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ce
n
tr
ic
s
y
s
tem
s
[
4
]
.
Dis
tr
ib
u
ted
in
tellig
en
ce
m
eth
o
d
s
h
a
v
e
also
b
ee
n
ab
le
to
d
ea
l
with
is
s
u
es
in
v
o
lv
in
g
d
ea
lin
g
with
h
eter
o
g
e
n
eo
u
s
p
h
y
s
io
lo
g
ical
d
ata
[
5
]
.
T
h
e
m
u
ltimo
d
al
s
en
s
in
g
tech
n
iq
u
es
u
s
ed
jo
in
tly
also
illu
s
tr
ate
th
e
ab
ilit
y
to
g
ar
n
er
m
ea
n
i
n
g
f
u
l
in
f
o
r
m
atio
n
o
u
t
o
f
th
e
c
o
m
p
le
x
s
ig
n
als
[
6
]
.
Hig
h
er
lev
els o
f
p
h
y
s
io
lo
g
ical
m
o
d
ellin
g
h
av
e
also
b
ee
n
s
u
g
g
ested
in
en
h
an
cin
g
ac
cu
r
ac
y
o
f
h
u
m
a
n
-
s
tate
esti
m
atio
n
s
[
7
]
.
B
u
t
th
ese
ar
e
m
o
r
e
o
f
an
a
p
p
r
o
ac
h
to
an
aly
ze
d
ata
a
n
d
to
in
f
er
r
ath
er
th
an
in
teg
r
ate
r
ea
l
-
tim
e
co
n
tr
o
l.
T
h
e
m
o
s
t
im
p
o
r
tan
t
asp
ec
t
in
r
o
b
o
tics
is
n
o
t
wh
er
e
m
ea
n
in
g
f
u
l
f
ea
tu
r
es
ar
e
ex
tr
ac
ted
o
u
t
o
f
p
h
y
s
io
lo
g
ical
s
ig
n
als
b
u
t
r
ath
er
h
o
w
th
is
in
f
o
r
m
atio
n
ca
n
b
e
d
ir
ec
tly
in
c
o
r
p
o
r
at
ed
in
to
co
n
tr
o
l
ar
c
h
itectu
r
es
wh
ich
d
ir
ec
tly
af
f
ec
t
th
e
b
eh
av
io
r
o
f
th
e
s
y
s
tem
.
R
ec
en
tly
,
a
n
ew
tech
n
o
lo
g
y
h
a
s
b
ee
n
d
ev
elo
p
e
d
th
at
is
ca
lled
d
ig
ital
twin
an
d
co
u
ld
b
ec
o
m
e
th
e
n
ew
p
r
o
m
is
in
g
p
ar
ad
i
g
m
o
f
m
o
d
elin
g
d
y
n
am
ic
in
ter
ac
tio
n
s
b
etwe
e
n
p
h
y
s
ical
s
y
s
tem
s
,
h
u
m
an
o
p
er
ato
r
s
an
d
en
v
ir
o
n
m
en
ts
.
Sp
ec
if
ically
,
h
u
m
an
d
i
g
ital
twin
s
o
f
f
er
well
-
s
tr
u
ctu
r
ed
co
m
p
u
tatio
n
ally
r
ep
r
esen
ted
o
p
er
ato
r
b
eh
a
v
io
r
an
d
p
h
y
s
io
lo
g
ical
s
tate,
wh
ic
h
ca
n
b
e
u
s
ed
to
en
h
a
n
ce
s
af
e
ty
an
d
er
g
o
n
o
m
ics
o
f
co
llab
o
r
ativ
e
s
y
s
tem
s
[
8
]
.
Me
an
wh
ile,
th
e
tr
en
d
o
f
s
m
ar
t
s
y
s
tem
d
esig
n
is
to
war
d
tr
an
s
p
ar
en
cy
,
r
elia
b
ilit
y
,
an
d
in
ter
p
r
eta
b
ilit
y
o
f
th
e
d
e
cisi
o
n
-
m
ak
in
g
p
r
o
ce
s
s
in
th
e
co
n
tex
t
o
f
h
u
m
an
-
r
elate
d
d
ata
[
9
]
.
I
n
tellig
en
t
h
u
m
an
-
ce
n
ter
ed
s
y
s
tem
s
h
av
e
also
em
p
h
asized
th
e
s
ig
n
if
ican
ce
o
f
d
e
v
elo
p
in
g
a
r
o
b
u
s
t
an
d
tr
u
s
t
-
awa
r
e
s
y
s
tem
d
esig
n
[
1
0
]
.
T
h
e
a
d
ap
tiv
e
an
d
co
n
tex
t
-
awa
r
e
s
y
s
tem
s
o
f
r
o
b
o
tics
ar
e
d
ev
el
o
p
in
g
to
war
d
s
au
to
n
o
m
y
s
y
s
tem
s
th
at
n
o
t o
n
ly
r
ea
ct
t
o
t
h
e
task
d
em
an
d
s
,
b
u
t a
ls
o
r
ea
c
t to
th
e
co
n
d
itio
n
o
f
th
e
o
p
er
at
o
r
[
1
1
]
.
On
e
o
f
th
e
b
ig
g
est
s
h
o
r
tco
m
in
g
s
o
f
cu
r
r
en
t
m
eth
o
d
s
is
th
at
p
h
y
s
io
lo
g
ical
s
en
s
in
g
i
s
g
en
er
ally
u
tili
ze
d
as
a
m
o
n
ito
r
in
g
to
o
l
o
r
to
co
n
d
u
ct
o
f
f
lin
e
an
aly
s
is
in
s
tead
o
f
b
ein
g
a
p
ar
t
o
f
clo
s
ed
-
lo
o
p
co
n
tr
o
l
s
y
s
tem
s
.
E
v
en
th
o
u
g
h
d
e
v
elo
p
ed
lear
n
in
g
s
tr
u
ct
u
r
es
h
av
e
p
r
o
v
e
d
to
b
e
v
er
y
r
o
b
u
s
t
in
p
atter
n
s
th
at
ca
n
b
e
id
en
tifie
d
in
th
e
in
tr
icate
p
h
y
s
io
lo
g
ical
d
ata
[
1
3
]
,
s
u
ch
m
o
d
els
ar
e
h
ar
d
ly
ev
er
em
p
lo
y
ed
as
in
p
u
ts
to
co
n
tr
o
l
laws.
A
f
ew
s
tu
d
ies
h
av
e
co
n
s
id
er
ed
m
u
ltim
o
d
al
p
h
y
s
io
lo
g
i
ca
l
lear
n
in
g
[
1
4
]
,
wh
er
ea
s
o
t
h
er
s
co
n
s
id
er
ed
d
ata
-
b
ased
h
u
m
an
-
s
tate
m
o
d
ellin
g
[
1
5
]
.
B
esid
es,
p
h
y
s
io
lo
g
ical
m
o
n
ito
r
in
g
s
y
s
tem
s
h
av
e
also
b
ee
n
cr
ea
ted
b
ased
o
n
r
ea
l
-
tim
e
s
ig
n
al
i
n
ter
p
r
eta
tio
n
s
y
s
tem
s
[
1
6
]
.
Ne
v
er
th
el
ess
,
th
ese
m
eth
o
d
s
d
o
n
o
t
d
ir
ec
tly
in
co
r
p
o
r
ate
p
h
y
s
io
lo
g
ical
esti
m
ates
in
th
e
ad
ap
tiv
e
co
n
t
r
o
l
p
r
o
ce
s
s
es,
wh
ich
m
ea
n
s
th
at
th
ey
ca
n
n
o
t
b
e
co
n
v
en
ien
tly
ap
p
lied
in
r
ea
l
-
tim
e
r
o
b
o
ts
.
R
ec
en
t
ad
v
an
ce
s
in
h
u
m
a
n
d
ig
ital
twin
m
o
d
els
ac
ce
n
tu
ate
co
n
tin
u
o
u
s
r
ep
r
esen
tatio
n
o
f
o
p
e
r
ato
r
co
n
d
itio
n
a
n
d
co
n
tex
tu
al
in
ter
ac
tio
n
m
o
d
el
[
1
7
]
.
T
h
e
d
esig
n
o
f
k
n
o
wled
g
e
-
b
ased
s
y
s
tem
s
also
em
p
h
asizes th
e
n
ee
d
to
m
ak
e
d
ec
is
io
n
s
in
a
n
o
r
g
an
ized
m
an
n
e
r
in
ad
ap
t
iv
e
s
y
s
tem
s
[
1
8
]
.
R
esp
o
n
s
iv
e
an
d
h
u
m
a
n
-
awa
r
e
co
n
tr
o
l
m
ec
h
an
is
m
s
h
av
e
als
o
b
ee
n
s
h
o
wn
to
b
e
b
e
n
ef
ici
al
in
ad
ap
tiv
e
a
u
to
m
atio
n
ap
p
r
o
ac
h
es
in
r
o
b
o
tics
[
1
9
]
.
Seco
n
d
l
y
,
th
e
s
tu
d
ies
o
n
s
y
s
tem
co
o
r
d
in
atio
n
an
d
d
is
tr
ib
u
ted
in
tellig
e
n
ce
em
p
h
asize
t
h
at
th
er
e
h
as
to
b
e
s
tab
le
an
d
in
ter
p
r
etab
le
d
ec
i
s
io
n
-
m
ak
in
g
s
tr
u
ctu
r
es
[
2
0
]
.
T
r
u
s
t
m
o
d
elin
g
tech
n
iq
u
es
also
h
elp
g
iv
e
th
e
co
n
ce
p
t
o
f
r
eliab
ilit
y
in
h
u
m
an
-
ce
n
tr
ic
s
y
s
tem
s
g
r
ea
ter
we
ig
h
t
[
2
1
]
.
Su
ch
ad
a
p
tiv
e
ar
c
h
itectu
r
es
h
av
e
also
b
ee
n
p
r
o
p
o
s
ed
to
h
a
v
e
b
en
ch
m
ar
k
in
g
m
eth
o
d
o
l
o
g
ies
[
2
2
]
.
T
h
e
r
esear
ch
o
n
th
e
s
p
atio
tem
p
o
r
al
m
o
d
elin
g
an
d
d
y
n
am
ic
b
eh
av
io
r
an
aly
s
is
p
o
in
ts
to
th
e
s
ig
n
if
ica
n
ce
o
f
tim
e
-
v
ar
y
i
n
g
h
u
m
an
m
o
v
e
m
en
t,
as
well
as
p
h
y
s
io
lo
g
ical
v
ar
ia
b
ilit
y
[
2
3
]
.
T
h
is
is
e
s
p
ec
ially
ap
p
licab
le
in
co
llab
o
r
ativ
e
r
o
b
o
tics
wh
er
e
f
atig
u
e,
s
tr
ess
an
d
m
o
to
r
in
te
n
t
d
ir
ec
tly
im
p
ac
t
t
h
e
q
u
ality
o
f
in
ter
ac
tio
n
s
an
d
s
y
s
tem
s
af
ety
.
T
h
e
s
tu
d
ies
o
f
h
u
m
a
n
-
co
n
s
cio
u
s
co
n
tr
o
l
a
n
d
s
o
f
t
r
o
b
o
tic
in
ter
a
ctio
n
also
em
p
h
asize
th
e
n
ec
e
s
s
ity
o
f
th
e
a
d
ap
tiv
e
co
n
tr
o
l
m
ec
h
an
is
m
s
tak
in
g
in
to
co
n
s
id
er
atio
n
h
u
m
an
co
m
f
o
r
t
an
d
p
h
y
s
ical
s
tate
[
2
4
]
.
A
ls
o
,
s
y
s
tem
s
b
ased
o
n
r
o
b
o
tics
with
h
u
m
an
f
o
cu
s
ar
e
b
ec
o
m
i
n
g
m
o
r
e
i
n
n
ee
d
o
f
m
o
d
els
wh
ic
h
ca
n
b
e
a
d
ju
s
ted
to
th
e
v
ar
iatio
n
s
o
f
t
h
e
o
p
er
ato
r
p
e
r
f
o
r
m
an
ce
[
2
5
]
.
T
h
e
f
ac
t
th
at
s
en
s
itiv
it
y
-
awa
r
e
an
d
f
air
n
ess
-
awa
r
e
m
o
d
elin
g
ap
p
r
o
ac
h
es
s
u
g
g
est
th
e
r
elev
an
ce
o
f
r
esp
o
n
s
iv
en
ess
to
th
e
ch
a
n
g
es
in
h
u
m
an
-
s
tate
in
f
o
r
m
atio
n
al
s
o
s
p
ea
k
s
in
f
av
o
r
o
f
th
e
im
p
o
r
tan
ce
o
f
th
e
latter
[
2
6
]
.
I
n
ad
d
itio
n
,
r
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
o
f
p
h
y
s
io
lo
g
ic
al
s
ig
n
als
i
s
m
ad
e
p
o
s
s
ib
le
b
y
lo
w
-
laten
cy
co
m
p
u
tatio
n
al
f
r
am
ewo
r
k
s
an
d
th
is
is
ess
en
tia
l
in
ad
ap
tiv
e
au
to
n
o
m
y
to
d
y
n
am
ic
en
v
ir
o
n
m
en
ts
[
2
7
]
.
T
h
e
r
ea
l
-
tim
e
p
r
o
ce
s
s
in
g
ar
ch
itect
u
r
es
ar
e
also
ef
f
icien
t
to
ad
d
th
e
co
n
ce
p
t
o
f
p
h
y
s
io
lo
g
ica
l
s
en
s
in
g
in
to
th
e
co
n
tr
o
l
s
y
s
tem
s
[
2
8
]
.
R
ec
en
t
s
tu
d
ies
in
h
u
m
an
-
r
o
b
o
t
c
o
llab
o
r
atio
n
also
co
n
f
ir
m
s
th
at
wo
r
k
lo
ad
,
a
u
to
n
o
m
y
,
r
o
b
o
t
s
p
ee
d
,
an
d
co
m
p
lex
ity
o
f
th
e
e
n
v
ir
o
n
m
en
t
all
im
p
ac
t
th
e
q
u
ality
,
s
af
ety
,
an
d
co
m
f
o
r
t
o
f
t
h
e
in
ter
ac
tio
n
[
2
9
]
,
[
3
0
]
.
Hu
m
a
n
-
ce
n
tr
ic
d
ig
i
tal
twin
s
tu
d
ies
also
d
em
o
n
s
tr
ate
th
at
d
ig
ital
twin
s
o
f
h
u
m
a
n
s
ca
n
en
ab
le
m
o
r
e
co
n
tex
t
-
awa
r
e
a
n
d
ad
a
p
tiv
e
h
u
m
an
-
m
ac
h
in
e
co
llab
o
r
atio
n
[
3
1
]
.
Fu
r
t
h
er
,
r
ei
n
f
o
r
ce
m
en
t
le
ar
n
in
g
a
n
d
task
-
lo
a
d
ad
ju
s
tm
en
t
m
eth
o
d
s
h
av
e
b
ee
n
s
h
o
wn
to
en
h
an
ce
h
u
m
an
-
r
o
b
o
t
co
llab
o
r
atio
n
b
y
ad
a
p
tin
g
r
o
b
o
t
ac
tio
n
s
b
ased
o
n
p
h
y
s
io
lo
g
ical
an
d
p
e
r
f
o
r
m
an
ce
m
ea
s
u
r
es
[
3
2
]
.
T
h
e
m
o
s
t
r
ec
e
n
t
r
e
v
iew
o
f
m
en
tal
wo
r
k
l
o
ad
i
n
co
llab
o
r
ativ
e
task
s
s
tr
ess
es
th
at
wo
r
k
lo
ad
ass
ess
m
en
t
is
a
cr
itical
asp
ec
t
o
f
co
b
o
t
s
y
s
tem
s
[
3
3
]
.
Ho
wev
er
,
r
esear
ch
o
n
r
o
b
o
tic
teleo
p
e
r
a
tio
n
also
d
em
o
n
s
tr
ates
th
at
p
h
y
s
io
lo
g
ical
m
ea
s
u
r
es
co
u
ld
b
e
in
s
u
f
f
icien
t
an
d
n
ee
d
to
b
e
co
m
p
lem
en
ted
b
y
p
er
f
o
r
m
a
n
ce
m
ea
s
u
r
es f
o
r
r
elia
b
le
wo
r
k
lo
ad
p
r
ed
ictio
n
[
3
4
]
.
Hu
m
an
-
in
-
t
h
e
-
lo
o
p
o
p
tim
izatio
n
also
u
n
d
e
r
lin
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th
e
n
ee
d
f
o
r
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ad
ap
tiv
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o
b
o
tic
s
y
s
tem
wh
ich
lear
n
s
f
r
o
m
th
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p
a
r
ticu
lar
Evaluation Warning : The document was created with Spire.PDF for Python.
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-
2
5
8
6
Hu
ma
n
s
ta
te
d
ig
ita
l tw
in
a
r
ch
itectu
r
e
fo
r
p
h
ysio
lo
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co
n
s
tr
a
in
ed
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a
p
tive
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Ja
g
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a
th
a
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ma
la
d
ev
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r
esp
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m
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o
p
p
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to
th
e
f
ix
ed
co
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tr
o
ller
tu
n
in
g
[
3
5
]
.
T
h
ese
r
ec
e
n
t
ad
v
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ce
s
h
i
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HS
DT
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b
ased
T
C
AA
ap
p
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o
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h
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wh
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h
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esti
m
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m
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id
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tan
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al
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t
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in
teg
r
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with
au
to
n
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m
y
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ca
tio
n
a
n
d
r
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o
tic
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o
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o
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t
h
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d
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elo
p
m
en
ts
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ad
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th
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ar
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s
till
a
n
u
m
b
er
o
f
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ch
g
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o
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ir
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tly
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o
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tr
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o
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ates
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ely
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s
tr
ain
ts
in
th
e
allo
ca
tio
n
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f
au
t
o
n
o
m
y
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h
ir
d
,
u
n
ity
o
f
ass
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en
t
s
ch
em
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o
f
p
h
y
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io
lo
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y
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co
n
s
tr
ain
e
d
ad
a
p
tiv
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au
to
n
o
m
y
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t
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p
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f
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lties
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ap
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ated
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tr
o
l
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f
a
r
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o
t.
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E
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d
h
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(
HR
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to
p
r
ed
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tim
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t
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m
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atig
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ess
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T
h
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ates
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to
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m
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tio
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h
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d
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ically
m
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lates
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tr
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etwe
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u
m
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d
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o
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T
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e
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p
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lem
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at
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s
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tain
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lic
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tly
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ated
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t
h
e
co
n
t
r
o
l
laws
o
f
r
o
b
o
ts
with
th
e
ai
m
o
f
en
h
a
n
cin
g
th
e
s
af
ety
,
tr
ac
k
in
g
p
e
r
f
o
r
m
an
ce
an
d
s
m
o
o
th
n
ess
o
f
th
e
in
ter
ac
tio
n
in
co
llab
o
r
ativ
e
s
y
s
tem
s
.
T
h
e
m
ain
co
n
tr
ib
u
tio
n
s
o
f
th
is
p
a
p
er
ar
e
as f
o
llo
ws:
-
A
co
o
r
d
in
ate
d
HSDT
s
y
s
tem
o
f
r
ea
l
-
tim
e
m
u
ltimo
d
al
esti
m
atio
n
o
f
th
e
c
o
g
n
itiv
e
w
o
r
k
lo
ad
,
f
atig
u
e,
a
n
d
s
tr
ess
.
-
A
p
h
y
s
io
lo
g
y
-
co
n
s
tr
ain
ed
ad
a
p
tiv
e
au
to
n
o
m
y
co
n
tr
o
l
ar
ch
it
ec
tu
r
e
th
at
p
r
o
v
id
es
esti
m
ates
o
f
h
u
m
an
-
s
tate
d
ir
ec
tly
in
to
co
n
tr
o
l a
u
th
o
r
ity
allo
ca
tio
n
.
-
A
T
C
AA
m
o
d
el
th
at
allo
ws ea
s
y
an
d
in
ter
p
r
etab
le
b
ased
tr
a
n
s
itio
n
s
b
etwe
en
h
u
m
an
a
n
d
r
o
b
o
t c
o
n
tr
o
l.
-
A
v
alid
atio
n
f
r
am
ewo
r
k
b
ased
o
n
s
im
u
latio
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s
h
o
win
g
en
h
a
n
ce
m
en
t
o
f
th
e
ac
c
u
r
ac
y
tr
ac
k
i
n
g
,
s
m
o
o
th
n
ess
o
f
th
e
to
r
q
u
e
a
n
d
s
tab
ilit
y
at
d
i
f
f
er
en
t w
o
r
k
lo
ad
co
n
d
itio
n
s
.
T
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
will
f
u
r
th
er
tak
e
th
e
f
ield
o
f
ad
ap
tiv
e
au
to
n
o
m
y
a
s
tep
b
e
y
o
n
d
m
o
n
ito
r
in
g
-
b
ased
s
y
s
tem
s
b
y
ad
d
in
g
p
h
y
s
io
lo
g
ical
s
tate
e
s
tim
atio
n
to
clo
s
ed
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lo
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p
co
n
tr
o
l,
b
r
in
g
in
g
th
e
co
n
ce
p
t
o
f
th
e
n
ex
t
-
g
en
e
r
atio
n
co
llab
o
r
ativ
e
r
o
b
o
tics
to
a
co
m
p
letely
u
n
if
i
ed
h
u
m
an
-
awa
r
e
co
n
tr
o
l
p
ar
ad
ig
m
.
T
h
e
s
u
g
g
ested
f
r
am
ewo
r
k
is
s
p
ec
if
ically
a
p
p
licab
le
in
in
d
u
s
tr
y
co
lla
b
o
r
ativ
e
r
o
b
o
ts
,
ass
is
tiv
e,
an
d
h
u
m
an
-
f
o
cu
s
ed
au
to
m
atio
n
lan
d
s
ca
p
es.
2.
P
RO
P
O
SE
D
M
E
T
H
O
D
2
.
1
.
O
v
er
a
ll
s
y
s
t
em
a
rc
hite
ct
ure
T
h
e
p
r
o
p
o
s
ed
d
esig
n
is
b
ased
o
n
T
C
AA
ar
ch
itectu
r
e,
ac
c
o
r
d
in
g
t
o
wh
ic
h
HSDT
c
o
n
s
tan
t
ly
ad
ju
s
ts
th
e
r
o
b
o
t c
o
n
tr
o
l a
u
th
o
r
ity
ass
ig
n
m
en
t.
T
h
e
g
e
n
er
al
s
y
s
tem
a
r
ch
itectu
r
e
is
s
h
o
wn
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Ov
e
r
all
ar
ch
itectu
r
e
o
f
th
e
twin
-
c
o
n
s
tr
ain
ed
a
d
ap
ti
v
e
au
to
n
o
m
y
f
r
am
ewo
r
k
T
h
e
f
r
am
ewo
r
k
co
n
s
is
ts
o
f
f
iv
e
b
asic
m
o
d
u
les,
n
am
ely
:
i)
m
u
ltimo
d
al
p
h
y
s
io
lo
g
ical
s
en
s
in
g
,
ii)
h
u
m
a
n
s
tate
esti
m
atio
n
,
iii)
au
to
n
o
m
y
b
le
n
d
in
g
co
n
tr
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ller
,
i
v
)
r
o
b
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d
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d
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P
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/
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St
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st
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M
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c
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h
a
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v
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ො
ℎ
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E
MG)
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
.
3
,
Sep
tem
b
er
20
2
6
:
5
0
3
-
5
1
8
506
v
)
b
id
ir
ec
tio
n
al
f
ee
d
b
ac
k
.
Ph
y
s
io
lo
g
ic
in
d
icato
r
s
s
u
ch
as
elec
tr
o
m
y
o
g
r
ap
h
y
(
E
MG
)
,
el
ec
tr
o
d
er
m
al
ac
tiv
ity
(
E
DA)
,
an
d
h
ea
r
t
-
r
ate
v
ar
iab
il
ity
(
HR
V)
ar
e
m
ea
s
u
r
ed
with
a
f
r
eq
u
en
cy
.
Su
ch
s
ig
n
als
ar
e
p
r
ep
r
o
ce
s
s
ed
an
d
tr
an
s
f
o
r
m
ed
in
to
a
laten
t
h
u
m
an
s
tate
v
ec
to
r
ℎ
∈
ℝ
,
wh
ich
is
a
c
o
g
n
itiv
e
wo
r
k
lo
ad
,
f
atig
u
e
,
an
d
s
tr
ess
.
T
h
e
s
tate
-
s
p
ac
e
d
y
n
am
ic
o
f
th
e
r
o
b
o
t p
lan
t is p
r
o
v
id
ed
as:
̇
=
(
,
)
,
=
ℎ
(
)
I
n
th
is
ca
s
e,
∈
ℝ
r
ep
r
esen
ts
th
e
s
ta
te
o
f
th
e
r
o
b
o
t,
∈
ℝ
d
en
o
tes
th
e
co
n
tr
o
l
in
p
u
t,
an
d
∈
ℝ
r
ep
r
esen
ts
th
e
o
b
s
er
v
ab
le
o
u
tp
u
t.
A,
B
an
d
C
ar
e
th
e
s
tate,
in
p
u
t
an
d
o
u
tp
u
t
m
a
tr
ices
o
f
lin
ea
r
ized
r
ep
r
esen
tatio
n
o
f
th
e
r
o
b
o
t
d
y
n
am
ics.
T
h
e
in
p
u
t
o
f
th
e
h
u
m
an
o
p
er
ato
r
ℎ
is
ad
d
ed
to
th
e
au
to
n
o
m
o
u
s
co
n
tr
o
ller
in
p
u
t
with
an
ad
ap
t
iv
e
au
to
n
o
m
y
c
o
ef
f
icien
t
∈
[
0
,
1
]
s
u
c
h
th
at:
=
(
ℎ
)
+
(
1
−
(
ℎ
)
)
ℎ
T
h
is
s
h
ar
ed
-
co
n
tr
o
l
f
o
r
m
u
lat
io
n
ℎ
r
ep
r
esen
ts
th
e
h
u
m
an
co
m
m
an
d
i
n
p
u
t,
r
ep
r
esen
ts
th
e
au
to
n
o
m
o
u
s
co
n
tr
o
ller
o
u
tp
u
t
an
d
is
th
e
d
eg
r
ee
o
f
co
n
tr
o
l
au
th
o
r
ity
allo
ca
ted
t
o
ea
ch
.
T
h
e
lar
g
er
th
e
v
alu
e
o
f
α
th
e
g
r
ea
ter
t
h
e
p
o
wer
g
iv
en
to
th
e
a
u
to
n
o
m
o
u
s
c
o
n
tr
o
ller
;
th
e
s
m
aller
th
e
v
alu
e
o
f
α
,
th
e
lar
g
er
th
e
p
o
r
tio
n
o
f
co
n
tr
o
l
lef
t
in
th
e
h
an
d
s
o
f
th
e
h
u
m
a
n
o
p
er
at
o
r
.
Dy
n
am
ic
co
m
p
u
tatio
n
o
f
th
e
co
ef
f
icien
t
o
f
b
len
d
in
g
is
:
(
ℎ
)
=
(
ℎ
+
)
I
n
th
is
is
a
lear
n
ed
weig
h
tin
g
v
ec
to
r
,
is
a
s
ca
lar
b
ias
v
alu
e,
an
d
(
⋅
)
is
a
co
n
s
tr
ain
ed
s
ig
m
o
id
ac
tiv
atio
n
f
u
n
ctio
n
t
h
at
th
war
ts
s
m
o
o
th
a
n
d
co
n
ti
n
u
o
u
s
s
witch
es b
etwe
en
lo
w
an
d
h
ig
h
au
to
n
o
m
y
le
v
els.
3.
M
E
T
H
O
D
3
.
1
.
H
um
a
n
s
t
a
t
e
dig
it
a
l
t
win m
o
delin
g
HSDT
m
o
d
elin
g
p
ip
elin
e
as
s
h
o
wn
in
Fig
u
r
e
2
is
a
tr
an
s
f
o
r
m
atio
n
o
f
p
h
y
s
io
lo
g
ical
m
ea
s
u
r
em
en
ts
to
a
d
y
n
a
m
ically
esti
m
ated
h
u
m
an
-
s
tate
laten
t
s
tate
to
b
e
u
s
ed
in
ad
ap
tiv
e
r
o
b
o
tic
co
n
tr
o
l.
T
h
e
HSDT
is
in
ten
d
ed
t
o
g
iv
e
a
m
at
h
em
at
ically
co
n
s
is
ten
t
an
d
r
ea
l
ti
m
e
m
o
d
el
o
f
co
g
n
itiv
e
lo
ad
,
f
atig
u
e,
an
d
s
tr
es
s
co
m
p
u
tatio
n
ally
,
u
s
in
g
m
u
ltimo
d
al
b
io
s
ig
n
al
r
ep
r
esen
tat
io
n
s
,
an
d
r
esil
ien
t
to
m
ea
s
u
r
em
en
t
n
o
is
e
an
d
n
o
n
lin
ea
r
p
h
y
s
io
lo
g
ical
p
r
o
c
e
s
s
es.
Ph
y
s
io
lo
g
ical
m
ea
s
u
r
em
en
ts
in
th
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
ar
e
r
ep
r
esen
ted
as
m
u
ltimo
d
al
c
u
es
E
MG
,
E
DA
an
d
p
h
o
to
p
leth
y
s
m
o
g
r
a
p
h
y
/e
lectr
o
ca
r
d
io
g
r
ap
h
y
(
PP
G/E
C
G)
-
m
ea
s
u
r
ed
h
ea
r
t
-
r
ate
-
v
ar
iab
ilit
y
(
HR
V)
f
ea
tu
r
e
s
.
A
b
an
d
-
p
ass
f
ilter
o
f
2
0
-
4
5
0
Hz
was
u
s
ed
to
f
ilter
th
e
E
MG
s
ig
n
als
in
o
r
d
er
to
elim
in
ate
m
o
tio
n
ar
tifa
cts
a
n
d
h
ig
h
-
f
r
eq
u
e
n
cy
n
o
is
e.
T
o
m
ain
tain
s
lo
w
s
y
m
p
at
h
etic
r
e
s
p
o
n
s
e
co
m
p
o
n
e
n
ts
lin
k
ed
with
s
tr
ess
an
d
ar
o
u
s
al,
E
DA
s
ig
n
als
wer
e
lo
w
-
p
ass
f
i
lter
ed
.
T
h
e
ex
tr
ac
t
o
f
HR
V
f
e
atu
r
es
b
ased
o
n
th
e
E
C
G/P
PG
-
d
er
iv
ed
in
ter
-
b
ea
t
in
ter
v
als
was
p
er
f
o
r
m
ed
th
r
o
u
g
h
co
n
v
en
tio
n
al
tim
e
-
d
o
m
ai
n
an
d
f
r
eq
u
en
cy
-
d
o
m
ain
m
ea
s
u
r
es.
T
h
e
esti
m
ato
r
was
r
u
n
at
1
0
0
Hz
an
d
th
e
r
o
b
o
t
co
n
t
r
o
l
lo
o
p
was
r
u
n
at
1
k
Hz
to
g
u
ar
an
tee
co
m
p
atib
ilit
y
b
etwe
en
p
h
y
s
io
l
o
g
ical
esti
m
atio
n
an
d
c
o
n
tr
o
l
ex
ec
u
tio
n
in
r
ea
l
-
tim
e.
T
h
ese
s
ig
n
als
r
ep
r
esen
t
v
ar
ia
tio
n
s
in
o
p
er
ato
r
s
tate
u
n
d
er
ch
an
g
in
g
wo
r
k
l
o
ad
co
n
d
itio
n
s
,
an
d
ar
e
p
r
o
ce
s
s
ed
in
th
e
f
r
am
ewo
r
k
.
Dig
ital
b
an
d
-
p
ass
f
ilter
is
u
s
e
d
to
elim
in
ate
m
o
tio
n
ar
tifa
ct
s
,
b
aselin
e
d
r
if
t
an
d
h
ig
h
f
r
eq
u
e
n
cy
n
o
is
e.
T
h
e
s
tan
d
ar
d
d
if
f
er
e
n
ce
eq
u
atio
n
is
th
e
m
ea
n
s
to
o
b
tain
th
e
f
ilter
ed
s
ig
n
al:
[
]
=
∑
=
0
[
−
]
−
∑
=
1
[
−
]
I
n
th
is
ca
s
e,
[
]
is
th
e
in
p
u
t
s
ig
n
a
l,
[
]
is
th
e
f
ilter
ed
o
u
tp
u
t,
an
d
ar
e
f
ilter
co
ef
f
icien
ts
an
d
an
d
ar
e
th
e
f
ee
d
f
o
r
war
d
a
n
d
f
ee
d
b
ac
k
o
r
d
er
o
f
th
e
f
ilter
r
esp
ec
ti
v
ely
.
T
h
e
f
ilter
p
a
r
am
eter
s
ar
e
ch
o
s
en
d
ep
e
n
d
in
g
o
n
p
h
y
s
io
lo
g
ical
s
ig
n
al
b
an
d
wid
th
s
(
e.
g
.
20
-
450
Hz
o
f
E
MG
an
d
0
.
0
4
-
0
.
4
Hz
o
f
HR
V
co
m
p
o
n
en
ts
)
.
T
h
e
z
-
d
o
m
ain
s
tab
ilit
y
an
d
ca
u
s
ality
is
p
r
o
v
id
ed
b
y
n
o
r
m
al
p
o
le
-
ze
r
o
an
aly
s
is
.
Af
ter
th
e
s
ig
n
al
co
n
d
itio
n
in
g
we
ex
tr
ac
t
f
ea
tu
r
es
s
o
as
t
o
c
o
m
e
u
p
with
t
h
e
m
ea
n
in
g
f
u
l
p
h
y
s
io
lo
g
ical
d
escr
ip
t
o
r
s
o
f
laten
t
h
u
m
an
s
tates.
T
h
e
f
ea
tu
r
es
th
at
ar
e
e
x
tr
ac
ted
a
r
e
r
o
o
t
-
m
ea
n
-
s
q
u
a
r
e
(
R
MS)
E
M
G
am
p
litu
d
e
(
s
y
m
b
o
lizin
g
m
u
s
cu
lar
ef
f
o
r
t)
,
s
k
in
co
n
d
u
cta
n
ce
lev
el
(
SC
L
)
(
s
y
m
b
o
lizin
g
s
y
m
p
ath
etic
n
er
v
o
u
s
ac
tiv
ity
)
an
d
HR
V
s
p
ec
tr
al
co
m
p
o
n
e
n
ts
,
i.e
.
l
o
w
-
f
r
eq
u
e
n
cy
(
L
F)
a
n
d
h
i
g
h
-
f
r
eq
u
en
cy
(
HF)
p
o
wer
.
T
h
ese
ch
ar
ac
ter
is
tics
ar
e
p
u
t
to
g
eth
er
in
to
an
o
b
s
er
v
atio
n
v
ec
to
r
:
[
]
=
[
R
MS
,
SC
L
,
HR
V
,
HR
V
,
…
]
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
Hu
ma
n
s
ta
te
d
ig
ita
l tw
in
a
r
ch
itectu
r
e
fo
r
p
h
ysio
lo
g
y
co
n
s
tr
a
in
ed
a
d
a
p
tive
… (
Ja
g
a
n
a
th
a
n
N
ir
ma
la
d
ev
i
)
507
A
n
o
n
lin
ea
r
r
ep
r
esen
tatio
n
o
f
f
atig
u
e
a
n
d
i
n
ter
n
al
co
g
n
itiv
e
s
tates
wh
ich
th
e
o
b
s
er
v
atio
n
v
ec
to
r
ca
n
p
r
o
v
id
e
is
p
ar
tially
o
b
s
er
v
ab
l
e.
T
h
e
laten
t
s
tate
ca
n
n
o
t
b
e
m
ea
s
u
r
ed
as
p
h
y
s
io
lo
g
ical
p
r
o
ce
s
s
es
ar
e
n
o
n
lin
ea
r
an
d
co
r
r
elate
d
o
v
er
tim
e
an
d
th
er
ef
o
r
e
ca
n
n
o
t
b
e
d
et
er
m
in
ed
d
ir
ec
tly
as
a
r
esu
lt
o
f
in
s
tan
tan
eo
u
s
m
ea
s
u
r
em
en
ts
.
T
h
u
s
,
a
r
ec
u
r
s
iv
e
s
tate
esti
m
atio
n
m
o
d
el
is
u
s
ed
.
A
Kalm
an
f
ilter
th
at
is
ex
ten
d
ed
(
E
KF)
is
tak
en
to
p
r
ed
ict
th
e
laten
t
h
u
m
an
s
tate
v
ec
to
r
ො
ℎ
,
th
at
ca
n
b
e
a
co
g
n
itiv
e
lo
ad
i
n
d
ex
,
f
ati
g
u
e
lev
el,
s
tr
ess
in
d
ex
,
a
n
d
n
e
u
r
o
m
u
s
cu
lar
ac
t
iv
atio
n
s
tate.
T
h
e
n
o
n
lin
ea
r
s
tate
-
s
p
ac
e
m
o
d
el
is
a
d
is
cr
ete
-
tim
e
m
o
d
el
in
th
e
f
o
r
m
:
ℎ
[
+
1
]
=
ℎ
[
]
+
[
]
[
]
=
ℎ
[
]
+
[
]
T
h
e
o
b
s
er
v
atio
n
-
laten
t
h
u
m
a
n
s
tates
r
elatio
n
s
h
ip
is
n
o
n
lin
ea
r
an
d
p
ar
tially
o
b
s
er
v
ab
l
e.
As
th
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u
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m
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I
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2
7
2
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I
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in
cr
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s
ed
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o
b
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tic
ass
is
tan
ce
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n
m
o
r
e
lo
o
s
e
co
n
d
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s
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au
th
o
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ity
o
f
h
u
m
an
co
n
tr
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l
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u
n
d
er
lin
e
d
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HSDT
m
o
d
elin
g
f
r
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r
k
o
f
f
e
r
s
th
e
f
o
llo
win
g
m
ain
p
r
o
p
e
r
ties
:
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co
n
tin
u
o
u
s
esti
m
atio
n
o
f
h
u
m
an
s
tate
o
v
er
tim
e
,
ii)
r
o
b
u
s
tn
ess
to
s
en
s
o
r
n
o
is
e
an
d
s
ig
n
al
v
a
r
iab
ilit
y
,
iii)
m
at
h
em
atica
lly
co
n
s
is
ten
t
s
tate
-
s
p
ac
e
r
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d
iv
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ir
ec
t
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r
ati
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to
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ed
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lo
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d
ap
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o
n
tr
o
l
.
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h
e
HSDT
is
test
ed
in
a
s
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u
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b
ased
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ac
cu
r
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f
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m
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(
e.
g
.
R
MSE
)
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en
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th
e
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m
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s
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f
th
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ig
n
al.
I
n
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en
e
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th
e
HSDT
is
an
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ter
ac
tiv
e
m
o
d
el
o
f
co
m
p
u
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n
o
f
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h
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io
lo
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ical
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d
co
g
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itiv
e
s
tate
o
f
an
o
p
er
ato
r
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d
allo
ws
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tr
u
ctu
r
ed
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ter
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r
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le
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h
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io
lo
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c
o
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tr
ain
e
d
ad
ap
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e
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u
to
n
o
m
y
o
f
co
l
lab
o
r
ativ
e
r
o
b
o
tic
s
y
s
tem
s
,
as sh
o
wn
in
Fig
u
r
e
2
.
3
.
2
.
T
win
co
ns
t
ra
ined a
da
ptiv
e
co
ntr
o
l la
w
T
h
e
ad
ap
tiv
e
co
n
tr
o
l
ar
ch
ite
ctu
r
e
p
lace
s
th
e
h
u
m
an
s
tate
esti
m
atio
n
with
th
e
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n
tr
o
l
au
th
o
r
ity
allo
ca
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n
m
ec
h
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is
m
.
T
h
e
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n
ce
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tu
al
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m
m
ar
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o
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th
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en
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e
b
len
d
in
g
lo
o
p
is
r
ep
r
esen
ted
in
Fig
u
r
e
3
.
T
h
e
co
n
tr
o
ller
is
m
ad
e
u
p
o
f
th
r
ee
lay
er
s
th
at
ar
e
co
n
n
ec
t
ed
:
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r
o
b
o
t
d
y
n
am
ic
co
n
tr
o
l,
ii)
h
u
m
an
s
tate
esti
m
atio
n
th
r
o
u
g
h
th
e
H
SDT,
an
d
iii)
p
h
y
s
io
lo
g
ical
s
tate
au
to
n
o
m
y
allo
ca
tio
n
.
A
f
e
ed
b
ac
k
lin
ea
r
izatio
n
s
tr
u
ctu
r
e
is
o
b
tain
ed
b
ased
o
n
wh
ich
th
e
au
to
n
o
m
o
u
s
co
n
tr
o
l
ac
tio
n
is
o
b
tain
ed
as:
=
+
̇
wh
er
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
Hu
ma
n
s
ta
te
d
ig
ita
l tw
in
a
r
ch
itectu
r
e
fo
r
p
h
ysio
lo
g
y
co
n
s
tr
a
in
ed
a
d
a
p
tive
… (
Ja
g
a
n
a
th
a
n
N
ir
ma
la
d
ev
i
)
509
=
−
I
t is th
e
tr
ac
k
in
g
er
r
o
r
b
etwe
en
th
e
r
ef
er
en
ce
tr
ajec
to
r
y
an
d
th
e
m
ea
s
u
r
ed
r
o
b
o
t state
,
an
d
,
ar
e
p
r
o
p
o
r
tio
n
al
an
d
d
er
iv
ati
v
e
g
ain
r
esp
ec
tiv
el
y
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T
h
is
b
u
ild
in
g
p
r
o
v
id
es
cr
itically
d
a
m
p
ed
r
esp
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s
e
an
d
q
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ick
c
o
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v
e
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en
ce
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n
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e
n
o
p
er
atin
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in
n
o
m
in
al
co
n
d
i
tio
n
s
.
I
n
o
r
d
er
t
o
en
s
u
r
e
s
af
e
ac
tu
atio
n
,
ac
tu
ato
r
s
atu
r
atio
n
an
d
m
ec
h
an
ical
lim
its
ar
e
p
lace
d
d
ir
ec
tly
v
ia
a
clip
p
in
g
f
u
n
ctio
n
:
=
clip
(
,
,
)
wh
er
e
an
d
ar
e
lim
its
in
ter
m
s
o
f
to
r
q
u
e/
f
o
r
ce
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et
b
y
h
a
r
d
wa
r
e
an
d
s
af
ety
s
tan
d
ar
d
s
.
T
h
e
o
r
ig
in
ality
o
f
th
e
s
tr
u
ctu
r
e
is
th
at
th
e
au
t
o
n
o
m
y
b
len
d
in
g
m
ec
h
an
is
m
b
a
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ce
s
co
n
tr
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p
o
we
r
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ep
e
n
d
i
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g
o
n
t
h
e
esti
m
ated
h
u
m
an
s
tate.
T
h
e
b
len
d
i
n
g
f
ac
to
r
∈
[
0
,
1
]
is
ca
lcu
lated
as:
=
(
ℎ
+
)
wh
er
e
-
ℎ
is
th
e
attem
p
t o
f
th
e
h
u
m
a
n
s
tate
(
f
atig
u
e
in
d
ex
,
s
tr
ess
lev
el,
in
d
icato
r
s
o
f
la
b
o
r
)
wh
ich
is
e
s
tim
ated
,
-
is
an
ac
q
u
ir
ed
weig
h
tin
g
v
ec
t
o
r
,
-
is
a
b
ias ter
m
,
-
(
⋅
)
is
b
o
u
n
d
e
d
s
ig
m
o
id
a
ctiv
atio
n
wh
ich
p
r
o
v
id
es sm
o
o
th
ch
an
g
es.
Fig
u
r
e
3
.
T
win
c
o
n
s
tr
ain
ed
au
to
n
o
m
y
b
len
d
i
n
g
co
n
tr
o
l lo
o
p
T
h
e
u
ltima
te
b
len
d
ed
co
n
tr
o
l c
o
m
m
an
d
will b
e:
=
+
(
1
−
)
ℎ
wh
er
e
ℎ
is
th
e
co
m
m
an
d
in
p
u
t
p
r
o
v
id
e
d
b
y
h
u
m
an
s
.
T
h
is
s
tr
u
ctu
r
e
en
s
u
r
es:
-
B
ig
au
to
n
o
m
y
in
ca
s
e
o
f
h
ig
h
f
atig
u
e
in
d
e
x
(
lar
g
e
α
)
-
I
n
cr
ea
s
ed
h
u
m
an
c
o
n
tr
o
l a
t l
o
w
co
g
n
itiv
e
lo
a
d
(
s
m
all
).
-
C
o
n
tin
u
o
u
s
to
r
q
u
e
-
tr
a
n
s
itio
n
s
will b
e
d
esire
d
.
T
h
e
s
y
s
tem
en
s
u
r
es
th
at
s
u
d
d
en
m
o
d
e
ch
a
n
g
es
d
o
n
o
t
o
cc
u
r
an
d
s
tab
ilit
y
is
en
s
u
r
ed
in
r
esp
o
n
s
e
to
tim
e
-
v
ar
y
in
g
h
u
m
a
n
co
n
d
itio
n
s
b
y
in
teg
r
atin
g
au
to
n
o
m
y
with
in
th
e
clo
s
ed
-
lo
o
p
c
o
n
tr
o
l
law
in
s
tead
o
f
it
b
ein
g
an
ex
ter
n
al
s
witch
in
g
s
y
s
tem
.
3
.
3
.
E
x
perim
ent
a
l
a
nd
s
im
ula
t
io
n set
up
T
h
e
p
r
o
p
o
s
ed
f
r
a
m
ewo
r
k
was
test
ed
in
a
s
im
u
lated
co
n
tr
o
l
led
s
ettin
g
aim
ed
at
th
e
an
aly
s
is
o
f
th
e
in
ter
ac
tio
n
o
f
h
u
m
an
-
s
tate
esti
m
atio
n
an
d
ad
ap
tiv
e
au
to
n
o
m
y
allo
ca
tio
n
u
n
d
e
r
r
ep
ea
tab
le
co
n
d
itio
n
s
.
T
h
e
s
im
u
latio
n
s
wer
e
ex
ec
u
ted
in
a
n
u
m
er
ical
co
m
p
u
tin
g
s
y
s
tem
(
e.
g
.
,
MA
T
L
AB
/Si
m
u
lin
k
o
r
a
s
im
ilar
s
y
s
tem
)
to
test
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
s
y
s
tem
in
d
if
f
er
en
t
wo
r
k
lo
ad
c
o
n
d
itio
n
s
.
No
p
h
y
s
ical
h
u
m
a
n
s
u
b
ject
ex
p
er
im
en
t
is
in
d
icate
d
in
th
e
r
esear
ch
,
b
u
t
in
s
tead
,
v
ar
iatio
n
s
in
p
h
y
s
i
o
lo
g
ical
s
tates
an
d
co
llab
o
r
ati
v
e
task
r
eq
u
ir
e
m
en
ts
H
u
ma
n
O
p
e
r
a
t
o
r
(
ℎ
)
P
h
y
s
i
o
l
o
g
i
c
a
l
S
e
n
s
i
n
g
(
EM
G
/
ED
A
/
H
RV)
H
u
ma
n
s
t
a
t
e
d
i
g
i
t
a
l
t
w
i
n
(
H
S
D
T)
st
a
t
e
e
st
i
m
a
t
e
ො
ℎ
A
u
t
o
n
o
m
y
A
l
l
o
c
a
t
i
o
n
=
(
ො
ℎ
+
)
A
u
t
o
n
o
m
y
B
l
e
n
d
i
n
g
=
+
(
1
−
)
ℎ
R
o
b
o
t
C
o
n
t
r
o
l
l
e
r
=
+
̇
=
−
R
e
f
e
r
e
n
c
e
R
o
b
o
t
i
c
P
l
a
n
t
H
u
ma
n
c
o
mm
a
n
d
u
h
a
u
t
o
n
o
my
c
o
e
f
f
i
c
i
e
n
t
α
b
l
e
n
d
e
d
i
n
p
u
t
u
f
e
e
d
b
a
c
k
st
a
t
e
a
u
t
o
n
o
mo
u
s
c
o
n
t
r
o
l
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
.
3
,
Sep
tem
b
er
20
2
6
:
5
0
3
-
5
1
8
510
wer
e
s
im
u
lated
to
test
th
e
clo
s
ed
-
lo
o
p
b
eh
av
i
o
r
o
f
th
e
co
n
tr
o
ller
.
A
m
u
lti
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
r
o
b
o
tic
m
an
ip
u
lato
r
m
o
d
el,
wh
ic
h
is
g
en
er
ic,
was
tak
en
in
to
co
n
s
id
er
atio
n
in
a
co
llab
o
r
ativ
e
m
an
ip
u
latio
n
a
n
d
tr
ajec
to
r
y
-
tr
ac
k
i
n
g
task
wh
er
e
th
e
r
o
b
o
t
f
o
llo
we
d
a
r
ef
er
en
ce
tr
ajec
to
r
y
an
d
ac
c
o
m
m
o
d
ated
tim
e
-
v
ar
y
in
g
h
u
m
an
in
p
u
t
an
d
ap
p
r
o
x
im
at
ed
o
p
e
r
ato
r
s
tate.
T
h
e
c
o
n
tr
o
l
lo
o
p
o
f
th
e
r
o
b
o
t
f
lo
wed
with
th
e
f
r
eq
u
en
cy
o
f
1
k
Hz,
h
u
m
a
n
-
s
tate
esti
m
ato
r
with
1
0
0
Hz,
an
d
th
e
a
u
to
n
o
m
y
b
le
n
d
in
g
co
ef
f
icien
t
with
5
0
Hz.
T
h
e
s
im
u
latio
n
was
d
o
n
e
with
s
en
s
o
r
n
o
is
e,
wo
r
k
lo
ad
tr
an
s
itio
n
a
n
d
f
atig
u
e
-
r
elate
d
v
a
r
iatio
n
s
to
ass
ess
th
e
r
o
b
u
s
tn
ess
,
tr
an
s
itio
n
s
m
o
o
th
n
ess
,
an
d
s
tab
ilit
y
o
f
th
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e.
T
h
e
s
im
u
latio
n
s
ce
n
ar
io
s
will
b
e
co
n
f
ig
u
r
ed
to
s
im
u
late
in
cr
ea
s
in
g
lev
els
o
f
o
p
er
ato
r
wo
r
k
lo
ad
a
n
d
f
atig
u
e
th
r
o
u
g
h
a
m
an
ip
u
latio
n
o
f
th
e
f
ea
tu
r
es
o
f
p
h
y
s
io
lo
g
ical
s
ig
n
als.
Simu
lated
lo
w,
m
o
d
er
ate
an
d
h
ig
h
wo
r
k
lo
ad
c
o
n
d
itio
n
s
ar
e
u
s
ed
to
ass
es
s
s
y
s
tem
ad
ap
tab
ilit
y
.
T
h
e
n
o
is
e
-
r
o
b
u
s
tn
ess
m
ea
s
u
r
e
is
d
eter
m
in
ed
th
r
o
u
g
h
in
jectio
n
o
f
a
co
n
tr
o
lled
Gau
s
s
ian
n
o
is
e
in
p
h
y
s
io
lo
g
ical
s
ig
n
al
s
,
an
d
allo
ws
ass
ess
in
g
esti
m
ato
r
s
tab
ilit
y
an
d
co
n
tr
o
l
b
eh
av
io
r
t
o
r
ea
lis
tic
s
en
s
in
g
d
is
tu
r
b
an
ce
s
.
T
h
e
f
r
am
ewo
r
k
in
v
o
lv
in
g
s
im
u
l
atio
n
in
v
o
lv
ed
p
h
y
s
io
lo
g
ica
l
s
en
s
in
g
,
s
ig
n
al
p
r
ep
r
o
ce
s
s
in
g
,
f
ea
tu
r
e
ex
tr
ac
t
io
n
,
E
KF
-
b
ased
s
tate
esti
m
atio
n
,
ad
a
p
tiv
e
au
to
n
o
m
y
b
len
d
in
g
an
d
ad
a
p
tiv
e
s
af
ety
-
co
n
s
tr
ain
ed
r
o
b
o
t
ac
tu
a
tio
n
.
All
o
f
th
e
ex
p
er
im
e
n
ts
wer
e
p
ar
am
eter
ized
in
th
e
s
am
e
way
s
o
th
at
a
f
air
co
m
p
ar
is
o
n
c
o
u
ld
b
e
m
ad
e
o
f
m
an
u
al
co
n
t
r
o
l
v
er
s
u
s
f
ix
e
d
au
to
n
o
m
y
an
d
t
h
e
p
r
o
p
o
s
ed
T
C
AA
f
r
am
ewo
r
k
.
T
h
e
E
KF b
ased
esti
m
atio
n
m
o
d
el
is
as f
o
llo
ws:
Pre
d
ictio
n
:
ො
ℎ
,
∣
−
1
=
ො
ℎ
,
−
1
∣
−
1
Up
d
ate:
ො
ℎ
,
∣
=
ො
ℎ
,
∣
−
1
+
(
−
ො
ℎ
,
∣
−
1
)
wh
er
e
-
is
th
e
m
ea
s
u
r
em
en
t v
ec
to
r
o
f
ex
tr
ac
ted
p
h
y
s
io
lo
g
ical
f
ea
tu
r
es,
-
is
th
e
Kalm
an
g
ain
,
-
an
d
ar
e
s
y
s
tem
m
atr
ices.
Fig
u
r
e
4
s
h
o
ws th
e
ex
p
er
im
en
tal
an
d
s
im
u
latio
n
m
o
d
el
to
te
s
t th
e
p
r
o
p
o
s
ed
T
C
AA
f
r
am
e
wo
r
k
,
wh
ile
T
ab
le
1
s
u
m
m
ar
izes k
ey
p
ar
a
m
eter
s
th
at
wer
e
u
s
ed
i
n
all
ex
p
er
im
en
ts
.
Par
am
eter
s
o
f
th
e
s
y
s
tem
in
th
e
T
C
AA
f
r
am
ewo
r
k
.
Fig
u
r
e
4
.
E
x
p
er
im
e
n
tal
an
d
s
i
m
u
latio
n
s
etu
p
o
f
th
e
twin
c
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P
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e
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ℎ
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z
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m
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H
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h
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co
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r
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t
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esig
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r
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P
h
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l
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c
a
l
S
e
n
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n
g
Hu
ma
n
St
a
t
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E
s
t
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ma
t
i
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(
HS
DT
/
E
KF
)
A
u
t
o
n
o
m
y
A
l
l
o
c
a
t
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(
α)
C
o
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t
r
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l
S
y
s
t
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m
(
C
o
n
t
r
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l
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+
S
a
f
e
t
y
)
Ro
b
o
t
i
c
P
l
a
n
t
H
u
ma
n
I
n
p
u
t
ℎ
R
e
f
e
r
e
n
c
e
a
u
t
o
n
o
my
c
o
e
f
f
i
c
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e
n
t
(
)
f
e
e
d
b
a
c
k
st
a
t
e
c
o
n
t
r
o
l
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n
p
u
t
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
-
2
5
8
6
Hu
ma
n
s
ta
te
d
ig
ita
l tw
in
a
r
ch
itectu
r
e
fo
r
p
h
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n
s
tr
a
in
ed
a
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tive
… (
Ja
g
a
n
a
th
a
n
N
ir
ma
la
d
ev
i
)
511
th
e
eq
u
atio
n
s
ab
o
v
e.
T
h
e
co
m
b
in
atio
n
o
f
esti
m
atio
n
,
au
t
o
n
o
m
y
b
len
d
in
g
an
d
s
af
ety
en
f
o
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ce
m
en
t
m
a
k
es
th
e
ad
ap
tiv
e
co
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tr
o
l
f
r
am
ewo
r
k
s
tab
le
an
d
p
h
y
s
io
lo
g
ically
b
ase
d
.
T
h
e
p
r
o
p
o
s
ed
a
p
p
r
o
ac
h
is
a
m
o
d
if
icatio
n
o
f
th
e
tr
ad
itio
n
al
ad
ap
tiv
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co
n
tr
o
ller
s
wh
ich
u
s
e
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ly
th
e
p
er
f
o
r
m
an
ce
f
ee
d
b
ac
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b
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t
wh
ich
u
s
e
h
u
m
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s
tate
to
m
o
d
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late
th
e
co
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l
au
t
h
o
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ty
,
allo
win
g
h
u
m
a
n
-
r
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b
o
t
in
ter
ac
tio
n
to
b
e
s
af
er
a
n
d
m
o
r
e
co
n
tex
t
-
awa
r
e.
Mu
ltip
le
s
im
u
latio
n
s
ce
n
ar
io
s
wer
e
test
ed
at
d
if
f
er
en
t
wo
r
k
lo
ad
s
an
d
n
o
is
e
lev
els
to
m
ak
e
s
u
r
e
th
at
th
e
tr
en
d
s
wer
e
co
n
s
is
ten
t.
4.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
e
r
esu
lts
p
r
o
v
id
ed
in
t
h
e
p
ap
er
ar
e
b
ased
o
n
t
h
e
co
m
p
ar
ativ
e
an
aly
s
is
o
f
t
h
r
ee
c
o
n
tr
o
l
m
o
d
es
b
y
s
im
u
latio
n
,
n
am
ely
m
an
u
al
c
o
n
tr
o
l,
f
ix
e
d
au
to
n
o
m
y
,
an
d
th
e
s
u
g
g
ested
T
C
AA
s
tr
u
ctu
r
e
.
T
h
e
ev
alu
atio
n
o
f
p
er
f
o
r
m
an
ce
was
ca
r
r
ied
o
u
t
th
r
o
u
g
h
esti
m
atio
n
ac
cu
r
ac
y
,
t
r
ac
k
in
g
er
r
o
r
,
t
o
r
q
u
e
r
ip
p
le,
a
u
to
n
o
m
y
tr
a
n
s
itio
n
b
eh
av
io
r
an
d
s
tab
ilit
y
tr
en
d
s
wh
en
d
if
f
e
r
en
t
s
im
u
lated
wo
r
k
lo
ad
a
n
d
f
atig
u
e
co
n
d
itio
n
s
wer
e
ap
p
lied
.
T
o
p
r
o
v
id
e
th
e
r
o
b
u
s
tn
ess
o
f
th
e
tr
en
d
s
in
p
er
f
o
r
m
a
n
ce
o
b
s
er
v
ed
,
th
e
s
im
u
latio
n
s
wer
e
test
ed
in
d
if
f
e
r
en
t
n
o
is
y
co
n
d
itio
n
s
a
n
d
in
d
if
f
e
r
en
t
w
o
r
k
lo
ad
tr
a
n
s
itio
n
co
n
d
itio
n
s
.
T
h
e
r
ep
o
r
ted
f
in
d
in
g
s
s
tip
u
l
ate
co
n
s
is
ten
cy
o
f
b
eh
av
io
r
u
n
d
er
th
ese
co
n
d
itio
n
s
.
4
.
1
.
H
u
m
a
n
s
t
a
t
e
dig
it
a
l t
wi
n e
s
t
im
a
t
io
n a
cc
ura
cy
a
nd
ro
bu
s
t
nes
s
T
h
e
r
o
o
t
m
ea
n
s
q
u
ar
e
er
r
o
r
(
R
MSE
)
is
u
s
ed
to
m
ea
s
u
r
e
th
e
h
u
m
an
s
tate
d
ig
ital
twin
(
HSDT
)
esti
m
atio
n
ac
cu
r
ac
y
b
etwe
en
th
e
ac
tu
al
h
u
m
an
-
s
tate
v
ar
iab
le
an
d
th
e
esti
m
ate:
=
√
1
∫
(
ℎ
−
ො
ℎ
)
2
0
I
n
all
th
e
test
ed
o
p
er
atin
g
r
e
g
im
es,
th
e
esti
m
ato
r
is
f
o
u
n
d
to
b
e
in
a
s
tab
le
co
n
v
er
g
e
n
ce
with
a
lim
ited
er
r
o
r
d
esp
ite
h
ig
h
s
en
s
o
r
n
o
is
e
an
d
tem
p
o
r
ar
y
d
is
tu
r
b
an
ce
s
.
T
h
e
esti
m
atio
n
p
e
r
f
o
r
m
an
ce
was
also
co
n
s
is
ten
t
ac
r
o
s
s
a
v
ar
iety
o
f
s
im
u
lated
o
p
er
atin
g
co
n
d
itio
n
s
with
o
n
ly
s
lig
h
t
d
if
f
er
en
ce
s
s
h
o
wn
with
h
ig
h
er
n
o
is
e
lev
els.
T
h
e
esti
m
ato
r
p
er
f
o
r
m
a
n
ce
ca
n
h
o
wev
er
b
e
in
f
lu
en
ce
d
in
ex
tr
e
m
e
h
ig
h
n
o
is
y
s
itu
atio
n
s
o
r
wh
en
p
h
y
s
io
lo
g
ical
m
ea
s
u
r
em
en
ts
ar
e
d
elay
ed
.
T
h
e
E
KF
o
f
f
er
s
th
e
b
en
e
f
its
o
f
b
ein
g
r
o
b
u
s
t
to
m
o
d
e
r
ate
n
o
is
e,
alth
o
u
g
h
lar
g
e
s
en
s
o
r
er
r
o
r
o
r
laten
cies
m
ig
h
t
af
f
ec
t
th
e
q
u
ality
o
f
esti
m
atio
n
s
.
Su
ch
co
n
s
tr
ain
ts
em
p
h
asize
th
e
im
p
o
r
tan
ce
o
f
p
o
we
r
f
u
l
s
en
s
in
g
d
e
v
ices
an
d
s
u
b
s
eq
u
en
t
test
in
g
o
n
r
ea
l
-
life
p
h
y
s
io
lo
g
i
ca
l
d
ata.
T
h
is
r
esu
lt
s
h
o
ws
th
at
th
e
p
r
o
p
o
s
ed
esti
m
ato
r
is
s
tab
le
an
d
r
o
b
u
s
t
in
d
if
f
er
en
t
s
ig
n
al
c
o
n
d
itio
n
s
.
Sp
ec
i
f
ically
,
th
er
e
is
lo
w
er
r
o
r
in
th
e
esti
m
atio
n
in
h
ig
h
-
d
y
n
am
ics
p
h
ases
(
g
en
er
ati
o
n
o
f
n
ew
wo
r
k
l
o
ad
s
)
,
wh
ic
h
s
u
g
g
ests
th
at
th
e
o
b
s
er
v
er
is
ad
eq
u
ately
atte
n
tiv
e
to
tr
ac
e
tim
e
-
v
ar
y
in
g
co
g
n
itiv
e/p
h
y
s
io
lo
g
ical
lo
a
d
,
with
o
u
t
ca
u
s
in
g
esti
m
atio
n
lag
.
T
h
is
s
tr
en
g
th
i
s
n
ec
ess
ar
y
s
in
ce
th
e
au
to
n
o
m
y
allo
ca
to
r
d
ir
ec
tly
r
elies
o
n
th
e
HSDT
o
u
tp
u
t;
b
iased
o
r
d
elay
ed
esti
m
atio
n
o
f
h
u
m
an
-
s
tate
wo
u
ld
b
e
tr
a
n
s
lated
in
to
th
e
u
n
war
r
an
te
d
au
to
n
o
m
y
ch
a
n
g
es
th
at
m
ig
h
t c
o
m
p
r
o
m
is
e
s
af
ety
o
r
p
er
f
o
r
m
a
n
ce
.
I
n
Fig
u
r
e
5
th
e
a
d
ap
tiv
e
a
u
to
n
o
m
y
co
ef
f
icien
t
(
)
is
m
o
d
u
lat
ed
b
y
o
p
er
ato
r
co
n
d
itio
n
esti
m
ated
.
W
h
en
co
g
n
itiv
e
s
tr
ess
an
d
f
atig
u
e
co
n
d
itio
n
s
ar
e
h
ig
h
,
α
(
t)
is
h
ig
h
er
a
n
d
m
o
r
e
p
o
we
r
is
v
ested
in
th
e
au
to
n
o
m
o
u
s
co
n
tr
o
ller
.
Un
d
er
r
elax
ed
co
n
d
itio
n
s
,
α
(
t)
g
o
es
d
o
wn
,
a
n
d
h
u
m
a
n
h
i
g
h
er
au
th
o
r
ity
is
r
ein
s
tated
.
No
tab
ly
th
e
a
u
to
n
o
m
y
m
o
d
u
l
atio
n
is
n
o
t
a
b
r
u
p
t
b
u
t
s
m
o
o
th
,
wh
ich
p
r
ev
e
n
ts
th
e
d
is
co
n
tin
u
ities
in
th
e
co
n
tr
o
l
co
m
m
an
d
th
at
is
b
len
d
ed
.
T
h
e
m
ea
n
au
to
n
o
m
y
ch
an
g
es
d
u
r
in
g
f
atig
u
e
s
tate
ch
a
n
g
es
b
y
4
2
%
q
u
a
n
titativ
ely
,
wh
ich
p
r
o
v
es
th
e
r
ea
llo
ca
tio
n
o
f
au
th
o
r
ity
in
th
e
s
y
s
tem
is
n
o
t
tr
iv
ial
an
d
o
cc
u
r
s
wh
en
th
e
o
p
er
ato
r
s
tate
r
eq
u
ir
es e
x
tr
a
ass
is
tan
ce
.
Fig
u
r
e
5
.
Ad
a
p
tiv
e
au
to
n
o
m
y
co
ef
f
icien
t v
ar
iatio
n
u
n
d
er
wo
r
k
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n
d
itio
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s
0
0
,
2
0
,
4
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0
,
2
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,
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0
,
8
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0
2
4
6
8
10
12
14
16
18
20
22
24
26
28
W
o
r
k
l
o
a
d
A
u
t
o
n
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m
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f
f
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s)
A
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f
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t)
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o
r
k
l
o
a
d
i
n
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i
c
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t
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r
(
0
/
1
)
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
&
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u
to
m
,
Vo
l
.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
5
0
3
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5
1
8
512
4
.
2
.
Aut
o
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m
y
a
da
pta
t
io
n
m
ec
ha
nis
m
a
nd
t
ra
ns
it
io
n sm
o
o
t
hn
ess
Au
to
n
o
m
y
allo
ca
t
o
r
u
s
es
th
e
HSDT
esti
m
ate
to
m
o
d
if
y
th
e
h
u
m
an
-
r
o
b
o
t
au
th
o
r
it
y
in
r
ea
l
tim
e.
T
h
e
k
ey
o
b
s
er
v
atio
n
is
n
o
t
th
at
α
(
t
)
v
ar
ies
in
tr
en
d
in
th
e
d
esire
d
d
ir
ec
tio
n
,
b
u
t
co
n
tin
u
o
u
s
ly
,
an
d
th
is
elim
in
ates
s
h
ar
p
tr
an
s
itio
n
s
in
co
m
m
a
n
d
ed
to
r
q
u
e/f
o
r
ce
th
at
m
ay
a
d
d
r
ip
p
le,
tr
ig
g
er
r
eso
n
an
ce
s
,
a
n
d
m
ak
e
co
llab
o
r
ativ
e
s
y
s
tem
s
les
s
co
m
f
o
r
tab
le.
Fig
u
r
e
6
in
clu
d
es
th
e
m
ap
p
i
n
g
o
f
th
e
wo
r
k
lo
ad
i
n
d
icato
r
s
co
n
v
er
ted
b
y
u
s
in
g
HSDT
an
d
th
e
au
to
n
o
m
y
co
ef
f
icien
t
α
o
b
tain
ed
.
T
h
e
r
e
ar
e
th
r
ee
in
ter
p
r
e
tab
le
r
eg
io
n
s
th
at
ca
n
b
e
id
e
n
tifie
d
b
y
t
h
e
p
lo
t
n
am
ely
:
i)
lo
w
wo
r
k
lo
ad
wh
e
r
e
h
u
m
an
c
o
n
tr
o
l
co
m
m
an
d
s
th
e
h
ig
h
est
lev
el
o
f
co
n
tr
o
l,
ii)
tr
an
s
itio
n
r
eg
io
n
wh
er
e
s
h
ar
ed
a
u
to
n
o
m
y
is
m
o
s
t
p
r
o
lific
,
an
d
iii)
h
ig
h
wo
r
k
l
o
ad
wh
er
e
r
o
b
o
t
au
to
n
o
m
y
co
m
m
an
d
s
th
e
h
ig
h
est
lev
el
o
f
co
n
tr
o
l.
T
h
is
f
ig
u
r
e
ex
p
lain
s
h
o
w
th
e
s
u
g
g
ested
T
C
AA
r
elate
s
th
e
p
h
y
s
io
lo
g
i
ca
l
s
tate
to
co
n
tr
o
l
au
th
o
r
ity
in
a
co
n
s
tr
ain
e
d
an
d
u
n
d
er
s
tan
d
a
b
le
f
o
r
m
.
Fig
u
r
e
6
.
State
–
au
to
n
o
m
y
co
u
p
lin
g
m
ap
an
d
o
p
er
atin
g
r
eg
i
o
n
s
4
.
3
.
T
ra
c
k
ing
perf
o
r
m
a
nce
a
nd
a
utho
rit
y
-
depend
ent
co
ntr
o
l qua
lity
C
o
n
tr
o
l p
er
f
o
r
m
an
ce
is
ev
alu
a
ted
u
s
in
g
th
e
R
MS
p
o
s
itio
n
tr
a
ck
in
g
er
r
o
r
:
=
√
1
∫
(
−
)
2
0
T
h
e
ad
ap
tiv
e
au
th
o
r
ity
m
ec
h
an
is
m
im
p
r
o
v
es
th
e
tr
ac
k
in
g
ac
cu
r
ac
y
b
y
m
in
im
izin
g
t
h
e
ef
f
ec
t
o
f
in
co
n
s
is
ten
t
o
r
s
lo
w
h
u
m
an
f
e
ed
b
ac
k
in
p
e
r
io
d
s
o
f
h
ig
h
wo
r
k
lo
ad
.
T
h
e
allo
ca
to
r
is
en
h
an
c
ed
b
y
f
atig
u
e/st
r
ess
s
tate
o
f
o
p
er
ato
r
s
,
w
h
ich
p
er
m
its
th
e
r
o
b
o
t
c
o
n
tr
o
ller
to
k
ee
p
th
e
tig
h
ter
tr
ac
k
in
g
.
I
n
t
h
e
ca
s
e
o
f
a
s
tab
le
o
p
er
ato
r
,
th
e
allo
ca
to
r
m
in
i
m
izes
au
to
n
o
m
y
in
o
r
d
er
to
m
ain
tain
th
e
in
ten
t
o
f
c
o
lla
b
o
r
atio
n
an
d
n
atu
r
al
in
ter
ac
tio
n
.
T
h
e
r
esu
lts
o
f
th
e
tr
ajec
to
r
y
t
r
ac
k
in
g
p
er
f
o
r
m
an
ce
ar
e
d
ep
i
cted
in
Fig
u
r
e
7
,
i
n
clu
d
in
g
th
e
m
an
u
al
co
n
tr
o
l,
th
e
f
i
x
ed
au
to
n
o
m
y
,
a
n
d
th
e
s
u
g
g
ested
T
C
AA
f
r
am
e
wo
r
k
.
Min
o
r
v
ar
iatio
n
o
f
th
e
r
ef
er
en
ce
tr
ajec
to
r
y
is
s
ee
n
in
th
e
p
r
o
p
o
s
ed
m
eth
o
d
esp
ec
ially
wh
e
n
th
e
wo
r
k
l
o
ad
ex
p
er
ien
ce
s
r
a
p
id
c
h
an
g
e
s
m
ea
n
in
g
t
h
at
th
e
tr
ac
k
in
g
ac
cu
r
ac
y
is
s
u
p
er
io
r
wh
en
th
e
wo
r
k
lo
ad
v
ar
ies.
Fig
u
r
e
7
.
Po
s
itio
n
tr
ac
k
in
g
p
er
f
o
r
m
an
ce
u
n
d
er
v
a
r
y
in
g
wo
r
k
l
o
ad
co
n
d
itio
n
s
4
.
4
.
T
o
rque
rippl
e
re
du
ct
io
n a
nd
co
m
m
a
nd
co
ntinuity
T
o
r
q
u
e
r
ip
p
le
p
er
ce
n
tag
e
is
co
m
p
u
ted
as:
=
−
×
100
%
0
0
,
5
1
0
0
,
2
0
,
4
0
,
6
0
,
8
1
A
u
t
o
n
o
m
y
co
ef
f
i
ci
e
n
t
α
N
o
r
m
a
l
i
z
e
d
w
o
r
k
l
o
a
d
-
0
,
9
5
5
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6
1
-
0
,
4
5
5
2
6
1
0
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0
4
4
7
3
9
0
,
5
4
4
7
3
9
1
,
0
4
4
7
3
9
1
49
97
1
4
5
1
9
3
2
4
1
2
8
9
3
3
7
3
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4
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3
4
8
1
5
2
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5
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7
6
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5
6
7
3
7
2
1
7
6
9
8
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9
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6
1
Po
si
t
i
o
n
/
st
a
t
e
x
r
T
i
m
e
(
s)
R
e
f
e
r
e
n
c
e
x
_
r
^
r
e
f
M
a
n
u
a
l
x
_
r
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