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[
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a
v
ig
atio
n
a
n
d
r
ec
o
r
d
in
g
o
f
e
n
v
i
r
o
n
m
en
tal
d
ata.
T
o
aid
th
e
d
esig
n
o
f
s
m
o
o
th
u
n
d
er
wate
r
o
p
er
atio
n
s
at
s
h
allo
w
d
ep
th
s
,
f
ir
s
t
-
p
ass
ca
lcu
latio
n
s
o
f
h
y
d
r
o
d
y
n
a
m
ic
d
r
ag
a
n
d
s
tab
ilit
y
wer
e
ca
r
r
ied
o
u
t
in
f
u
s
io
n
3
6
0
an
d
t
h
r
o
u
g
h
em
p
ir
ical
m
eth
o
d
s
.
Ver
if
icatio
n
o
f
th
e
u
n
d
er
wate
r
v
eh
icle
’
s
eq
u
ilib
r
iu
m
,
r
ec
o
r
d
in
g
q
u
ality
,
an
d
a
g
ilit
y
wer
e
d
o
n
e
th
r
o
u
g
h
ex
p
er
im
en
ts
in
wate
r
tan
k
s
o
r
o
th
er
s
u
itab
le
c
o
n
tr
o
lled
aq
u
atic
e
n
v
ir
o
n
m
en
ts
.
T
h
is
h
ar
d
war
e
s
etu
p
cr
ea
tes
a
v
er
s
atile
b
ase
lay
er
,
wh
ich
ca
n
b
e
la
y
er
ed
b
y
f
u
r
th
er
r
esear
c
h
an
d
d
ev
elo
p
m
en
t
o
f
a
d
v
an
ce
d
au
to
n
o
m
y
f
ea
tu
r
es,
s
u
ch
as
s
im
u
ltan
eo
u
s
lo
ca
lizatio
n
an
d
m
ap
p
in
g
(
SLAM
)
,
s
en
s
o
r
f
u
s
i
o
n
,
an
d
ad
ap
tiv
e
c
o
n
tr
o
l,
t
h
u
s
ef
f
ec
tiv
ely
clo
s
in
g
th
e
co
s
t
-
p
er
f
o
r
m
an
ce
e
f
f
icien
c
y
g
ap
i
n
u
n
d
er
wate
r
r
o
b
o
tics
.
T
h
is
r
e
s
e
a
r
c
h
i
s
c
e
n
t
e
r
e
d
a
r
o
u
n
d
t
h
e
p
r
o
b
l
e
m
o
f
h
o
w
t
o
c
r
e
a
t
e
u
n
d
e
r
w
a
t
e
r
s
y
s
t
e
m
s
t
h
at
a
r
e
a
b
l
e
t
o
o
p
e
r
a
t
e
i
n
d
e
p
e
n
d
e
n
t
l
y
a
n
d
e
f
f
i
c
i
e
n
t
l
y
i
n
c
h
a
n
g
i
n
g
a
q
u
a
t
i
c
e
n
v
i
r
o
n
m
e
n
t
s
.
T
h
e
p
r
i
m
a
r
y
t
a
s
k
i
s
t
o
e
n
g
i
n
e
e
r
,
b
u
i
l
d
,
a
n
d
t
h
e
n
p
r
o
v
e
t
h
e
f
e
a
s
i
b
i
l
it
y
o
f
a
s
e
l
f
-
r
e
l
i
a
n
t
u
n
d
e
r
w
a
t
e
r
r
o
b
o
t
i
c
v
e
h
i
c
l
e
o
f
t
h
e
f
u
t
u
r
e
.
A
p
r
o
t
o
t
y
p
e
c
a
p
a
b
l
e
o
f
p
e
r
f
o
r
m
i
n
g
t
h
e
i
n
t
e
n
d
e
d
f
u
n
c
t
io
n
s
w
a
s
p
u
t
t
o
g
e
t
h
e
r
w
i
t
h
a
m
i
n
i
-
R
as
p
b
e
r
r
y
P
i
c
o
m
p
u
t
i
n
g
p
la
t
f
o
r
m
,
w
h
i
c
h
w
as
c
o
m
b
i
n
e
d
w
i
t
h
p
r
o
p
o
r
tio
n
al
i
n
teg
r
al
d
er
iv
ativ
e
(
P
I
D
)
c
o
n
t
r
o
l
a
l
g
o
r
i
t
h
m
s
a
n
d
s
i
m
u
l
t
a
n
e
o
u
s
l
o
c
a
li
z
a
ti
o
n
,
a
n
d
m
a
p
p
i
n
g
(
S
L
A
M
)
wa
s
u
s
e
d
f
o
r
a
u
t
o
n
o
m
o
u
s
n
a
v
i
g
a
t
i
o
n
.
T
h
e
ex
p
e
r
i
m
e
n
t
m
e
t
h
o
d
w
as
a
s
e
r
i
es o
f
l
e
a
r
n
i
n
g
c
y
c
l
es
,
e
a
c
h
t
i
m
e
t
h
e
v
i
r
t
u
a
l
d
e
s
i
g
n
,
p
r
o
t
o
t
y
p
i
n
g
,
s
e
n
s
o
r
i
n
t
e
g
r
at
i
o
n
,
an
d
c
a
l
i
b
r
a
ti
o
n
w
e
r
e
f
o
l
l
o
w
e
d
b
y
t
e
s
t
i
n
g
b
o
t
h
i
n
t
h
e
l
a
b
o
r
a
t
o
r
y
a
n
d
o
p
e
n
-
s
e
a
.
T
h
e
o
u
t
c
o
m
e
s
we
r
e
i
n
a
g
r
e
e
m
e
n
t
wit
h
t
h
e
h
y
p
o
t
h
e
s
es
o
f
e
f
f
i
c
i
e
n
t
m
u
l
t
i
-
s
e
n
s
o
r
f
u
s
i
o
n
,
s
m
o
o
t
h
m
e
c
h
a
n
i
c
a
l
-
e
le
c
t
r
ic
a
l
-
c
o
m
p
u
t
a
t
i
o
n
a
l
i
n
t
e
g
r
a
ti
o
n
,
a
n
d
f
a
s
t
r
e
a
l
-
t
i
m
e
d
a
t
a
p
r
o
c
e
s
s
in
g
(
4
2
f
r
a
m
e
s
p
e
r
s
e
c
o
n
d
)
t
h
r
o
u
g
h
p
a
r
a
l
l
e
l
c
o
m
p
u
t
i
n
g
.
2.
M
E
T
H
O
D
2
.
1
.
E
lect
ro
nic
d
esig
n
T
h
e
P
ix
h
awk
f
lig
h
t
co
n
tr
o
ller
is
at
th
e
h
ea
r
t
o
f
th
e
p
r
o
p
o
s
e
d
u
n
d
er
wate
r
r
em
o
tely
o
p
er
at
ed
v
e
h
icle.
I
t
is
a
co
n
tr
o
ller
th
at
wo
r
k
s
wi
th
in
teg
r
ated
s
en
s
o
r
s
,
elec
tr
o
n
ic
s
p
ee
d
co
n
tr
o
ller
s
(
E
SC
s
)
,
a
n
d
a
d
ig
ital
ca
m
er
a
s
etu
p
.
Pix
h
awk
is
th
e
o
n
e
th
a
t
tak
es
ca
r
e
o
f
p
r
o
ce
s
s
in
g
all
th
e
s
en
s
o
r
d
ata
it
g
ets.
I
t
co
n
tr
o
ls
th
e
b
r
u
s
h
less
d
ir
ec
t
cu
r
r
en
t
(
B
L
DC
)
m
o
to
r
s
th
r
o
u
g
h
th
o
s
e
E
SC
s
in
a
v
er
y
ef
f
icien
t
m
an
n
e
r
.
I
n
f
ac
t,
it
is
th
e
s
am
e
u
n
it
th
at
also
h
an
d
les r
ea
l
-
tim
e
v
id
e
o
tr
an
s
m
is
s
io
n
with
o
u
t a
n
y
is
s
u
es.
W
ir
eles
s
co
m
m
u
n
icatio
n
e
n
s
u
r
es
th
at
th
e
r
em
o
te
c
o
n
tr
o
l
is
alwa
y
s
s
m
o
o
th
an
d
v
er
y
m
u
c
h
r
esp
o
n
s
iv
e.
I
t
also
p
r
o
v
i
d
es
clea
r
f
ee
d
b
ac
k
d
u
r
in
g
o
p
er
atio
n
s
at
all
tim
es.
T
h
e
co
m
m
an
d
s
ar
e
in
itiated
at
th
e
tr
an
s
m
itter
an
d
ar
e
f
o
llo
wed
u
p
b
y
th
e
f
lig
h
t
co
n
t
r
o
ller
r
ec
eiv
in
g
th
em
.
Af
ter
p
r
o
ce
s
s
in
g
th
e
co
m
m
an
d
s
,
th
e
f
lig
h
t
co
n
tr
o
l
s
y
s
tem
is
th
e
o
n
e
th
at
ac
tu
ally
ca
r
r
ies
o
u
t
th
e
i
n
s
tr
u
ctio
n
s
.
T
h
e
wh
o
le
s
y
s
tem
h
as
th
e
ca
p
ab
ilit
y
o
f
o
p
er
atin
g
eig
h
t
B
L
DC
m
o
t
o
r
s
.
Fo
u
r
o
f
t
h
em
ar
e
at
th
e
c
o
r
n
er
s
f
o
r
later
al
m
o
v
em
e
n
t
wh
ile
th
e
o
th
er
f
o
u
r
ar
e
p
o
s
itio
n
ed
ce
n
tr
ally
f
o
r
v
e
r
tical
th
r
u
s
t
a
n
d
d
ir
ec
tio
n
al
co
n
tr
o
l.
Su
ch
a
s
etu
p
is
all
ab
o
u
t
p
r
ec
is
e
an
d
s
tab
le
u
n
d
er
wate
r
n
av
ig
atio
n
.
Mo
r
e
o
v
er
,
it
s
till
m
ain
tain
s
its
en
er
g
y
e
f
f
icien
cy
ev
en
i
n
th
e
m
o
s
t
ch
allen
g
in
g
s
itu
atio
n
s
.
Fig
u
r
e
1
illu
s
tr
ates th
e
elec
tr
o
n
ic
d
esig
n
o
f
th
e
v
e
h
icle
an
d
r
em
o
te
s
y
s
tem
.
2
.
2
.
Desig
n a
nd
co
ns
t
ruct
io
n o
f
t
he
RO
V
T
h
e
r
em
o
tely
o
p
er
ate
d
v
eh
ic
le
(
R
OV)
was
a
co
m
p
ac
t
an
d
h
y
d
r
o
d
y
n
am
ically
s
tab
le
u
n
it
with
a
s
tr
ea
m
lin
ed
s
tr
u
ctu
r
e
o
f
5
8
.
6
cm
len
g
th
,
4
2
.
2
1
cm
wid
th
,
a
n
d
3
2
.
6
1
cm
h
eig
h
t.
T
h
e
d
im
e
n
s
io
n
s
ch
o
s
en
allo
w
a
g
o
o
d
m
ix
o
f
b
u
o
y
a
n
cy
,
m
an
eu
v
er
ab
ilit
y
an
d
p
a
y
lo
ad
ca
p
a
city
s
o
as
to
b
e
ab
le
to
wo
r
k
ef
f
icien
tly
in
ca
n
o
e
-
ty
p
e
s
h
allo
w
-
wate
r
co
r
al
r
ee
f
en
v
i
r
o
n
m
e
n
ts
wh
er
e
th
er
e
is
less
s
p
ac
e
an
d
a
n
ee
d
f
o
r
p
r
ec
is
e
m
o
v
em
e
n
t
co
n
tr
o
l
d
u
e
t
o
th
e
f
r
ag
ile
ec
o
s
y
s
tem
s
[
2
0
]
.
T
h
e
p
r
o
p
u
ls
io
n
s
y
s
tem
is
m
ad
e
u
p
o
f
f
iv
e
b
r
u
s
h
less
d
ir
ec
t
cu
r
r
en
t
(
DC
)
m
o
to
r
s
(
XC
SOUR
C
E
QF
-
2
6
1
1
,
4
5
0
0
k
V,
th
r
ee
-
p
h
ase)
wh
o
s
e
r
e
v
o
lu
tio
n
s
p
er
m
in
u
te
(
R
PMs)
ar
e
r
eg
u
lated
b
y
E
SC
3
0
A
s
p
ee
d
c
o
n
tr
o
ller
s
ca
p
ab
le
o
f
d
eliv
er
in
g
u
p
t
o
3
0
A.
E
ac
h
o
n
e
o
f
th
e
f
o
u
r
th
r
u
s
ter
s
is
at
4
5
°
an
g
les
with
r
esp
ec
t
to
a
c
o
r
n
er
o
f
th
e
f
r
am
e
an
d
th
e
v
ec
to
r
ized
th
r
u
s
t
d
is
tr
ib
u
tio
n
th
u
s
ac
h
iev
ed
is
u
s
ed
in
th
is
wo
r
k
to
r
ea
lize
s
m
o
o
th
o
m
n
id
ir
ec
tio
n
al
m
o
tio
n
-
f
o
r
war
d
,
b
ac
k
wa
r
d
,
later
al,
an
d
r
o
tat
io
n
al
(
y
aw)
-
with
o
u
t
th
e
n
ee
d
o
f
ex
tr
a
m
ec
h
an
ical
l
in
k
ag
es
[
2
1
]
.
Su
ch
a
s
et
-
u
p
im
p
r
o
v
es
th
e
r
o
b
o
t
’
s
m
a
n
eu
v
e
r
in
g
ab
ilit
y
a
n
d
s
tab
ilit
y
in
a
t
u
r
b
u
len
t
f
l
o
w
o
f
ai
r
o
r
wate
r
at
th
e
in
s
p
ec
tio
n
s
ite,
a
p
lace
wh
er
e,
in
g
en
er
al
,
co
r
al
s
tr
u
ctu
r
es
ar
e
f
o
u
n
d
a
n
d
t
h
e
u
s
er
’
s
task
is
to
p
er
f
o
r
m
th
e
i
n
s
p
ec
tio
n
f
r
o
m
c
lo
s
e
p
r
o
x
im
ity
.
T
h
e
v
er
tically
o
r
ien
ted
f
if
th
th
r
u
s
ter
th
at
is
l
o
ca
ted
ce
n
tr
ally
o
n
th
e
to
p
s
ec
tio
n
o
f
th
e
b
o
d
y
ad
d
s
h
ea
v
e
(
u
p
–
d
o
w
n
)
co
n
tr
o
l
t
o
th
e
s
y
s
tem
,
en
ab
lin
g
d
ep
th
s
tab
ilit
y
,
an
d
at
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
r
a
g
fo
r
ce
a
n
a
lysi
s
o
f a
n
a
u
to
n
o
m
o
u
s
u
n
d
erw
a
ter
…
(
P
a
n
d
iya
r
a
ja
n
R
a
jen
d
r
a
n
)
183
s
am
e
tim
e
b
u
o
y
an
c
y
ch
a
n
g
es,
if
an
y
,
ca
n
b
e
tak
e
n
ca
r
e
o
f
d
u
r
in
g
s
am
p
lin
g
o
r
im
ag
in
g
o
p
er
atio
n
s
with
th
e
h
elp
o
f
th
is
th
r
u
s
ter
[
2
2
]
.
W
e
ar
r
iv
ed
at
th
e
id
ea
l
f
r
am
e
g
eo
m
etr
y
a
n
d
th
r
u
s
ter
p
lace
m
en
t
af
ter
em
p
ir
ica
l
b
alan
ce
an
d
d
r
ag
s
im
u
latio
n
s
f
o
r
wh
ich
we
u
s
ed
f
u
s
io
n
3
6
0
an
d
th
u
s
m
ad
e
s
u
r
e
th
at
ce
n
ter
o
f
g
r
a
v
ity
(
C
G)
an
d
ce
n
ter
o
f
b
u
o
y
an
c
y
(
C
B
)
wer
e
n
o
t
o
n
ly
v
er
tically
alig
n
ed
b
u
t
also
wer
e
at
a
p
o
i
n
t
f
r
o
m
wh
e
r
e
s
tab
le
h
o
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er
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g
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ld
b
e
p
o
s
s
ib
le.
W
e
also
f
ac
to
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ed
in
th
e
MP
U6
0
5
0
in
er
tial
m
ea
s
u
r
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en
t
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it
(
I
MU
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wh
ich
,
alo
n
g
with
a
co
m
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en
tar
y
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ilter
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g
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d
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io
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o
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ie
n
tatio
n
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u
p
p
o
r
t
f
o
r
th
e
s
tab
ilizatio
n
an
d
attitu
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co
r
r
ec
tio
n
f
u
n
cti
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n
s
p
er
f
o
r
m
ed
d
u
r
in
g
r
em
o
te
o
p
er
atio
n
.
Fig
u
r
e
2
s
h
o
ws
th
e
R
OV
’
s
co
m
p
u
ter
-
aid
ed
d
esig
n
(
C
AD)
m
o
d
el
an
d
th
e
co
r
r
esp
o
n
d
in
g
e
x
p
er
im
e
n
t p
r
o
to
t
y
p
e.
(
a)
(
b
)
Fig
u
r
e
1
.
On
-
v
eh
icle
a
n
d
r
em
o
te
s
y
s
tem
:
(
a)
b
lo
ck
d
iag
r
am
o
f
R
OV
s
y
s
tem
an
d
(
b
)
e
lectr
i
ca
l c
ir
cu
it
co
n
n
ec
tio
n
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
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I
n
t
J
R
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b
&
A
u
to
m
,
Vo
l
.
1
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,
No
.
1
,
Ma
r
ch
20
2
6
:
1
81
-
1
89
184
Fig
u
r
e
2
.
C
AD
m
o
d
el
o
f
th
e
u
n
d
er
wate
r
r
o
v
er
a
n
d
e
x
p
er
im
e
n
tal
im
ag
e
2
.
3
.
Na
v
ig
a
t
i
o
n
s
y
s
t
em
T
h
e
s
y
s
tem
o
f
n
a
v
ig
atio
n
c
o
n
s
is
ts
o
f
:
−
Fo
u
r
p
r
o
p
eller
s
f
o
r
co
n
tr
o
llin
g
th
e
v
eh
icle
in
t
h
e
p
lan
es a
n
d
o
n
e
p
r
o
p
eller
f
o
r
v
er
tical
m
o
v
em
en
t.
−
MPU6
0
5
0
m
o
tio
n
s
en
s
o
r
f
o
r
m
o
n
ito
r
in
g
o
r
ie
n
tatio
n
in
r
ea
l
tim
e.
T
o
h
am
p
e
r
th
e
o
p
p
o
s
itio
n
o
f
f
o
r
ce
s
,
th
e
p
r
o
p
eller
s
ar
e
well
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lace
d
alo
n
g
t
h
e
v
eh
icle.
T
h
e
g
u
id
an
ce
s
y
s
tem
s
o
lv
es
th
e
d
ir
ec
tio
n
al
f
o
r
ce
v
e
cto
r
s
b
ased
o
n
th
e
k
in
em
atic
m
o
d
els
o
f
th
e
o
m
n
i
-
wh
ee
l
r
o
b
o
t,
p
r
o
v
id
in
g
e
x
ac
t
an
d
ea
s
y
m
o
tio
n
.
Sen
s
o
r
s
o
f
d
ep
th
an
d
p
r
ess
u
r
e
h
av
e
b
ee
n
in
teg
r
ated
to
wo
r
k
in
h
ig
h
ef
f
icien
cy
u
n
d
e
r
wate
r
u
p
to
1
0
0
m
eter
s
d
ee
p
[
2
3
]
.
2
.
4
.
Co
m
m
un
ica
t
io
n
s
y
s
t
em
T
h
e
R
OV
co
m
m
u
n
icate
s
wit
h
th
e
r
em
o
te
o
p
er
at
o
r
en
ab
li
n
g
th
e
h
ig
h
-
s
p
ee
d
,
n
o
is
e
-
r
esi
s
tan
t
d
ata
tr
an
s
f
er
th
r
o
u
g
h
f
ib
er
-
o
p
tic
c
ab
les
th
at
allo
w
s
ig
n
als
to
b
e
tr
an
s
m
itted
with
o
u
t
d
am
a
g
e
o
v
er
l
o
n
g
d
is
tan
ce
s
[
2
4
]
.
N
o
twith
s
tan
d
in
g
th
e
i
d
e
aln
ess
o
f
f
ib
er
o
p
tics
,
th
e
f
ir
s
t
m
o
d
el
u
tili
ze
s
th
e
tr
an
s
m
is
s
io
n
co
n
tr
o
l
p
r
o
to
co
l/
in
ter
n
et
p
r
o
to
c
o
l
(
T
C
P/IP)
-
b
ased
e
th
er
n
et
ca
b
le
co
m
m
u
n
icatio
n
f
o
r
a
d
is
tan
ce
o
f
1
0
0
m
eter
s
.
T
h
is
ar
r
an
g
em
e
n
t
o
f
in
s
tr
u
m
en
ts
n
o
t
o
n
ly
s
u
p
p
o
r
ts
th
e
in
s
tan
tan
eo
u
s
ex
ch
an
g
e
o
f
d
ata
b
u
t
also
tr
an
s
f
er
s
th
e
v
id
eo
f
r
o
m
th
e
o
p
er
at
o
r
s
tatio
n
to
th
e
o
n
b
o
ar
d
p
r
o
ce
s
s
in
g
u
n
it.
2
.
5
.
Weig
ht
e
v
a
lua
t
io
n
T
h
e
r
em
o
tely
o
p
er
ated
v
e
h
i
cle
(
R
OV)
is
ex
p
r
ess
ly
d
esig
n
ed
to
f
u
n
ctio
n
ef
f
icien
tly
an
d
with
co
n
s
id
er
ab
le
s
tab
ilit
y
at
a
d
ep
th
th
at
is
b
elo
w
th
e
s
u
r
f
ac
e
o
f
th
e
wate
r
.
T
h
e
ce
n
te
r
o
f
b
u
o
y
an
c
y
s
h
o
u
ld
b
e
lo
ca
ted
ab
o
v
e
t
h
e
ce
n
ter
o
f
m
ass
to
en
s
u
r
e
s
tab
ilit
y
,
wh
ich
is
a
p
r
io
r
ity
d
esig
n
co
n
ce
p
t.
T
h
e
b
u
o
y
an
t
tan
k
is
p
lace
d
o
n
th
e
to
p
o
f
th
e
R
OV,
an
d
th
e
weig
h
t
elem
en
ts
a
r
e
p
o
s
itio
n
ed
at
th
e
b
o
tto
m
f
o
r
a
b
etter
ce
n
ter
o
f
g
r
av
ity
.
T
h
e
m
ain
lin
k
i
n
g
ele
m
en
ts
o
f
th
e
R
OV
ar
e
g
alv
an
i
ze
d
p
ip
es;
th
e
co
n
s
tr
u
ctio
n
o
f
th
e
R
OV
in
v
o
lv
ed
th
e
u
s
e
o
f
eig
h
t
elb
o
w
c
o
n
n
e
cto
r
s
an
d
f
o
u
r
teen
p
ip
es.
Fo
r
p
r
o
d
u
cin
g
th
e
f
lo
atab
le
p
ar
t
o
f
t
h
e
s
u
b
m
a
r
in
e,
f
ib
er
g
lass
is
p
r
ef
er
r
e
d
.
B
y
s
o
lv
in
g
th
e
s
y
s
tem
o
f
(
1
)
an
d
(
2
)
,
th
e
R
OV
’
s
weig
h
t,
d
is
p
lace
m
en
t,
ce
n
ter
o
f
b
u
o
y
a
n
cy
,
a
n
d
ce
n
ter
o
f
g
r
a
v
i
ty
ar
e
d
eter
m
in
ed
.
T
h
e
weig
h
t
o
f
th
e
p
ip
es
is
ca
lcu
lated
as
t
h
e
p
r
o
d
u
ct
o
f
th
eir
m
ater
ial
v
o
lu
m
e
a
n
d
s
p
ec
if
ic
weig
h
t,
wh
ich
is
s
tated
in
(
1
)
,
=
×
×
×
(
2
−
2
)
(
1
)
w
h
er
e
4
an
d
4
ar
e
th
e
o
u
ter
an
d
in
n
er
d
iam
eter
s
o
f
th
e
p
ip
e;
L
is
th
e
len
g
th
o
f
th
e
tu
b
e;
an
d
ρ
is
th
e
s
p
ec
if
ic
weig
h
t
o
f
th
e
p
ip
e
m
a
ter
ial.
T
h
e
ex
tr
a
weig
h
t
th
at
is
ca
r
r
ied
in
s
id
e
th
e
p
ip
es
b
y
th
e
wate
r
b
allast
ca
n
b
e
f
o
u
n
d
u
s
in
g
(
2
)
.
=
×
×
×
2
×
ℎ
(
2
)
w
h
er
e
y
is
th
e
d
ep
t
h
o
f
wate
r
in
th
e
p
ip
e
an
d
λ
is
th
e
s
p
ec
if
ic
weig
h
t o
f
wate
r
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
r
a
g
fo
r
ce
a
n
a
lysi
s
o
f a
n
a
u
to
n
o
m
o
u
s
u
n
d
erw
a
ter
…
(
P
a
n
d
iya
r
a
ja
n
R
a
jen
d
r
a
n
)
185
2
.
6
.
B
uo
y
a
ncy
e
v
a
lua
t
io
n
I
n
(
2
)
,
D
an
d
d
ar
e
th
e
o
u
ter
a
n
d
in
n
er
d
iam
ete
r
s
o
f
th
e
p
ip
e
;
L
is
th
e
len
g
th
o
f
th
e
tu
b
e;
an
d
ρ
is
th
e
s
p
ec
if
ic
weig
h
t
o
f
th
e
p
ip
e
m
a
ter
ial.
T
h
e
ex
tr
a
weig
h
t
th
at
is
ca
r
r
ied
in
s
id
e
th
e
p
ip
es
b
y
th
e
wate
r
b
allast
ca
n
b
e
f
o
u
n
d
u
s
in
g
(
2
)
, w
h
er
e
y
is
th
e
d
ep
th
o
f
wate
r
in
th
e
p
ip
e
an
d
λ
is
th
e
s
p
ec
if
ic
weig
h
t
o
f
wate
r
,
=
×
×
(
4
4
)
×
(
3
)
=
∑
(
×
+
×
)
=
0
(
4
)
=
∑
(
×
+
×
)
=
0
(
5
)
=
∑
(
×
+
×
)
=
0
(
6
)
w
h
e
r
e
,
a
n
d
a
r
e
t
h
e
w
e
i
g
h
ts
o
f
t
h
e
c
o
m
p
o
n
e
n
t
s
a
n
d
t
h
e
a
d
d
e
d
b
a
l
l
a
s
t
w
e
i
g
h
ts
;
a
r
e
t
h
e
c
o
m
p
o
n
e
n
t
s
’
c
e
n
t
e
r
o
f
g
r
a
v
i
t
y
c
o
o
r
d
i
n
a
t
e
s
;
a
r
e
t
h
e
a
d
d
e
d
b
a
l
l
a
s
t
w
e
i
g
h
t
c
o
o
r
d
i
n
a
t
e
s
.
M
o
r
e
o
v
e
r
,
t
h
e
b
u
o
y
a
n
c
y
m
o
m
e
n
t
i
s
f
o
u
n
d
b
y
(
7
)
.
=
∑
(
×
)
=
0
(
7
)
aa
=
∑
(
×
)
=
0
(
8
)
Fo
llo
win
g
th
ese
eq
u
atio
n
s
,
th
e
r
esu
lt
f
o
r
th
e
to
tal
weig
h
t
o
f
th
e
R
OV
is
1
2
.
1
7
k
g
.
At
th
e
s
am
e
tim
e,
th
e
b
u
o
y
an
cies
a
n
d
t
h
e
ce
n
t
er
s
o
f
g
r
av
ity
ar
e
Bx
=0
.
0
c
m
,
By
=0
.
0
cm
,
Bz
=2
0
.
6
0
c
m
,
an
d
Gx
=0
.
0
cm
,
Gy
=0
.
0
cm
,
Gz
=
1
3
.
3
2
cm
.
2.
7.
M
o
m
ent
s
t
a
bil
it
y
ev
a
lua
t
io
n
T
h
e
s
tab
ilit
y
o
f
R
OVs
is
o
n
e
o
f
th
e
m
o
s
t
im
p
o
r
tan
t
c
h
ar
a
cter
is
tics
,
an
d
it
is
an
in
d
icatio
n
o
f
h
o
w
well
th
e
d
ev
ice
ca
n
r
ec
o
v
er
its
in
itial p
o
s
itio
n
af
ter
a
tilt
(
tr
i
m
)
.
Fo
r
an
u
n
d
er
wate
r
v
e
h
icle
to
b
e
s
tab
le,
th
e
n
et
ef
f
ec
t
o
f
b
u
o
y
an
cy
a
n
d
g
r
av
it
y
ac
tin
g
o
n
it
m
u
s
t
b
e
p
o
s
itiv
e.
I
t
is
ac
h
iev
ed
b
y
k
ee
p
in
g
th
e
ce
n
ter
o
f
b
u
o
y
an
cy
h
ig
h
er
th
an
th
e
ce
n
ter
o
f
g
r
av
i
ty
.
W
h
ich
th
en
m
ak
es
th
e
d
is
t
an
ce
b
etwe
en
th
e
two
th
e
m
o
s
t
wh
en
th
e
s
tab
ilit
y
is
th
e
h
ig
h
est.
T
h
e
s
tab
ilit
y
o
f
a
R
OV
at
a
ce
r
tain
h
ee
l a
n
g
le
ca
n
b
e
m
ea
s
u
r
e
d
th
r
o
u
g
h
(
9
)
.
=
×
(
−
)
×
s
in
(
)
(
9
)
W
h
at
is
th
e
s
tab
ilit
y
m
o
m
en
t;
v
eh
icle
weig
h
t;
th
e
v
eh
icle
d
i
s
tan
ce
f
r
o
m
th
e
ce
n
ter
o
f
b
u
o
y
an
cy
to
th
e
ce
n
ter
o
f
g
r
a
v
it
y
;
a
n
d
h
e
el
a
n
g
le
.
T
h
e
s
ta
b
i
lit
y
m
o
m
en
t
ca
l
c
u
la
ti
o
n
s
ar
e
s
h
o
w
n
i
n
Fi
g
u
r
e
3
a
n
d
e
x
p
l
ain
e
d
g
r
a
p
h
ic
all
y
.
Fig
u
r
e
3
.
Stab
ilit
y
m
o
m
en
t
2.
8.
Dra
g
f
o
rc
e
a
nd
s
t
a
bil
it
y
a
na
ly
s
is
o
f
t
he
RO
V
Dr
ag
f
o
r
ce
im
p
lies
th
e
n
eg
ati
v
e
ef
f
ec
t
th
at
a
n
o
b
ject
e
x
p
er
i
en
ce
s
wh
en
it
m
o
v
es
th
r
o
u
g
h
an
y
f
lu
id
,
s
u
ch
as
air
o
r
wate
r
.
T
h
e
m
o
v
em
en
t
o
f
t
h
e
o
b
ject
in
th
e
f
lu
i
d
ca
u
s
es
th
e
f
o
r
ce
to
ac
t
i
n
th
e
o
p
p
o
s
ite
d
ir
ec
tio
n
[
2
5
]
.
Su
r
f
ac
e
r
o
u
g
h
n
ess
,
f
lu
id
d
en
s
ity
,
a
n
d
s
p
ee
d
ar
e
s
o
m
e
p
ar
am
eter
s
th
at
a
f
f
ec
t
th
e
d
r
a
g
f
o
r
ce
.
I
n
(
1
0
)
,
we
g
et
th
e
b
asis
f
o
r
th
e
ca
lcu
latio
n
o
f
th
e
d
r
a
g
f
o
r
ce
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
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b
&
A
u
to
m
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Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
81
-
1
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186
=
(
1
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.
.
2
.
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10
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B
asically
,
it
r
ef
er
s
to
th
e
f
lu
id
d
en
s
ity
,
wh
ile:
T
h
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d
r
ag
c
o
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icien
t,
wh
ich
u
s
u
ally
is
b
etwe
en
0
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4
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d
1
.
0
d
ep
e
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d
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g
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p
ee
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ject
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d
th
e
d
if
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e
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en
t
f
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id
s
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ein
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s
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,
r
ep
r
esen
ts
th
e
r
elativ
e
v
elo
city
b
etwe
en
th
e
b
o
d
y
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d
th
e
f
l
u
id
;
a
n
d
:
is
th
e
p
r
o
jecte
d
cr
o
s
s
-
s
ec
tio
n
ar
ea
p
er
p
en
d
icu
lar
to
th
e
f
lo
w
d
ir
ec
tio
n
.
T
h
e
len
g
th
o
f
th
e
d
r
ag
c
o
ef
f
i
cien
t
g
o
t
d
eter
m
i
n
ed
f
r
o
m
th
e
d
ata.
T
h
e
ca
lcu
latio
n
s
in
th
is
s
tu
d
y
wer
e
m
ad
e
co
n
s
id
er
in
g
n
o
h
ee
l
a
n
g
le
ch
an
g
e
an
d
n
u
m
er
ical
a
n
aly
s
is
o
f
d
r
ag
f
o
r
ce
at
v
ar
i
o
u
s
s
p
ee
d
s
,
as
d
escr
ib
ed
i
n
Fig
u
r
e
4
.
Fig
u
r
e
4
.
Dr
a
g
f
o
r
ce
ev
alu
atio
n
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
E
x
perim
ent
a
l
r
esu
lt
s
W
e
h
av
e
o
u
tlin
ed
th
e
p
r
o
ce
d
u
r
e
f
o
llo
wed
to
test
th
e
r
em
o
tely
o
p
er
ated
v
eh
icle
(
R
OV)
wh
en
th
e
R
asp
b
er
r
y
Pi
3
was
u
s
ed
as
an
o
n
b
o
ar
d
co
m
p
u
ter
.
T
h
e
r
esear
ch
also
g
iv
es
a
clea
r
t
est
o
f
th
e
h
ar
d
war
e
r
eso
u
r
ce
d
is
tr
ib
u
tio
n
o
v
er
v
ar
io
u
s
alg
o
r
ith
m
s
an
d
p
r
o
ce
s
s
es
th
at
ar
e
wo
r
k
in
g
s
im
u
ltan
e
o
u
s
ly
.
Mo
r
eo
v
er
,
t
h
e
im
ag
es
co
llected
f
r
o
m
im
ag
es
in
a
co
n
tr
o
lled
a
q
u
atic
ar
e
a
a
n
d
r
ea
l
-
s
ea
co
n
d
itio
n
s
ar
e
an
al
y
s
ed
.
I
n
ad
d
itio
n
t
o
th
e
ab
o
v
e,
th
e
f
u
n
ctio
n
ality
o
f
th
e
s
m
ar
t
PID
co
n
tr
o
ller
is
d
eter
m
in
ed
.
At
th
e
s
am
e
tim
e,
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
n
ew
p
r
o
d
u
ct
is
co
m
p
ar
ed
with
th
at
o
f
th
e
two
k
n
o
w
n
R
OVs.
3
.
2
.
RO
V
p
er
f
o
r
m
a
nce
3
.
2
.
1
.
M
o
t
o
r
t
esting
T
h
e
Ar
d
u
in
o
n
an
o
m
icr
o
c
o
n
t
r
o
ller
an
d
th
e
Ar
d
u
-
Pil
o
t
d
ev
elo
p
m
en
t
b
o
ar
d
h
a
v
e
u
n
d
er
g
o
n
e
s
ev
er
al
test
s
in
o
r
d
er
to
d
ec
id
e
wh
ich
is
th
e
m
o
s
t
ef
f
ec
tiv
e
way
to
r
u
n
th
e
b
r
u
s
h
less
m
o
to
r
s
.
T
h
u
s
,
th
e
v
ar
io
u
s
k
in
d
s
o
f
co
n
tr
o
ller
wer
e
test
ed
to
f
i
n
d
o
u
t
wh
ich
o
n
e
co
u
ld
g
e
n
er
ate
th
e
b
est
p
u
ls
e
wid
th
m
o
d
u
lated
(
PW
M)
s
ig
n
al
r
eq
u
ir
ed
b
y
th
e
E
SC
3
0
A
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
.
A
f
u
r
th
er
s
tep
to
r
eso
lv
e
th
is
was
m
ad
e
b
y
d
esig
n
in
g
cu
s
to
m
s
o
f
twar
e
f
o
r
th
e
Ar
d
u
in
o
n
an
o
m
icr
o
co
n
tr
o
ller
to
g
e
n
er
ate
PW
M
s
ig
n
als
wh
ich
ar
e
o
f
h
ig
h
r
eso
lu
tio
n
an
d
ca
n
co
p
e
with
th
e
in
ce
s
s
an
t
ch
an
g
es
in
th
e
s
p
ee
d
o
f
t
h
e
m
o
to
r
s
.
Ma
n
y
ex
p
er
i
m
en
t
s
later
,
th
e
p
er
f
ec
t
PW
M
s
ig
n
al
tim
in
g
th
at
lead
t
o
th
e
b
est
R
OV
s
tab
ilit
y
was
f
o
u
n
d
to
b
e
1
µs
an
d
was
alm
o
s
t
a
th
o
u
s
an
d
tim
es
f
aster
th
an
th
e
o
r
ig
in
al
s
ig
n
al.
3
.
2
.
2
.
T
em
pera
t
ure
m
o
nito
ri
ng
in Ra
s
pb
er
ry
P
i 3
a
nd
RO
V
c
a
ps
ule
T
h
e
tem
p
e
r
atu
r
e
i
n
th
e
ca
p
s
u
le
is
co
n
tr
o
lled
b
y
th
e
DS1
8
B
2
0
d
ig
ital
tem
p
e
r
atu
r
e
s
en
s
o
r
wh
ich
is
co
n
n
ec
ted
to
an
Ar
d
u
in
o
n
an
o
m
icr
o
c
o
n
tr
o
ller
v
ia
th
e
in
te
r
-
i
n
teg
r
ated
(
I
2
C
)
p
r
o
t
o
co
l.
On
e
o
f
th
e
ex
am
p
les
to
ev
alu
ate
th
e
in
ter
n
al
tem
p
er
a
tu
r
e
ch
a
n
g
es
o
f
t
h
e
v
e
h
icle
i
s
th
e
m
o
t
o
r
s
wo
r
k
in
g
p
r
o
ce
s
s
to
p
r
o
d
u
ce
h
ea
t
th
r
o
u
g
h
th
e
E
SC
3
0
A
s
p
ee
d
c
o
n
tr
o
ller
s
.
A
tem
p
er
atu
r
e
r
ea
d
in
g
o
f
t
h
e
DS1
8
B
2
0
s
en
s
o
r
is
ex
ec
u
ted
b
y
an
in
ter
n
al
alg
o
r
ith
m
o
f
t
h
e
Ar
d
u
in
o
n
a
n
o
m
icr
o
co
n
t
r
o
ller
,
an
d
a
d
if
f
e
r
en
t
m
eth
o
d
was
em
p
lo
y
ed
t
o
tr
ac
k
th
e
R
asp
b
er
r
y
Pi
3
’
s
ch
ip
s
et
tem
p
er
atu
r
e.
I
n
o
r
d
er
t
o
p
r
ev
en
t
co
m
p
o
n
e
n
t
tem
p
e
r
atu
r
e
f
r
o
m
r
is
in
g
ab
o
v
e
6
5
°C
,
it
was
n
ec
ess
ar
y
to
m
ain
tain
p
r
o
p
er
wo
r
k
in
g
tem
p
e
r
atu
r
es.
T
h
e
b
eh
av
io
r
o
f
th
e
R
asp
b
er
r
y
Pi
3
ch
ip
s
et
’
s
tem
p
er
atu
r
e
is
v
is
u
alize
d
in
Fig
u
r
e
5
,
as
it
q
u
ick
ly
r
o
s
e
t
o
5
5
°C
af
ter
1
h
o
u
r
o
f
co
n
t
in
u
o
u
s
u
s
ag
e
at
t
h
e
lo
west m
o
to
r
s
p
ee
d
.
I
n
th
e
d
ia
g
r
am
,
th
e
in
n
er
ca
p
s
u
le
tem
p
e
r
atu
r
e
is
s
h
o
wn
,
wh
ich
r
ea
ch
e
d
3
6
°C
in
th
e
s
am
e
co
n
d
itio
n
s
.
T
h
e
tem
p
er
atu
r
e
o
f
b
o
th
c
h
ip
s
g
r
a
d
u
ally
d
ec
r
ea
s
ed
with
tim
e
af
ter
th
e
m
o
to
r
s
wer
e
s
witch
ed
o
f
f
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
r
a
g
fo
r
ce
a
n
a
lysi
s
o
f a
n
a
u
to
n
o
m
o
u
s
u
n
d
erw
a
ter
…
(
P
a
n
d
iya
r
a
ja
n
R
a
jen
d
r
a
n
)
187
Fig
u
r
e
5
.
T
e
m
p
er
atu
r
e
m
ea
s
u
r
em
en
t o
f
th
e
ch
ip
s
et
an
d
th
e
R
OV
ca
p
s
u
le
3
.
2
.
3
.
B
a
t
t
er
y
ba
n
k
perf
o
r
ma
nce
T
h
e
p
o
wer
co
n
s
u
m
p
tio
n
an
d
th
e
r
u
n
tim
e
o
f
th
e
b
atter
y
b
a
n
k
s
d
u
r
in
g
R
OV
o
p
er
atio
n
a
r
e
s
h
o
wn
in
Fig
u
r
e
6
.
T
h
e
o
p
er
atio
n
o
f
th
e
two
b
atter
y
b
a
n
k
s
was c
o
m
p
ar
ed
b
y
s
im
u
latin
g
v
ar
io
u
s
s
ce
n
ar
io
s
.
−
T
h
e
5
V
b
atter
y
b
an
k
th
at
w
as
u
s
ed
f
o
r
th
e
s
u
p
p
l
y
o
f
p
o
wer
to
th
e
d
ig
ital
co
m
p
o
n
e
n
ts
p
r
o
v
id
ed
a
co
n
tin
u
o
u
s
r
u
n
tim
e
o
f
5
0
0
m
i
n
u
tes (
8
h
o
u
r
s
)
wh
ile
e
x
ec
u
tin
g
R
OV
co
n
tr
o
l a
lg
o
r
ith
m
s
(
Fig
u
r
e
5
)
.
−
T
h
e
1
1
V
b
atter
y
b
a
n
k
,
wh
ic
h
is
in
ch
ar
g
e
o
f
t
h
e
E
SC
3
0
A
m
o
to
r
co
n
tr
o
ller
s
,
was
ab
o
u
t
1
2
0
m
i
n
u
tes
(
2
h
o
u
r
s
)
s
till
f
ast en
o
u
g
h
at
m
e
d
iu
m
s
p
ee
d
(
Fig
u
r
e
6
)
.
−
T
h
e
b
atter
y
life
was
ch
an
g
ed
in
ac
co
r
d
a
n
ce
with
th
e
R
OV
n
av
ig
atio
n
a
n
d
p
r
o
p
u
ls
io
n
n
ee
d
s
,
wh
ich
co
u
ld
b
e
u
p
o
r
d
o
wn
in
lin
e
with
th
e
m
o
v
em
en
t
p
atter
n
s
.
Fig
u
r
e
6
.
B
atter
y
b
a
n
k
b
eh
av
i
o
r
d
u
r
in
g
R
OV
o
p
er
atio
n
5
V
with
1
0
,
0
0
0
Ma
h
b
atter
y
b
an
k
f
o
r
d
i
g
ital d
ev
ices
3
.
3
.
H
a
rdwa
re
re
s
o
urce
utiliza
t
io
n
T
h
e
ass
ig
n
m
en
t
o
f
r
eso
u
r
ce
s
to
cr
itical
p
r
o
ce
s
s
es
u
n
v
eils
t
h
at
PID
3
2
8
6
(
R
OV
p
ar
allel
co
m
p
u
tin
g
alg
o
r
ith
m
)
was
th
e
o
n
e
with
th
e
lar
g
est
s
h
ar
e
with
7
6
%
o
f
ce
n
tr
al
p
r
o
ce
s
s
in
g
u
n
it
(
C
PU
)
an
d
1
3
.
9
%
o
f
r
an
d
o
m
-
ac
ce
s
s
m
em
o
r
y
(
R
A
M
)
.
Af
ter
t
h
is
,
th
e
v
id
eo
ca
p
t
u
r
e
alg
o
r
ith
m
(
PID
3
2
3
9
)
co
n
s
u
m
ed
3
9
%
o
f
C
PU
an
d
1
1
.
0
%
o
f
R
AM
,
an
d
th
e
v
ir
tu
al
n
etwo
r
k
c
o
m
p
u
tin
g
(
V
NC
)
p
r
o
to
co
l
f
o
r
r
em
o
te
ac
ce
s
s
(
PID
2
6
4
5
)
u
s
ed
3
1
%
o
f
C
PU
an
d
1
0
%
o
f
R
AM
.
T
h
e
ac
q
u
i
r
ed
3
D
p
o
s
itio
n
alg
o
r
ith
m
(
PID
3
2
6
3
)
,
th
e
o
n
e
th
at
was
in
ch
ar
g
e
o
f
th
e
d
ata
p
r
o
ce
s
s
in
g
f
r
o
m
t
h
e
MPU6
0
5
0
s
en
s
o
r
to
v
is
u
alize
th
e
3
D
p
o
s
itio
n
o
f
th
e
R
OV,
n
ee
d
ed
1
6
%
o
f
C
PU
an
d
2
%
o
f
R
AM
.
T
h
e
m
o
to
r
s
c
o
n
tr
o
l
al
g
o
r
ith
m
(
PID
1
2
0
3
)
also
s
h
o
wed
lo
wer
r
eso
u
r
ce
co
n
s
u
m
p
tio
n
at
1
0
%
C
PU
a
n
d
4
%
R
AM
,
a
n
d
t
h
e
m
ea
s
u
r
e
te
m
p
er
at
u
r
e
alg
o
r
it
h
m
(
P
I
D
3
2
2
3
)
,
w
h
ic
h
tr
ac
k
e
d
wit
h
th
e
DS1
8
B
2
0
s
en
s
o
r
,
at
8
%
C
P
U
an
d
4
%
R
AM
.
T
h
e
a
b
o
v
e
f
i
n
d
i
n
g
s
s
h
o
w
ca
s
e
t
h
e
ef
f
e
cti
v
e
all
o
c
ati
o
n
o
f
p
r
o
ce
s
s
i
n
g
p
o
we
r
a
cr
o
s
s
t
h
e
v
ar
i
o
u
s
c
o
n
tr
o
l
f
u
n
c
ti
o
n
s
,
t
h
u
s
e
n
s
u
r
i
n
g
th
e
s
ta
b
l
e
an
d
r
es
p
o
n
s
i
v
e
R
OV
o
p
er
ati
o
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
5
,
No
.
1
,
Ma
r
ch
20
2
6
:
1
81
-
1
89
188
4.
CO
NCLU
SI
O
N
T
h
e
R
OV
p
r
o
to
ty
p
e
c
o
n
ce
p
t,
as
p
lan
n
ed
,
was
s
u
cc
ess
f
u
lly
p
u
t
to
g
eth
e
r
an
d
test
ed
to
d
em
o
n
s
tr
ate
its
m
ec
h
an
ical
s
tab
ilit
y
an
d
f
u
n
c
tio
n
ality
in
th
e
wate
r
.
T
h
e
d
e
s
ig
n
,
b
u
o
y
an
cy
,
a
n
d
d
r
ag
f
o
r
c
e
an
aly
s
es
s
h
o
wed
th
at
th
e
R
OV
h
ad
p
o
s
itiv
e
s
tat
ic
s
tab
ilit
y
,
th
e
ce
n
ter
o
f
b
u
o
y
an
cy
b
ei
n
g
1
7
.
2
8
c
m
ab
o
v
e
t
h
e
ce
n
ter
o
f
g
r
av
ity
,
wh
ich
en
s
u
r
ed
s
tab
le
u
n
d
er
wa
ter
o
r
ien
tatio
n
d
u
r
in
g
o
p
er
atio
n
.
T
h
e
p
r
elim
i
n
ar
y
d
r
ag
an
al
y
s
is
wi
th
f
u
s
io
n
3
6
0
an
d
em
p
ir
ical
m
eth
o
d
s
m
a
d
e
it
clea
r
t
h
at
th
e
p
r
o
p
u
ls
io
n
s
y
s
tem
is
ca
p
ab
le
o
f
o
v
er
c
o
m
in
g
h
y
d
r
o
d
y
n
am
ic
r
esis
tan
ce
in
ca
lm
wate
r
co
n
d
itio
n
s
,
th
u
s
m
an
eu
v
er
ab
ilit
y
ca
n
b
e
e
f
f
icien
t.
T
ests
in
a
co
n
tr
o
lled
a
q
u
atic
en
v
ir
o
n
m
en
t
s
h
o
wed
th
at
th
e
R
OV
wa
s
ab
le
to
k
ee
p
s
tead
y
d
ep
th
an
d
m
ain
tain
its
d
ir
e
ctio
n
d
u
r
in
g
s
im
p
le
n
av
ig
atio
n
.
T
h
e
p
o
wer
p
r
o
f
ili
n
g
r
ev
ea
le
d
th
at
th
e
R
OV
co
u
ld
b
e
u
s
ed
f
o
r
ab
o
u
t
two
h
o
u
r
s
,
wh
ich
is
en
o
u
g
h
f
o
r
a
s
h
o
r
t
-
d
u
r
atio
n
in
s
p
ec
tio
n
an
d
m
o
n
ito
r
in
g
m
is
s
io
n
s
.
Nev
er
th
eless
,
th
e
r
esear
ch
is
co
n
f
in
ed
to
lab
o
r
at
o
r
y
-
s
ca
l
e
ex
p
er
im
en
ts
an
d
d
o
es
n
o
t
tak
e
in
to
co
n
s
id
er
atio
n
n
o
n
-
lin
ea
r
f
l
o
w
d
y
n
am
ics,
tu
r
b
u
len
ce
,
an
d
v
ar
iatio
n
s
in
th
e
o
p
en
s
ea
.
T
h
e
n
ex
t
s
tep
will
b
e
to
eq
u
ip
th
e
p
latf
o
r
m
with
r
ea
l
-
tim
e
s
en
s
o
r
f
u
s
io
n
f
o
r
ad
a
p
tiv
e
co
n
tr
o
l,
in
te
g
r
atio
n
o
f
SLAM
-
b
ased
n
av
ig
atio
n
m
o
d
u
les,
an
d
f
ield
test
in
g
in
d
y
n
am
ic
m
a
r
in
e
en
v
ir
o
n
m
en
t
s
to
d
eter
m
in
e
s
tab
ilit
y
an
d
a
u
to
n
o
m
y
o
v
er
tim
e.
Hen
ce
,
th
e
c
u
r
r
e
n
t
p
latf
o
r
m
p
r
o
v
id
es
a
s
o
lid
b
ase
f
o
r
th
e
f
u
r
th
er
d
e
v
elo
p
m
en
t
o
f
lo
w
-
c
o
s
t,
s
em
i
-
au
to
n
o
m
o
u
s
R
OVs d
esig
n
ed
f
o
r
co
r
al
r
ee
f
s
u
r
v
eillan
ce
an
d
e
n
v
ir
o
n
m
en
ta
l m
o
n
ito
r
in
g
p
u
r
p
o
s
es.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
T
h
is
is
p
ar
t
o
f
th
e
r
esear
c
h
p
r
o
ject
titl
ed
“
Dev
elo
p
m
en
t
o
f
a
n
ex
t
-
g
e
n
er
atio
n
a
u
to
n
o
m
o
u
s
u
n
d
er
wate
r
R
OV
f
o
r
co
r
al
r
ee
f
h
ea
lth
m
o
n
ito
r
in
g
in
GPS
-
d
en
ied
e
n
v
ir
o
n
m
en
ts
”
,
im
p
lem
e
n
ted
b
y
Ag
n
i
C
o
lleg
e
o
f
T
ec
h
n
o
lo
g
y
,
T
h
alam
b
u
r
,
C
h
e
n
n
ai
(
6
0
0
1
3
0
)
,
I
n
d
ia,
a
n
d
f
u
n
d
ed
b
y
I
n
d
ia
n
I
n
s
titu
te
o
f
T
ec
h
n
o
lo
g
y
T
ir
u
p
ati
Nav
av
is
h
k
ar
I
-
H
u
b
Fo
u
n
d
atio
n
(
I
I
T
T
NiF)
–
No
.
I
I
T
T
NiF/TPD/2
0
2
4
-
2
5
/P2
5
.
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
P
a
n
d
i
y
a
r
a
j
a
n
R
a
j
e
n
d
r
a
n
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Srin
iv
asan
Alav
an
d
ar
✓
✓
✓
✓
✓
✓
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
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z
a
t
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n
Su
:
Su
p
e
r
v
i
s
i
o
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P
:
P
r
o
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t
a
d
mi
n
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st
r
a
t
i
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Fu
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n
d
i
n
g
a
c
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u
i
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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
T
h
e
au
t
h
o
r
s
d
ec
lar
e
th
at
th
e
y
h
av
e
n
o
k
n
o
wn
c
o
m
p
etin
g
f
in
an
cial
in
ter
ests
o
r
p
er
s
o
n
al
r
el
atio
n
s
h
ip
s
th
at
co
u
ld
h
av
e
ap
p
ea
r
ed
t
o
in
f
lu
en
ce
th
e
wo
r
k
r
e
p
o
r
te
d
in
t
h
is
p
ap
er
.
Au
th
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ra
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8
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