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R
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to
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tellig
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(
AI
)
,
an
d
co
n
tr
o
l
s
y
s
tem
s
[
1
]
,
[
2
]
.
T
h
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s
y
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s
p
r
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v
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tu
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tili
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tech
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[
3
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,
[
4
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.
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ti
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e
m
e
r
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g
a
s
a
l
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n
g
t
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d
.
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[
5
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,
[
6
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.
I
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
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Sep
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er
20
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ac
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te
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co
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r
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m
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c
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,
r
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p
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[
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s
af
ety
,
co
b
o
ts
in
co
r
p
o
r
ate
s
en
s
o
r
s
,
AI
-
d
r
iv
e
n
d
ec
is
io
n
-
m
a
k
in
g
,
an
d
co
m
p
lian
t
m
ec
h
an
is
m
s
to
en
ab
le
s
af
e,
r
ea
l
-
tim
e
in
ter
ac
tio
n
with
h
u
m
an
s
[
9
]
–
[
1
1
]
.
I
n
ed
u
ca
ti
o
n
al
s
ettin
g
s
,
th
is
co
llab
o
r
atio
n
e
x
ten
d
s
b
e
y
o
n
d
in
s
tr
u
ctio
n
al
u
s
e
to
ad
m
i
n
is
tr
ativ
e
task
s
,
im
p
r
o
v
in
g
ef
f
icien
c
y
an
d
r
eliab
ilit
y
.
Desp
ite
th
is
p
r
o
g
r
ess
,
atten
d
an
ce
tr
ac
k
in
g
in
ac
ad
em
ic
en
v
ir
o
n
m
en
ts
r
em
ain
s
a
lar
g
ely
m
an
u
al
o
r
clo
u
d
-
d
e
p
en
d
e
n
t
p
r
o
ce
s
s
.
Ma
n
u
al
en
tr
y
is
er
r
o
r
-
p
r
o
n
e
a
n
d
u
n
h
y
g
ien
ic,
wh
ile
clo
u
d
-
b
ased
o
r
b
io
m
etr
ic
s
y
s
tem
s
r
eq
u
ir
e
s
tab
le
in
ter
n
et
co
n
n
ec
tiv
ity
a
n
d
r
aise
co
n
ce
r
n
s
o
v
e
r
d
ata
p
r
iv
ac
y
-
ch
allen
g
es
th
at
ar
e
p
ar
ticu
lar
ly
ac
u
te
i
n
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
o
r
lo
w
-
co
n
n
ec
tiv
it
y
ed
u
ca
tio
n
al
s
ettin
g
s
[
1
1
]
,
[
1
2
]
.
Sin
g
le
-
m
o
d
ality
au
to
m
ated
a
p
p
r
o
ac
h
es,
s
u
ch
as
f
ac
e
r
ec
o
g
n
itio
n
o
r
r
ad
io
f
r
eq
u
e
n
cy
id
e
n
tific
atio
n
(
R
FID
)
-
b
ased
s
y
s
tem
s
,
ad
d
r
ess
s
o
m
e
o
f
th
ese
co
n
ce
r
n
s
b
u
t
r
em
ain
v
u
ln
e
r
ab
le
t
o
e
n
v
ir
o
n
m
en
tal
v
a
r
iab
ilit
y
an
d
f
ail
to
p
r
o
v
id
e
a
f
u
lly
o
f
f
lin
e,
p
r
i
v
ac
y
-
p
r
eser
v
in
g
s
o
lu
tio
n
[
1
3
]
.
T
h
ese
lim
itatio
n
s
m
o
tiv
ate
th
e
n
ee
d
f
o
r
a
r
o
b
u
s
t,
m
u
ltimo
d
al,
an
d
in
f
r
astru
ctu
r
e
-
i
n
d
ep
e
n
d
en
t a
tt
en
d
an
ce
a
u
to
m
atio
n
f
r
am
ewo
r
k
.
R
ec
en
t
r
esear
ch
in
r
o
b
o
tics
an
d
ar
tific
ial
in
tellig
en
ce
h
as
m
a
d
e
co
n
s
id
er
ab
le
p
r
o
g
r
ess
in
th
e
d
o
m
ain
s
o
f
h
u
m
a
n
–
r
o
b
o
t
in
ter
ac
tio
n
,
v
is
u
al
r
ec
o
g
n
itio
n
,
an
d
em
b
e
d
d
ed
co
n
t
r
o
l.
Stu
d
ies
h
av
e
p
r
esen
ted
lo
w
-
co
s
t
r
o
b
o
tic
ar
m
ass
is
tan
ts
b
a
s
ed
o
n
p
latf
o
r
m
s
s
u
ch
as
Nir
y
o
On
e
f
o
r
aid
in
g
m
o
b
ilit
y
-
im
p
air
e
d
u
s
er
s
,
in
teg
r
atin
g
v
o
ice
in
ter
ac
tio
n
an
d
m
ac
h
in
e
v
is
io
n
f
o
r
r
ea
l
-
tim
e
o
b
ject
d
et
ec
tio
n
with
o
v
er
9
6
%
ac
cu
r
ac
y
[
1
]
.
Of
f
lin
e
v
o
ice
r
ec
o
g
n
itio
n
f
r
am
ewo
r
k
s
u
s
in
g
th
e
Vo
s
k
en
g
in
e
[
2
]
h
av
e
b
ee
n
d
e
v
elo
p
ed
t
o
en
ab
le
r
o
b
u
s
t,
lo
w
-
laten
cy
tr
an
s
cr
ip
tio
n
with
o
u
t
cl
o
u
d
d
ep
en
d
en
c
y
.
A
d
v
an
ce
d
in
v
er
s
e
k
in
em
atics
(
I
K)
s
o
l
u
tio
n
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
u
s
in
g
d
ee
p
lear
n
in
g
m
eth
o
d
s
s
u
ch
as
I
KFlo
w
[
1
4
]
,
w
h
ile
alg
o
r
ith
m
ic
m
o
d
elin
g
b
ased
o
n
th
e
Mo
d
if
ied
Den
av
it
–
Har
ten
b
er
g
(
MD
H)
c
o
n
v
en
tio
n
im
p
r
o
v
es
p
r
ec
is
io
n
in
k
in
em
atic
p
ar
am
eter
izatio
n
[
4
]
.
Vis
io
n
-
b
ased
co
n
tr
o
l
an
d
o
p
tical
ch
ar
ac
ter
r
ec
o
g
n
itio
n
(
OC
R
)
-
d
r
iv
en
p
er
ce
p
tio
n
p
ip
elin
es
h
av
e
also
b
ee
n
ex
p
lo
r
ed
f
o
r
m
o
b
ile
r
o
b
o
ts
an
d
m
an
ip
u
lato
r
s
to
ac
h
iev
e
ac
cu
r
ate
lo
ca
lizatio
n
,
r
ec
o
g
n
itio
n
,
an
d
n
av
ig
atio
n
[
1
3
]
,
[
1
5
]
.
T
h
is
r
esear
ch
c
o
n
tr
ib
u
tes
to
t
h
e
f
ield
b
y
p
r
esen
tin
g
a
n
o
v
el
co
m
b
in
atio
n
o
f
em
b
ed
d
e
d
AI
,
co
m
p
u
ter
v
is
io
n
,
an
d
r
o
b
o
tic
co
n
t
r
o
l
f
o
r
h
u
m
an
–
r
o
b
o
t
c
o
llab
o
r
atio
n
in
ed
u
ca
tio
n
al
a
d
m
in
is
tr
atio
n
.
T
h
e
s
cien
tific
q
u
esti
o
n
ad
d
r
ess
ed
is
:
wh
eth
er
a
lo
w
-
c
o
s
t,
o
f
f
lin
e
,
an
d
m
u
ltimo
d
al
h
u
m
an
–
r
o
b
o
t
in
t
er
ac
tio
n
s
y
s
tem
ca
n
au
to
m
ate
m
a
n
u
al
atten
d
an
ce
m
ar
k
in
g
task
s
with
h
ig
h
r
eli
ab
ilit
y
wh
ile
o
p
er
atin
g
o
n
r
e
s
o
u
r
ce
-
co
n
s
tr
ain
e
d
em
b
ed
d
e
d
h
a
r
d
war
e
lik
e
th
e
R
asp
b
er
r
y
Pi.
T
h
e
p
r
in
cip
al
c
o
n
tr
ib
u
tio
n
s
o
f
th
is
wo
r
k
ar
e
as
f
o
llo
ws:
i)
Desig
n
an
d
im
p
lem
e
n
tatio
n
o
f
a
lo
w
-
co
s
t
3
-
d
e
g
r
ee
s
o
f
f
r
ee
d
o
m
(
D
OF
)
r
o
b
o
tic
a
r
m
th
at
in
teg
r
ate
s
o
f
f
lin
e
v
o
ice
an
d
v
is
io
n
m
o
d
u
les
f
o
r
au
t
o
n
o
m
o
u
s
atten
d
an
ce
m
ar
k
in
g
i
n
a
cla
s
s
r
o
o
m
en
v
ir
o
n
m
en
t
,
ii)
i
n
v
er
s
e
k
in
em
atics
-
b
ased
co
n
tr
o
l
alg
o
r
ith
m
t
h
at
en
s
u
r
es
p
r
ec
is
e
s
ty
lu
s
p
lace
m
en
t
f
o
r
r
eliab
le
to
u
ch
s
cr
ee
n
in
ter
ac
tio
n
,
iii)
f
u
lly
o
f
f
lin
e,
s
elf
-
co
n
tain
ed
HR
C
f
r
am
ewo
r
k
th
at
f
u
s
es
m
u
ltimo
d
al
in
p
u
t
s
(
s
p
ee
ch
an
d
OC
R
)
in
r
ea
l
ti
m
e,
p
r
eser
v
i
n
g
d
ata
p
r
iv
ac
y
,
m
ai
n
tain
in
g
r
eliab
ili
ty
in
th
e
ab
s
en
ce
o
f
n
etwo
r
k
in
f
r
astru
ctu
r
e
,
an
d
iv
)
e
x
p
er
im
en
tal
v
alid
atio
n
u
n
d
er
co
n
tr
o
lled
an
d
v
ar
ia
b
l
e
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
,
ac
h
iev
in
g
9
6
.
2
%
s
p
ee
ch
r
ec
o
g
n
itio
n
ac
cu
r
ac
y
,
9
5
.
8
% OCR
ac
cu
r
ac
y
,
9
7
.
6
%
r
o
b
o
tic
ar
m
p
r
ec
is
io
n
,
an
d
a
4
-
m
etr
ic
co
m
b
in
e
d
o
v
e
r
all
s
u
cc
e
s
s
r
ate
o
f
9
2
.
8
%.
T
h
e
k
e
y
f
in
d
in
g
th
at
an
s
wer
s
th
e
s
cien
tific
q
u
esti
o
n
p
o
s
ed
ab
o
v
e
is
th
at
m
e
r
g
in
g
v
o
ice
i
n
ter
ac
tio
n
,
co
m
p
u
ter
v
is
io
n
,
an
d
r
ea
l
-
ti
m
e
r
o
b
o
tic
m
an
i
p
u
latio
n
,
th
e
s
y
s
tem
ac
h
iev
es
a
9
2
.
8
%
o
v
er
all
atten
d
an
ce
-
m
ar
k
in
g
s
u
cc
ess
r
ate
u
n
d
er
v
ar
ied
en
v
ir
o
n
m
e
n
tal
co
n
d
itio
n
s
.
T
h
er
ef
o
r
e,
th
is
s
tu
d
y
esta
b
lis
h
es
a
p
r
ac
tical,
af
f
o
r
d
a
b
le,
a
n
d
s
ca
lab
le
m
o
d
e
l
f
o
r
in
tellig
en
t
h
u
m
a
n
–
r
o
b
o
t
co
llab
o
r
atio
n
in
ac
ad
em
ic
au
t
o
m
atio
n
.
T
h
e
n
atu
r
e
o
f
th
e
ev
id
en
ce
we
p
r
o
v
id
e
in
s
u
p
p
o
r
t o
f
th
is
s
y
s
tem
is
b
ased
o
n
ex
p
er
im
en
tal
v
alid
atio
n
u
n
d
er
co
n
tr
o
lled
an
d
v
ar
iab
le
en
v
ir
o
n
m
en
tal
co
n
d
it
io
n
s
.
I
n
s
u
m
m
ar
y
,
th
e
s
ig
n
if
i
ca
n
ce
o
f
th
ese
r
esu
lts
lies
in
d
em
o
n
s
tr
atin
g
th
at
af
f
o
r
d
a
b
le,
a
d
ap
tab
le
r
o
b
o
tic
s
y
s
tem
s
ca
n
p
er
f
o
r
m
r
eliab
le
r
ea
l
-
wo
r
ld
a
u
to
m
atio
n
u
s
in
g
l
o
w
-
co
s
t
em
b
e
d
d
ed
h
ar
d
war
e.
T
h
e
s
y
s
tem
s
er
v
es
as
a
v
alu
ab
le
p
latf
o
r
m
f
o
r
r
o
b
o
tics
ed
u
ca
tio
n
,
h
u
m
an
-
r
o
b
o
t
co
llab
o
r
atio
n
,
a
n
d
ac
ce
s
s
ib
le
au
to
m
atio
n
i
n
r
eso
u
r
ce
-
lim
ited
s
ettin
g
s
s
u
ch
as
r
u
r
al
s
ch
o
o
ls
o
r
s
m
all
o
f
f
ices.
Mo
r
e
b
r
o
ad
ly
,
it
o
f
f
er
s
a
p
ath
way
f
o
r
cr
ea
tin
g
o
f
f
lin
e,
p
r
iv
ac
y
-
p
r
eser
v
in
g
i
n
tellig
en
t
r
o
b
o
ts
f
o
r
n
o
n
-
i
n
d
u
s
tr
ial
ap
p
licatio
n
s
,
p
r
im
ar
ily
ad
d
r
ess
in
g
a
s
p
ec
if
i
c
ed
u
ca
tio
n
al
u
s
e
ca
s
e.
R
o
b
o
tics
an
d
au
to
m
atio
n
a
r
e
tr
an
s
f
o
r
m
in
g
th
e
lan
d
s
ca
p
e
o
f
m
o
d
e
r
n
ed
u
ca
tio
n
.
I
n
co
lleg
e
en
v
ir
o
n
m
en
ts
,
r
o
b
o
ts
ar
e
in
cr
ea
s
in
g
ly
u
s
ed
n
o
t
o
n
ly
f
o
r
r
esear
ch
an
d
ac
ad
em
ic
in
s
tr
u
ctio
n
b
u
t
also
in
ad
m
in
is
tr
ativ
e
an
d
s
u
p
p
o
r
t
r
o
les.
L
ab
o
r
ato
r
ies
an
d
en
g
i
n
ee
r
in
g
d
ep
a
r
tm
en
ts
r
eg
u
lar
ly
e
m
p
lo
y
r
o
b
o
tic
ar
m
s
,
m
o
b
ile
r
o
b
o
ts
,
an
d
r
ec
e
n
t
r
esear
ch
d
em
o
n
s
tr
ates
r
ap
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ased
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lar
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E
ar
ly
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Evaluation Warning : The document was created with Spire.PDF for Python.
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ed
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o
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YOL
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ith
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[
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r
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[
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ess
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ain
-
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ted
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with
cu
s
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o
p
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Vo
s
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T
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k
it
[
2
]
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,
(
s
p
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ch
p
r
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s
s
ed
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n
An
d
r
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id
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k
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y
wo
r
d
s
p
o
ttin
g
al
g
o
r
ith
m
[
1
1
]
).
Vis
io
n
-
b
ased
p
er
ce
p
tio
n
a
n
d
co
n
tr
o
l
co
n
s
titu
te
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o
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m
ajo
r
r
esear
ch
d
ir
ec
tio
n
in
r
o
b
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tic
m
an
ip
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latio
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.
Sev
er
al
wo
r
k
s
h
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e
e
x
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lo
r
e
d
im
ag
e
-
b
ased
p
ick
-
an
d
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p
lace
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p
er
atio
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s
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o
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lo
w
-
d
e
g
r
ee
-
of
-
f
r
ee
d
o
m
m
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ip
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lato
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s
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s
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g
p
atter
n
r
ec
o
g
n
itio
n
an
d
o
b
ject
l
o
ca
lizatio
n
tech
n
iq
u
es
[
6
]
,
wh
ile
m
o
r
e
ad
v
a
n
ce
d
v
is
u
al
s
er
v
o
in
g
ap
p
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h
es
h
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v
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b
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p
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p
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s
ed
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o
m
ain
tain
co
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tr
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l
s
tab
ilit
y
ev
en
u
n
d
e
r
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ctu
ato
r
f
a
u
lts
[
1
6
]
.
R
ec
en
t
d
ev
elo
p
m
en
ts
in
co
r
p
o
r
ate
d
ee
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lear
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g
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ch
itect
u
r
es,
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clu
d
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c
o
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an
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f
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to
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v
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r
g
en
ce
in
v
is
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al
s
er
v
o
in
g
task
s
(
lite
T
r
a
n
s
f
o
r
m
er
b
ased
v
is
u
al
en
co
d
e
r
,
u
n
s
u
p
er
v
is
ed
lear
n
in
g
,
an
d
d
ata
au
g
m
en
tatio
n
[
1
7
]
)
,
(
ce
r
eb
ellar
m
o
d
el
a
r
ticu
latio
n
co
n
tr
o
ller
(
C
MA
C
)
[
1
5
]
)
.
W
o
r
k
t
h
at
ad
d
r
ess
es
r
o
b
o
t
-
ass
is
ted
s
tu
d
en
t
atten
d
an
ce
in
h
ig
h
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ed
u
ca
tio
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class
r
o
o
m
s
,
u
s
in
g
AI
-
b
ased
f
ac
e
r
ec
o
g
n
itio
n
is
p
r
o
v
id
ed
in
[
1
3
]
.
R
o
b
o
tic
k
in
em
atics,
co
n
tr
o
l,
an
d
m
o
tio
n
p
lan
n
in
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m
a
in
ce
n
tr
al
ch
allen
g
es,
p
a
r
ticu
lar
ly
f
o
r
m
an
ip
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r
s
o
p
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atin
g
in
d
y
n
am
ic
o
r
co
n
s
tr
ain
ed
s
p
ac
es.
C
o
m
p
r
eh
e
n
s
iv
e
r
e
v
iews
h
ig
h
lig
h
t
th
e
g
r
o
win
g
u
s
e
o
f
d
ee
p
n
eu
r
al
n
etwo
r
k
s
f
o
r
in
v
er
s
e
k
in
em
atics,
o
b
s
tacle
-
awa
r
e
p
lan
n
in
g
,
an
d
a
d
ap
ti
v
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co
n
tr
o
l
in
b
o
th
s
tr
u
ctu
r
ed
an
d
u
n
s
tr
u
ctu
r
ed
en
v
ir
o
n
m
en
ts
[
3
]
.
Alter
n
at
iv
e
f
o
r
m
u
latio
n
s
b
ased
o
n
m
o
d
if
ied
Den
a
v
it
–
Har
ten
b
er
g
m
o
d
ellin
g
an
d
li
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e
g
eo
m
etr
y
h
av
e
b
ee
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p
r
o
p
o
s
ed
to
im
p
r
o
v
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th
e
r
o
b
u
s
tn
ess
o
f
k
in
em
atic
r
ep
r
esen
tatio
n
s
[
4
]
,
wh
ile
m
etah
eu
r
is
tic
an
d
g
e
o
m
etr
ic
ap
p
r
o
ac
h
es
h
av
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b
ee
n
ex
p
lo
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ed
f
o
r
tr
ajec
to
r
y
g
en
er
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n
an
d
in
v
er
s
e
k
in
em
atics
in
r
ig
id
an
d
s
o
f
t
r
o
b
o
tic
s
y
s
tem
s
[
1
8
]
an
d
[
1
9
]
f
o
cu
s
s
es
o
n
a
m
u
ltimo
d
al
in
ter
ac
tiv
e
r
o
b
o
t
b
u
ilt
with
Y
OL
Ov
8
o
b
ject
d
etec
tio
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,
ca
m
er
as,
an
d
s
p
ee
c
h
r
ec
o
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n
itio
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,
d
ep
lo
y
e
d
in
a
r
ea
l
class
r
o
o
m
with
K
-
1
2
s
tu
d
e
n
ts
to
ass
is
t w
i
th
p
h
y
s
ics lab
task
s
.
I
n
p
ar
allel,
h
u
m
a
n
–
r
o
b
o
t
co
ll
ab
o
r
atio
n
h
as
d
r
i
v
en
r
esear
ch
in
task
s
eq
u
en
cin
g
,
in
ter
ac
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s
af
ety
,
an
d
en
v
ir
o
n
m
e
n
t
awa
r
en
ess
.
Dee
p
lear
n
in
g
–
b
ased
f
r
am
ewo
r
k
s
h
av
e
b
ee
n
d
ev
el
o
p
e
d
to
co
n
tr
o
l
wo
r
k
s
eq
u
en
ce
s
in
co
llab
o
r
ativ
e
ass
em
b
ly
p
r
o
ce
s
s
es b
y
ad
ap
tin
g
r
o
b
o
t a
ctio
n
s
to
h
u
m
an
b
eh
a
v
io
r
[
8
]
.
Vis
io
n
-
b
ased
lo
ca
lizatio
n
an
d
o
b
s
tacle
av
o
id
an
ce
tec
h
n
iq
u
es
f
u
r
th
e
r
en
h
an
ce
au
to
n
o
m
o
u
s
o
p
er
ati
o
n
in
u
r
b
an
a
n
d
war
eh
o
u
s
e
e
n
v
ir
o
n
m
en
ts
,
e
n
s
u
r
in
g
s
af
e
n
av
ig
atio
n
a
n
d
ef
f
ec
tiv
e
co
lla
b
o
r
atio
n
with
h
u
m
an
s
[
9
]
,
[
1
2
]
.
C
o
m
p
lem
en
tar
y
p
er
ce
p
tio
n
ta
s
k
s
s
u
ch
as
r
o
b
u
s
t
OC
R
f
o
r
l
ab
el
r
ec
o
g
n
itio
n
h
av
e
also
b
e
en
ad
d
r
ess
ed
u
s
in
g
v
is
io
n
–
lan
g
u
a
g
e
m
o
d
els,
s
u
p
p
o
r
tin
g
au
to
m
atio
n
in
in
d
u
s
tr
ial
an
d
s
er
v
ice
-
o
r
ien
ted
ap
p
licatio
n
s
[
2
0
]
.
I
n
ter
ac
tiv
e
an
d
in
tellig
en
t
r
o
b
o
tic
s
y
s
tem
s
h
av
e
ad
d
itio
n
ally
b
ee
n
d
em
o
n
s
tr
ated
in
s
tr
u
ctu
r
ed
h
u
m
an
–
r
o
b
o
t
en
g
ag
em
e
n
t
s
ce
n
ar
io
s
,
s
u
ch
as
co
llab
o
r
ativ
e
g
am
e
p
lay
in
g
,
h
ig
h
lig
h
tin
g
a
d
v
an
ce
s
in
p
er
ce
p
tio
n
,
d
ec
is
io
n
-
m
ak
in
g
,
a
n
d
in
ter
ac
ti
o
n
[
2
1
]
.
C
o
llectiv
ely
,
th
ese
s
tu
d
ies
u
n
d
er
lin
e
th
e
im
p
o
r
tan
ce
o
f
in
t
eg
r
atin
g
s
p
ee
ch
,
v
is
io
n
,
an
d
in
tellig
en
t
co
n
tr
o
l
f
o
r
r
o
b
u
s
t
an
d
in
tu
itiv
e
r
o
b
o
tic
m
a
n
ip
u
latio
n
.
Ho
wev
er
,
m
an
y
ex
is
tin
g
s
y
s
tem
s
f
o
cu
s
o
n
is
o
lated
m
o
d
alities
o
r
r
ely
o
n
clo
u
d
-
b
a
s
ed
p
r
o
ce
s
s
in
g
,
m
o
tiv
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t
h
e
n
ee
d
f
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l
o
w
-
co
s
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f
f
lin
e,
an
d
tig
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tly
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teg
r
ated
m
u
ltimo
d
al
r
o
b
o
tic
f
r
am
ewo
r
k
s
—
p
ar
ticu
lar
ly
f
o
r
ass
is
tiv
e
a
n
d
ed
u
ca
tio
n
al
r
o
b
o
tic
ap
p
licatio
n
s
.
R
ec
en
t
r
esear
ch
in
r
o
b
o
tic
s
y
s
tem
s
h
as
em
p
h
asized
ad
v
an
ce
s
in
p
er
ce
p
tio
n
,
m
an
ip
u
lato
r
d
esig
n
,
an
d
h
u
m
an
–
r
o
b
o
t
co
llab
o
r
atio
n
(
H
R
C
)
,
p
ar
ticu
lar
ly
f
o
r
in
d
u
s
tr
ia
l
an
d
ass
is
t
iv
e
ap
p
licatio
n
s
.
I
n
th
e
ar
ea
o
f
o
p
tical
ch
ar
ac
ter
r
ec
o
g
n
itio
n
,
d
ee
p
-
lear
n
in
g
-
b
ased
p
ip
elin
es
co
m
b
i
n
in
g
o
b
ject
d
etec
tio
n
a
n
d
f
ilt
er
in
g
m
ec
h
a
n
is
m
s
h
av
e
d
e
m
o
n
s
tr
ated
im
p
r
o
v
ed
tex
t
lo
ca
lizatio
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n
d
r
ec
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g
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itio
n
ac
cu
r
ac
y
in
s
tr
u
ctu
r
ed
v
is
u
al
s
ce
n
es
[
2
2
]
.
Par
allel
ef
f
o
r
ts
in
r
o
b
o
tic
m
e
ch
an
is
m
d
esig
n
h
av
e
in
t
r
o
d
u
c
ed
n
o
v
el
3
-
DOF
m
an
ip
u
lato
r
s
,
in
clu
d
in
g
p
ar
allel
wr
is
t
–
g
r
ip
p
er
ass
em
b
lies
an
d
b
io
-
in
s
p
ir
ed
s
p
h
er
ical
r
o
b
o
ts
,
o
f
f
er
in
g
e
x
p
an
d
ed
s
in
g
u
lar
i
ty
-
f
r
ee
wo
r
k
s
p
ac
es
an
d
im
p
r
o
v
ed
in
ter
ac
tio
n
ca
p
ab
ilit
ies
[
2
3
]
,
[
2
4
]
.
Mo
d
el
-
b
a
s
ed
d
esig
n
m
eth
o
d
o
lo
g
ies
h
av
e
b
ee
n
ap
p
lied
to
h
ig
h
er
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
in
d
u
s
tr
ial
r
o
b
o
ts
to
en
h
an
ce
p
r
e
cisi
o
n
,
r
ep
ea
tab
ilit
y
,
an
d
s
tr
u
ctu
r
al
o
p
tim
izatio
n
[
2
5
]
.
Saf
ety
an
d
ad
ap
ta
b
ilit
y
r
e
m
ain
cr
itical
co
n
s
id
er
atio
n
s
in
p
h
y
s
ical
h
u
m
an
–
r
o
b
o
t
in
ter
ac
tio
n
.
Sy
s
tem
atic
r
ev
iews
h
av
e
ex
a
m
in
ed
co
n
tact
m
o
d
elin
g
a
n
d
im
p
ac
t
m
ea
s
u
r
em
e
n
t
tech
n
iq
u
es
to
ass
ess
an
d
im
p
r
o
v
e
s
af
ety
in
in
d
u
s
tr
ial
HR
C
en
v
ir
o
n
m
en
ts
[
2
6
]
,
wh
i
le
lear
n
in
g
-
b
ased
m
o
n
ito
r
in
g
s
y
s
tem
s
in
teg
r
atin
g
v
is
io
n
an
d
h
an
d
h
eld
d
e
v
ice
s
h
av
e
b
ee
n
p
r
o
p
o
s
ed
f
o
r
r
ea
l
-
tim
e
s
af
ety
s
u
p
er
v
is
io
n
in
co
llab
o
r
ativ
e
m
an
u
f
ac
tu
r
in
g
[
2
7
]
.
L
ea
r
n
in
g
-
d
r
iv
e
n
in
ter
ac
tio
n
an
d
a
d
ap
tatio
n
h
av
e
f
u
r
th
e
r
b
ee
n
ex
p
lo
r
e
d
th
r
o
u
g
h
co
llab
o
r
ativ
e
m
an
u
f
ac
tu
r
in
g
ce
lls
ca
p
ab
le
o
f
ac
q
u
ir
in
g
in
ter
ac
tio
n
s
k
ills
o
v
er
tim
e
[
2
8
]
,
as
well
as
u
n
s
u
p
er
v
is
ed
an
d
r
ep
r
esen
tatio
n
-
lear
n
i
n
g
a
p
p
r
o
ac
h
es
f
o
r
o
b
ject
class
if
icatio
n
in
HR
C
s
ce
n
ar
io
s
[
2
9
]
.
B
ey
o
n
d
m
an
ip
u
latio
n
,
a
d
v
an
ce
d
co
n
tr
o
l
s
tr
ateg
ies
h
av
e
b
ee
n
in
v
es
tig
ated
f
o
r
co
m
p
lex
r
o
b
o
tic
p
latf
o
r
m
s
s
u
ch
as
b
ip
ed
al
lo
co
m
o
tio
n
s
y
s
tem
s
an
d
ass
is
tiv
e
p
r
o
s
th
etic
d
ev
ices,
d
em
o
n
s
tr
atin
g
th
e
ef
f
ec
tiv
en
ess
o
f
ad
ap
tiv
e
an
d
n
o
n
lin
ea
r
co
n
tr
o
l
m
eth
o
d
s
in
h
az
ar
d
o
u
s
o
r
h
u
m
an
-
ce
n
ter
e
d
en
v
ir
o
n
m
en
ts
[
3
0
]
,
[
3
1
]
.
B
r
o
ad
er
s
tu
d
ies
in
ass
is
tiv
e
r
o
b
o
tics
h
ig
h
lig
h
t
th
e
r
o
le
o
f
s
en
s
o
r
f
u
s
io
n
an
d
m
ac
h
in
e
lear
n
in
g
in
im
p
r
o
v
i
n
g
au
to
n
o
m
y
,
u
s
ab
ilit
y
,
an
d
in
ter
ac
tio
n
q
u
ality
[
3
2
]
,
[
3
3
]
.
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
6
1
-
5
7
6
564
T
h
er
e
is
g
r
o
win
g
wo
r
k
in
e
d
u
ca
tio
n
al
r
o
b
o
tics
an
d
o
f
f
lin
e
-
c
ap
ab
le
s
y
s
tem
s
[
3
4
]
,
[
3
5
]
.
T
h
e
wo
r
k
in
[
3
6
]
p
r
o
p
o
s
es
a
h
u
m
an
–
r
o
b
o
t
co
llab
o
r
ativ
e
teac
h
in
g
(
HR
C
T
)
f
r
am
ewo
r
k
w
h
er
e
r
o
b
o
t
s
ass
i
s
t
teac
h
er
s
in
class
r
o
o
m
ac
tiv
ities
lik
e
s
o
cial
-
em
o
tio
n
al
lear
n
in
g
task
s
,
wh
ile
[
3
7
]
in
v
esti
g
ates
th
e
r
o
le
o
f
c
o
llab
o
r
ativ
e
r
o
b
o
ts
(
co
b
o
ts
)
in
STE
M
lab
s
,
f
o
cu
s
in
g
o
n
s
tu
d
e
n
t
–
r
o
b
o
t c
o
o
p
er
atio
n
a
n
d
task
-
b
ased
lear
n
in
g
.
Dif
f
er
en
tiatio
n
o
f
th
e
p
r
esen
t
wo
r
k
:
W
h
ile
ex
is
tin
g
s
t
u
d
ies
p
r
ed
o
m
i
n
an
tly
tar
g
et
in
d
u
s
tr
ial
co
llab
o
r
atio
n
,
co
m
p
lex
r
o
b
o
ti
c
m
ec
h
an
is
m
s
,
o
r
s
af
ety
m
o
n
ito
r
in
g
i
n
m
an
u
f
ac
tu
r
i
n
g
en
v
ir
o
n
m
en
ts
,
th
e
p
r
esen
t
wo
r
k
ad
d
r
ess
es
a
d
is
tin
ct
an
d
u
n
d
er
e
x
p
lo
r
e
d
ap
p
licatio
n
d
o
m
ain
—
f
u
lly
o
f
f
lin
e
ac
ad
e
m
ic
au
to
m
atio
n
th
r
o
u
g
h
au
to
n
o
m
o
u
s
atten
d
an
ce
m
ar
k
in
g
.
Un
lik
e
OC
R
-
ce
n
tr
ic
ap
p
r
o
ac
h
es
th
at
f
o
cu
s
s
o
lely
o
n
tex
t
d
etec
tio
n
an
d
r
ec
o
g
n
itio
n
[
2
2
]
,
th
is
wo
r
k
tig
h
tly
in
teg
r
ates
v
is
io
n
-
b
ased
i
d
en
tific
atio
n
with
r
ea
l
-
tim
e
r
o
b
o
tic
m
an
ip
u
latio
n
to
en
ab
le
d
ir
ec
t
t
o
u
ch
s
cr
ee
n
in
ter
ac
tio
n
.
I
n
co
n
tr
ast
to
n
o
v
el
m
an
ip
u
lato
r
d
esig
n
s
an
d
h
i
g
h
-
DOF
in
d
u
s
tr
ial
r
o
b
o
ts
[
2
3
]
–
[
2
5
]
,
th
e
p
r
o
p
o
s
e
d
s
y
s
tem
d
elib
er
ately
a
d
o
p
ts
a
lo
w
-
co
s
t
3
-
DOF
ar
m
o
p
tim
ized
f
o
r
p
r
ec
is
io
n
s
ty
lu
s
p
lace
m
en
t
r
ath
er
th
an
m
ec
h
an
ical
co
m
p
lex
ity
.
Mo
r
eo
v
er
,
wh
er
ea
s
m
an
y
HR
C
f
r
am
ewo
r
k
s
r
ely
o
n
n
etwo
r
k
ed
s
en
s
o
r
s
,
clo
u
d
-
b
ase
d
in
tellig
en
ce
,
o
r
s
af
ety
s
u
p
e
r
v
is
io
n
lay
er
s
[
2
7
]
,
[
2
8
]
,
th
is
s
tu
d
y
p
r
esen
ts
a
s
elf
-
co
n
tain
ed
,
p
r
iv
ac
y
-
p
r
eser
v
in
g
m
u
ltimo
d
al
s
y
s
tem
th
at
f
u
s
es
o
f
f
lin
e
v
o
ice
in
te
r
ac
tio
n
,
c
o
m
p
u
ter
v
is
io
n
,
a
n
d
in
v
er
s
e
-
k
in
em
atics
-
d
r
i
v
en
c
o
n
tr
o
l.
B
y
ac
h
ie
v
in
g
a
9
2
.
8
%
atten
d
an
ce
-
m
a
r
k
in
g
s
u
cc
ess
r
ate
u
n
d
er
v
ar
ied
class
r
o
o
m
co
n
d
itio
n
s
,
th
e
wo
r
k
d
em
o
n
s
tr
ates a
p
r
ac
tical,
s
ca
lab
le,
an
d
co
s
t
-
ef
f
ec
tiv
e
HR
C
m
o
d
el
th
at
ex
ten
d
s
cu
r
r
en
t
r
esear
ch
b
ey
o
n
d
in
d
u
s
tr
ial
s
ettin
g
s
in
to
r
ea
l
-
wo
r
ld
ed
u
ca
tio
n
al
au
to
m
ati
o
n
.
An
o
t
h
er
k
ey
co
n
tr
i
b
u
tio
n
is
th
e
s
y
s
tem
lev
el
in
teg
r
atio
n
o
f
m
ec
h
a
n
ical,
elec
tr
ical,
elec
tr
o
n
ics an
d
s
o
f
twar
e
co
m
p
o
n
en
ts
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
is
s
ec
tio
n
p
r
esen
ts
th
e
m
e
th
o
d
o
lo
g
y
ad
o
p
ted
f
o
r
d
ev
el
o
p
in
g
th
e
AI
-
d
r
iv
en
r
o
b
o
tic
atten
d
an
ce
s
y
s
tem
.
T
h
e
ap
p
r
o
ac
h
in
teg
r
a
tes
v
o
ice
r
ec
o
g
n
itio
n
,
c
o
m
p
u
ter
v
is
io
n
,
a
n
d
in
v
er
s
e
-
k
in
em
a
tics
-
b
ased
r
o
b
o
ti
c
co
n
tr
o
l
in
to
a
u
n
if
ied
o
f
f
lin
e
f
r
am
ewo
r
k
im
p
lem
e
n
ted
o
n
a
R
asp
b
er
r
y
Pi
4
p
latf
o
r
m
.
T
h
e
s
y
s
tem
is
d
esig
n
ed
f
o
r
co
s
t e
f
f
icien
c
y
,
d
ata
p
r
iv
ac
y
,
an
d
s
ca
lab
ilit
y
in
e
d
u
ca
tio
n
al
en
v
ir
o
n
m
en
ts
.
W
h
ile
p
r
io
r
s
tu
d
ies
o
f
ten
f
o
c
u
s
s
o
lely
o
n
r
o
b
o
tic
c
o
n
tr
o
l
o
r
s
in
g
le
-
m
o
d
ality
in
ter
ac
tio
n
,
th
is
wo
r
k
p
r
esen
ts
a
m
u
ltimo
d
al
h
u
m
a
n
–
r
o
b
o
t
in
ter
ac
tio
n
s
y
s
tem
th
at
co
m
b
in
es
s
p
ee
ch
a
n
d
te
x
t
r
ec
o
g
n
itio
n
with
p
r
ec
is
e
r
o
b
o
tic
ac
tu
atio
n
f
o
r
a
m
ea
n
in
g
f
u
l
r
ea
l
-
wo
r
ld
ta
s
k
—
atten
d
an
ce
au
to
m
atio
n
.
Key
d
if
f
er
en
tiato
r
s
in
clu
d
e:
i
)
Of
f
lin
e
p
r
o
ce
s
s
in
g
an
d
HR
C
d
esig
n
:
T
h
e
s
y
s
tem
u
s
es
th
e
Vo
s
k
s
p
ee
ch
m
o
d
el
a
n
d
T
ess
er
ac
t
OC
R
,
u
n
lik
e
ty
p
ical
clo
u
d
-
d
ep
en
d
en
t
s
o
lu
tio
n
s
.
ii
)
I
n
teg
r
ate
d
m
u
lti
m
o
d
al
in
ter
ac
tio
n
:
R
ea
l
-
tim
e
f
u
s
io
n
o
f
a
u
d
io
a
n
d
v
is
u
al
in
p
u
ts
g
u
id
es
r
o
b
o
tic
ac
tio
n
,
en
h
an
cin
g
r
o
b
u
s
tn
ess
.
iii
)
3
-
DOF
in
v
er
s
e
k
in
em
atics
-
b
ased
ar
m
co
n
tr
o
l
:
Of
f
er
s
h
ig
h
er
p
r
ec
is
io
n
o
v
e
r
s
im
p
ler
,
p
r
e
-
p
r
o
g
r
am
m
ed
r
o
b
o
tic
s
y
s
tem
s
in
s
im
ilar
co
s
t
s
eg
m
en
ts
.
iv
)
l
o
w
h
ar
d
war
e
co
s
t
with
h
ig
h
p
er
f
o
r
m
a
n
ce
:
Ach
iev
es
9
2
.
8
%
o
v
er
all
s
y
s
tem
ac
cu
r
ac
y
u
s
in
g
af
f
o
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le
co
m
p
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ts
.
v
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r
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GUI
.
v
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d
u
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al
an
d
s
ca
lab
le
d
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:
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h
e
s
y
s
tem
d
o
u
b
les
as
a
h
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d
s
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on
p
latf
o
r
m
f
o
r
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a
b
o
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t
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b
o
tics
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AI
,
an
d
e
m
b
ed
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ed
s
y
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tem
s
.
2
.
1
.
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s
t
e
m
a
rc
hite
ct
ure
T
h
e
p
r
o
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o
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ed
s
y
s
tem
f
o
llo
ws
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th
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ee
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lay
er
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o
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u
lar
ar
ch
it
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r
e
co
m
p
r
is
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g
th
e
i
n
p
u
t,
p
r
o
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s
s
in
g
,
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d
ac
tu
atio
n
lay
er
s
,
as
s
h
o
w
n
in
Fig
u
r
e
1.
I
n
th
e
in
p
u
t
lay
er
,
two
m
u
ltimo
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al
s
ig
n
als
ar
e
ac
q
u
ir
ed
:
i)
Vo
ice
in
p
u
t
th
r
o
u
g
h
a
B
lu
eto
o
th
m
i
cr
o
p
h
o
n
e
f
o
r
s
p
o
k
e
n
co
m
m
a
n
d
s
,
an
d
ii)
Vis
u
al
in
p
u
t
f
r
o
m
a
ca
m
er
a
f
o
r
r
ea
l
-
tim
e
OC
R
-
b
ased
tex
t
d
etec
tio
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o
n
th
e
to
u
c
h
s
cr
ee
n
.
T
h
e
p
r
o
ce
s
s
in
g
lay
er
p
er
f
o
r
m
s
d
ec
is
io
n
-
m
ak
in
g
b
y
m
atch
in
g
th
e
v
o
ice
co
m
m
a
n
d
with
th
e
d
etec
ted
tex
t.
W
h
en
a
v
alid
m
atch
is
f
o
u
n
d
,
th
e
c
o
r
r
esp
o
n
d
i
n
g
s
cr
ee
n
lo
ca
tio
n
is
co
n
v
e
r
ted
in
t
o
s
p
at
ial
co
o
r
d
in
ates.
Fin
ally
,
in
th
e
ac
tu
atio
n
lay
e
r
,
a
3
-
DOF
r
o
b
o
tic
ar
m
p
e
r
f
o
r
m
s
th
e
r
eq
u
ir
e
d
tap
p
in
g
ac
tio
n
t
h
r
o
u
g
h
s
er
v
o
-
co
n
tr
o
lled
m
o
tio
n
.
T
h
is
m
o
d
u
lar
s
tr
u
ctu
r
e
e
n
s
u
r
es
r
o
b
u
s
tn
ess
,
s
ca
lab
ilit
y
,
an
d
r
ea
l
-
tim
e
r
esp
o
n
s
iv
en
ess
,
wh
ile
m
ain
tain
in
g
f
u
ll o
f
f
lin
e
o
p
e
r
atio
n
.
Fig
u
r
e
1
.
R
OVAA
s
y
s
tem
ar
ch
itectu
r
e
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I
AE
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OV
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tten
d
a
n
ce
a
u
to
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tio
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u
s
in
g
a
v
o
ice
–
OC
R
-
b
a
s
ed
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-
DOF
…
(
R
a
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ika
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t
h
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s
h
i Na
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u
r
e
2
illu
s
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ates
th
e
h
u
m
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r
o
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co
llab
o
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atten
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an
ce
m
ar
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g
task
,
s
h
o
win
g
th
e
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ter
ac
tiv
e
wo
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k
f
lo
w
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etwe
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th
e
h
u
m
an
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d
th
e
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tic
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h
e
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er
s
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ea
k
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s
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en
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ich
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tu
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ile
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e
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im
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l
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eo
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ly
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ch
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cr
ee
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d
is
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h
e
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y
s
tem
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er
f
o
r
m
s
v
o
ice
a
n
d
te
x
t
r
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o
g
n
itio
n
t
o
id
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tif
y
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m
a
tch
in
g
n
a
m
e.
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o
n
d
etec
tin
g
a
m
atch
,
th
e
r
o
b
o
tic
ar
m
m
o
v
es
to
t
h
e
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r
r
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o
n
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n
g
s
cr
ee
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p
o
s
itio
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,
p
er
f
o
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m
s
th
e
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o
m
ar
k
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a
n
ce
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th
e
n
waits
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o
r
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n
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o
m
m
an
d
.
Fig
u
r
e
2
.
Hu
m
an
r
o
b
o
t c
o
llab
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atten
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ar
k
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ta
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k
A
ca
m
er
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m
o
d
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n
ted
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e
ar
th
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v
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s
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al
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ata
f
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r
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p
r
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s
s
in
g
,
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ile
th
e
s
ty
lu
s
-
b
ased
en
d
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ef
f
ec
to
r
en
a
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les
s
cr
ee
n
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ter
ac
tio
n
.
Po
wer
is
s
u
p
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lied
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y
a
r
eg
u
lated
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s
o
u
r
ce
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en
s
u
r
in
g
s
tab
le
o
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er
atio
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d
u
r
i
n
g
m
u
lti
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er
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o
m
o
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em
en
ts
.
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h
e
co
m
p
lete
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ar
d
wa
r
e
s
etu
p
is
s
h
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wn
in
Fig
u
r
e
3
,
illu
s
tr
atin
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e
p
h
y
s
ical
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tr
u
ct
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r
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d
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m
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o
n
en
t i
n
ter
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e
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s
.
Fig
u
r
e
3
.
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OVAA
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ar
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war
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etu
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2
.
Desig
n
ra
t
io
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o
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r
m
co
nfig
ura
t
i
o
n
T
h
e
ch
o
ice
o
f
a
3
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DOF
r
o
b
o
tic
ar
m
in
th
e
p
r
o
p
o
s
ed
R
OVAA
s
y
s
tem
is
g
u
id
ed
b
y
task
-
s
p
ec
if
ic
r
eq
u
ir
em
e
n
ts
,
co
s
t c
o
n
s
tr
ain
ts
,
an
d
s
y
s
tem
s
im
p
licity
−
T
ask
-
o
r
ien
ted
s
u
f
f
icien
cy
:
T
h
e
atten
d
an
ce
au
to
m
atio
n
tas
k
p
r
im
a
r
ily
in
v
o
lv
es
p
lan
a
r
p
o
s
itio
n
in
g
a
n
d
co
n
tr
o
lled
v
e
r
tical
m
o
tio
n
.
T
h
ese
ac
tio
n
s
r
eq
u
ir
e
o
n
ly
th
r
ee
i
n
d
ep
en
d
en
t m
o
tio
n
s
(
X
–
Y
p
o
s
itio
n
in
g
an
d
Z
-
ax
is
ad
ju
s
tm
en
t)
,
m
ak
in
g
a
3
-
DOF
co
n
f
ig
u
r
atio
n
s
u
f
f
icien
t.
−
R
ed
u
ce
d
s
y
s
tem
co
m
p
lex
ity
:
C
o
m
p
ar
ed
to
h
ig
h
er
DOF
s
y
s
tem
s
(
e.
g
.
,
5
-
DOF
o
r
6
-
DOF
ar
m
s
)
,
a
3
-
DOF
ar
m
s
ig
n
if
ican
tly
r
e
d
u
ce
s
k
in
e
m
atic
co
m
p
lex
ity
,
c
o
n
tr
o
l o
v
e
r
h
ea
d
,
a
n
d
ca
lib
r
atio
n
ef
f
o
r
t.
−
I
m
p
r
o
v
ed
r
eliab
ilit
y
an
d
s
tab
ilit
y
:
Fewer
jo
in
ts
r
esu
lt
in
lo
wer
cu
m
u
lativ
e
er
r
o
r
p
r
o
p
ag
a
tio
n
,
in
cr
ea
s
ed
s
tr
u
ctu
r
al
r
ig
id
ity
,
a
n
d
m
o
r
e
p
r
ed
ictab
le
m
o
tio
n
—
im
p
o
r
tan
t
f
o
r
atten
d
a
n
ce
m
ar
k
in
g
.
−
C
o
s
t
an
d
ac
ce
s
s
ib
ilit
y
co
n
s
id
er
atio
n
s
:
T
h
e
s
y
s
tem
is
d
esig
n
ed
as
a
l
o
w
-
co
s
t,
d
ep
l
o
y
a
b
le
ed
u
ca
tio
n
al
s
o
lu
tio
n
.
Hig
h
er
DOF
m
an
i
p
u
l
ato
r
s
in
cr
ea
s
e
h
ar
d
war
e
co
s
t,
p
o
wer
,
an
d
m
ain
ten
a
n
ce
.
−
Of
f
lin
e
o
p
er
atio
n
co
m
p
atib
ilit
y
:
R
OVAA
o
p
er
ates
in
an
o
f
f
lin
e
en
v
ir
o
n
m
en
t,
c
o
m
p
u
tatio
n
al
ef
f
icien
cy
is
cr
itical.
A
3
-
DOF
s
y
s
tem
allo
ws s
im
p
ler
in
v
er
s
e
k
in
em
atics a
n
d
co
n
tr
o
l a
lg
o
r
ith
m
s
.
2
.
3
.
H
a
rdwa
re
co
nfig
ura
t
i
o
n
T
h
e
h
ar
d
war
e
co
n
f
ig
u
r
atio
n
is
d
esig
n
ed
f
o
r
af
f
o
r
d
ab
ilit
y
an
d
f
u
n
ctio
n
al
r
eliab
ilit
y
.
T
h
e
R
asp
b
er
r
y
Pi
4
(
8
GB
)
s
er
v
es
as
th
e
ce
n
tr
al
co
n
tr
o
ller
r
esp
o
n
s
ib
le
f
o
r
r
u
n
n
in
g
th
e
s
p
ee
c
h
r
ec
o
g
n
itio
n
,
OC
R
,
an
d
r
o
b
o
tic
co
n
tr
o
l
m
o
d
u
les.
T
h
e
r
o
b
o
tic
ar
m
is
a
cu
s
to
m
-
b
u
ilt
3
-
DOF
s
er
ial
m
an
ip
u
lato
r
d
r
iv
en
b
y
t
h
r
ee
MG
9
9
6
R
s
er
v
o
m
o
to
r
s
,
ch
o
s
en
f
o
r
th
eir
h
i
g
h
to
r
q
u
e
an
d
ac
cu
r
ac
y
.
T
h
ese
ar
e
co
n
tr
o
lled
v
ia
a
PC
A9
6
8
5
1
6
-
ch
a
n
n
el
PW
M
d
r
iv
er
,
in
ter
f
ac
e
d
with
th
e
R
asp
b
er
r
y
Pi
th
r
o
u
g
h
th
e
I
²C
p
r
o
t
o
co
l
f
o
r
p
r
ec
is
e
a
n
d
s
y
n
ch
r
o
n
ized
m
o
tio
n
co
n
tr
o
l.
A
T
a
b
let
an
d
s
m
ar
t
p
h
o
n
e
wer
e
u
s
ed
t
o
m
an
if
est th
e
Dis
p
lay
/To
u
ch
s
cr
ee
n
.
2
.
4
.
So
f
t
wa
re
f
r
a
m
ewo
r
k
T
h
e
s
o
f
twar
e
a
r
ch
itectu
r
e
is
im
p
lem
en
ted
as
a
m
u
lti
-
th
r
ea
d
ed
co
n
tr
o
l
f
r
am
ewo
r
k
to
ac
h
iev
e
r
ea
l
-
tim
e
o
p
er
atio
n
.
E
ac
h
m
ajo
r
f
u
n
ctio
n
—
v
o
ice
r
ec
o
g
n
itio
n
,
OC
R
p
r
o
ce
s
s
in
g
,
a
n
d
r
o
b
o
t
ic
ar
m
co
n
tr
o
l
—
is
ex
ec
u
ted
in
a
n
in
d
e
p
en
d
e
n
t th
r
ea
d
f
o
r
p
ar
allel
p
r
o
ce
s
s
in
g
an
d
r
ed
u
ce
d
laten
cy
.
−
Vo
ice
r
ec
o
g
n
itio
n
:
T
h
e
s
y
s
te
m
co
n
tin
u
o
u
s
ly
lis
ten
s
f
o
r
s
p
o
k
en
in
p
u
t
u
s
in
g
t
h
e
Vo
s
k
o
f
f
li
n
e
ASR
en
g
in
e,
co
n
v
er
tin
g
au
d
i
o
co
m
m
a
n
d
s
i
n
to
tex
t.
−
OC
R
p
r
o
ce
s
s
in
g
:
T
h
e
liv
e
c
am
er
a
f
ee
d
is
p
r
o
ce
s
s
ed
u
s
in
g
T
ess
er
ac
t
o
r
E
asy
OC
R
to
ex
tr
ac
t
tex
tu
al
co
n
ten
t f
r
o
m
th
e
t
o
u
ch
s
cr
ee
n
d
is
p
lay
.
−
Ma
tch
in
g
an
d
m
ap
p
in
g
:
O
n
c
e
a
m
atch
is
f
o
u
n
d
b
etwe
en
th
e
r
ec
o
g
n
ized
s
p
ee
c
h
an
d
d
etec
ted
tex
t,
th
e
co
r
r
esp
o
n
d
in
g
p
ix
el
p
o
s
itio
n
is
id
en
tifie
d
.
−
C
o
o
r
d
in
ate
t
r
an
s
f
o
r
m
atio
n
:
T
h
is
p
ix
el
lo
ca
tio
n
is
co
n
v
er
te
d
in
to
r
ea
l
-
w
o
r
ld
co
o
r
d
i
n
ates
(
,
,
)
u
s
in
g
a
p
r
e
-
ca
lib
r
ated
m
ap
p
i
n
g
s
y
s
tem
.
−
I
n
v
er
s
e
k
in
em
atics
co
m
p
u
tatio
n
:
T
h
e
co
n
t
r
o
l
alg
o
r
ith
m
co
m
p
u
tes
th
e
j
o
in
t
an
g
les
(
1
,
2
,
3
)
f
o
r
th
e
b
ase,
s
h
o
u
ld
er
,
a
n
d
elb
o
w
jo
in
ts
.
−
Ser
v
o
c
o
n
tr
o
l:
T
h
ese
an
g
les
ar
e
th
en
co
n
v
er
te
d
to
PW
M
s
ig
n
als
an
d
tr
an
s
m
itted
to
th
e
PC
A9
6
8
5
d
r
iv
er
to
co
n
tr
o
l th
e
s
er
v
o
s
.
−
R
eset:
Af
ter
co
m
p
letin
g
th
e
tap
p
in
g
ac
tio
n
,
th
e
ar
m
a
u
to
m
atica
lly
r
etu
r
n
s
to
th
e
h
o
m
e
p
o
s
itio
n
(
90
°
,
90
°
,
90
°
)
.
T
h
e
co
m
p
lete
o
p
er
atio
n
al
w
o
r
k
f
lo
w
is
d
e
p
icted
in
Fig
u
r
e
4
,
illu
s
tr
atin
g
s
eq
u
en
tial
d
ata
f
lo
w
f
r
o
m
in
p
u
t
ac
q
u
is
itio
n
to
r
o
b
o
tic
ac
tu
atio
n
.
T
h
e
v
o
ice
an
d
th
e
ca
m
er
a
in
p
u
ts
ar
e
s
im
u
ltan
eo
u
s
ly
p
r
o
ce
s
s
ed
to
p
r
o
v
id
e
a
c
o
o
r
d
in
ated
an
d
s
y
n
ch
r
o
n
ized
s
y
s
tem
r
esp
o
n
s
e.
I
n
o
r
d
er
to
p
r
o
v
id
e
a
d
eter
m
i
n
is
tic
r
esp
o
n
s
e
an
d
ac
cu
r
ate
p
o
s
itio
n
in
g
,
th
e
r
o
b
o
t
ar
m
is
r
etu
r
n
e
d
to
th
e
h
o
m
e
p
o
s
itio
n
af
ter
e
v
er
y
s
in
g
le
at
ten
d
an
ce
m
ar
k
in
g
task
f
lo
w.
2
.
5
.
Co
bo
t
wo
r
k
s
pa
ce
m
ec
h
a
niza
t
io
n
T
o
en
s
u
r
e
h
ig
h
p
r
ec
is
io
n
in
t
o
u
ch
s
cr
ee
n
in
ter
ac
tio
n
,
a
5
-
p
o
in
t
ca
lib
r
atio
n
s
y
s
tem
is
im
p
lem
en
ted
th
r
o
u
g
h
th
e
en
h
a
n
ce
d
r
o
b
o
tic
ar
m
co
n
tr
o
ller
GUI
,
as sh
o
wn
in
Fig
u
r
e
5
.
Du
r
in
g
ca
lib
r
atio
n
,
th
e
r
o
b
o
tic
ar
m
is
m
an
u
ally
alig
n
ed
with
f
iv
e
r
ef
er
en
ce
p
o
i
n
ts
o
n
th
e
to
u
ch
s
cr
ee
n
.
B
o
th
s
cr
ee
n
p
ix
el
co
o
r
d
in
ates
an
d
co
r
r
esp
o
n
d
in
g
r
ea
l
-
wo
r
ld
co
o
r
d
in
ates
(
,
,
)
ar
e
r
ec
o
r
d
ed
.
T
h
e
s
y
s
tem
th
en
in
ter
p
o
lates
b
etwe
en
th
ese
p
o
in
ts
to
estab
lis
h
a
m
ap
p
i
n
g
f
u
n
ctio
n
th
at
co
n
v
er
ts
d
etec
ted
tex
t
p
o
s
itio
n
s
in
to
r
o
b
o
tic
wo
r
k
s
p
ac
e
co
o
r
d
in
ates.
T
h
e
GUI
also
p
r
o
v
id
es:
i)
Ma
n
u
al
s
er
v
o
co
n
tr
o
l
s
lid
er
s
f
o
r
ea
c
h
jo
in
t.
ii)
R
ea
l
-
tim
e
d
is
p
lay
o
f
jo
in
t
an
g
les
an
d
e
n
d
-
ef
f
ec
to
r
p
o
s
itio
n
(
v
ia
f
o
r
war
d
k
in
em
at
ics),
an
d
iii)
Op
tio
n
s
to
s
av
e
o
r
lo
ad
ca
lib
r
atio
n
d
ata
f
o
r
r
ep
ea
tab
le
s
ess
io
n
s
.
T
h
is
ca
lib
r
atio
n
s
ig
n
if
ican
tly
en
h
an
ce
s
p
o
s
itio
n
al
ac
cu
r
a
cy
an
d
o
p
er
atio
n
al
co
n
s
is
ten
cy
d
u
r
in
g
au
to
m
ated
atten
d
an
ce
m
ar
k
in
g
.
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
R
OV
A
A
:
Offlin
e
a
tten
d
a
n
ce
a
u
to
ma
tio
n
u
s
in
g
a
v
o
ice
–
OC
R
-
b
a
s
ed
3
-
DOF
…
(
R
a
ja
n
ika
n
t
h
K
a
s
h
i Na
g
a
r
a
j
)
567
Fig
u
r
e
4
.
Sy
s
tem
o
p
er
atio
n
s
f
l
o
wch
ar
t
Fig
u
r
e
5
.
R
A
co
n
tr
o
l c
alib
r
ati
o
n
an
d
in
v
er
s
e
k
i
n
em
atics
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
6
1
-
5
7
6
568
2
.
6
.
I
nv
er
s
e
k
inema
t
ics
-
ba
s
ed
co
ntr
o
l
T
h
e
r
o
b
o
tic
ar
m
’
s
m
o
tio
n
co
n
tr
o
l
is
g
o
v
er
n
ed
b
y
in
v
er
s
e
k
in
em
atics
(
I
K)
,
en
ab
lin
g
th
e
s
ty
lu
s
to
r
ea
ch
a
d
esire
d
th
r
ee
-
d
im
e
n
s
io
n
al
co
o
r
d
in
ate
(
,
,
)
o
n
th
e
to
u
c
h
s
cr
ee
n
.
T
h
e
m
an
ip
u
lato
r
is
m
o
d
eled
u
s
in
g
th
e
Den
av
it
–
Har
ten
b
e
r
g
(
D
–
H)
co
n
v
e
n
tio
n
,
as sh
o
w
n
in
Fig
u
r
e
6
,
a
n
d
its
p
ar
am
ete
r
s
ar
e
lis
ted
in
T
ab
le
1
.
T
h
e
p
ar
am
eter
s
in
T
a
b
le
1
ar
e
d
elin
ea
ted
as
f
o
llo
ws:
L
₁
=
3
.
5
cm
is
th
e
v
er
tical
o
f
f
s
et
f
r
o
m
th
e
b
ase
to
th
e
s
h
o
u
ld
er
jo
in
t,
L
₂
=
1
1
.
0
cm
is
th
e
s
h
o
u
ld
er
-
to
-
e
lb
o
w
lin
k
len
g
th
,
an
d
L
₃
=
1
5
.
9
cm
is
th
e
elb
o
w
-
to
-
s
ty
lu
s
lin
k
len
g
th
.
T
h
e
c
o
m
p
u
ted
j
o
in
t
an
g
les
ar
e
t
h
e
n
tr
an
s
lated
in
t
o
PW
M
co
n
t
r
o
l
s
ig
n
als
v
ia
th
e
PC
A9
6
8
5
d
r
iv
e
r
u
s
in
g
th
e
Ad
af
r
u
it
PC
A9
6
8
5
lib
r
ar
y
.
E
ac
h
s
er
v
o
r
ec
eiv
es
ca
lib
r
ate
d
p
u
ls
es
with
in
th
e
5
0
0
–
2
5
0
0
μ
s
r
an
g
e
f
o
r
s
m
o
o
th
ac
tu
atio
n
.
Saf
ety
m
ea
s
u
r
es
—
s
u
ch
as
an
g
le
c
o
n
s
tr
ain
ts
,
m
o
ti
o
n
s
eq
u
en
cin
g
,
an
d
em
er
g
en
cy
s
to
p
r
o
u
tin
es e
n
s
u
r
e
r
eliab
le
an
d
r
ep
ea
tab
le
o
p
er
a
tio
n
.
Fig
u
r
e
6
.
Kin
em
atic
m
o
d
el
o
f
R
A
T
ab
le
1
.
DH
co
n
v
en
tio
n
tab
le
Jo
i
n
t
θ
ᵢ
(
V
a
r
i
a
b
l
e
)
dᵢ
(
l
i
n
k
o
f
f
se
t
)
aᵢ
(
l
i
n
k
l
e
n
g
t
h
)
α
ᵢ
(
l
i
n
k
t
w
i
st
)
1
θ₁
L₁
0
90°
2
θ₂
0
L₂
0°
3
θ₃
0
L₃
0°
T
h
e
in
v
e
r
s
e
k
in
em
atics
o
f
th
e
3
-
DOF
ar
m
is
d
e
r
iv
ed
to
c
o
m
p
u
te
th
e
jo
in
t
a
n
g
les
(
1
,
2
,
3
)
r
eq
u
ir
e
d
f
o
r
a
d
esire
d
en
d
-
ef
f
ec
to
r
p
o
s
i
tio
n
(
,
,
)
.
T
h
e
eq
u
atio
n
s
ar
e
p
r
o
v
id
ed
as:
−
B
ase
jo
in
t a
n
g
le
1
=
ta
n
−
1
(
)
(
1
)
w
h
er
e
an
d
ar
e
th
e
co
o
r
d
in
ate
s
o
f
th
e
en
d
-
ef
f
ec
to
r
(
E
E
)
in
th
e
h
o
r
izo
n
tal
p
lan
e.
−
R
ad
ial
d
is
tan
ce
an
d
ef
f
ec
tiv
e
h
eig
h
t
=
√
2
+
2
(
2
)
e
f
f
=
−
1
(
3
)
w
h
er
e
e
f
f
is
th
e
h
eig
h
t o
f
th
e
en
d
-
ef
f
ec
to
r
r
elativ
e
to
th
e
s
h
o
u
ld
er
jo
in
t,
an
d
z
is
th
e
co
o
r
d
in
at
e
o
f
th
e
E
E
.
−
I
n
ter
m
ed
iate
ter
m
f
o
r
elb
o
w
a
n
g
le
co
m
p
u
tatio
n
=
2
+
e
f
f
2
−
2
2
−
3
2
2
2
3
(
4
)
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
R
OV
A
A
:
Offlin
e
a
tten
d
a
n
ce
a
u
to
ma
tio
n
u
s
in
g
a
v
o
ice
–
OC
R
-
b
a
s
ed
3
-
DOF
…
(
R
a
ja
n
ika
n
t
h
K
a
s
h
i Na
g
a
r
a
j
)
569
−
E
lb
o
w
jo
in
t a
n
g
le
3
=
1
(
)
(
5
)
−
Sh
o
u
ld
er
jo
i
n
t a
n
g
le
2
=
ta
n
−
1
(
e
f
f
)
−
ta
n
−
1
(
3
s
i
n
3
2
+
3
co
s
3
)
(
6
)
I
n
ad
d
itio
n
to
t
h
e
an
aly
tica
l
in
v
er
s
e
k
in
em
atics
eq
u
atio
n
s
,
s
ev
er
al
co
n
tr
o
l
co
n
s
id
er
atio
n
s
ar
e
in
co
r
p
o
r
ated
to
en
s
u
r
e
r
eliab
l
e
an
d
ac
cu
r
ate
o
p
e
r
atio
n
o
f
th
e
3
DOF
r
o
b
o
tic
ar
m
.
B
ef
o
r
e
co
m
p
u
tin
g
th
e
jo
in
t
an
g
les,
a
wo
r
k
s
p
ac
e
f
ea
s
ib
ilit
y
ch
ec
k
is
p
er
f
o
r
m
ed
to
c
o
n
f
ir
m
th
at
th
e
d
esire
d
co
o
r
d
in
ate
(
,
,
)
lies
with
in
th
e
m
an
ip
u
lato
r
’
s
r
ea
ch
ab
le
r
eg
io
n
.
T
h
e
r
e
ac
h
ab
ilit
y
co
n
d
itio
n
(
2
−
3
)
2
≤
2
+
e
f
f
2
≤
(
2
+
3
)
2
is
ev
alu
ated
,
a
n
d
a
n
y
v
io
latio
n
t
r
ig
g
er
s
a
s
af
e
a
b
o
r
t
t
o
p
r
ev
en
t
m
ec
h
an
ical
o
v
er
ex
te
n
s
io
n
.
T
h
e
I
K
s
o
lu
tio
n
also
p
r
o
d
u
ce
s
two
p
o
s
s
ib
le
co
n
f
i
g
u
r
atio
n
s
—
co
m
m
o
n
ly
r
ef
er
r
e
d
to
as
elb
o
w
-
u
p
an
d
elb
o
w
-
d
o
wn
—
an
d
th
e
co
n
tr
o
ller
au
to
m
atica
lly
s
elec
ts
th
e
co
n
f
ig
u
r
ati
o
n
t
h
at
s
atis
f
ies
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in
t
lim
its
wh
ile
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i
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izin
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e
o
v
er
all
ch
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g
e
f
r
o
m
th
e
ar
m
’
s
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r
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t
p
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e.
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h
is
im
p
r
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v
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m
o
tio
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o
o
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er
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m
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ical
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atan
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ased
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o
ciate
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with
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ir
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−
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(
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m
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tatio
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lar
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ch
as
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ze
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th
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th
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9
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v
alid
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ig
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o
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with
in
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alize
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ets
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d
in
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to
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m
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h
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o
p
o
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.
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h
is
ca
lib
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en
s
u
r
es
th
at
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p
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ted
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p
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ely
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atch
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ty
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s
tr
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to
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ch
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m
o
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q
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ality
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m
m
an
d
s
ar
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ex
ec
u
ted
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s
in
g
a
s
m
o
o
th
tr
a
p
ez
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id
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m
o
tio
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r
o
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ile
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ath
er
th
an
a
b
r
u
p
t
an
g
u
lar
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m
p
s
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allo
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ler
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an
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d
ec
eler
atio
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th
at
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ce
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b
r
atio
n
,
o
v
er
s
h
o
o
t,
an
d
s
er
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o
l
o
ad
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Fin
ally
,
th
e
I
K
-
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ased
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n
tr
o
l
lo
o
p
in
clu
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es
s
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al
s
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h
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is
m
s
,
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s
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o
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ted
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les
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etec
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f
in
v
alid
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d
ef
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n
ed
s
tates,
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d
a
n
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g
en
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y
s
to
p
p
r
o
ce
d
u
r
e
th
at
im
m
ed
iately
d
is
ab
les
th
e
PC
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5
o
u
t
p
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ts
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p
r
e
d
ef
in
e
d
h
o
m
e
p
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itio
n
en
ab
les
s
af
e
in
itializatio
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an
d
r
ec
o
v
er
y
.
2
.
7
.
Sy
s
t
e
m
a
dv
a
nta
g
es
T
h
e
p
r
o
p
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s
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a
r
ch
itectu
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ac
h
iev
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m
p
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f
lin
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o
p
er
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,
m
in
im
izin
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d
ep
e
n
d
en
c
y
o
n
clo
u
d
s
er
v
ices
[
3
8
]
wh
ile
en
s
u
r
i
n
g
d
ata
p
r
iv
ac
y
an
d
lo
w
l
aten
cy
.
I
ts
m
o
d
u
lar
d
esig
n
allo
ws
in
d
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co
m
p
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n
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ch
as
th
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OC
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m
o
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m
icr
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to
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eth
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class
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ter
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o
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ass
is
tiv
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ed
u
ca
tio
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al
r
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o
tics
.
2
.
8
.
Repro
du
cibili
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ll
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p
licatio
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ce
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to
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tem
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s
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tio
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m
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lete
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etails
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e
h
ar
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ig
u
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s
o
f
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e
e
n
v
ir
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n
m
e
n
t,
a
n
d
ca
lib
r
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r
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ce
d
u
r
e
u
s
ed
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th
e
im
p
lem
en
tatio
n
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h
e
s
y
s
tem
is
b
u
ilt
o
n
a
R
asp
b
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r
y
Pi
4
Mo
d
el
B
(
8
GB
R
AM
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s
er
v
i
n
g
as
th
e
p
r
im
ar
y
co
n
tr
o
ller
,
i
n
ter
f
ac
ed
with
a
PC
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6
8
5
1
6
-
c
h
an
n
el
PW
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o
p
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ate
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r
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6
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m
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to
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s
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at
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tic
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m
.
A
R
asp
b
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r
y
Pi
C
am
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a
Mo
d
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le
(
v
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8
MP
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ian
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p
tu
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tim
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ata
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p
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in
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ile
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to
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is
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u
i
p
p
ed
with
a
ca
p
ac
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ty
lu
s
f
o
r
p
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is
e
to
u
c
h
s
cr
ee
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i
n
ter
a
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.
Vo
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m
a
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ar
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ac
q
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ir
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E
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s
p
ec
if
ically
test
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with
th
e
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o
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o
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1
2
1
v
2
,
a
n
d
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co
m
p
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T
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cr
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ter
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u
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ex
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ex
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en
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.
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e
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tack
co
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is
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o
f
R
asp
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y
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OS
(
6
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B
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r
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Py
th
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with
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f
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0
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r
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Py
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1
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p
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Ad
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Op
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
6
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6
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6
570
A
f
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e
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p
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in
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ca
lib
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eth
o
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was
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s
ed
to
estab
li
s
h
th
e
m
ap
p
in
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b
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cr
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th
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tic
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m
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k
s
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r
in
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lib
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n
,
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e
ar
m
was m
an
u
ally
alig
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ed
with
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ates
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ed
in
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f
ile
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c
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js
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)
.
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s
y
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tem
th
e
n
a
p
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lied
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b
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ter
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OC
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p
o
s
itio
n
s
in
to
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m
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o
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d
in
ates.
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h
is
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n
y
ield
e
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m
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p
p
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g
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ately
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to
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m
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ac
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d
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esear
c
h
en
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o
n
m
en
ts
.
3.
RE
SU
L
T
S AN
D
AN
AL
Y
SI
S
T
h
e
p
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p
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s
ed
AI
-
d
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m
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ce
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y
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ev
alu
ate
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to
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p
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o
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ce
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tim
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m
co
n
d
itio
n
s
.
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h
e
ex
p
er
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m
e
n
ts
wer
e
co
n
d
u
cted
u
s
in
g
a
R
asp
b
er
r
y
Pi
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ased
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etu
p
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ea
ch
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le
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d
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e
k
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(
I
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o
l
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iv
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d
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r
ated
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n
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er
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h
e
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ice
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o
g
n
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m
o
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le,
im
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lem
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s
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lin
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ely
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s
d
esp
ite
m
o
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er
ate
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ac
k
g
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o
is
e.
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h
is
r
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b
u
s
tn
ess
d
em
o
n
s
tr
ates
th
e
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itab
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th
e
s
y
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r
ty
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ical
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o
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en
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ir
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m
e
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ts
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h
e
OC
R
m
o
d
u
le,
d
e
v
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tain
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s
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ct
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DOF
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ac
h
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icien
t
p
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cr
ee
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in
g
t
h
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h
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ased
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alib
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m
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g
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r
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f
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th
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ich
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ate
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r
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ch
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cle
tim
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ce
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r
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4
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s
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d
s
,
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ep
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to
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en
d
task
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ec
u
tio
n
f
r
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m
co
m
m
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d
r
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g
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t
o
r
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tic
ac
tu
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n
.
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h
e
i
n
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eg
r
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te
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m
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lti
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ig
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o
m
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i
n
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o
t
h
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d
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v
is
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n
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il
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d
u
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f
ir
m
at
io
n
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ec
h
a
n
is
m
—
a
co
m
m
a
n
d
was
e
x
e
c
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te
d
o
n
l
y
if
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o
t
h
s
p
e
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h
a
n
d
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r
esu
lts
m
atc
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e
d
.
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s
u
m
m
ar
y
o
f
t
h
e
s
y
s
te
m
’
s
p
e
r
f
o
r
m
an
ce
m
et
r
i
cs
is
p
r
o
v
i
d
e
d
i
n
T
a
b
l
e
2
.
Dat
a
f
o
r
ca
l
cu
lat
io
n
s
a
r
e
o
b
t
ai
n
e
d
f
r
o
m
T
a
b
le
3
ex
p
er
im
en
tal
t
est
tr
ial
d
at
a
.
T
h
e
m
o
d
u
l
e
ac
cu
r
ac
i
es
ar
e
c
al
cu
lat
ed
:
=
(
/
.
)
=
(
96
+
96
+
96
+
96
+
97
)
/
500
=
96
.
2%
+
ℎ
=
(
+
/
.
)
=
(
96
+
95
+
97
+
95
+
96
)
/
500
=
95
.
80%
=
(
/
.
)
=
(
97
+
97
+
97
+
98
+
99
)
/
500
=
97
.
60%
T
ab
le
2
.
Per
f
o
r
m
an
ce
m
etr
ics o
f
th
e
p
r
o
p
o
s
ed
s
y
s
tem
M
e
t
r
i
c
P
r
o
p
o
se
d
s
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m
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c
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r
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i
t
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c
c
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r
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c
y
9
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.
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a
c
c
u
r
a
c
y
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c
c
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r
a
c
y
9
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R
o
b
o
t
i
c
a
r
m
p
o
i
n
t
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n
g
e
r
r
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r
<
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c
m
O
v
e
r
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s
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s
t
e
m
su
c
c
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t
e
9
2
.
8
%
C
y
c
l
e
t
i
me
p
e
r
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n
t
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~
4
.
3
se
c
o
n
d
s
T
ab
le
3
.
R
OVAA
t
est d
ata
f
r
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m
ex
p
er
im
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tr
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i
a
l
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o
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t
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c
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Fig
u
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,
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Fig
u
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