f
f
i
cien
cy
o
f
r
o
u
tes
an
d
ch
ec
k
p
o
in
ts
.
T
h
ese
o
p
tio
n
s
in
clu
d
e
a
n
er
aser
to
r
em
o
v
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.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
5
8
-
173
164
m
o
v
in
g
o
b
s
tacle
s
,
an
ad
v
a
n
ce
d
lin
e
to
o
l
to
r
estrict
AM
R
ac
ce
s
s
to
s
p
ec
if
ic
ar
ea
s
b
y
d
r
awin
g
v
ir
tu
al
lin
es,
an
d
an
ad
v
an
ce
d
ar
ea
to
o
l
f
o
r
c
o
n
f
ig
u
r
in
g
cu
s
to
m
ized
o
p
er
atio
n
s
in
d
ef
in
e
d
z
o
n
es.
Ad
d
itio
n
all
y
,
QR
co
d
es
ca
n
b
e
ad
d
ed
f
o
r
n
av
ig
atio
n
d
etails
o
r
to
in
teg
r
ate
e
x
ter
n
al
d
ev
ices.
W
h
en
d
esig
n
in
g
AM
R
r
o
u
te
s
an
d
way
p
o
i
n
ts
in
th
e
R
o
b
o
Sh
o
p
ap
p
licatio
n
,
it
is
cr
u
cial
to
ac
co
u
n
t
f
o
r
f
a
cto
r
s
s
u
ch
as
d
is
tan
ce
,
s
p
ee
d
,
an
d
AM
R
p
o
s
itio
n
to
p
er
f
o
r
m
ac
tio
n
s
lik
e
s
to
p
p
i
n
g
,
tu
r
n
in
g
,
an
d
r
aisi
n
g
o
r
lo
wer
in
g
th
e
tr
o
lley
e
f
f
ec
tiv
ely
.
Fig
u
r
e
5
.
R
o
u
te
of
AM
R
in
f
in
al
ass
em
b
ly
3
Fig
u
r
e
6
.
W
in
d
task
2
.
4
.
4
.
T
a
s
k
cha
in pro
g
ra
m
min
g
T
h
e
n
e
x
t
s
tep
is
to
cr
ea
te
a
t
ask
ch
ain
u
s
in
g
th
e
task
ch
ai
n
f
ea
tu
r
e
in
th
e
R
o
b
o
Sh
o
p
a
p
p
licatio
n
,
f
o
llo
win
g
th
e
estab
lis
h
m
en
t
of
th
e
AM
R
'
s
r
o
u
te
an
d
way
p
o
in
ts
.
T
ask
s
in
R
o
b
o
Sh
o
p
r
ep
r
esen
t
th
e
ty
p
es
of
jo
b
s
th
at
ca
n
be
ass
ig
n
ed
to
an
AM
R
.
To
b
eg
in
,
o
p
en
t
h
e
"T
ask
C
h
ain
"
m
en
u
in
R
o
b
o
Sh
o
p
an
d
s
elec
t
"Cre
ate
New
T
ask
.
"
Ass
ig
n
a
n
am
e
to
th
e
task
,
s
p
ec
if
y
t
h
e
wo
r
k
zo
n
e
th
e
AM
R
will
o
p
er
ate
in
,
an
d
d
e
f
in
e
t
h
e
ac
tio
n
s
r
eq
u
ir
ed
,
s
u
ch
as
p
ick
-
up,
d
r
o
p
-
o
f
f
,
an
d
n
av
i
g
atio
n
to
d
esig
n
ated
lo
ca
tio
n
s
.
Ad
d
itio
n
al
co
m
m
an
d
s
ca
n
be
ad
d
ed
,
lik
e
p
ick
i
n
g
up
or
p
laci
n
g
o
b
jects
at
s
p
ec
if
ic
p
o
in
ts
.
T
h
en
,
s
elec
t
th
e
ty
p
e
of
task
,
wh
eth
er
f
o
r
m
ater
ial
p
ick
-
up
or
d
eliv
e
r
y
,
an
d
s
et
th
e
s
tar
t
an
d
en
d
p
o
i
n
ts
as
well
as
th
e
p
ath
th
e
AM
R
will
f
o
ll
o
w.
T
h
ese
s
tep
s
can
be
cu
s
to
m
ized
to
m
ee
t
th
e
ta
s
k
’
s
s
p
ec
if
ic
r
eq
u
ir
em
en
ts
.
O
n
ce
co
m
p
lete,
s
av
e
a
n
d
e
x
ec
u
te
th
e
task
,
an
d
th
e
AM
R
wil
l
f
o
llo
w
th
e
p
r
ed
ef
i
n
ed
s
tep
s
.
W
ith
th
e
task
ch
ain
f
ea
tu
r
e,
u
s
er
s
can
ea
s
ily
o
r
g
an
ize
an
d
m
a
n
ag
e
AM
R
ta
s
k
s
f
o
r
v
ar
io
u
s
s
ce
n
ar
io
s
.
As
th
e
AM
R
ex
ec
u
tes
th
e
task
,
u
s
er
s
can
m
o
n
ito
r
its
p
r
o
g
r
ess
in
r
ea
l
tim
e
an
d
m
ak
e
an
y
n
ec
ess
ar
y
ad
ju
s
tm
en
ts
th
r
o
u
g
h
th
e
R
o
b
o
Sh
o
p
ap
p
licatio
n
.
T
h
e
AM
R
is
eq
u
ip
p
ed
with
an
o
b
s
tacle
-
d
etec
tio
n
s
y
s
tem
,
in
clu
d
in
g
an
u
ltra
s
o
n
ic
s
en
s
o
r
th
at
id
en
tifie
s
o
b
jects
in
its
p
ath
.
T
h
is
s
en
s
o
r
em
its
s
o
u
n
d
wav
es
an
d
ca
lcu
lates
th
e
d
is
tan
ce
to
o
b
s
tacle
s
b
ased
on
th
e
tim
e
it
tak
es
f
o
r
th
e
s
o
u
n
d
to
r
ef
lect
b
ac
k
.
W
ith
th
ese
u
ltra
s
o
n
ic
s
en
s
o
r
s
,
th
e
AM
R
can
d
etec
t
o
b
s
tacle
s
n
ea
r
b
y
or
ap
p
r
o
ac
h
in
g
.
If
an
o
b
s
tacle
is
d
etec
ted
wh
ile
th
e
AM
R
is
in
m
o
tio
n
,
it
will
s
lo
w
d
o
w
n
an
d
s
to
p
,
en
s
u
r
in
g
it
r
ea
ch
es
its
d
esti
n
a
tio
n
s
af
ely
.
Sh
o
u
ld
th
e
o
b
s
tac
le
r
em
ain
f
o
r
an
ex
ten
d
e
d
p
er
io
d
,
th
e
AM
R
will
n
o
tify
th
e
u
s
er
th
at
th
e
r
o
u
te
is
b
lo
ck
ed
an
d
r
eq
u
est
f
u
r
th
er
i
n
s
tr
u
ctio
n
s
.
At
th
is
p
o
in
t,
th
e
o
p
er
ato
r
ca
n
ass
ess
th
e
s
itu
atio
n
to
d
ec
id
e
wh
eth
er
to
r
em
o
v
e
th
e
o
b
s
tr
u
ctio
n
or
r
er
o
u
te
th
e
AM
R
to
a
s
af
er
p
at
h
.
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
A
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
t imp
leme
n
ta
tio
n
fo
r
fin
a
l a
s
s
emb
ly
ma
teri
a
l
…
(
A
h
ma
d
R
iy
a
d
F
i
r
d
a
u
s
)
165
2
.
4
.
5
.
E
x
ec
utio
n
a
nd
m
o
nito
ring
Af
ter
d
esig
n
in
g
a
task
c
h
ain
,
th
e
n
e
x
t
s
tep
in
AM
R
d
e
p
lo
y
m
en
t
in
v
o
lv
es
p
r
o
g
r
a
m
m
in
g
an
d
d
e
f
in
in
g
s
p
ec
if
ic
task
s
,
k
n
o
wn
as
m
is
s
io
n
s
,
wh
ich
ar
e
ess
en
tial
f
o
r
th
e
AM
R
to
f
u
lf
ill
o
p
er
ati
o
n
al
o
b
jectiv
es
lik
e
m
ater
ial
tr
an
s
p
o
r
t,
s
to
ck
p
ick
i
n
g
,
or
o
r
d
e
r
f
u
lf
illme
n
t.
R
o
b
o
Sh
o
p
s
o
f
twar
e
f
ac
ilit
ates
th
is
by
allo
win
g
u
s
er
s
to
d
ef
in
e
th
e
task
ar
ea
,
m
ater
ial
l
o
ca
tio
n
s
,
an
d
tr
av
el
d
is
tan
ce
s
,
g
en
er
atin
g
o
p
tim
al
m
o
v
e
m
en
t
p
lan
s
f
o
r
m
is
s
io
n
s
u
cc
ess
.
It
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
s
task
p
r
o
g
r
ess
,
en
ab
lin
g
r
ea
l
-
tim
e
p
er
f
o
r
m
an
ce
tr
ac
k
in
g
an
d
d
y
n
am
ic
ad
ju
s
tm
en
ts
to
o
v
er
c
o
m
e
o
b
s
tacle
s
,
wh
ich
en
h
an
ce
s
o
p
er
ati
o
n
al
ef
f
icien
c
y
an
d
task
co
m
p
l
etio
n
ac
cu
r
ac
y
.
2
.
4
.
6
.
Acc
ura
cy
t
esting
To
v
alid
ate
th
e
ac
cu
r
ac
y
of
an
AM
R
,
s
y
s
tem
atic
te
s
ts
wer
e
co
n
d
u
cted
f
o
cu
s
in
g
on
n
a
v
i
g
atio
n
an
d
o
b
ject
r
ec
o
g
n
itio
n
with
in
a
co
n
tr
o
lled
en
v
ir
o
n
m
e
n
t.
T
y
p
ical
ly
,
ten
test
s
ar
e
p
er
f
o
r
m
ed
in
id
en
tical
s
ettin
g
s
to
o
b
tain
r
eliab
le
d
ata,
m
in
im
izi
n
g
r
a
n
d
o
m
v
ar
iatio
n
s
a
n
d
r
e
f
l
ec
tin
g
AM
R
's
co
n
s
is
ten
t
p
er
f
o
r
m
an
ce
.
Fo
r
p
r
ec
is
e
p
ath
-
f
o
llo
win
g
ac
cu
r
ac
y
,
th
e
AM
R
's
lin
e
-
tr
ac
k
in
g
ab
ilit
y
can
be
q
u
an
tifie
d
by
ca
lcu
l
atin
g
th
e
s
lo
p
e
mm
b
etwe
en
two
p
o
i
n
ts
,
ex
p
r
ess
ed
as:
=
2
−
1
2
−
1
(
1
)
wh
er
e
x
1
,
y
1
an
d
x
2
,
y
2
ar
e
co
o
r
d
in
ates
of
two
p
o
in
ts
alo
n
g
t
h
e
d
esire
d
p
ath
.
Fu
r
th
er
p
r
ec
is
io
n
ev
alu
atio
n
u
tili
ze
s
th
e
r
o
o
t
m
ea
n
s
q
u
ar
e
er
r
o
r
(
R
MSE
)
to
m
ea
s
u
r
e
th
e
av
er
ag
e
d
ev
iatio
n
b
etwe
en
ac
tu
al
an
d
p
r
ed
icted
AM
R
p
o
s
itio
n
s
.
=
√
1
∑
(
−
̂
)
2
=
1
(
2
)
Her
e,
y
r
ep
r
esen
ts
th
e
ac
tu
al
p
o
s
itio
n
,
̂
th
e
p
r
ed
icted
p
o
s
i
tio
n
,
an
d
n
th
e
s
am
p
le
co
u
n
t
.
A
lo
wer
R
M
SE
in
d
icate
s
a
more
ac
cu
r
ate
p
ath
-
f
o
llo
win
g
p
er
f
o
r
m
an
ce
[
3
0
]
–
[
3
2
]
.
Ad
d
itio
n
ally
,
th
e
E
u
clid
ea
n
d
i
s
tan
ce
b
etwe
en
p
o
in
ts
is
ca
lcu
lated
as
(
1
)
.
=
√
(
2
−
1
)
2
+
(
2
−
1
)
2
(
3
)
T
h
is
p
r
o
v
i
d
es
th
e
d
is
tan
ce
b
et
wee
n
AM
R
's
co
n
s
ec
u
tiv
e
co
o
r
d
in
ates,
s
u
p
p
o
r
tin
g
ass
ess
m
e
n
ts
of
ad
h
er
en
ce
to
v
ir
tu
al
p
ath
s
.
C
o
llectiv
ely
,
th
ese
test
s
en
s
u
r
e
th
e
AM
R
’
s
ac
cu
r
ate
m
o
v
em
en
t
al
o
n
g
p
r
e
d
ef
in
ed
p
ath
s
[
3
0
]
,
[
3
3
]
,
[
3
4
]
.
2
.
5
.
Ro
bo
t
dis
pa
t
ch
s
y
s
t
em
inte
g
ra
t
io
n
T
h
is
s
ec
tio
n
o
u
tlin
es
th
e
co
n
f
ig
u
r
atio
n
of
th
e
R
DS,
wh
ich
p
r
o
v
i
d
es
a
ce
n
tr
alize
d
p
latf
o
r
m
f
o
r
m
an
ag
in
g
,
s
u
p
er
v
is
in
g
,
an
d
c
o
n
tr
o
llin
g
m
u
ltip
le
r
o
b
o
ts
.
It
d
etails
th
e
p
r
o
ce
s
s
r
eq
u
ir
ed
to
in
teg
r
ate
AM
R
s
with
th
e
R
DS,
in
clu
d
in
g
ess
en
tial
co
n
n
ec
tiv
ity
an
d
s
etu
p
s
tep
s
to
en
s
u
r
e
s
ea
m
les
s
c
o
m
m
u
n
icatio
n
an
d
co
o
r
d
in
ate
d
f
u
n
ctio
n
ality
.
T
h
e
s
tep
s
n
ee
d
ed
f
o
r
estab
lis
h
in
g
an
d
m
ain
tain
in
g
th
is
co
n
n
e
ctio
n
ar
e
p
r
esen
ted
s
y
s
tem
atica
lly
to
g
u
id
e
u
s
er
s
th
r
o
u
g
h
each
s
tag
e
of
c
o
n
f
ig
u
r
atio
n
an
d
d
ep
lo
y
m
en
t.
2
.
5
.
1
.
Co
nn
ec
t
io
n
s
et
up
To
co
n
n
ec
t
an
AM
R
to
th
e
R
DS,
a
s
er
v
er
IP
a
d
d
r
ess
m
u
s
t
f
ir
s
t
be
c
o
n
f
ig
u
r
ed
with
in
R
o
b
o
Sh
o
p
to
en
ab
le
R
DS
-
AM
R
co
m
m
u
n
ic
atio
n
.
R
o
b
o
Sh
o
p
a
n
d
R
DS
m
u
s
t
o
p
er
ate
on
t
h
e
s
am
e
n
etwo
r
k
.
A
f
ter
en
te
r
in
g
th
e
s
er
v
er
I
P,
s
elec
t
th
e
u
p
g
r
a
d
e/b
ac
k
u
p
o
p
tio
n
,
t
h
en
d
r
ag
th
e
R
DS
in
s
tallatio
n
p
ac
k
ag
e
to
its
d
esig
n
ated
ar
ea
.
T
h
e
R
DS
will
au
to
m
atica
lly
r
estar
t,
co
n
f
ir
m
in
g
s
u
cc
ess
f
u
l
i
n
teg
r
atio
n
.
On
ce
th
e
lo
g
in
p
ag
e
ap
p
ea
r
s
,
R
DS
can
be
ac
ce
s
s
ed
v
ia
a
web
b
r
o
wser
,
in
d
icatin
g
a
c
o
m
p
leted
s
etu
p
.
2
.
5
.
2
.
T
a
s
k
m
a
na
g
e
m
ent
(
Wind
T
a
s
k
)
In
th
e
R
DS
web
ap
p
licatio
n
,
th
e
"Wi
n
d
task
"
f
ea
t
u
r
e,
il
lu
s
tr
ated
in
Fig
u
r
e
6
,
ass
ig
n
s
s
p
ec
if
ic
m
is
s
io
n
s
to
AM
R
s
b
ased
on
p
r
e
-
s
et
p
ar
am
eter
s
to
o
p
tim
iz
e
m
ater
ial
d
eliv
er
y
.
By
d
esig
n
in
g
task
s
ar
o
u
n
d
s
p
ee
d
-
o
p
tim
ized
r
o
u
tes,
R
DS
can
en
h
a
n
ce
d
eliv
er
y
ef
f
icie
n
cy
an
d
m
in
im
ize
AM
R
en
er
g
y
u
s
ag
e,
alig
n
in
g
with
b
est
p
r
ac
tices
in
au
to
n
o
m
o
u
s
lo
g
is
tics
s
y
s
tem
s
[
3
5
]
.
To
in
itiate
a
W
in
d
T
ask
,
u
s
er
s
n
av
ig
ate
to
th
e
R
DS
d
ash
b
o
ar
d
,
s
elec
t
"Cre
ate
T
a
s
k
,"
th
en
c
o
n
f
ig
u
r
e
k
ey
p
ar
a
m
eter
s
s
u
ch
as
task
ty
p
e,
r
o
u
te,
lo
ca
tio
n
,
an
d
s
im
u
latio
n
s
ettin
g
s
to
o
p
tim
ize
AM
R
p
er
f
o
r
m
an
ce
.
On
ce
c
o
n
f
ig
u
r
e
d
,
th
e
task
a
p
p
ea
r
s
on
t
h
e
d
ash
b
o
ar
d
with
d
etailed
r
o
u
te
in
f
o
r
m
atio
n
,
i
n
clu
d
in
g
tr
av
el
d
is
tan
ce
an
d
tim
e,
to
f
ac
ilit
ate
ea
s
y
tr
ac
k
in
g
of
o
n
g
o
i
n
g
an
d
u
p
co
m
in
g
AM
R
ac
tiv
itie
s
.
To
s
tar
t
th
e
AM
R
’
s
d
eliv
er
y
,
th
e
o
p
er
ato
r
can
ac
tiv
ate
th
e
task
with
th
e
"Ru
n
n
in
g
"
b
u
tto
n
,
allo
win
g
th
e
r
o
b
o
t
to
p
r
o
ce
ed
to
its
d
esig
n
ated
f
in
al
d
esti
n
atio
n
ef
f
icien
tly
.
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.
1
6
,
No
.
1
,
Feb
r
u
ar
y
20
2
6
:
1
5
8
-
173
166
2
.
5
.
3
.
AP
I
i
nte
g
ra
t
io
n
T
h
e
R
DS
s
tr
ea
m
lin
es
m
ater
ial
d
eliv
er
y
t
h
r
o
u
g
h
"
W
in
d
T
ask
s
"
in
teg
r
ated
with
J
av
aScr
ip
t,
as
illu
s
tr
ated
in
Fig
u
r
e
7
.
T
h
is
f
lo
wch
ar
t
o
u
tlin
es
th
e
p
r
o
ce
s
s
of
s
ettin
g
up
R
DS
to
r
esp
o
n
d
to
API
ca
lls
an
d
h
an
d
le
task
s
.
T
h
e
r
eg
is
terHa
n
d
ler
f
u
n
ctio
n
e
n
ab
les
R
DS
to
m
an
ag
e
HT
T
P
r
eq
u
ests
,
s
p
ec
if
ically
with
:
a.
P
OS
T
:
th
e
HT
T
P
r
eq
u
est
m
eth
o
d
.
b.
/s
crip
t
-
a
p
i/r
u
n
Ta
s
k
:
th
e
d
esig
n
ated
UR
L
en
d
p
o
in
t.
c.
r
u
n
Ta
s
k
:
th
e
f
u
n
ctio
n
tr
ig
g
er
e
d
by
th
is
en
d
p
o
i
n
t.
In
Fig
u
r
e
7
,
th
e
R
DS
wo
r
k
f
lo
w
b
eg
in
s
with
r
eg
is
ter
in
g
th
e
h
an
d
le
an
d
cr
ea
tin
g
a
boot
f
u
n
ctio
n
.
On
ce
an
API
ca
ll
is
r
ec
eiv
ed
,
th
e
s
y
s
tem
p
r
o
ce
s
s
es
th
e
d
ata
an
d
v
er
if
ies
th
e
task
n
am
e
in
th
e
ca
ch
e.
If
no
ca
ch
e
en
tr
y
is
f
o
u
n
d
,
th
e
task
is
ca
n
ce
lled
;
o
th
er
wis
e,
it
p
r
o
ce
ed
s
to
is
s
u
e
th
e
task
to
th
e
"
W
in
d
T
ask
"
co
m
p
o
n
en
t,
en
h
an
cin
g
au
to
m
ate
d
m
ater
ial
h
an
d
lin
g
in
in
d
u
s
tr
ial
s
ettin
g
s
.
Fig
u
r
e
7
.
R
DS in
teg
r
atio
n
f
lo
wch
ar
t w
ith
ca
llin
g
s
y
s
tem
T
h
e
"
P
OS
T
"
p
ar
am
eter
s
p
ec
if
ies
th
e
HT
T
P
m
eth
o
d
th
at
t
h
e
r
u
n
Ta
s
k
f
u
n
ctio
n
will
h
a
n
d
le.
T
h
e
s
ec
o
n
d
p
ar
am
ete
r
,
"
/s
crip
t
-
a
p
i/r
u
n
Ta
s
k
,"
d
esig
n
ates
th
e
API
’
s
en
d
p
o
in
t.
T
h
e
f
u
n
ctio
n
r
u
n
Ta
s
k
is
in
v
o
k
ed
wh
en
th
e
s
p
ec
if
ied
HT
T
P
m
eth
o
d
a
n
d
en
d
p
o
i
n
t
ar
e
ca
lled
.
T
h
e
f
o
u
r
th
p
a
r
am
eter
,
s
et
to
f
alse,
en
s
u
r
es
th
at
th
e
r
u
n
Ta
s
k
f
u
n
ctio
n
e
x
ec
u
tes
wh
en
ev
er
th
e
e
n
d
p
o
in
t
/s
crip
t
-
a
p
i/r
u
n
Ta
s
k
r
ec
eiv
es
a
POST
r
e
q
u
est,
en
ab
lin
g
t
h
e
f
u
n
ctio
n
to
p
r
o
ce
s
s
th
e
API
d
ata.
Af
ter
i
n
itiatin
g
th
e
f
u
n
c
tio
n
,
th
e
ta
s
kNa
me
ca
ch
e
is
e
x
am
in
ed
.
Fig
u
r
e
8
illu
s
tr
ates
th
e
d
esig
n
of
a
ca
llin
g
s
y
s
tem
with
a
tr
ig
g
er
b
u
tto
n
an
d
tr
o
lley
s
tatu
s
d
is
p
lay
.
T
h
is
s
y
s
tem
ac
tiv
ates
th
e
tr
o
lley
wh
en
n
ee
d
ed
to
tr
an
s
p
o
r
t
m
ater
ials
:
p
r
ess
in
g
th
e
"
Deliv
er
tr
o
lley
"
b
u
tto
n
p
r
o
m
p
ts
th
e
AM
R
to
tr
an
s
p
o
r
t
th
e
p
r
e
-
p
r
e
p
ar
ed
m
ater
ials
.
Ad
d
itio
n
ally
,
t
h
e
o
r
d
er
m
o
n
ito
r
in
g
s
y
s
tem
p
r
o
v
i
d
es
r
ea
l
-
tim
e
s
tatu
s
u
p
d
ates
on
t
h
e
tr
o
lley
,
in
d
icati
n
g
wh
eth
er
it
is
r
ea
d
y
or
cu
r
r
e
n
tly
in
u
s
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
A
u
to
n
o
mo
u
s
mo
b
ile
r
o
b
o
t imp
leme
n
ta
tio
n
fo
r
fin
a
l a
s
s
emb
ly
ma
teri
a
l
…
(
A
h
ma
d
R
iy
a
d
F
i
r
d
a
u
s
)
167
Fig
u
r
e
8
.
C
allin
g
s
y
s
tem
d
esig
n
3.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
T
h
is
ch
ap
ter
p
r
esen
ts
an
an
aly
s
is
an
d
in
ter
p
r
etatio
n
of
th
e
test
r
esu
lt
s
f
o
r
th
e
im
p
lem
en
tatio
n
of
an
AM
R
in
m
ater
ial
d
eliv
er
y
with
in
th
e
th
r
ee
f
i
n
al
ass
em
b
ly
s
tag
es,
p
r
o
v
id
in
g
i
n
s
ig
h
t
s
in
to
th
e
AM
R
’
s
p
er
f
o
r
m
an
ce
in
ex
ec
u
tin
g
ass
ig
n
ed
task
s
.
Key
p
er
f
o
r
m
an
ce
m
etr
ics,
in
clu
d
in
g
th
e
AM
R
'
s
tr
av
el
p
r
ec
is
io
n
a
n
d
ef
f
icien
cy
,
wer
e
m
ea
s
u
r
e
d
.
To
en
s
u
r
e
r
eliab
ilit
y
an
d
r
o
b
u
s
tn
ess
,
each
tes
t
was
co
n
d
u
cted
ten
tim
es.
T
h
e
r
esu
lts
of
th
ese
ac
cu
r
ac
y
tes
ts
s
er
v
e
as
b
en
ch
m
ar
k
s
f
o
r
ev
alu
atin
g
th
e
s
u
cc
ess
of
AM
R
d
ev
elo
p
m
en
t.
Fu
r
th
er
m
o
r
e
,
th
is
s
ec
tio
n
ex
a
m
in
es
th
e
AM
R
'
s
n
av
ig
atio
n
al
ac
cu
r
ac
y
,
c
o
m
p
ar
i
n
g
its
ac
tu
al
tr
av
el
p
ath
s
to
p
r
e
-
estab
lis
h
ed
v
ir
tu
al
r
o
u
tes
on
th
e
m
a
p
,
alo
n
g
with
a
d
etailed
r
ev
iew
of
th
e
test
in
g
p
r
o
ce
d
u
r
es.
3
.
1
.
AM
R
t
ria
l in f
o
llo
wing
v
irt
ua
l line
o
n m
a
p
T
esti
n
g
th
e
AM
R
'
s
ab
ilit
y
to
ac
cu
r
ately
f
o
llo
w
a
d
ef
i
n
ed
p
at
h
is
ess
en
tial
f
o
r
it
s
ef
f
ec
tiv
e
im
p
lem
en
tatio
n
.
T
h
is
test
aim
s
to
v
alid
ate
th
e
AM
R
'
s
p
r
ec
is
io
n
in
ad
h
er
in
g
to
a
p
r
ed
eter
m
in
e
d
r
o
u
te
au
to
n
o
m
o
u
s
ly
.
Du
r
in
g
th
e
te
s
t,
th
e
AM
R
is
d
ir
ec
ted
to
n
av
ig
ate
alo
n
g
a
s
p
ec
if
ic
p
ath
,
d
em
o
n
s
tr
atin
g
its
ca
p
ac
ity
to
f
o
llo
w
th
e
r
o
u
te
ac
cu
r
ately
.
Fig
u
r
e
9
illu
s
tr
ates
two
r
ef
er
en
ce
p
o
in
ts
with
k
n
o
wn
co
o
r
d
in
ates
(
x
1
,
y
1
;
x
2
,
y
2
)
m
ap
p
e
d
on
th
e
r
o
u
te,
wh
ich
s
er
v
e
as
ch
ec
k
p
o
in
ts
f
o
r
ass
ess
in
g
th
e
AM
R
'
s
p
ath
-
f
o
llo
win
g
p
r
ec
is
io
n
.
In
two
-
d
im
en
s
io
n
al
s
p
ac
e,
co
o
r
d
in
ate
p
o
in
ts
,
r
ep
r
esen
ted
as
p
air
s
of
x
an
d
y
v
alu
es,
s
p
ec
if
y
t
h
e
lo
ca
tio
n
of
an
o
b
ject.
W
h
en
test
in
g
AM
R
ac
cu
r
ac
y
,
th
ese
co
o
r
d
in
ate
p
o
in
ts
estab
lis
h
a
v
ir
tu
al
lin
e
th
at
th
e
r
o
b
o
t
m
u
s
t
f
o
llo
w.
T
h
e
g
r
ad
i
en
t
(
s
lo
p
e)
of
th
is
lin
e
is
ca
l
cu
lated
by
s
elec
tin
g
two
co
o
r
d
in
ate
p
o
in
ts
an
d
d
iv
id
in
g
t
h
e
d
if
f
e
r
en
ce
in
y
-
v
alu
es
by
th
e
d
i
f
f
er
en
ce
in
x
-
v
alu
es,
as
s
h
o
wn
in
(
1
)
.
T
h
is
g
r
ad
ien
t
d
ef
i
n
es
th
e
in
clin
atio
n
of
t
h
e
lin
e
co
n
n
ec
t
in
g
th
e
two
p
o
in
ts
,
as
illu
s
tr
ated
in
Fig
u
r
e
9
,
an
d
s
er
v
es
as
a
v
ir
tu
al
g
u
i
d
e
th
at
th
e
AM
R
s
h
o
u
ld
f
o
llo
w
th
r
o
u
g
h
o
u
t
its
r
o
u
te.
T
h
e
r
o
b
o
t’
s
ac
cu
r
ac
y
is
th
en
ass
ess
ed
by
co
m
p
ar
in
g
its
ac
tu
al
p
o
s
itio
n
to
th
e
ex
p
ec
ted
p
o
s
itio
n
alo
n
g
th
e
v
ir
tu
al
lin
e.
C
o
n
s
eq
u
en
tly
,
th
e
u
s
e
of
c
o
o
r
d
in
ate
p
o
in
ts
an
d
lin
e
g
r
ad
ien
t
ca
lcu
latio
n
s
o
f
f
e
r
s
a
m
eth
o
d
to
test
th
e
AM
R
's
tr
av
el
p
r
ec
is
io
n
.
T
ab
le
3
p
r
esen
ts
th
e
tar
g
et
co
o
r
d
in
ate
p
o
in
ts
alo
n
g
s
id
e
th
e
ac
tu
al
p
o
in
ts
ac
h
iev
e
d
,
as
w
ell
as
th
e
R
MSE
v
alu
es
ca
lcu
l
ated
u
s
in
g
(
2
)
.
T
ab
le
3
p
r
o
v
id
es
th
e
co
o
r
d
in
ate
p
o
in
ts
f
r
o
m
th
e
p
r
ev
io
u
s
m
ap
.
T
h
e
tar
g
et
co
o
r
d
in
ates
d
en
o
te
th
e
p
o
in
ts
th
r
o
u
g
h
wh
ic
h
th
e
A
MR
is
in
ten
d
ed
to
p
ass
as
it
f
o
llo
ws
th
e
v
ir
tu
al
lin
e,
wh
i
le
th
e
ac
tu
al
tar
g
et
co
o
r
d
in
ates
r
e
p
r
esen
t
th
e
lo
ca
tio
n
s
r
ec
o
r
d
e
d
b
y
t
h
e
AM
R
d
u
r
in
g
its
jo
u
r
n
ey
.
T
o
ev
alu
ate
th
e
p
r
ec
is
io
n
o
f
th
e
AM
R
’
s
tr
av
el,
th
e
R
MSE
wa
s
ca
lcu
lated
f
o
r
ea
ch
d
ata
p
o
i
n
t.
T
h
e
R
MSE
v
alu
es
in
th
e
tab
le
ar
e
m
in
im
al,
r
an
g
in
g
f
r
o
m
0
.
0
0
1
to
0
.
0
2
0
,
in
d
icatin
g
th
at
th
e
AM
R
c
lo
s
ely
f
o
llo
wed
th
e
v
ir
t
u
al
lin
e
d
ef
in
e
d
b
y
th
e
co
o
r
d
in
ate
p
o
in
ts
with
h
ig
h
ac
cu
r
ac
y
.
Fig
u
r
e
1
0
illu
s
tr
ates
th
e
ac
tu
al
r
o
u
te
tak
en
b
y
th
e
AM
R
,
as
ca
p
tu
r
ed
b
y
R
o
b
o
Sh
o
p
s
o
f
tw
ar
e
at
th
e
f
in
al
s
to
p
co
o
r
d
in
ates.
T
h
e
x
-
a
n
d
y
-
ax
es
in
Fig
u
r
e
1
0
r
ep
r
esen
t
th
e
AM
R
’
s
in
ten
d
ed
an
d
ac
tu
al
f
in
al
p
o
s
itio
n
s
.
T
h
e
s
lo
p
e
d
lin
es
i
n
th
e
g
r
ap
h
d
ep
ict
th
e
AM
R
’
s
p
ath
o
n
th
e
m
a
p
in
r
elatio
n
to
its
r
ec
o
r
d
ed
lo
ca
tio
n
s
.
T
h
e
clo
s
e
alig
n
m
e
n
t
b
etwe
en
t
h
e
two
li
n
es
in
Fig
u
r
e
1
0
i
n
d
icate
s
th
at
th
e
AM
R
ac
cu
r
ately
f
o
llo
wed
th
e
d
esig
n
ated
p
o
in
t
s
in
th
e
R
o
b
o
Sh
o
p
s
o
f
twar
e.
No
tab
ly
,
p
o
in
t
L
M1
3
7
,
h
i
g
h
li
g
h
ted
in
Fig
u
r
e
1
0
,
s
h
o
ws
th
e
h
ig
h
est
d
is
cr
ep
an
c
y
,
with
a
n
er
r
o
r
o
f
0
.
0
1
6
,
at
tr
ib
u
ted
to
th
e
u
n
e
v
en
f
lo
o
r
tex
tu
r
e
an
d
s
lig
h
t
m
is
alig
n
m
en
t
o
f
th
e
AM
R
’
s
f
in
al
p
o
s
itio
n
.
T
h
is
er
r
o
r
c
o
u
ld
b
e
r
ed
u
ce
d
in
a
s
tab
le
en
v
ir
o
n
m
en
t
with
a
lev
el
s
u
r
f
ac
e,
wh
er
e
t
h
e
AM
R
’
s
f
in
al
p
o
s
itio
n
alig
n
s
clo
s
ely
with
th
e
m
ap
p
e
d
co
o
r
d
in
ates.
Fig
u
r
e
1
0
p
r
esen
ts
an
ev
alu
ati
o
n
o
f
th
e
s
lo
p
es
c
r
ea
ted
b
y
th
e
tar
g
et
co
o
r
d
in
ates
o
n
th
e
m
ap
an
d
th
e
ac
tu
al
co
o
r
d
in
ates
r
ea
ch
e
d
b
y
th
e
AM
R
.
T
h
e
r
esu
lts
in
d
icate
th
at
th
e
s
lo
p
es
o
f
th
e
lin
es
f
o
r
m
ed
b
y
th
e
tar
g
et
an
d
ac
tu
al
co
o
r
d
i
n
ates
ar
e
n
ea
r
ly
id
en
tical
ac
r
o
s
s
m
u
ltip
le
p
o
in
ts
,
d
em
o
n
s
tr
atin
g
th
e
AM
R
'
s
h
ig
h
tr
av
el
p
r
ec
is
io
n
.
T
h
is
alig
n
m
en
t
co
n
f
ir
m
s
th
at
th
e
AM
R
tech
n
o
lo
g
y
ef
f
ec
tiv
ely
f
o
llo
ws
th
e
p
r
e
d
ef
in
ed
v
ir
tu
al
p
ath
with
ac
cu
r
ac
y
,
as e
v
i
d
en
ce
d
b
y
th
e
r
elativ
ely
l
o
w
R
MSE
v
alu
es.
Evaluation Warning : The document was created with Spire.PDF for Python.