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e
o
v
er
all
m
is
s
io
n
.
Ho
wev
er
,
co
n
v
e
n
tio
n
al
h
u
m
a
n
-
r
o
b
o
t
in
ter
ac
tio
n
tech
n
o
lo
g
ies
o
f
te
n
r
esu
lt
in
a
h
ig
h
er
c
o
g
n
itiv
e
lo
a
d
f
o
r
h
u
m
an
o
p
er
at
o
r
s
,
esp
ec
ially
in
m
an
ag
in
g
c
o
m
p
lex
r
o
b
o
tic
s
y
s
tem
s
[
2
]
.
C
o
n
v
e
n
tio
n
al
r
o
b
o
tic
p
r
o
ce
s
s
au
to
m
ati
o
n
(
R
PA)
an
d
in
d
u
s
tr
ial
r
o
b
o
t
s
ar
e
o
f
ten
d
esig
n
ed
u
s
in
g
r
ig
i
d
p
r
o
g
r
am
m
in
g
th
at
f
o
llo
ws
s
tr
ict
r
u
les
an
d
also
r
ec
eiv
e
f
ee
d
b
ac
k
f
r
o
m
lo
ca
lized
s
en
s
o
r
s
.
Pro
g
r
am
m
in
g
allo
ws
th
em
t
o
o
p
er
ate
in
a
h
ig
h
ly
ac
c
u
r
ate
m
an
n
er
;
h
o
wev
er
,
r
o
b
o
tic
au
to
m
atio
n
ca
n
n
o
t
wo
r
k
in
a
co
n
s
is
ten
tly
h
ig
h
ac
cu
r
ac
y
m
an
n
er
in
d
y
n
am
ic
in
d
u
s
tr
ial
en
v
ir
o
n
m
en
ts
b
ec
au
s
e
th
er
e
is
n
o
way
to
p
r
o
g
r
a
m
f
o
r
ev
er
y
p
o
ten
tial
en
v
ir
o
n
m
e
n
t
ed
g
e
ca
s
e
o
r
u
n
ex
p
ec
te
d
d
ata
in
p
u
t
—
it
h
as
b
ee
n
p
r
o
v
en
m
ath
em
atica
lly
th
at
th
is
is
im
p
o
s
s
ib
le.
T
h
is
r
esear
ch
cr
ea
tes
a
n
ew
way
in
wh
ich
lar
g
e
lan
g
u
a
g
e
m
o
d
els
ca
n
b
e
u
s
ed
to
r
ep
lace
th
e
f
r
eq
u
e
n
tly
u
s
ed
r
ig
id
r
u
les
an
d
o
n
ly
s
en
s
o
r
-
d
r
iv
e
n
p
ar
a
d
ig
m
s
f
o
u
n
d
in
th
e
tr
ad
itio
n
al
m
an
u
f
ac
tu
r
in
g
en
v
ir
o
n
m
en
ts
.
Un
lik
e
ex
is
tin
g
ap
p
r
o
ac
h
es
th
at
a
r
e
r
elian
t
o
n
f
ix
ed
r
u
le
s
ets,
th
e
u
s
e
o
f
g
en
er
ativ
e
ar
tific
ial
in
tellig
en
ce
(
GAI
)
em
p
o
wer
s
r
o
b
o
tic
s
y
s
tem
s
to
u
n
d
er
s
tan
d
,
p
r
o
ce
s
s
an
d
ac
t
u
p
o
n
n
atu
r
al
lan
g
u
ag
e
in
s
tr
u
ctio
n
s
f
r
o
m
h
u
m
an
o
p
er
ato
r
s
with
h
ig
h
lev
els
o
f
ac
c
u
r
ac
y
.
As
s
u
ch
,
GAI
en
ab
les
th
e
r
o
b
o
tic
s
y
s
tem
to
u
s
e
s
en
s
o
r
y
f
ee
d
b
ac
k
d
ata
in
r
ea
l
tim
e
to
m
ak
e
in
tellig
en
t
d
e
cisi
o
n
s
th
at
ar
e
in
f
o
r
m
e
d
b
y
b
o
th
co
n
tex
t
a
n
d
th
e
cu
r
r
en
t
s
tate
o
f
th
e
r
o
b
o
t,
th
u
s
elim
in
atin
g
th
e
d
i
v
id
e
b
etw
ee
n
m
ec
h
a
n
ical
p
r
ec
is
io
n
a
n
d
in
tellig
en
ce
s
im
ilar
to
th
at
o
f
a
h
u
m
a
n
[
3
]
,
[
4
]
.
T
h
e
p
u
r
p
o
s
e
o
f
th
is
s
tu
d
y
is
to
d
ev
elo
p
a
h
y
b
r
id
a
p
p
r
o
ac
h
th
at
in
teg
r
ates
co
m
p
u
ter
v
is
i
o
n
,
m
o
to
r
ac
tu
atio
n
,
an
d
la
r
g
e
lan
g
u
a
g
e
m
o
d
els
(
L
L
M)
b
ased
r
e
aso
n
in
g
-
allo
win
g
f
o
r
s
ea
m
less
h
u
m
an
/r
o
b
o
t
in
ter
ac
tio
n
with
in
th
e
in
d
u
s
tr
i
al
s
ec
to
r
.
T
h
e
f
r
am
ewo
r
k
will
b
e
b
u
ilt
u
p
o
n
a
m
o
d
u
lar
ar
ch
itectu
r
e,
wh
ich
will
co
n
s
is
t
o
f
a
R
asp
b
er
r
y
Pi
4
p
r
o
ce
s
s
in
g
u
n
it
an
d
an
L
L
M
API
,
en
ab
lin
g
th
e
r
o
b
o
t
to
co
n
v
er
t
h
ig
h
-
lev
el
h
u
m
a
n
in
ten
t
(
i.e
.
“
m
o
v
e
r
ig
h
t
an
d
a
v
o
id
th
e
o
b
s
tacle
”
)
in
to
p
r
ec
i
s
e
m
o
tio
n
co
m
m
an
d
s
an
d
co
n
cu
r
r
e
n
tly
n
av
i
g
ate
th
r
o
u
g
h
d
y
n
am
ic
wo
r
k
en
v
i
r
o
n
m
en
ts
u
s
in
g
v
is
io
n
-
b
ased
o
b
ject
d
etec
tio
n
.
T
h
e
wo
r
k
f
lo
w
o
f
s
tu
d
y
d
is
p
lay
in
Fig
u
r
e
1.
Fig
u
r
e
1
.
W
o
r
k
i
n
g
f
l
o
w
o
f
a
u
to
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
t
T
h
e
n
ew
v
alu
e
ad
d
ed
b
y
th
is
r
esear
ch
is
th
e
in
teg
r
atio
n
o
f
L
L
Ms,
wh
ich
ca
n
h
elp
r
o
b
o
ts
o
v
er
co
m
e
th
e
in
h
er
en
t
in
f
lex
i
b
ilit
y
o
f
tr
a
d
itio
n
al
r
u
le
-
b
ased
an
d
s
en
s
o
r
-
b
ased
ap
p
r
o
ac
h
es.
Un
lik
e
tr
a
d
itio
n
al
ap
p
r
o
ac
h
es
th
at
h
ea
v
ily
r
ely
o
n
in
s
tr
u
cti
o
n
s
an
d
r
u
les,
th
e
ap
p
licatio
n
o
f
L
L
M
-
b
ased
AI
ca
n
e
n
ab
le
r
o
b
o
ts
to
in
ter
p
r
et
an
d
u
n
d
er
s
tan
d
h
u
m
an
lan
g
u
ag
e
m
o
r
e
e
f
f
ec
tiv
ely
.
T
h
is
ca
n
e
n
a
b
le
th
e
r
o
b
o
t
t
o
m
a
k
e
i
n
tellig
en
t
d
ec
is
io
n
s
in
r
ea
l
-
tim
e
b
ased
o
n
s
en
s
o
r
in
p
u
ts
,
ef
f
ec
tiv
ely
b
r
id
g
in
g
th
e
g
a
p
b
etwe
en
th
e
p
r
ec
is
io
n
o
f
m
ac
h
in
es
an
d
th
e
in
tellig
en
ce
o
f
h
u
m
a
n
s
[
5
]
.
T
h
is
p
r
o
b
lem
is
a
d
d
r
ess
ed
b
y
p
r
o
p
o
s
in
g
a
n
o
v
el
way
t
o
in
co
r
p
o
r
ate
ag
en
tic
L
L
Ms
with
in
in
d
u
s
tr
ial
au
to
m
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n
u
s
in
g
th
e
Gr
ap
h
R
AG
ar
ch
itectu
r
e
f
o
r
c
o
n
tex
t
-
d
r
iv
en
d
ec
is
io
n
-
m
ak
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
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to
m
I
SS
N:
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-
2
5
8
6
I
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r
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text
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kin
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…
(
V
is
h
n
u
K
u
ma
r
Mis
h
r
a
)
609
As
o
p
p
o
s
ed
to
co
n
v
en
t
io
n
a
l
m
eth
o
d
s
wh
e
r
e
d
e
ter
m
in
i
s
t
ic
r
u
le
s
w
er
e
u
s
ed
,
o
u
r
n
o
v
el
f
r
am
e
wo
r
k
u
s
e
s
th
e
L
L
M
s
to
a
ct
as
a
n
in
t
er
m
e
d
i
ar
y
s
u
p
er
v
i
s
o
r
a
n
d
m
ed
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at
e
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e
tw
ee
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lo
g
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l
p
r
o
g
r
am
m
in
g
an
d
en
v
ir
o
n
m
en
ta
l
r
ea
li
ty
.
T
h
is
r
e
s
e
ar
ch
a
im
s
to
d
ev
e
lo
p
a
h
y
b
r
id
ap
p
r
o
ac
h
f
o
r
s
e
am
l
es
s
h
u
m
an
-
r
o
b
o
t
in
t
er
a
ct
io
n
s
b
y
in
teg
r
at
in
g
c
o
m
p
u
te
r
v
i
s
io
n
,
m
o
t
o
r
co
n
tr
o
l,
an
d
L
L
M
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b
a
s
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d
ec
i
s
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n
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m
ak
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g
f
o
r
a
m
o
r
e
in
t
el
lig
en
t
r
o
b
o
t
ic
s
y
s
tem
,
b
y
u
ti
li
zin
g
a
m
o
d
u
lar
s
y
s
te
m
ar
ch
it
ec
tu
r
e
co
n
s
i
s
tin
g
o
f
a
R
as
p
b
er
r
y
P
i
4
p
r
o
ce
s
s
i
n
g
u
n
i
t
an
d
an
L
L
M
API
,
th
e
p
r
o
p
o
s
ed
s
y
s
t
em
ca
n
en
ab
l
e
th
e
tr
an
s
la
ti
o
n
o
f
h
ig
h
-
l
ev
e
l
h
u
m
an
in
t
en
t
io
n
s
(
e.
g
.
,
“
m
o
v
e
r
ig
h
t
an
d
av
o
id
th
e
o
b
s
t
ac
le
”
)
in
t
o
p
r
e
ci
s
e
m
o
to
r
m
o
v
em
en
t
s
w
h
il
e
n
av
ig
at
in
g
th
e
en
v
ir
o
n
m
en
t
th
r
o
u
g
h
co
m
p
u
t
er
v
i
s
io
n
-
b
a
s
ed
o
b
je
ct
d
e
te
ct
i
o
n
.
I
n
o
r
d
er
to
ac
h
iev
e
t
h
e
g
o
al
s
o
f
th
i
s
r
es
ea
r
ch
p
r
o
je
ct
,
d
ev
e
lo
p
i
n
g
a
m
o
r
e
ad
v
an
ce
d
an
d
ca
p
ab
l
e
r
o
b
o
t
ic
s
y
s
tem
th
at
c
an
b
e
u
s
ed
in
m
a
n
y
d
i
f
f
er
en
t
way
s
i
s
th
e
ai
m
o
f
th
is
r
e
s
e
ar
c
h
[
6
]
,
[
7
]
.
T
h
e
p
ap
e
r
'
s
s
co
p
e
was
s
h
ar
p
en
ed
b
y
ex
p
licitly
co
n
n
ec
tin
g
th
e
au
t
o
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
t
(
AM
R
)
p
latf
o
r
m
to
in
d
u
s
tr
ial
s
af
ety
p
r
o
to
co
ls
,
m
a
n
u
f
ac
tu
r
in
g
e
f
f
i
cien
cy
,
an
d
h
u
m
an
-
m
ac
h
in
e
co
llab
o
r
atio
n
.
T
h
e
in
tr
o
d
u
ctio
n
n
o
w
clar
i
f
ies
h
o
w
L
L
M
-
d
r
iv
e
n
r
ea
s
o
n
in
g
ad
d
r
ess
es
th
e
m
ath
em
atica
l
im
p
o
s
s
ib
ilit
y
o
f
p
r
o
g
r
a
m
m
in
g
tr
ad
itio
n
al
r
u
le
-
b
ased
r
o
b
o
ts
f
o
r
e
v
er
y
in
d
u
s
tr
i
al
ed
g
e
ca
s
e.
T
h
e
ev
o
lu
tio
n
o
f
r
o
b
o
tics
h
as seen
a
s
ig
n
if
ican
t p
ar
ad
ig
m
s
h
if
t f
r
o
m
co
n
v
en
tio
n
al
s
im
p
le
m
ec
h
an
ical
m
an
ip
u
lato
r
s
to
h
ig
h
ly
ad
v
an
ce
d
m
ac
h
in
es
in
c
o
r
p
o
r
atin
g
th
e
u
s
e
o
f
ar
tific
ial
in
tellig
en
c
e.
T
h
e
m
ai
n
g
o
al
o
f
au
to
n
o
m
o
u
s
r
o
b
o
tics
in
th
e
c
o
n
tem
p
o
r
ar
y
w
o
r
ld
h
as
b
ee
n
to
ad
d
r
ess
th
e
wo
r
ld
'
s
ef
f
icien
cy
an
d
ac
cu
r
ac
y
ch
allen
g
es
b
y
en
ab
lin
g
m
ac
h
in
es
to
p
er
f
o
r
m
task
s
in
d
ep
en
d
en
tly
,
h
en
ce
r
e
d
u
cin
g
t
h
e
lev
el
o
f
h
u
m
a
n
in
ter
f
er
en
ce
.
Ho
wev
er
,
co
n
v
e
n
tio
n
al
r
o
b
o
ts
u
s
e
p
r
e
-
d
ef
in
e
d
alg
o
r
ith
m
s
an
d
co
n
f
ig
u
r
atio
n
s
in
th
eir
o
p
er
atio
n
s
,
wh
ich
m
ak
es
th
em
less
ef
f
icien
t
an
d
m
o
r
e
i
n
clin
ed
to
ad
ap
tin
g
to
u
n
s
tr
u
ctu
r
ed
en
v
ir
o
n
m
en
ts
.
T
h
is
h
as
s
ee
n
th
e
u
s
e
o
f
lar
g
e
lan
g
u
ag
e
m
o
d
els
an
d
h
ig
h
ly
a
d
v
an
ce
d
h
u
m
an
-
s
war
m
in
ter
ac
tio
n
tech
n
iq
u
es
to
m
a
k
e
th
e
r
o
b
o
ts
m
o
r
e
ef
f
icien
t
[
8
]
.
W
h
er
ea
s
th
e
co
m
m
o
n
ap
p
r
o
ac
h
in
v
o
l
v
es
r
ep
lacin
g
r
o
b
o
t
p
r
e
cisi
o
n
with
AI
alg
o
r
it
h
m
s
,
we
in
tr
o
d
u
ce
th
e
u
s
e
o
f
L
L
Ms to
in
ter
p
r
et
h
u
m
an
in
ten
t,
in
clu
d
in
g
th
e
n
o
t
io
n
o
f
t
h
e
f
ac
t th
at
“
J
o
h
n
S
”
is
th
e
s
am
e
p
er
s
o
n
as
“
J
o
h
n
Sm
ith
,
”
an
d
ex
ec
u
te
t
h
e
lo
g
ical
d
ec
is
io
n
s
m
ad
e
v
ia
r
o
b
o
tic
m
ea
n
s
.
T
h
e
tech
n
iq
u
e
u
s
es
“
ex
p
ed
ie
n
t
in
v
o
ca
tio
n
”
in
o
r
d
e
r
to
r
e
d
u
ce
th
e
tr
em
en
d
o
u
s
am
o
u
n
t
o
f
e
n
er
g
y
co
n
s
u
m
ed
b
y
co
n
s
tan
t
AI
in
v
o
ca
tio
n
s
an
d
av
o
i
d
laten
cy
p
r
o
b
lem
s
;
L
L
Ms
will
o
n
ly
b
e
u
s
ed
f
o
r
h
ig
h
-
lev
el
r
ea
s
o
n
in
g
if
d
eter
m
in
e
d
lo
ca
l
R
eg
ex
an
d
d
eter
m
in
is
tic
f
in
it
e
au
to
m
ato
n
(
DFA)
f
ilter
s
f
ai
l
to
m
ak
e
s
en
s
e
o
f
th
e
in
p
u
t
Ma
n
y
r
ec
en
t
s
tu
d
ies
in
d
icate
th
at
b
y
in
teg
r
atin
g
n
atu
r
al
lan
g
u
ag
e
p
r
o
ce
s
s
in
g
(
NL
P)
in
to
m
ec
h
an
ical
m
an
ip
u
latio
n
v
ia
r
o
b
o
ts
allo
ws
th
e
cr
ea
tio
n
o
f
ad
d
itio
n
al
ty
p
es
o
f
in
ter
ac
tio
n
b
etwe
en
r
o
b
o
ts
an
d
h
u
m
a
n
s
.
L
ar
g
e
lan
g
u
ag
e
m
o
d
els
,
s
u
ch
as
GPT
m
o
d
els,
allo
w
r
o
b
o
t
s
to
u
n
d
er
s
tan
d
co
m
p
lex
n
atu
r
al
lan
g
u
ag
e
in
p
u
ts
an
d
m
a
k
e
co
n
tex
t
-
awa
r
e
d
ec
is
io
n
s
in
r
ea
l
-
tim
e.
R
esear
ch
er
s
h
av
e
s
h
o
wn
th
at
th
e
f
u
s
io
n
o
f
L
L
Ms
an
d
b
eh
av
io
r
tr
ee
s
(
B
T
s
)
en
ab
les
r
o
b
o
ts
to
d
ea
l
with
u
n
ex
p
ec
ted
ev
en
ts
m
o
r
e
ef
f
ec
tiv
ely
co
m
p
ar
ed
to
tr
ad
itio
n
a
l
r
u
le
-
b
ased
s
y
s
tem
s
.
I
n
ad
d
itio
n
,
h
y
b
r
id
m
o
d
els
o
f
L
L
Ms
an
d
B
T
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
f
o
r
h
u
m
an
o
id
r
o
b
o
ts
to
im
p
r
o
v
e
e
m
o
tio
n
al
in
tellig
e
n
c
e
an
d
n
at
u
r
al
h
u
m
an
in
ter
ac
tio
n
[
9
]
,
[
1
0
]
.
T
h
e
o
r
i
g
in
ality
o
f
th
e
m
an
u
s
cr
ip
t
lies
in
th
e
co
n
ce
p
t
o
f
“
e
x
p
ed
ien
t
i
n
v
o
ca
tio
n
,
”
wh
ic
h
m
ax
im
izes
ef
f
icien
cy
b
y
i
n
v
o
k
in
g
h
ig
h
e
r
-
o
r
d
e
r
r
ea
s
o
n
in
g
o
n
ly
wh
en
lo
ca
l
R
eg
ex
/DFA
f
ilter
s
p
r
o
v
e
in
a
d
eq
u
ate.
I
t
em
p
h
asized
h
o
w
o
u
r
h
y
b
r
id
r
ea
s
o
n
in
g
s
ch
em
e
was
n
o
v
el
d
u
e
t
o
its
in
co
r
p
o
r
ati
o
n
o
f
Gr
ap
h
R
AG
as
an
in
ter
m
ed
iate
s
u
p
e
r
v
is
o
r
to
b
alan
ce
d
eter
m
i
n
atio
n
an
d
r
e
al
-
wo
r
ld
c
o
n
tex
t.
R
eso
u
r
ce
o
p
tim
izatio
n
i
n
th
is
d
esig
n
is
ac
h
ie
v
ed
b
y
u
s
in
g
th
e
L
L
M
as
a
last
r
eso
r
t
th
r
o
u
g
h
th
e
cl
o
u
d
o
n
l
y
in
th
o
s
e
5
%
o
f
ex
p
e
r
im
en
ts
wh
er
e
th
er
e
o
cc
u
r
s
an
a
m
b
iv
al
en
t n
av
ig
atio
n
ex
ce
p
tio
n
.
C
o
llab
o
r
ativ
e
r
o
b
o
tics
with
in
teg
r
ated
L
L
Ms
p
r
o
v
id
e
a
n
in
c
r
ea
s
ed
lev
el
o
f
i
n
d
u
s
tr
ial
s
af
ety
th
r
o
u
g
h
f
ails
af
e
r
ea
s
o
n
s
,
alo
n
g
with
tr
an
s
lu
ce
n
t
u
n
ce
r
tain
ty
c
o
m
m
u
n
icatio
n
,
h
elp
in
g
d
ev
el
o
p
in
d
u
s
tr
ial
h
u
m
an
tr
u
s
t
.
T
h
e
u
s
e
o
f
a
ca
s
ca
d
in
g
au
to
m
ata
f
r
am
ewo
r
k
in
cr
ea
s
es
o
p
er
atio
n
al
ef
f
icien
cy
b
y
b
r
in
g
i
n
g
clo
u
d
-
m
o
d
els
in
to
p
lay
o
n
ly
f
o
r
co
m
p
lex
s
itu
atio
n
s
.
T
h
er
ef
o
r
e,
th
is
u
s
e
o
f
a
h
y
b
r
id
a
p
p
r
o
ac
h
allo
ws
au
to
n
o
m
o
u
s
s
y
s
tem
s
to
ad
ju
s
t
th
eir
p
er
f
o
r
m
an
ce
o
n
th
e
f
ly
u
s
in
g
ze
r
o
-
s
h
o
t
lear
n
in
g
.
T
h
er
e
is
a
d
ef
i
n
ite
c
o
n
n
ec
tio
n
b
etwe
en
d
eter
m
in
is
tic
au
to
m
atio
n
an
d
h
u
m
an
-
lik
e
c
o
g
n
itiv
e
AI
.
A
n
ew
ap
p
licatio
n
o
f
ag
e
n
t
-
b
ased
L
L
Ms
in
th
e
co
n
tex
t
o
f
in
d
u
s
tr
ial
au
to
m
ati
o
n
b
ased
o
n
th
e
Gr
ap
h
R
AG
ar
ch
itectu
r
e
f
r
am
ew
o
r
k
is
p
r
o
p
o
s
ed
in
th
e
p
a
p
er
.
W
h
ile
d
eter
m
in
is
tic
tech
n
iq
u
es
ar
e
u
s
ed
tr
ad
itio
n
ally
,
L
L
Ms
wo
r
k
h
er
e
as
an
in
t
er
m
ed
iate
lay
er
o
f
s
u
p
er
v
is
io
n
th
at
co
n
n
ec
ts
lo
g
i
c
p
r
o
g
r
a
m
m
in
g
with
th
e
r
ea
l
wo
r
ld
.
Sp
ec
if
ic
co
n
tr
i
b
u
tio
n
s
ar
e
L
L
M
in
teg
r
atio
n
th
r
o
u
g
h
“
ex
p
ed
ien
t
in
v
o
ca
ti
o
n
,
”
m
o
d
u
lar
ar
ch
itectu
r
e,
an
d
h
y
b
r
id
v
is
io
n
-
lan
g
u
a
g
e
co
n
tr
o
l.
Pre
cise
co
n
tr
ib
u
tio
n
s
in
clu
d
e
L
L
M
in
teg
r
atio
n
v
ia
“
ex
p
e
d
ien
t
in
v
o
c
atio
n
”
(
u
s
in
g
L
L
Ms
o
n
ly
wh
e
n
lo
ca
l
f
ilter
s
f
ail)
,
a
m
o
d
u
lar
ar
ch
itectu
r
e
,
an
d
h
y
b
r
id
v
is
io
n
-
la
n
g
u
a
g
e
co
n
t
r
o
l.
T
h
e
p
r
im
ar
y
f
o
c
u
s
o
f
HSI
r
esear
ch
is
th
e
d
e
v
elo
p
m
e
n
t
o
f
A
MR
r
o
b
o
tic
s
war
m
s
y
s
tem
s
th
at
allo
w
a
s
in
g
le
h
u
m
an
o
p
e
r
ato
r
to
m
o
n
ito
r
m
u
ltip
le
au
to
n
o
m
o
u
s
r
o
b
o
ts
wo
r
k
in
g
to
g
et
h
er
to
ac
c
o
m
p
lis
h
a
m
is
s
io
n
th
r
o
u
g
h
co
o
r
d
in
ate
d
in
ter
ac
tio
n
am
o
n
g
th
em
s
elv
es.
T
h
is
ar
ea
o
f
r
esear
c
h
h
as
m
o
v
ed
f
r
o
m
an
er
a
o
f
m
an
u
ally
co
n
tr
o
llin
g
i
n
d
iv
id
u
al
r
o
b
o
ts
to
o
n
e
wh
e
r
e
an
o
p
er
ato
r
u
s
es th
eir
s
u
p
er
v
is
o
r
s
k
ills
to
m
an
ag
e
an
en
tire
m
is
s
io
n
an
d
m
ay
s
witch
b
etwe
en
b
ein
g
“
on
-
l
o
o
p
”
(
s
u
p
er
v
is
in
g
)
an
d
“
in
-
lo
o
p
”
(
ac
tiv
ely
m
a
k
in
g
d
e
cisi
o
n
s
)
[
1
1
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
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2
5
8
6
I
AE
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R
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&
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to
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Vo
l
.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
6
0
7
-
6
2
0
610
a.
R
em
o
te
I
n
ter
ac
tio
n
:
Du
e
to
th
e
n
ee
d
f
o
r
r
o
b
o
ts
to
o
p
er
ate
in
h
az
ar
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o
u
s
o
r
d
if
f
icu
lt
to
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ce
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s
en
v
ir
o
n
m
en
ts
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r
e
m
o
te
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er
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is
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ec
o
m
in
g
th
e
n
o
r
m
r
e
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ar
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f
h
o
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f
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y
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e
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p
e
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ato
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is
f
r
o
m
th
e
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o
b
o
t.
I
n
o
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er
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h
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lar
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e
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n
t
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u
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er
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g
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m
er
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ter
f
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ir
t
u
al
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ea
lity
(
VR
)
an
d
au
g
m
en
t
ed
r
ea
lity
(
AR
)
.
Su
ch
s
o
lu
tio
n
s
,
in
cl
u
d
in
g
th
e
im
m
er
s
iv
e
in
ter
ac
tio
n
in
ter
f
a
ce
(
I
3
)
,
h
a
v
e
s
h
o
wn
th
at
a
s
in
g
le
h
u
m
an
ca
n
d
ep
lo
y
a
n
d
c
o
n
tr
o
l a
s
m
a
n
y
as
o
n
e
h
u
n
d
r
ed
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ete
r
o
g
e
n
eo
u
s
r
o
b
o
ts
in
u
r
b
an
e
n
v
ir
o
n
m
en
ts
[
1
2
]
.
b.
Pro
x
im
al
I
n
ter
ac
tio
n
:
I
n
p
r
o
x
im
ity
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ased
s
h
ar
ed
p
h
y
s
ical
en
v
ir
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n
m
en
ts
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an
o
p
er
ato
r
ca
n
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s
e
g
estu
r
es,
to
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ch
an
d
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m
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a
n
d
s
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af
f
ec
t
s
war
m
r
o
b
o
t
b
e
h
a
v
io
r
.
So
m
e
a
d
v
an
ce
d
m
eth
o
d
s
o
f
p
r
o
x
im
al
in
ter
ac
tio
n
in
clu
d
e
h
ap
tic
f
ee
d
b
ac
k
d
ev
ices lik
e
v
i
b
r
o
tactile
g
lo
v
es,
n
o
n
-
in
v
asiv
e
b
r
ain
-
c
o
m
p
u
ter
in
ter
f
ac
e
(
B
C
I
)
f
o
r
d
ir
ec
t c
o
n
tr
o
l
o
f
r
o
b
o
ts
,
an
d
f
u
ll
b
o
d
y
m
o
tio
n
d
ete
ctio
n
to
d
ir
ec
t m
u
ltip
le
d
r
o
n
e
s
war
m
s
[
1
3
]
.
C
o
n
tr
o
l
m
eth
o
d
s
f
o
r
m
u
lti
-
r
o
b
o
t
s
y
s
tem
s
ca
n
b
e
b
r
o
ad
ly
class
if
ied
in
to
f
o
u
r
ty
p
es:
b
eh
av
io
r
/alg
o
r
ith
m
s
elec
tio
n
m
eth
o
d
s
,
p
ar
am
eter
s
ettin
g
m
eth
o
d
s
,
en
v
ir
o
n
m
en
tal
i
n
f
lu
en
ce
m
eth
o
d
s
(
u
s
in
g
v
ir
tu
al
p
h
er
o
m
o
n
es
a
n
d
b
ea
co
n
s
)
,
an
d
lead
e
r
s
elec
tio
n
m
eth
o
d
s
.
Am
o
n
g
all
ty
p
es
o
f
co
n
tr
o
l
m
eth
o
d
s
,
lead
e
r
s
elec
tio
n
is
b
es
t
u
s
ed
f
o
r
tel
ep
o
r
tatio
n
b
u
t
is
s
u
s
ce
p
tib
le
to
ad
v
er
s
ar
ial
attac
k
s
.
Au
to
n
o
m
y
lev
els
g
r
ea
tly
in
f
lu
en
ce
wo
r
k
l
o
ad
.
T
h
e
d
ir
ec
tio
n
is
s
h
if
tin
g
to
f
lex
ib
le
au
to
n
o
m
y
,
wh
ich
ca
n
b
e
ad
a
p
tab
le
(
h
u
m
an
-
i
n
v
o
k
ed
)
,
ad
ap
tiv
e
(
s
o
f
twar
e
-
i
n
v
o
k
ed
)
,
a
n
d
m
ix
e
d
-
in
itiativ
e
(
s
h
ar
ed
h
u
m
an
an
d
s
o
f
twar
e)
[
1
4
]
.
2.
P
RO
P
O
SE
D
M
E
T
H
O
D/
AL
G
O
RIT
H
M
/P
RO
CE
D
URE
A
s
i
ll
u
s
t
r
a
t
e
d
i
n
t
h
e
r
e
f
e
r
e
n
c
ed
s
o
u
r
c
e
m
a
t
e
r
i
a
ls
,
t
h
e
m
et
h
o
d
o
l
o
g
y
u
s
e
d
t
o
i
n
t
e
g
r
a
t
e
l
a
r
g
e
l
a
n
g
u
a
g
e
m
o
d
e
l
s
(
L
L
Ms
)
i
n
t
o
c
o
o
p
e
r
a
tiv
e
i
n
d
u
s
t
r
ia
l
r
o
b
o
ts
i
n
v
o
l
v
es
a
m
o
d
u
l
a
r
s
y
s
t
e
m
t
h
a
t
t
r
i
es
t
o
b
r
i
d
g
e
t
h
e
d
i
f
f
e
r
e
n
ce
b
e
t
w
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e
n
A
I
-
b
as
e
d
t
e
c
h
n
o
l
o
g
y
a
n
d
m
e
c
h
a
n
i
c
a
l
a
c
c
u
r
a
c
y
.
T
h
is
m
e
t
h
o
d
c
a
n
b
e
b
r
o
k
e
n
d
o
w
n
i
n
t
o
t
h
r
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e
p
r
i
m
a
r
y
s
e
c
ti
o
n
s
:
I
n
p
u
t
,
P
r
o
c
ess
i
n
g
,
a
n
d
O
u
t
p
u
t
.
2
.
1
.
H
a
rdwa
re
s
elec
t
io
n a
nd
im
plem
ent
a
t
io
n
T
h
e
s
y
s
t
e
m
wi
l
l
b
e
i
m
p
l
e
m
e
n
t
e
d
u
s
i
n
g
c
o
s
t
-
e
f
f
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ct
i
v
e
a
n
d
s
c
a
l
a
b
l
e
h
a
r
d
wa
r
e
t
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s
u
r
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t
h
e
s
y
s
t
e
m
’
s
a
f
f
o
r
d
a
b
i
l
i
t
y
w
it
h
o
u
t
c
o
m
p
r
o
m
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s
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n
g
f
u
n
c
t
i
o
n
a
li
t
y
,
as
d
e
p
i
c
t
e
d
i
n
F
i
g
u
r
e
2
.
a.
P
o
w
e
r
:
T
h
e
s
y
s
t
e
m
w
il
l
u
t
il
i
z
e
a
r
e
c
h
a
r
g
e
a
b
l
e
L
i
t
h
i
u
m
-
I
o
n
b
a
t
t
e
r
y
p
a
c
k
.
b.
A
c
t
u
a
t
i
o
n
:
T
h
e
s
y
s
t
e
m
w
i
ll
u
t
ili
z
e
a
f
o
u
r
-
w
h
e
e
l
c
h
ass
is
p
r
o
p
e
ll
e
d
b
y
B
O
m
o
t
o
r
s
a
n
d
c
o
n
t
r
o
l
le
d
b
y
a
n
L
2
9
8
N
m
o
t
o
r
d
r
i
v
e
r
.
c.
M
a
i
n
c
o
n
t
r
o
l
l
e
r
:
T
h
e
s
y
s
t
e
m
wi
l
l
u
t
il
i
z
e
a
R
as
p
b
e
r
r
y
P
i
4
as
t
h
e
m
a
i
n
c
o
n
t
r
o
l
l
e
r
.
d.
V
i
s
u
al
i
n
p
u
t
:
T
h
e
s
y
s
t
e
m
w
i
ll
u
t
i
l
i
z
e
a
w
e
b
c
a
m
p
l
a
c
e
d
i
n
t
h
e
b
e
s
t
p
o
s
it
i
o
n
t
o
o
b
t
a
i
n
t
h
e
d
esi
r
e
d
i
n
f
o
r
m
a
t
i
o
n
f
r
o
m
t
h
e
e
n
v
i
r
o
n
m
e
n
t
.
Fig
u
r
e
2
.
Au
t
o
n
o
m
o
u
s
m
o
b
ile
r
o
b
o
ts
(
AM
R
s
)
2
.
2
.
S
y
s
t
e
m
a
r
c
h
i
t
ec
t
u
r
e
Fig
u
r
e
3
d
e
p
icts
th
e
m
eth
o
d
o
lo
g
y
u
s
ed
to
i
n
teg
r
ate
L
L
Ms
in
to
co
o
p
e
r
ativ
e
AM
R
r
o
b
o
ts
as
r
ef
er
en
ce
d
in
th
e
s
o
u
r
ce
m
a
t
e
r
i
a
l
s
;
th
is
is
a
m
o
d
u
lar
ized
m
eth
o
d
th
at
attem
p
ts
to
b
r
id
g
e
th
e
g
a
p
b
etwe
en
ar
tific
ial
in
tellig
en
ce
(
AI
)
an
d
p
r
ec
is
io
n
en
g
i
n
ee
r
in
g
[
1
5
]
,
[
1
6
]
.
T
h
e
m
eth
o
d
is
d
iv
id
ed
in
to
th
r
ee
m
ajo
r
co
m
p
o
n
en
ts
:
in
p
u
t,
p
r
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s
s
in
g
,
an
d
o
u
tp
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o
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v
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al
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as
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p
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e
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p
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wr
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p
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b
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in
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ase6
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f
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t
p
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f
o
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m
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g
h
th
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o
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in
ten
t
a
n
d
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v
ir
o
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m
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in
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[
1
7
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.
c.
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1
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Va
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3.
M
E
T
H
O
DO
L
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Y
M
AT
H
E
M
A
T
I
CAL
M
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AND
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RI
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H
M
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T
h
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m
ath
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m
atica
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m
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I
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Dr
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R
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s
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in
th
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is
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ten
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p
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m
o
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d
a
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p
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el
in
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d
e
[
1
9
]
:
3
.
1
.
K
ine
m
a
t
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delin
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T
h
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m
o
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o
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ased
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[
2
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a.
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ich
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I
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R
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s
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e
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ad
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ee
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d
is
t
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ee
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ile
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o
f
th
e
r
ig
h
t a
n
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ls
r
esp
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.
3
.
2
.
P
a
t
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pla
nn
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a
nd
t
ra
j
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o
ry
ca
lcula
t
i
o
n
Fo
r
s
af
e
n
av
ig
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in
co
m
p
le
x
en
v
ir
o
n
m
en
ts
,
th
e
s
y
s
tem
em
p
lo
y
s
th
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f
o
llo
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g
:
a.
(A
-
Star
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Alg
o
r
ith
m
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Fo
r
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latin
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s
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t p
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in
t,
a
v
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g
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b
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tacle
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alo
n
g
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way
[
2
1
]
,
[
2
2
]
.
T
h
e
f
o
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m
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la
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s
ed
is
:
(
)
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(
)
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b.
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ased
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ajec
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)
:
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t
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alg
o
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YOL
O,
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e
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m
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u
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s
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p
ath
b
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p
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ix
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al
-
d
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e
cted
f
o
r
ce
a
n
d
th
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r
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u
ls
io
n
f
o
r
ce
[
2
3
]
:
s
a
f
e
=
goa
l
+
r
e
puls
ion
(
4
)
Her
e,
is
th
e
d
ir
ec
tio
n
to
war
d
s
th
e
g
o
al,
an
d
is
th
e
d
ir
ec
tio
n
awa
y
f
r
o
m
th
e
o
b
s
tacle
s
,
wh
ich
s
h
o
u
ld
alwa
y
s
b
e
p
r
esen
t
to
av
o
id
co
llis
io
n
s
.
Pro
ce
s
s
ed
s
eq
u
en
tially
to
o
b
tain
th
e
tr
an
s
f
o
r
m
atio
n
f
r
o
m
th
e
b
ase
to
th
e
e
n
d
-
ef
f
ec
t
o
r
f
r
am
e
(
4
)
.
3
.
3
.
St
a
bil
it
y
a
nd
s
peed
co
ntr
o
l
I
n
o
r
d
e
r
to
en
s
u
r
e
s
tab
ilit
y
an
d
th
at
th
e
r
o
b
o
t
f
o
llo
ws
th
e
d
esire
d
p
ath
co
r
r
ec
tly
,
th
e
s
y
s
tem
u
s
es
a
ty
p
e
o
f
c
o
n
tr
o
ller
ca
lled
PID
[
2
4
]
.
T
h
is
ty
p
e
o
f
co
n
tr
o
ller
wo
r
k
s
as f
o
llo
ws r
ep
r
esen
t in
Fig
u
r
e
4
.
a.
PID
co
n
tr
o
ller
f
o
r
m
u
la
=
⋅
+
∫
+
(
5
)
w
h
er
e
r
ep
r
esen
ts
th
e
er
r
o
r
v
al
u
e
o
f
th
e
d
esire
d
s
p
ee
d
/
p
o
s
itio
n
an
d
t
h
e
ac
tu
al
s
p
ee
d
/p
o
s
itio
n
[
2
5
]
.
b.
Mo
to
r
ex
ec
u
tio
n
(
PW
M)
:
T
h
e
s
p
ee
d
an
d
d
ir
ec
tio
n
o
f
th
e
m
o
to
r
ar
e
co
n
tr
o
lled
th
r
o
u
g
h
a
p
u
ls
e
wid
th
m
o
d
u
latio
n
co
n
tr
o
ll
er
[
2
6
]
:
Duty
C
yc
l
e
=
S
p
eed
Max
S
p
eed
×
100
(
6
)
Fig
u
r
e
4
.
T
h
e
I
n
telliDr
iv
e
a
u
to
n
o
m
o
u
s
r
o
b
o
tic
r
o
v
er
s
y
s
tem
'
s
tech
n
ical
s
ch
em
atic
an
d
m
ath
em
atica
l
f
o
u
n
d
atio
n
4.
SO
F
T
WAR
E
E
NVIRO
N
M
E
NT
F
O
R
T
H
E
I
N
T
E
L
L
I
D
RIVE
A
UT
O
NO
M
O
US R
O
B
O
T
T
h
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s
o
f
twar
e
en
v
ir
o
n
m
en
t
f
o
r
th
e
I
n
telliDr
iv
e
au
to
n
o
m
o
u
s
r
o
b
o
t
is
b
ased
o
n
a
Py
th
o
n
-
b
ased
f
r
am
ewo
r
k
im
p
lem
en
ted
in
th
e
R
asp
b
er
r
y
Pi o
p
er
atin
g
s
y
s
tem
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
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b
&
A
u
to
m
I
SS
N:
2722
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Mis
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613
4
.
1
.
P
y
t
ho
n:
T
he
co
re
pro
g
r
a
m
m
ing
l
a
ng
ua
g
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Py
t
h
o
n
is
t
h
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m
a
in
p
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o
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h
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n
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r
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v
e
r
o
b
o
t
.
Py
t
h
o
n
h
as
t
h
e
m
a
in
f
u
n
cti
o
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f
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t
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d
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f
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th
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A
I
s
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s
tem
in
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h
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ic
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co
m
m
a
n
d
s
f
o
r
t
h
e
r
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b
o
t'
s
m
o
t
o
r
s
.
Py
th
o
n
'
s
m
o
d
u
l
e
-
b
as
e
d
ap
p
r
o
ac
h
als
o
m
ak
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it
p
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s
s
i
b
l
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o
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k
o
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d
if
f
e
r
e
n
t
co
m
p
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ts
o
f
t
h
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r
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b
o
t
i
n
d
e
p
en
d
e
n
t
ly
b
e
f
o
r
e
i
n
t
e
g
r
ati
n
g
th
e
m
t
o
p
r
o
d
u
ce
t
h
e
f
i
n
al
w
o
r
k
i
n
g
p
r
o
d
u
ct
.
4
.
2
.
O
penCV:
Rea
l
-
t
i
m
e
ima
g
e
pro
ce
s
s
ing
Op
en
C
V
is
th
e
f
o
u
n
d
atio
n
o
f
th
e
I
n
telliDr
iv
e
r
o
b
o
t'
s
v
is
u
al
p
r
o
ce
s
s
in
g
ca
p
ab
ilit
ies
th
e
m
ai
n
f
u
n
ctio
n
s
o
f
th
e
Op
e
n
C
V
lib
r
ar
y
in
clu
d
e:
a.
An
aly
s
is
o
f
v
id
eo
f
ee
d
:
it
h
as
th
e
f
u
n
ctio
n
o
f
ca
p
tu
r
in
g
an
d
p
r
o
ce
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ce
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a.
B
aselin
e
1
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x
p
er
im
en
tal
en
v
i
r
o
n
m
en
t
T
h
e
test
in
g
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2
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p
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with
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ail
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B
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3
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d
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L
L
M
ag
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t
(
f
o
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m
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ly
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ak
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d
eter
m
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4
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f
o
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m
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ce
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d
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f
f
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tim
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with
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lized
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T
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e
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lts
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“
ex
p
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m
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ased
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ap
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d
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L
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co
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ig
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th
at
p
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ad
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al
d
ee
p
lear
n
in
g
b
aselin
es f
r
o
m
p
r
o
g
r
ess
in
g
.
e.
B
aselin
e
5
:
Patter
n
s
o
f
ad
ap
tab
ilit
y
T
h
e
p
atter
n
o
b
s
er
v
e
d
f
r
o
m
al
l
tr
ials
is
th
e
ad
ap
tab
ilit
y
o
f
ze
r
o
-
s
h
o
t
lear
n
in
g
(
Z
SL)
is
s
u
p
er
io
r
to
r
ein
f
o
r
ce
m
e
n
t
lear
n
in
g
m
o
d
el
s
b
ec
au
s
e
Z
SL
e
n
ab
les
a
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b
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t
to
g
en
er
alis
e
to
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ew
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u
to
m
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ce
n
ar
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s
with
o
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t
n
ee
d
in
g
to
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etr
ain
f
o
r
s
p
ec
if
ic
task
s
.
T
h
e
way
in
wh
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t
h
e
L
L
M
in
ter
p
r
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h
u
m
an
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n
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t
as
“
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m
an
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in
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ce
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ws
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b
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t
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m
ai
n
tain
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lev
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f
p
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n
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en
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eter
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in
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en
s
o
r
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ased
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n
in
g
ty
p
ically
d
o
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o
t p
e
r
f
o
r
m
well.
f.
B
aselin
e
6
: Ro
b
u
s
tn
ess
,
laten
c
y
,
an
d
lim
itatio
n
s
E
v
en
th
o
u
g
h
th
e
p
r
o
p
o
s
ed
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o
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el
im
p
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v
es
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ec
is
io
n
-
m
ak
in
g
ca
p
ab
ilit
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it
is
s
till
p
r
o
n
e
to
laten
cy
is
s
u
es
ass
o
ciate
d
with
th
e
u
s
e
o
f
th
e
c
o
m
m
u
n
icatio
n
c
h
an
n
el
b
etwe
en
th
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L
L
M
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d
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e
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m
.
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r
e
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v
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ely
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g
o
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cl
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d
API
s
r
aises
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ce
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n
s
r
e
lated
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ad
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m
m
u
n
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s
itu
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n
s
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eq
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ir
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r
th
er
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ch
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lin
e
m
ec
h
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is
m
s
in
th
e
ca
s
e
o
f
f
ailu
r
e.
g.
B
aselin
e7
: N
o
v
elty
o
f
th
e
h
y
b
r
id
ar
ch
itectu
r
e
T
h
e
r
esu
lts
clea
r
ly
h
ig
h
lig
h
t
th
e
n
o
v
elty
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f
th
e
h
y
b
r
id
ar
c
h
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r
e
in
wh
ich
c
o
n
v
e
n
tio
n
al
co
n
tr
o
l
alg
o
r
ith
m
s
ar
e
co
m
p
lem
en
ted
with
Gr
ap
h
R
AG
r
etr
iev
er
th
at
d
eter
m
in
es r
elev
an
t
n
o
d
es b
as
ed
o
n
a
s
co
r
in
g
f
u
n
ctio
n
(
,
)
.
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n
p
a
r
ticu
lar
,
it
allo
ws
tr
an
s
latin
g
h
ig
h
-
lev
el
r
ea
s
o
n
in
g
in
to
J
SON
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lik
e
co
m
m
an
d
s
eq
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en
ce
s
,
co
n
tr
i
b
u
tin
g
t
o
th
e
d
ev
elo
p
m
en
t
o
f
co
n
tex
t
-
awa
r
e
r
o
b
o
tics
th
r
o
u
g
h
co
m
b
in
in
g
h
ar
d
c
o
m
p
u
tin
g
an
d
co
g
n
itiv
e
s
u
p
er
v
is
io
n
.
(
No
te:
Deta
iled
d
escr
ip
tio
n
s
o
f
YOL
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A
p
ath
p
lan
n
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g
,
a
n
d
PID
co
n
tr
o
l
alg
o
r
ith
m
s
ar
e
p
r
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v
i
d
ed
in
y
o
u
r
q
u
e
r
y
an
d
n
o
t in
th
e
a
v
ailab
le
liter
atu
r
e
r
eso
u
r
ce
s
)
.
h.
Ba
s
elin
e
8
:
B
r
o
ad
er
im
p
licatio
n
s
an
d
f
u
t
u
r
e
wo
r
k
T
h
e
r
ea
l
-
life
ap
p
licatio
n
o
f
t
h
e
s
u
g
g
ested
ap
p
r
o
ac
h
h
as
g
r
ea
t
p
o
ten
tial
f
o
r
in
d
u
s
tr
ial
au
to
m
atio
n
,
h
ea
lth
ca
r
e,
an
d
s
u
p
p
l
y
ch
ain
l
o
g
is
tics
,
wh
ich
r
eq
u
ir
e
r
eliab
le
er
r
o
r
h
an
d
lin
g
ca
p
a
b
ilit
ies
.
Fig
u
r
e
7
.
C
o
m
p
a
r
ativ
e
an
aly
s
i
s
o
f
au
to
n
o
m
o
u
s
s
y
s
tem
s
˗
R
u
le
-
b
ased
ap
p
r
o
ac
h
(
L
aten
c
y
is
m
in
im
al
)
:
B
o
th
r
u
le
-
b
ased
r
eg
e
x
au
t
o
m
ato
n
an
d
T
F
-
I
DF
v
ec
to
r
s
ar
e
cr
ea
ted
o
n
-
s
ite
with
in
th
e
ed
g
e.
Acc
o
r
d
i
n
g
t
o
th
e
liter
atu
r
e,
th
e
laten
c
y
o
f
th
ese
r
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le
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b
ase
d
ap
p
r
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ac
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n
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lig
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le
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m
p
ar
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t
o
th
e
d
e
ep
lear
n
in
g
ap
p
r
o
ac
h
.
˗
C
o
m
m
u
n
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n
d
elay
s
:
I
n
d
i
s
tan
t
in
ter
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ay
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s
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s
tatu
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tem
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˗
I
n
f
er
en
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m
th
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clo
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(
L
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th
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Gr
ap
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R
AG
r
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Op
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s
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co
m
p
u
tatio
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tim
e
an
d
n
et
wo
r
k
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g
d
elay
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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lin
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o
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m
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g
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ize
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r
es
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g
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s
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ar
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y
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tem
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er
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y
d
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ates
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at
th
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ical)
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k
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u
s
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ies
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ch
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cs,
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d
h
az
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u
s
en
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ir
o
n
m
e
n
ts
.
I
t
also
o
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tlin
es
Evaluation Warning : The document was created with Spire.PDF for Python.