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(
I
J
E
CE
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Vo
l.
16
,
No
.
5
,
Octo
b
er
20
26
,
p
p
.
2
4
1
7
~
2
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0
I
SS
N:
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2
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2417
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I
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RO
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wate
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AUVs)
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a
n
d
en
v
ir
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n
m
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m
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ito
r
in
g
[
1
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.
I
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m
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y
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f
th
ese
m
is
s
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s
,
th
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v
eh
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m
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s
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at
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well
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eg
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latio
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f
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n
d
am
en
tal
r
eq
u
ir
em
e
n
t
[
2
]
.
I
n
p
r
ac
tical
im
p
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tatio
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,
d
e
p
th
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co
m
m
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ly
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ated
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ased
o
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h
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tatic
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r
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b
ac
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th
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[
3
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Nev
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atin
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h
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am
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[
4
]
.
Desp
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th
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wid
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co
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r
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atin
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im
es
[
5
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.
E
x
p
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m
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tal
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in
d
icate
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th
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ller
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
16
,
No
.
5
,
Octo
b
e
r
20
26
:
2
4
1
7
-
2
4
3
0
2418
ca
n
s
tab
ilize
th
e
v
er
tical
m
o
tio
n
o
f
an
AUV
a
n
d
m
ain
tai
n
a
d
esire
d
d
e
p
th
s
etp
o
in
t
with
s
m
all
s
tead
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-
s
tate
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r
o
r
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r
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v
id
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t
h
at
th
e
tu
n
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n
g
ac
co
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n
ts
f
o
r
th
e
v
e
h
icle
d
y
n
a
m
ics an
d
ac
tu
ato
r
lim
itatio
n
s
[
6
]
,
[
7
]
Ho
wev
er
,
in
m
o
s
t
p
r
ac
tical
AUV
d
ep
lo
y
m
en
ts
,
th
e
p
e
r
f
o
r
m
an
ce
o
f
th
e
d
ep
t
h
co
n
tr
o
l
lo
o
p
s
till
d
ep
en
d
s
h
ea
v
ily
o
n
th
e
r
eliab
ilit
y
an
d
ac
cu
r
ac
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o
f
th
e
p
r
es
s
u
r
e
s
en
s
o
r
,
p
ar
ticu
lar
ly
in
m
is
s
io
n
s
th
at
r
eq
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ir
e
p
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is
e
h
o
v
er
in
g
o
r
s
tead
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v
er
tical
p
o
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itio
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in
g
.
Sev
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tu
d
ies
h
av
e
ass
ess
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e
ac
cu
r
ac
y
o
f
p
r
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r
e
-
b
ased
d
ep
th
m
ea
s
u
r
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e
n
ts
ag
ain
s
t
p
h
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s
ical
r
ef
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en
ce
v
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es;
f
o
r
in
s
tan
ce
,
Du
r
aib
ab
u
et
a
l.
[
8
]
r
ep
o
r
ted
s
u
b
-
ce
n
tim
eter
r
eso
lu
tio
n
u
s
in
g
a
f
ib
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p
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p
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ess
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r
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s
en
s
o
r
u
n
d
er
co
n
tr
o
lled
e
x
p
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im
e
n
tal
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o
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d
itio
n
s
.
Alth
o
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g
h
s
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ch
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lts
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em
o
n
s
tr
ate
h
i
g
h
s
en
s
o
r
ac
cu
r
ac
y
,
f
ewe
r
s
tu
d
ies
h
av
e
e
x
p
er
im
en
tally
v
alid
ate
d
p
r
ess
u
r
e
-
to
-
d
ep
th
esti
m
atio
n
o
n
an
AUV
p
r
o
to
ty
p
e
an
d
e
x
am
in
ed
its
d
ir
ec
t im
p
ac
t o
n
clo
s
ed
-
lo
o
p
d
ep
th
co
n
t
r
o
l p
er
f
o
r
m
a
n
ce
.
T
o
r
e
g
u
late
v
er
tical
m
o
tio
n
b
ased
o
n
p
r
ess
u
r
e
-
d
er
i
v
ed
d
ep
th
m
ea
s
u
r
em
en
ts
,
th
e
PID
co
n
tr
o
ller
r
em
ain
s
an
attr
ac
tiv
e
ca
n
d
id
ate
d
u
e
to
its
co
m
p
u
tatio
n
al
s
im
p
licity
an
d
wid
esp
r
ea
d
d
ep
lo
y
m
e
n
t.
Am
o
n
g
v
ar
io
u
s
PID
tu
n
in
g
s
tr
ateg
ies,
th
e
Z
ieg
ler
–
Nich
o
ls
(
Z
N)
m
eth
o
d
is
co
m
m
o
n
ly
u
s
ed
f
o
r
r
ap
id
,
m
o
d
el
-
f
r
ee
in
itializatio
n
.
Ho
wev
er
,
its
a
g
g
r
ess
iv
e
g
ain
s
elec
tio
n
o
f
te
n
in
d
u
ce
s
ex
ce
s
s
iv
e
o
v
er
s
h
o
o
t
an
d
o
s
cillato
r
y
r
esp
o
n
s
es.
C
o
n
s
eq
u
en
tly
,
em
p
ir
ical
o
r
m
an
u
al
f
in
e
-
t
u
n
in
g
is
f
r
eq
u
en
tly
ap
p
lied
to
im
p
r
o
v
e
p
e
r
f
o
r
m
an
ce
u
n
d
er
r
ea
l
o
p
er
atin
g
co
n
d
itio
n
s
.
Ku
o
et
a
l.
[
9
]
e
m
p
lo
y
e
d
Z
N
tu
n
in
g
to
o
b
tain
in
itial
g
ai
n
s
an
d
s
u
b
s
eq
u
e
n
tly
p
er
f
o
r
m
ed
m
an
u
al
ad
ju
s
tm
en
t
s
to
r
ed
u
ce
o
v
er
s
h
o
o
t
an
d
s
tead
y
-
s
tate
er
r
o
r
d
u
r
in
g
o
p
er
ati
o
n
.
No
n
eth
eless
,
a
s
y
s
tem
atic
ex
p
er
im
en
tal
co
m
p
ar
is
o
n
b
etwe
en
Z
N
-
tu
n
e
d
an
d
m
an
u
ally
f
in
e
-
tu
n
e
d
PID
co
n
tr
o
ller
s
,
ev
alu
ated
u
s
in
g
s
tan
d
ar
d
p
er
f
o
r
m
an
ce
m
etr
ics o
n
an
AUV
p
latf
o
r
m
,
r
e
m
ain
s
lim
ited
in
th
e
ex
is
tin
g
li
ter
atu
r
e.
T
h
is
s
tu
d
y
p
r
o
p
o
s
es
an
in
te
g
r
ated
ap
p
r
o
ac
h
c
o
m
b
in
i
n
g
s
en
s
o
r
ca
lib
r
atio
n
an
d
clo
s
ed
-
lo
o
p
PID
co
n
tr
o
l
to
im
p
r
o
v
e
b
o
t
h
m
ea
s
u
r
em
en
t
ac
cu
r
ac
y
an
d
d
e
p
th
s
tab
ilit
y
.
An
ex
p
er
im
e
n
tal
AUV
test
b
ed
is
u
s
ed
to
v
alid
ate
a
h
y
d
r
o
s
tatic
p
r
ess
u
r
e
-
to
-
d
ep
t
h
esti
m
ato
r
b
y
c
o
m
p
ar
in
g
s
en
s
o
r
-
d
e
r
iv
ed
d
ep
th
m
ea
s
u
r
em
en
ts
ag
ain
s
t
g
r
o
u
n
d
-
tr
u
th
r
ef
er
e
n
ce
v
alu
e
s
,
th
er
eb
y
d
em
o
n
s
tr
atin
g
th
e
ef
f
ec
tiv
en
ess
o
f
p
r
ess
u
r
e
s
en
s
o
r
ca
lib
r
atio
n
in
im
p
r
o
v
in
g
d
ep
th
esti
m
atio
n
a
cc
u
r
ac
y
.
Fu
r
th
e
r
m
o
r
e
,
th
e
d
ep
th
co
n
tr
o
l
p
er
f
o
r
m
a
n
ce
o
f
Z
ie
g
ler
–
Nich
o
ls
tu
n
ed
an
d
m
an
u
ally
f
in
e
-
tu
n
ed
PI
D
co
n
tr
o
ller
s
is
r
ig
o
r
o
u
s
ly
co
m
p
ar
ed
u
s
in
g
s
tan
d
ar
d
tim
e
-
d
o
m
ain
m
etr
ics,
in
clu
d
in
g
r
is
e
tim
e,
o
v
er
s
h
o
o
t
,
s
ettlin
g
tim
e,
an
d
s
tead
y
-
s
tate
er
r
o
r
.
T
h
e
r
o
b
u
s
tn
ess
o
f
th
e
p
r
o
p
o
s
ed
co
n
tr
o
l
ap
p
r
o
ac
h
is
also
e
v
alu
ated
u
n
d
er
r
ea
lis
tic
o
p
e
r
atin
g
co
n
d
itio
n
s
,
in
clu
d
in
g
f
o
r
war
d
m
o
tio
n
,
to
ass
ess
its
ab
ilit
y
to
m
ain
tain
s
tab
le
d
ep
th
b
e
y
o
n
d
id
ea
lize
d
s
ce
n
ar
io
s
.
I
n
th
is
co
n
tex
t,
th
e
s
tu
d
y
h
ig
h
lig
h
ts
th
e
p
r
ac
tical
co
n
tr
ib
u
tio
n
o
f
co
m
b
in
in
g
ca
li
b
r
ated
p
r
ess
u
r
e
-
b
ased
d
e
p
th
esti
m
atio
n
with
ap
p
r
o
p
r
iate
PID
tu
n
in
g
to
im
p
r
o
v
e
d
ep
th
s
tab
ilit
y
an
d
c
o
n
tr
o
l a
cc
u
r
ac
y
in
p
r
o
t
o
ty
p
e
AUV
ap
p
li
ca
tio
n
s
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
d
escr
ib
es
th
e
r
esear
ch
s
tep
s
n
ee
d
e
d
to
ac
h
iev
e
th
e
o
b
jectiv
es
o
f
th
e
AUV
d
e
p
th
co
n
tr
o
l
s
y
s
tem
.
T
h
e
p
r
o
ce
s
s
b
eg
in
s
with
th
e
d
esig
n
o
f
th
e
p
r
o
to
t
y
p
e
m
ec
h
an
ical
s
tr
u
ctu
r
e
,
th
e
wate
r
p
r
ess
u
r
e
d
ata
ac
q
u
is
itio
n
s
y
s
tem
,
an
d
th
e
ap
p
licatio
n
o
f
PID
co
n
tr
o
l
alg
o
r
ith
m
s
to
m
ain
tain
d
ep
th
s
tab
ilit
y
d
u
r
in
g
test
in
g
i
n
an
aq
u
atic
en
v
ir
o
n
m
en
t.
2
.
1
.
M
ec
ha
nica
l c
o
nfig
ura
t
i
o
n
Fig
u
r
e
1
s
h
o
ws
th
e
m
ec
h
an
ic
al
d
esig
n
o
f
th
e
d
ev
elo
p
ed
A
UV
p
r
o
to
ty
p
e.
T
h
e
m
ain
s
tr
u
ctu
r
e
o
f
th
e
AUV
is
co
n
s
tr
u
cted
f
r
o
m
a
3
m
m
th
ick
alu
m
in
u
m
p
late
f
r
am
e,
wh
ich
is
p
r
ec
is
ely
f
a
b
r
icate
d
u
s
in
g
laser
cu
ttin
g
tech
n
o
lo
g
y
ac
co
r
d
in
g
to
th
e
d
esig
n
s
p
ec
if
icatio
n
s
.
T
h
e
p
r
o
to
t
y
p
e
h
as
d
im
en
s
io
n
s
o
f
6
9
1
m
m
in
len
g
th
,
4
1
5
m
m
in
wid
t
h
,
a
n
d
3
6
5
m
m
in
h
eig
h
t,
with
a
n
ap
p
r
o
x
im
ate
weig
h
t
o
f
2
3
k
g
.
T
h
e
p
r
o
p
u
ls
io
n
s
y
s
tem
co
n
s
is
t
s
o
f
eig
h
t
th
r
u
s
ter
s
,
co
m
p
r
is
in
g
f
o
u
r
h
o
r
izo
n
t
al
th
r
u
s
ter
s
m
o
u
n
ted
at
a
4
5
°
an
g
le
to
g
en
er
ate
f
o
r
war
d
m
o
tio
n
an
d
later
al
m
an
eu
v
er
in
g
a
n
d
f
o
u
r
v
er
tical
th
r
u
s
ter
s
u
s
ed
to
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u
late
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e
p
th
an
d
d
ir
ec
tio
n
al
s
tab
ilit
y
o
f
th
e
AUV.
T
h
e
p
r
o
p
u
ls
io
n
u
n
its
ar
e
b
lu
e
r
o
b
o
tics
T
2
0
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th
r
u
s
ter
s
,
s
elec
ted
f
o
r
t
h
eir
h
ig
h
ef
f
icien
c
y
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s
tr
o
n
g
th
r
u
s
t c
ap
ab
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,
an
d
r
e
liab
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in
u
n
d
er
wate
r
en
v
ir
o
n
m
en
ts
[
1
0
]
.
Fig
u
r
e
1
.
Pro
t
o
ty
p
e
d
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n
o
f
th
e
AUV
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I
n
ad
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itio
n
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e
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p
r
o
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ty
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e
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eq
u
ip
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ed
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a
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allast
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tem
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e
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le
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o
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r
.
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h
e
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n
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tr
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cted
f
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o
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ip
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ical
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u
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in
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u
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atio
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[
1
1
]
.
T
h
e
wate
r
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r
ess
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r
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s
en
s
o
r
is
i
n
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talled
at
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e
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o
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ter
o
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th
e
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r
am
e,
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s
h
o
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Fig
u
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e
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.
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h
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o
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etr
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h
el
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th
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o
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ata
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u
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.
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en
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2
.
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en
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o
r
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y
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em
T
h
e
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ataset
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s
ed
i
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d
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o
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r
o
m
r
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l
m
e
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r
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ts
o
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a
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r
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ess
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r
e
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en
s
o
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o
n
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e
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p
r
o
to
t
y
p
e.
T
h
e
p
r
ess
u
r
e
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ata
ar
e
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ir
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ir
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tly
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r
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ess
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t
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r
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p
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o
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e
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r
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u
n
d
i
n
g
wate
r
d
ep
th
.
T
h
e
s
en
s
o
r
o
u
tp
u
t
is
s
am
p
led
u
s
in
g
t
h
e
an
alo
g
-
to
-
d
ig
ital
co
n
v
er
t
er
(
ADC)
o
f
th
e
STM
3
2
F1
0
3
C
8
T
6
m
icr
o
c
o
n
tr
o
ller
d
u
r
in
g
ex
p
er
im
en
tal
test
s
co
n
d
u
cted
u
n
d
e
r
b
o
th
s
tatic
co
n
d
itio
n
s
an
d
f
o
r
war
d
-
m
o
tio
n
o
p
e
r
atio
n
o
f
th
e
AUV.
T
h
e
co
llected
p
r
ess
u
r
e
d
ata
ar
e
u
s
ed
as
th
e
p
r
im
ar
y
in
p
u
t
f
o
r
d
ep
t
h
esti
m
atio
n
an
d
f
ee
d
b
ac
k
c
o
n
tr
o
l in
th
e
PID
-
b
ased
d
ep
th
c
o
n
t
r
o
l sy
s
tem
.
Fig
u
r
e
3
illu
s
tr
ates
th
e
b
lo
c
k
d
iag
r
am
o
f
th
e
wate
r
p
r
ess
u
r
e
r
ea
d
in
g
s
y
s
tem
u
s
ed
to
esti
m
ate
th
e
d
ep
th
o
f
th
e
AUV.
Data
f
r
o
m
th
e
p
r
ess
u
r
e
s
en
s
o
r
ar
e
p
r
o
ce
s
s
ed
s
eq
u
en
tially
,
s
tar
tin
g
f
r
o
m
r
aw
s
ig
n
al
r
ea
d
in
g
s
to
p
r
o
d
u
cin
g
t
h
e
f
in
al
d
ep
th
v
alu
e
u
s
ed
as th
e
m
ain
in
p
u
t to
th
e
d
ep
th
co
n
tr
o
l sy
s
tem
(
PID
)
.
Fig
u
r
e
3
.
B
lo
ck
d
iag
r
am
o
f
th
e
wate
r
p
r
ess
u
r
e
s
ig
n
al
p
r
o
ce
s
s
in
g
s
y
s
tem
f
o
r
th
e
AUV
I
n
th
e
in
itial
s
tag
e,
th
e
s
y
s
tem
ac
q
u
ir
es
ADC
o
u
tp
u
t
f
r
o
m
th
e
p
r
ess
u
r
e
s
en
s
o
r
.
Sin
ce
th
e
r
aw
ADC
s
ig
n
al
is
af
f
ec
ted
b
y
n
o
is
e
o
r
ig
in
atin
g
f
r
o
m
th
e
s
en
s
o
r
an
d
th
e
a
q
u
atic
e
n
v
ir
o
n
m
en
t,
a
two
-
s
tag
e
f
ilter
in
g
ap
p
r
o
ac
h
is
ap
p
lied
to
im
p
r
o
v
e
s
ig
n
al
s
tab
ilit
y
.
I
n
th
e
f
ir
s
t
s
tag
e,
a
Kalm
an
f
ilter
is
em
p
lo
y
ed
to
r
ec
u
r
s
iv
ely
esti
m
ate
th
e
tr
u
e
ADC
v
alu
e
b
y
co
m
b
i
n
in
g
th
e
cu
r
r
en
t
m
e
asu
r
em
en
t
with
th
e
p
r
ev
io
u
s
s
tate
est
im
ate
wh
ile
ac
co
u
n
tin
g
f
o
r
esti
m
atio
n
u
n
ce
r
tain
ty
.
T
h
e
f
ilter
in
g
p
r
o
ce
s
s
in
v
o
lv
es
th
e
ca
lcu
latio
n
o
f
th
e
Kalm
an
g
ain
,
f
o
llo
wed
b
y
u
p
d
atin
g
th
e
s
tate
esti
m
ate
an
d
th
e
er
r
o
r
co
v
ar
ia
n
ce
,
as d
ef
in
e
d
in
(
1
)
.
=
−
1
−
1
+
=
−
1
+
(
−
−
1
)
=
(
1
−
)
−
1
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
16
,
No
.
5
,
Octo
b
e
r
20
26
:
2
4
1
7
-
2
4
3
0
2420
I
n
(
1
)
,
d
en
o
tes
th
e
ADC
m
ea
s
u
r
em
en
t
at
tim
e
s
tep
,
is
th
e
Kalm
an
f
ilter
ed
ADC
esti
m
a
te,
is
th
e
esti
m
atio
n
er
r
o
r
c
o
v
ar
ian
ce
,
a
n
d
=3
0
.
0
is
th
e
m
ea
s
u
r
e
m
en
t
n
o
is
e
v
ar
ian
ce
r
e
p
r
esen
tin
g
s
e
n
s
o
r
u
n
ce
r
tain
ty
.
T
h
e
p
r
o
ce
s
s
n
o
is
e
is
s
et
to
=
0
.
0
1
,
with
in
itial
co
n
d
itio
n
s
0
=
0
an
d
0
=
1
.
0
,
u
s
ed
as
th
e
s
tar
tin
g
p
o
in
t
f
o
r
th
e
f
ir
s
t
iter
atio
n
o
f
th
e
Kalm
an
f
ilter
,
w
h
er
e
0
p
r
o
v
id
es
th
e
in
itial
esti
m
ate
o
f
t
h
e
AD
C
v
alu
e
an
d
0
r
ep
r
esen
ts
th
e
in
itial
u
n
ce
r
tain
ty
o
f
th
is
esti
m
ate.
T
h
ese
v
alu
es
wer
e
ch
o
s
en
to
b
alan
ce
f
ilter
r
esp
o
n
s
iv
en
ess
an
d
n
o
is
e
s
u
p
p
r
ess
io
n
[
1
3
]
.
A
f
ter
Kalm
an
f
ilter
in
g
,
a
n
ad
d
it
io
n
al
s
m
o
o
th
in
g
s
tag
e
is
ap
p
li
ed
u
s
in
g
a
m
o
v
in
g
av
er
ag
e
f
ilter
to
f
u
r
t
h
er
r
e
d
u
ce
r
esid
u
al
s
ig
n
al
f
lu
ctu
atio
n
s
[
1
4
]
.
T
h
e
s
m
o
o
th
in
g
p
r
o
ce
s
s
is
d
ef
in
ed
in
(
2
)
.
{
}
=
1
∑
−
−
1
=
0
(
2
)
T
h
is
f
ilter
ca
lcu
lates
th
e
av
er
ag
e
o
f
th
e
last
s
am
p
les,
wh
er
e
=
23
is
u
s
ed
in
th
i
s
s
tu
d
y
.
T
h
is
p
r
o
ce
s
s
p
r
o
d
u
ce
s
a
s
m
o
o
th
e
r
an
d
m
o
r
e
s
tab
le
s
ig
n
al
th
at
is
less
s
en
s
itiv
e
to
s
m
all
v
ar
iati
o
n
s
in
th
e
a
q
u
atic
en
v
ir
o
n
m
en
t
[
1
5
]
.
Af
ter
th
e
f
ilter
in
g
p
r
o
ce
s
s
is
co
m
p
lete
d
,
th
e
s
tab
ilized
ADC
v
alu
e
is
co
n
v
er
ted
in
to
a
v
o
ltag
e
u
s
in
g
th
e
ADC
co
n
v
er
s
io
n
r
elatio
n
s
h
ip
ex
p
r
ess
ed
in
(
3
)
,
wh
er
e
is
th
e
m
ea
s
u
r
ed
ADC
v
alu
e,
is
th
e
m
ax
im
u
m
ADC r
eso
lu
t
io
n
,
an
d
is
th
e
r
ef
er
e
n
ce
v
o
ltag
e.
=
N
ma
x
×
V
r
ef
(
3
)
W
h
er
e
is
th
e
m
ea
s
u
r
ed
ADC
v
alu
e,
is
th
e
m
ax
im
u
m
ADC
r
eso
lu
tio
n
,
an
d
is
th
e
ADC
r
ef
er
en
ce
v
o
ltag
e.
T
h
e
m
ea
s
u
r
ed
v
o
ltag
e
is
th
en
co
r
r
ec
ted
to
elim
in
ate
th
e
wate
r
s
u
r
f
ac
e
o
f
f
s
et
in
o
r
d
er
to
o
b
tain
th
e
c
o
r
r
ec
ted
v
o
ltag
e
in
(
4
)
.
=
−
(
4
)
T
h
e
v
o
ltag
e
r
e
p
r
esen
ts
th
e
b
a
s
elin
e
v
o
ltag
e
m
ea
s
u
r
ed
wh
en
th
e
s
en
s
o
r
is
lo
ca
te
d
at
th
e
wate
r
s
u
r
f
ac
e.
B
ased
o
n
th
e
co
r
r
ec
ted
v
o
ltag
e,
th
e
wate
r
p
r
ess
u
r
e
is
ca
lcu
lated
in
b
ar
u
n
it
s
u
s
in
g
th
e
s
en
s
o
r
s
en
s
itiv
ity
,
as
ex
p
r
ess
ed
in
(
5
)
.
T
h
e
p
ar
a
m
eter
_
in
d
icate
s
th
e
v
o
ltag
e
c
h
an
g
e
co
r
r
esp
o
n
d
in
g
to
o
n
e
b
ar
o
f
p
r
ess
u
r
e.
T
h
e
r
esu
ltin
g
p
r
es
s
u
r
e
v
alu
e
is
th
en
c
o
n
v
e
r
ted
in
to
Pas
ca
l u
n
its
u
s
in
g
(
6
)
.
=
_
(
5
)
=
×
100000
(
6
)
Su
b
s
eq
u
en
tly
,
th
e
h
y
d
r
o
s
tatic
p
r
ess
u
r
e
is
co
n
v
er
ted
in
to
d
ep
th
u
s
in
g
th
e
h
y
d
r
o
s
tatic
r
elatio
n
s
h
ip
(
7
)
.
W
h
er
e
d
en
o
tes
th
e
wate
r
d
en
s
ity
an
d
r
ep
r
esen
ts
th
e
g
r
a
v
itatio
n
al
ac
ce
ler
atio
n
.
T
h
e
r
esu
ltin
g
d
ep
th
in
m
eter
s
is
th
en
co
n
v
e
r
ted
in
to
c
en
tim
eter
s
u
s
in
g
(
8
)
.
=
(
7
)
ℎ
=
100
(
8
)
T
h
e
v
alu
e
o
f
ℎ
r
ep
r
esen
ts
t
h
e
id
ea
l
d
ep
th
o
b
tain
e
d
f
r
o
m
th
e
p
h
y
s
ical
p
r
ess
u
r
e
-
to
-
d
ep
th
co
n
v
er
s
io
n
.
T
o
c
o
m
p
e
n
s
ate
f
o
r
s
y
s
tem
atic
er
r
o
r
s
in
t
r
o
d
u
ce
d
b
y
th
e
p
r
ess
u
r
e
s
en
s
o
r
an
d
s
ig
n
al
co
n
d
itio
n
i
n
g
cir
cu
itry
,
a
s
ig
n
al
-
v
ar
iab
le
lin
e
ar
r
eg
r
ess
io
n
ca
lib
r
atio
n
m
o
d
e
l is ap
p
lied
,
as e
x
p
r
ess
ed
in
(
9
)
.
=
+
(
9
)
I
n
th
is
s
tu
d
y
,
ℎ
is
d
ef
in
ed
as
th
e
r
aw
d
ep
th
o
b
tain
ed
f
r
o
m
th
e
p
h
y
s
ical
p
r
ess
u
r
e
-
to
-
d
ep
th
co
n
v
er
s
io
n
,
w
h
ile
ℎ
_
r
ep
r
esen
ts
th
e
ca
lib
r
ated
d
ep
th
p
r
o
d
u
ce
d
b
y
ap
p
ly
i
n
g
th
e
lin
ea
r
r
e
g
r
ess
io
n
m
o
d
el.
T
h
e
ca
lib
r
atio
n
r
elatio
n
s
h
ip
i
s
ex
p
r
ess
ed
in
(
1
0
)
,
wh
e
r
e
an
d
r
ep
r
esen
t
th
e
s
lo
p
e
an
d
i
n
ter
ce
p
t
o
f
th
e
ca
lib
r
atio
n
cu
r
v
e,
r
esp
ec
tiv
el
y
,
an
d
ar
e
d
eter
m
in
ed
ex
p
er
im
en
tally
d
u
r
in
g
th
e
ca
lib
r
atio
n
p
r
o
ce
s
s
.
T
h
e
s
lo
p
e
r
ep
r
esen
ts
s
en
s
o
r
s
en
s
itiv
ity
,
wh
ile
th
e
in
ter
ce
p
t
r
ef
lects
th
e
b
aselin
e
o
f
f
s
et,
en
ab
lin
g
co
m
p
en
s
atio
n
o
f
s
y
s
tem
atic
er
r
o
r
s
an
d
im
p
r
o
v
e
d
d
ep
th
esti
m
atio
n
ac
cu
r
ac
y
.
ℎ
_
=
∙
ℎ
+
(
1
0
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
R
ea
l
-
time
d
ep
th
mea
s
u
r
eme
n
t
a
n
d
s
ta
b
ilit
y
co
n
tr
o
l
o
f A
UV
u
s
in
g
r
eg
r
ess
io
n
…
(
S
en
a
n
ju
n
g
P
r
a
yo
g
a
)
2421
T
h
e
v
alu
e
ℎ
_
is
th
e
ca
lib
r
ated
d
ep
th
in
ce
n
tim
eter
s
u
s
ed
as
an
esti
m
ate
o
f
th
e
f
in
al
d
ep
th
o
f
th
e
AUV
in
th
e
wate
r
.
T
h
e
r
esu
lt
o
f
th
is
ca
lcu
latio
n
th
en
b
ec
o
m
es
an
im
p
o
r
tan
t
in
p
u
t
f
o
r
th
e
AUV
d
ep
th
PID
c
o
n
tr
o
l
s
y
s
tem
to
en
s
u
r
e
th
at
th
e
AU
V
ca
n
m
ain
tain
th
e
d
ep
th
ac
c
o
r
d
in
g
to
th
e
s
p
ec
if
ied
s
etp
o
i
n
t.
2
.
3
.
Dept
h
m
e
a
s
urem
ent
s
met
ho
d schem
e
o
f
a
n AU
V
us
ing
a
press
ure
s
en
s
o
r
Fig
u
r
e
4
s
h
o
ws
th
e
test
co
n
f
ig
u
r
atio
n
a
n
d
wo
r
k
f
lo
w
o
f
th
e
wate
r
p
r
ess
u
r
e
r
ea
d
in
g
s
y
s
tem
f
o
r
esti
m
atin
g
th
e
d
ep
th
o
f
th
e
A
UV.
I
n
th
is
test
,
th
e
A
UV
wa
s
p
lace
d
in
a
test
p
o
o
l
at
s
ev
e
r
al
tar
g
et
d
ep
th
s
.
A
m
ea
s
u
r
in
g
r
u
ler
is
attac
h
ed
to
th
e
r
o
b
o
t
b
o
d
y
with
t
h
e
b
o
tt
o
m
o
f
th
e
r
u
ler
p
ar
allel
to
th
e
b
o
tto
m
o
f
th
e
AUV
f
r
am
e
b
o
d
y
.
T
h
is
co
n
f
ig
u
r
atio
n
en
ab
les
d
ir
ec
t
m
ea
s
u
r
em
e
n
t
o
f
t
h
e
ac
tu
al
d
ep
th
u
s
in
g
a
r
ef
er
en
ce
s
ca
le.
T
h
e
p
r
ess
u
r
e
s
en
s
o
r
r
ea
d
s
th
e
h
y
d
r
o
s
tatic
p
r
ess
u
r
e
ac
co
r
d
in
g
to
th
e
d
ep
th
,
an
d
th
en
th
e
d
ata
is
p
r
o
ce
s
s
ed
b
y
a
m
icr
o
co
n
tr
o
ller
an
d
s
en
t
to
a
lap
to
p
v
ia
Ser
ial
-
USB
to
b
e
d
is
p
lay
ed
as
th
e
esti
m
ated
d
e
p
th
.
T
h
e
esti
m
ated
d
ep
th
v
alu
e
is
co
m
p
a
r
ed
with
th
e
ac
tu
al
d
ep
th
to
ca
lcu
late
th
e
er
r
o
r
an
d
ass
ess
r
ep
ea
tab
ilit
y
.
Fu
r
th
er
m
o
r
e,
th
e
m
ea
s
u
r
em
en
t
d
ata
is
u
s
ed
to
f
o
r
m
a
ca
lib
r
atio
n
m
o
d
el
t
h
r
o
u
g
h
lin
ea
r
r
eg
r
ess
io
n
u
s
in
g
(
9
)
,
s
o
t
h
at
th
e
esti
m
ated
d
ep
th
ca
n
b
e
co
r
r
ec
ted
an
d
its
ac
cu
r
ac
y
r
e
-
ev
alu
ated
.
T
h
is
lin
ea
r
r
eg
r
ess
io
n
-
b
ased
ca
lib
r
atio
n
ap
p
r
o
ac
h
,
s
u
p
p
o
r
te
d
b
y
a
d
at
a
f
ilter
in
g
p
r
o
ce
s
s
,
is
co
m
m
o
n
ly
ap
p
lied
in
p
r
ess
u
r
e
s
en
s
o
r
-
b
ased
AUV
d
ep
th
s
y
s
tem
s
to
im
p
r
o
v
e
th
e
q
u
ality
an
d
s
tab
ilit
y
o
f
esti
m
ated
d
ata
[
1
6
]
,
[
1
7
]
.
Fig
u
r
e
4
.
I
ll
u
s
tr
atio
n
s
o
f
p
r
ess
u
r
e
d
ata
co
llectio
n
f
o
r
AUV
d
ep
th
esti
m
atio
n
2
.
4
.
P
I
D
co
ntr
o
l sy
s
t
em
AU
V
T
h
is
s
u
b
s
ec
tio
n
d
escr
ib
es
th
e
d
ep
th
c
o
n
tr
o
l
s
y
s
tem
im
p
lem
e
n
ted
o
n
t
h
e
AUV.
First
a
b
lo
c
k
d
iag
r
a
m
o
f
th
e
o
v
er
all
s
y
s
tem
is
p
r
esen
ted
,
f
o
llo
wed
b
y
th
e
PID
-
b
a
s
ed
d
ep
th
co
n
tr
o
l
s
tr
u
ctu
r
e,
a
n
d
f
in
ally
th
e
g
ain
tu
n
in
g
p
r
o
ce
d
u
r
e
u
s
in
g
th
e
Z
ie
g
ler
-
Nich
o
ls
m
eth
o
d
an
d
m
an
u
al
f
in
e
-
tu
n
in
g
[
1
8
]
.
Fig
u
r
e
5
s
h
o
ws
a
b
lo
c
k
d
iag
r
a
m
o
f
th
e
s
y
s
tem
u
s
ed
i
n
th
is
s
tu
d
y
.
T
h
e
s
y
s
tem
co
n
s
is
ts
o
f
th
r
ee
m
ain
co
m
p
o
n
en
ts
,
n
am
ely
th
e
SE
N0
2
5
7
wate
r
p
r
ess
u
r
e
s
en
s
o
r
,
wh
ich
is
u
s
ed
to
m
ea
s
u
r
e
h
y
d
r
o
s
tatic
p
r
ess
u
r
e
ar
o
u
n
d
th
e
AUV,
an
d
a
m
a
g
n
etic
r
ea
d
s
witch
th
at
f
u
n
ctio
n
s
as
a
co
n
tr
o
l
s
witch
.
T
h
e
r
ea
d
s
witch
is
u
s
ed
to
ac
tiv
ate
th
e
co
n
tr
o
l m
o
d
e
.
Fig
u
r
e
5
.
B
lo
ck
d
iag
r
am
s
y
s
te
m
AUV
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m
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co
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tr
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ac
ts
as
th
e
d
ata
p
r
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ce
s
s
in
g
ce
n
ter
b
y
r
ea
d
in
g
s
ig
n
als
f
r
o
m
p
r
ess
u
r
e
s
en
s
o
r
s
.
B
ased
o
n
th
e
d
ep
t
h
d
ata,
th
e
m
icr
o
c
o
n
tr
o
ller
im
p
lem
en
ts
a
PID
-
b
ased
d
ep
th
co
n
t
r
o
l
alg
o
r
ith
m
to
g
en
er
ate
t
h
e
ap
p
r
o
p
r
iate
co
n
t
r
o
l sig
n
als
[
1
9
]
.
C
o
n
tr
o
l
s
ig
n
als
f
r
o
m
th
e
m
ic
r
o
co
n
tr
o
ller
a
r
e
s
en
t
to
t
h
e
el
ec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
(
E
S
C
)
,
wh
ich
th
en
r
eg
u
lates
th
e
s
p
ee
d
o
f
f
o
u
r
v
er
tical
th
r
u
s
ter
s
as
ac
tu
at
o
r
s
o
n
th
e
Z
-
ax
is
an
d
f
o
u
r
h
o
r
izo
n
tal
th
r
u
s
ter
s
to
m
o
v
e
f
o
r
war
d
.
C
o
o
r
d
in
atio
n
b
etwe
en
th
e
E
SC
an
d
th
ese
t
h
r
u
s
ter
s
allo
ws
th
e
AUV
to
g
en
er
ate
d
o
wn
war
d
th
r
u
s
t
an
d
m
o
v
e
f
o
r
war
d
in
a
co
n
tr
o
lled
m
an
n
er
,
en
a
b
lin
g
t
h
e
v
eh
icle
to
m
ain
tain
o
r
r
ea
c
h
th
e
d
esire
d
d
ep
th
an
d
m
an
e
u
v
er
f
o
r
war
d
in
a
s
ta
b
le
an
d
p
r
ec
is
e
m
an
n
er
.
Fig
u
r
e
6
s
h
o
ws
a
b
lo
ck
d
iag
r
am
o
f
th
e
d
ep
th
co
n
tr
o
l
s
y
s
tem
u
s
ed
i
n
th
e
AUV
p
r
o
t
o
ty
p
e
.
T
h
e
in
p
u
t
s
ig
n
al
is
th
e
d
ep
th
s
etp
o
i
n
t
r
ef
er
en
ce
.
W
h
en
th
e
AUV
h
a
s
n
o
t
y
et
r
ea
c
h
ed
th
at
d
ep
th
,
an
er
r
o
r
d
if
f
er
en
ce
ar
is
es
b
etwe
en
th
e
r
ef
er
e
n
ce
v
alu
e
an
d
th
e
ac
h
ie
v
ed
d
e
p
th
.
T
h
is
er
r
o
r
v
alu
e
is
th
e
n
p
r
o
ce
s
s
ed
b
y
th
e
PID
co
n
tr
o
ller
t
o
p
r
o
d
u
c
e
a
c
o
n
tr
o
l
s
ig
n
al
th
at
r
eg
u
lates
th
e
th
r
u
s
ter
s
o
th
at
th
e
AUV
ca
n
ap
p
r
o
ac
h
an
d
m
ain
tain
th
e
s
etp
o
in
t
d
ep
th
[
2
0
]
,
[
2
1
]
.
T
h
e
m
ea
s
u
r
e
d
d
ep
th
v
alu
e
is
s
en
t
b
ac
k
as
a
f
ee
d
b
ac
k
s
ig
n
al
to
th
e
s
u
m
m
in
g
b
lo
ck
s
o
th
at
th
e
clo
s
ed
co
n
tr
o
l lo
o
p
ca
n
wo
r
k
c
o
n
tin
u
o
u
s
ly
.
I
n
p
r
ac
tical
im
p
lem
en
tatio
n
,
th
e
PID
co
n
tr
o
ller
o
u
tp
u
t
is
ap
p
lied
to
th
e
AUV
th
r
u
s
te
r
s
v
ia
th
e
elec
tr
o
n
ic
s
p
ee
d
c
o
n
tr
o
ller
(
E
SC
)
.
T
o
av
o
id
ac
tu
ato
r
s
atu
r
at
io
n
,
th
e
c
o
n
tr
o
l
s
ig
n
al
is
lim
ited
to
a
p
u
ls
e
-
wid
th
m
o
d
u
latio
n
(
PW
M)
r
a
n
g
e
o
f
-
2
0
0
to
3
0
0
,
wh
ic
h
r
e
p
r
esen
ts
t
h
e
m
in
im
u
m
an
d
m
ax
im
u
m
allo
wab
le
co
m
m
an
d
s
f
o
r
th
e
v
er
tical
th
r
u
s
ter
s
.
W
h
en
th
e
co
n
tr
o
l
s
ig
n
al
r
ea
ch
es
th
ese
lim
its
,
f
u
r
th
er
in
cr
ea
s
es
i
n
co
n
tr
o
l
ef
f
o
r
t
n
o
lo
n
g
er
a
f
f
ec
t th
e
ac
tu
at
o
r
r
esp
o
n
s
e.
T
o
p
r
ev
e
n
t
in
teg
r
al
win
d
u
p
u
n
d
er
s
atu
r
atio
n
co
n
d
itio
n
s
,
an
an
ti
-
win
d
u
p
m
ec
h
a
n
is
m
b
ased
o
n
in
teg
r
al
clam
p
in
g
is
im
p
lem
e
n
ted
.
T
h
e
in
teg
r
al
ter
m
ac
cu
m
u
latio
n
is
s
u
s
p
en
d
ed
wh
e
n
ev
e
r
th
e
co
n
t
r
o
l
o
u
tp
u
t
r
ea
ch
es
th
e
p
r
ed
e
f
in
ed
PW
M
b
o
u
n
d
s
,
p
r
ev
e
n
tin
g
e
x
ce
s
s
iv
e
in
teg
r
al
g
r
o
wth
w
h
en
t
h
e
AUV
h
as
n
o
t
y
et
r
ea
ch
ed
th
e
d
e
p
th
s
etp
o
in
t.
T
h
is
m
eth
o
d
r
ed
u
ce
s
o
v
e
r
s
h
o
o
t,
i
m
p
r
o
v
es st
ab
ilit
y
n
ea
r
th
e
s
etp
o
in
t,
an
d
en
h
an
ce
s
th
e
r
o
b
u
s
tn
ess
o
f
th
e
d
ep
t
h
co
n
tr
o
l sy
s
tem
d
u
r
i
n
g
lar
g
e
d
ep
t
h
er
r
o
r
s
an
d
tr
a
n
s
ien
t c
o
n
d
itio
n
s
.
Fig
u
r
e
6
.
B
lo
ck
d
iag
r
am
c
o
n
tr
o
l A
UV
2
.
5
.
P
I
D
t
un
ing
us
ing
Z
ieg
le
r
-
Nicho
ls
Pro
p
o
r
tio
n
al
in
te
g
r
al
d
er
iv
ativ
e
(
PID
)
co
n
tr
o
ller
s
ar
e
u
s
ed
t
o
r
eg
u
late
s
y
s
tem
r
esp
o
n
s
e
b
a
s
ed
o
n
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
s
etp
o
in
t
v
alu
e
an
d
th
e
s
y
s
tem
o
u
tp
u
t.
T
h
e
PID
co
n
tr
o
ller
co
n
s
is
ts
o
f
th
r
ee
m
ain
co
m
p
o
n
en
ts
,
n
am
ely
p
r
o
p
o
r
tio
n
al
(
P),
i
n
teg
r
al
(
I
)
,
a
n
d
d
er
iv
ativ
e
(
D)
,
wh
ic
h
f
u
n
ctio
n
to
ac
ce
ler
ate
s
y
s
tem
r
esp
o
n
s
e,
r
ed
u
ce
s
tead
y
-
s
tate
er
r
o
r
,
a
n
d
im
p
r
o
v
e
r
esp
o
n
s
e
s
t
ab
ilit
y
[
2
2
]
,
[
2
3
]
.
PID
p
ar
am
eter
tu
n
in
g
is
p
er
f
o
r
m
ed
u
s
in
g
th
e
Z
ieg
ler
-
Nich
o
ls
clo
s
ed
-
lo
o
p
m
eth
o
d
t
o
o
b
tain
th
e
in
itial
co
n
tr
o
ller
p
ar
a
m
eter
s
.
T
h
e
tu
n
in
g
p
r
o
c
ess
b
eg
in
s
b
y
d
ea
ctiv
atin
g
th
e
in
teg
r
al
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n
d
d
e
r
iv
ativ
e
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tio
n
s
,
b
y
s
ettlin
g
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0
an
d
=
0
,
s
o
th
a
t
th
e
s
y
s
tem
is
o
n
ly
c
o
n
tr
o
lle
d
b
y
th
e
p
r
o
p
o
r
tio
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al
ac
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(
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d
th
en
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ad
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ally
in
cr
ea
s
ed
u
n
til
th
e
s
y
s
tem
r
esp
o
n
s
e
s
h
o
ws
co
n
tin
u
o
u
s
o
s
cillatio
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with
a
r
elativ
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co
n
s
tan
t
am
p
litu
d
e.
T
h
is
co
n
d
itio
n
in
d
icate
s
th
at
th
e
s
y
s
tem
is
at
th
e
b
o
u
n
d
a
r
y
b
etwe
en
s
tab
ilit
y
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d
in
s
tab
ilit
y
.
T
h
e
v
a
l
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e
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n
t
h
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o
n
d
it
i
o
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d
e
f
i
n
e
d
a
s
t
h
e
u
l
t
i
m
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g
ai
n
(
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h
e
o
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c
i
ll
a
t
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p
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r
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d
=
is
m
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r
ed
a
s
t
h
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u
l
t
i
m
a
t
e
p
e
r
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d
(
)
.
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h
i
s
i
s
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h
e
t
i
m
e
d
i
f
f
e
r
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n
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c
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k
s
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h
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n
d
v
a
l
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e
s
a
r
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a
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h
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a
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h
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as
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h
e
Z
i
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g
l
e
r
-
N
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c
h
o
l
s
r
u
le
[
2
4
]
.
T
ab
le
1
s
h
o
ws
th
e
Z
ie
g
ler
-
Ni
ch
o
ls
clo
s
ed
-
lo
o
p
tu
n
in
g
r
u
les
u
s
ed
to
d
eter
m
i
n
e
th
e
in
itial
co
n
tr
o
ller
g
ain
s
b
ased
o
n
th
e
m
ea
s
u
r
ed
u
ltima
te
g
ain
(
)
an
d
u
ltima
t
e
p
er
io
d
(
)
.
T
h
e
P
co
n
tr
o
ller
ap
p
lies
o
n
ly
p
r
o
p
o
r
tio
n
al
ac
tio
n
with
=
0
.
5
,
wh
ile
an
d
ar
e
s
et
to
ze
r
o
.
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h
e
PI
co
n
tr
o
ller
s
ets
=
0
.
4
5
an
d
in
tr
o
d
u
ce
s
in
teg
r
al
ac
tio
n
u
s
in
g
=
1
.
2
to
r
ed
u
ce
s
tead
y
-
s
tate
er
r
o
r
.
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h
e
PID
co
n
tr
o
ller
c
o
m
p
u
tes
th
e
in
itial
g
ain
as
=
0
.
6
,
=
2
,
an
d
=
8
to
p
r
o
v
id
e
a
f
aster
an
d
m
o
r
e
s
tab
le
r
esp
o
n
s
e
as
a
s
tar
tin
g
p
o
in
t b
ef
o
r
e
f
i
n
e
tu
n
in
g
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
R
ea
l
-
time
d
ep
th
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s
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r
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n
t
a
n
d
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ta
b
ilit
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co
n
tr
o
l
o
f A
UV
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s
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eg
r
ess
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n
…
(
S
en
a
n
ju
n
g
P
r
a
yo
g
a
)
2423
T
ab
le
1
.
Z
ieg
ler
-
Nich
o
ls
f
o
r
m
u
la
in
g
ain
f
o
r
m
C
o
n
t
r
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l
l
e
r
P
0
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5
0
0
PI
0
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4
5
1
.
2
0
P
I
D
0
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6
2
8
2
.
6
.
P
I
D
f
ine t
un
ing
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ing
m
a
nu
a
l t
ria
l a
nd
er
ro
r
T
h
e
PID
f
in
e
-
tu
n
in
g
m
eth
o
d
with
a
m
an
u
al
tr
ial
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an
d
-
er
r
o
r
ap
p
r
o
ac
h
is
p
er
f
o
r
m
ed
d
ir
ec
tly
o
n
th
e
s
y
s
tem
with
o
u
t
r
eq
u
ir
in
g
a
m
ath
em
atica
l
m
o
d
el
o
f
t
h
e
p
la
n
t.
T
u
n
in
g
is
p
e
r
f
o
r
m
ed
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y
g
r
a
d
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ally
ch
a
n
g
in
g
th
e
PID
p
ar
am
eter
v
alu
es,
th
en
ass
es
s
in
g
th
e
s
y
s
tem
r
esp
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n
s
e
th
r
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g
h
r
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g
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ap
h
s
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s
u
ch
as
r
is
e
tim
e,
o
v
er
s
h
o
o
t,
s
ettlin
g
tim
e,
an
d
s
t
ea
d
y
-
s
tate
er
r
o
r
[
2
5
]
,
[
2
6
]
.
As
s
h
o
wn
in
T
ab
le
2
,
in
cr
ea
s
in
g
g
en
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ally
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ed
u
ce
s
r
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e
tim
e
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d
s
tead
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r
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r
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t
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en
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s
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m
all.
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n
cr
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s
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r
ten
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is
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tim
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o
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it
ty
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lly
in
cr
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s
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s
h
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o
t
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d
len
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th
en
s
s
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tim
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if
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et
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ig
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s
ely
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in
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p
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im
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cr
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s
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d
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tim
e,
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ly
m
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ch
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g
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e
tim
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d
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s
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h
er
e
f
o
r
e,
d
u
r
i
n
g
f
in
e
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tu
n
in
g
,
is
ad
ju
s
t
to
s
p
ee
d
u
p
th
e
r
esp
o
n
s
e,
is
ca
r
ef
u
lly
in
cr
ea
s
ed
t
o
elim
in
ate
s
tead
y
-
s
tate
er
r
o
r
,
an
d
is
s
et
to
s
u
p
p
r
ess
o
s
cillatio
n
s
an
d
im
p
r
o
v
e
s
tab
ilit
y
ar
o
u
n
d
th
e
s
etp
o
in
t.
T
ab
le
2
.
Dete
r
m
in
atio
n
o
f
f
in
e
-
tu
n
in
g
p
ar
am
eter
s
P
a
r
a
me
t
e
r
R
i
se
t
i
me
O
v
e
r
sh
o
o
t
S
e
t
t
l
i
n
g
t
i
me
S
t
e
a
d
y
st
a
t
e
e
r
r
o
r
D
o
w
n
G
o
U
p
M
i
n
o
r
C
h
a
n
g
e
s
D
o
w
n
D
o
w
n
G
o
U
p
G
o
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p
R
e
m
o
v
e
d
M
i
n
o
r
C
h
a
n
g
e
D
o
w
n
D
o
w
n
M
i
n
o
r
C
h
a
n
g
e
s
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
O
ptim
ized
s
ens
o
r
wa
t
er
-
press
ure
T
h
is
test
was
co
n
d
u
cted
to
ev
alu
ate
th
e
ac
cu
r
ac
y
o
f
t
h
e
wate
r
p
r
ess
u
r
e
s
en
s
o
r
-
b
ased
d
ep
th
m
ea
s
u
r
em
en
t sy
s
tem
u
s
ed
in
t
h
e
AUV.
T
h
e
p
r
ess
u
r
e
s
ig
n
al
i
s
r
ea
d
b
y
a
m
icr
o
co
n
tr
o
ller
,
th
en
co
n
v
er
ted
in
t
o
a
d
ep
th
esti
m
ate
an
d
s
en
t to
a
co
m
p
u
ter
to
b
e
d
is
p
lay
e
d
o
n
th
e
m
o
n
ito
r
in
te
r
f
ac
e.
I
n
th
is
s
tatic
te
s
t,
th
e
s
y
s
tem
was
test
ed
at
f
iv
e
r
ef
er
en
ce
d
ep
th
s
,
n
am
ely
2
0
,
4
0
,
6
0
,
8
0
,
a
n
d
1
0
0
cm
.
At
ea
ch
d
ep
th
,
f
o
u
r
m
ea
s
u
r
em
en
ts
wer
e
tak
en
to
ev
alu
ate
th
e
r
ep
ea
tab
ilit
y
o
f
th
e
s
en
s
o
r
r
e
ad
in
g
s
an
d
id
en
tify
m
ea
s
u
r
em
en
t b
iases
in
th
e
o
p
er
atin
g
r
an
g
e.
T
h
e
ac
tu
al
d
ep
th
was m
ea
s
u
r
ed
u
s
in
g
a
r
u
ler
m
ad
e
f
r
o
m
a
1
2
0
cm
lo
n
g
PVC
p
ip
e
m
ar
k
ed
with
d
is
tan
ce
s
u
s
in
g
a
tap
e
m
ea
s
u
r
e
s
o
th
at
it
co
u
ld
f
u
n
ctio
n
as
a
r
ef
er
en
ce
m
ea
s
u
r
in
g
to
o
l.
T
h
e
ac
tu
al
d
ep
th
v
alu
es
wer
e
th
en
co
m
p
ar
e
d
with
th
e
d
ep
th
v
alu
es
d
is
p
lay
ed
o
n
th
e
m
o
n
ito
r
as
th
e
o
u
tp
u
t
o
f
th
e
wate
r
p
r
ess
u
r
e
s
en
s
o
r
s
y
s
tem
.
Fig
u
r
e
7
p
r
esen
ts
a
co
m
p
ar
is
o
n
b
etwe
en
th
e
p
r
ed
icted
an
d
ac
tu
al
d
ep
th
v
alu
es.
Fig
u
r
e
7
(
a)
s
h
o
ws th
e
d
ep
th
v
alu
es
p
r
ed
icte
d
b
y
th
e
s
y
s
tem
an
d
d
is
p
lay
ed
o
n
th
e
m
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n
ito
r
la
p
to
p
,
wh
ile
Fig
u
r
e
7
(
b
)
s
h
o
ws
th
e
ac
tu
al
d
ep
th
m
ea
s
u
r
e
d
u
s
in
g
a
r
u
ler
.
T
h
e
v
alu
es
d
is
p
lay
e
d
o
n
th
e
m
o
n
ito
r
r
ep
r
esen
t
th
e
r
esu
lts
o
f
wate
r
p
r
ess
u
r
e
s
ig
n
al
p
r
o
ce
s
s
in
g
b
y
th
e
m
ic
r
o
co
n
tr
o
ller
,
wh
e
r
ea
s
th
e
ac
t
u
al
d
ep
th
is
u
s
ed
as
a
r
ef
er
e
n
ce
to
e
v
alu
ate
th
e
ac
cu
r
ac
y
o
f
th
e
m
ea
s
u
r
em
en
t
s
y
s
tem
.
(
a)
(
b
)
Fig
u
r
e
7
.
C
o
m
p
a
r
is
o
n
b
etwe
e
n
(
a)
th
e
d
ep
th
p
r
ed
icted
b
y
t
h
e
wate
r
p
r
ess
u
r
e
s
en
s
o
r
s
y
s
tem
an
d
(
b
)
th
e
ac
t
u
al
d
ep
th
m
ea
s
u
r
ed
m
an
u
ally
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8
7
0
8
I
n
t J E
lec
&
C
o
m
p
E
n
g
,
Vo
l.
16
,
No
.
5
,
Octo
b
e
r
20
26
:
2
4
1
7
-
2
4
3
0
2424
T
ab
le
3
s
h
o
ws
th
e
wate
r
p
r
ess
u
r
e
s
en
s
o
r
d
ata
b
ef
o
r
e
li
n
ea
r
r
eg
r
ess
io
n
was
p
er
f
o
r
m
ed
at
f
iv
e
r
ef
er
en
ce
d
ep
th
s
.
At
ea
ch
d
e
p
th
,
f
o
u
r
m
ea
s
u
r
em
en
ts
wer
e
t
ak
en
,
an
d
th
en
th
e
a
v
er
ag
e
s
e
n
s
o
r
r
ea
d
in
g
,
m
ea
n
r
aw
r
ea
d
in
g
,
an
d
th
e
er
r
o
r
v
al
u
e
in
ce
n
tim
eter
s
wer
e
ca
lcu
la
ted
.
I
n
th
e
er
r
o
r
co
lu
m
n
(
cm
)
,
th
e
er
r
o
r
is
d
ef
in
ed
as th
e
ab
s
o
lu
te
v
alu
e
o
f
th
e
d
if
f
er
en
ce
b
etwe
en
th
e
a
v
er
ag
e
d
ep
th
o
f
th
e
s
en
s
o
r
r
ea
d
in
g
a
n
d
th
e
ac
tu
al
d
ep
th
at
ea
ch
test
p
o
in
t.
T
ab
le
3
.
Pre
s
s
u
r
e
s
en
s
o
r
d
ata
b
ef
o
r
e
r
eg
r
ess
io
n
D
e
p
t
h
A
c
t
u
a
l
(
c
m)
Te
st
1
Te
st
2
Te
st
3
Te
st
4
M
e
a
n
R
a
w
R
e
a
d
i
n
g
(
c
m)
Er
r
o
r
(
c
m)
20
22
21
21
20
2
1
.
0
0
1
.
0
0
40
43
42
43
43
4
2
.
7
5
2
.
7
5
60
60
61
61
62
6
1
.
0
0
1
.
0
0
80
81
81
80
81
8
0
.
7
5
0
.
7
5
1
0
0
1
0
3
1
0
3
1
0
4
1
0
1
1
0
2
.
7
5
2
.
7
5
R
M
S
E
1
.
8
8
T
ab
le
3
s
h
o
ws
th
at
at
all
test
p
o
in
ts
,
th
e
m
ea
n
r
aw
r
ea
d
in
g
v
alu
e
was
alwa
y
s
s
lig
h
tly
g
r
ea
ter
th
an
th
e
ac
tu
al
d
ep
th
,
s
o
th
e
s
en
s
o
r
t
en
d
ed
to
o
v
er
esti
m
ate
th
e
d
e
p
th
,
esp
ec
ially
at
4
0
an
d
1
0
0
cm
with
er
r
o
r
s
o
f
2
.
7
5
c
m
,
r
esp
ec
tiv
ely
.
Ov
er
al
l,
th
e
r
o
o
t
m
ea
n
s
q
u
ar
e
e
r
r
o
r
(
R
MSE
)
v
alu
e
f
o
r
th
e
d
ata
b
ef
o
r
e
r
eg
r
ess
io
n
is
1
.
8
8
cm
,
wh
ich
in
d
icate
s
th
at
th
e
r
aw
p
r
ess
u
r
e
s
en
s
o
r
d
ata
is
n
o
t
ac
cu
r
ate
en
o
u
g
h
to
b
e
u
s
e
d
d
ir
ec
tly
as
d
ep
th
f
ee
d
b
ac
k
.
T
h
e
R
MSE
v
alu
e
is
ca
lcu
lated
u
s
in
g
(
1
1
)
.
=
√
1
∑
2
=
1
(
1
1
)
W
h
er
e
r
ep
r
esen
ts
th
e
d
if
f
e
r
en
ce
b
etwe
en
th
e
a
v
er
ag
e
d
e
p
th
r
ea
d
in
g
f
r
o
m
th
e
s
en
s
o
r
an
d
t
h
e
ac
tu
al
d
ep
th
at
test
p
o
in
t
,
an
d
is
th
e
n
u
m
b
er
o
f
d
ep
th
p
o
in
ts
test
ed
(
in
th
is
s
tu
d
y
,
=
5
)
.
Du
r
in
g
th
e
o
p
tim
izatio
n
s
tag
e,
th
e
r
elatio
n
s
h
ip
b
etwe
en
th
e
p
r
ess
u
r
e
s
en
s
o
r
o
u
tp
u
t
an
d
t
h
e
ac
tu
al
d
ep
th
was
m
o
d
eled
u
s
i
n
g
lin
ea
r
r
eg
r
ess
io
n
.
I
n
th
is
m
o
d
elin
g
,
th
e
p
r
ess
u
r
e
s
en
s
o
r
r
ea
d
in
g
,
wh
ich
was
s
till
in
th
e
f
o
r
m
o
f
r
aw
d
ep
th
(
u
n
-
ca
lib
r
ated
an
d
s
till
co
n
tain
in
g
o
f
f
s
et)
,
was
t
r
ea
ted
as
an
in
d
e
p
en
d
e
n
t
v
a
r
iab
le,
wh
ile
th
e
ac
tu
al
d
ep
th
was
u
s
ed
as
a
r
ef
er
en
ce
v
alu
e.
T
h
e
ca
lib
r
atio
n
r
elatio
n
s
h
ip
b
etwe
en
th
e
two
is
ex
p
r
ess
ed
in
th
e
(
1
2
)
.
=
+
(
1
2
)
W
h
er
e
is
th
e
p
r
ess
u
r
e
s
en
s
o
r
r
ea
d
in
g
(
cm
)
at
th
e
-
th
s
am
p
le,
is
th
e
ac
tu
al
d
ep
th
(
cm
)
at
th
e
-
th
s
am
p
le,
an
d
is
th
e
ca
lib
r
ated
d
ep
th
(
c
m
)
.
T
h
e
lin
ea
r
r
eg
r
ess
io
n
p
ar
a
m
eter
s
,
n
am
ely
th
e
s
lo
p
e
an
d
in
ter
ce
p
t
,
ar
e
o
b
tain
ed
u
s
in
g
th
e
least
s
q
u
ar
es
m
eth
o
d
.
Sp
ec
if
ically
,
th
e
s
lo
p
e
is
co
m
p
u
ted
u
s
in
g
(
1
3
)
,
wh
ile
th
e
in
ter
ce
p
t
is
ca
lcu
lated
u
s
in
g
(
1
4
)
.
=
∑
(
)
−
(
∑
=
1
)
(
∑
=
1
)
=
1
∑
2
=
1
−
(
∑
−
1
)
(
1
3
)
=
∑
−
∑
=
1
=
1
(
1
4
)
B
ased
o
n
all
ca
lib
r
atio
n
d
ata
co
n
s
is
tin
g
o
f
=
2
0
s
am
p
les
(
5
d
ep
th
with
4
r
ep
etitio
n
s
)
,
ca
lcu
latio
n
s
u
s
in
g
(
1
3
)
an
d
(
1
4
)
p
r
o
d
u
ce
d
a
s
lo
p
e
v
alu
e
o
f
0
.
9
9
1
a
n
d
a
co
n
s
tan
t
o
f
-
1
.
0
9
5
.
T
h
u
s
,
th
e
wate
r
p
r
ess
u
r
e
s
en
s
o
r
ca
lib
r
atio
n
m
o
d
el
u
s
ed
in
th
is
s
tu
d
y
is
s
tated
as:
=
0
.
991
−
1
.
095
(
1
5
)
B
ased
o
n
(
1
5
)
,
r
ep
r
esen
ts
th
e
r
aw
s
en
s
o
r
r
ea
d
i
n
g
p
r
io
r
to
ca
lib
r
atio
n
(
in
ce
n
tim
eter
s
)
,
wh
ile
d
en
o
tes
th
e
ca
lib
r
ated
d
ep
th
v
alu
e
ex
p
r
ess
ed
in
ce
n
tim
eter
s
.
T
h
is
ca
lib
r
atio
n
eq
u
atio
n
is
ap
p
lied
to
co
r
r
ec
t
s
y
s
tem
atic
m
ea
s
u
r
em
en
t e
r
r
o
r
s
an
d
im
p
r
o
v
e
th
e
ac
c
u
r
ac
y
o
f
d
ep
th
esti
m
atio
n
o
b
tain
ed
f
r
o
m
th
e
s
en
s
o
r
.
Fig
u
r
e
8
s
h
o
ws
th
e
d
is
tr
ib
u
ti
o
n
o
f
m
ea
s
u
r
em
e
n
ts
d
ata
f
r
o
m
th
e
lin
ea
r
r
eg
r
ess
io
n
lin
e
o
b
tain
ed
.
I
n
th
is
g
r
ap
h
,
th
e
x
-
a
x
is
r
ep
r
esen
ts
th
e
p
r
ess
u
r
e
s
en
s
o
r
r
ea
d
in
g
s
,
wh
ile
th
e
y
-
a
x
is
r
ep
r
esen
t
s
th
e
ac
tu
al
d
ep
th
.
T
h
e
m
ea
s
u
r
em
en
ts
p
o
in
ts
ap
p
ea
r
to
co
i
n
cid
e
with
th
e
r
e
g
r
ess
io
n
lin
e,
in
d
icatin
g
th
at
th
e
lin
ea
r
m
o
d
el
p
r
o
v
id
es a
n
ex
ce
llen
t a
p
p
r
o
x
im
atio
n
o
f
t
h
e
ca
lib
r
atio
n
d
ata.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J E
lec
&
C
o
m
p
E
n
g
I
SS
N:
2088
-
8
7
0
8
R
ea
l
-
time
d
ep
th
mea
s
u
r
eme
n
t
a
n
d
s
ta
b
ilit
y
co
n
tr
o
l
o
f A
UV
u
s
in
g
r
eg
r
ess
io
n
…
(
S
en
a
n
ju
n
g
P
r
a
yo
g
a
)
2425
Fig
u
r
e
8
.
Op
tim
izatio
n
ch
ar
t li
n
ea
r
r
eg
r
ess
io
n
T
ab
le
4
s
h
o
ws
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
p
r
ess
u
r
e
s
en
s
o
r
af
te
r
ca
lib
r
atio
n
u
s
in
g
lin
ea
r
.
T
h
e
o
p
tim
ized
wate
r
-
p
r
ess
u
r
e
v
al
u
e
is
th
e
d
e
p
th
o
f
ca
lib
r
atio
n
an
d
ac
tu
al
d
ep
th
.
T
h
e
m
ax
im
u
m
e
r
r
o
r
is
o
n
ly
a
b
o
u
t
1
cm
at
d
ep
th
6
0
a
n
d
8
0
cm
,
wh
ile
at
d
ep
th
s
o
f
2
0
,
4
0
,
an
d
1
0
0
cm
,
th
e
er
r
o
r
is
ze
r
o
.
Ov
e
r
all,
th
e
R
MSE
v
alu
e
d
ec
r
ea
s
ed
to
0
.
6
3
cm
,
in
d
ica
tin
g
th
at
th
e
ca
lib
r
atio
n
r
esu
l
ts
s
ig
n
if
ican
tly
im
p
r
o
v
ed
th
e
ac
cu
r
ac
y
o
f
d
ep
th
m
ea
s
u
r
em
en
ts
co
m
p
a
r
ed
to
t
h
e
co
n
d
itio
n
s
b
e
f
o
r
e
r
eg
r
ess
io
n
.
T
ab
le
4
.
Pre
s
s
u
r
e
s
en
s
o
r
d
ata
af
ter
r
eg
r
ess
io
n
D
e
p
t
h
A
c
t
u
a
l
(
c
m)
O
p
t
i
mi
z
e
d
W
a
t
e
r
p
r
e
ss
u
r
e
Er
r
o
r
20
20
0
40
40
0
60
59
1
80
79
1
1
0
0
1
0
0
0
R
M
S
E
0
.
6
3
3
.
2
.
Co
m
pa
riso
n o
f
f
ine t
u
nin
g
P
I
D
c
o
ntr
o
l a
nd
Z
ieg
ler
-
Nicho
ls
a
t
a
s
et
po
int
o
f
7
0
c
m
T
h
is
ex
p
er
im
e
n
t
aim
s
to
co
m
p
ar
e
th
e
p
er
f
o
r
m
a
n
ce
o
f
two
s
ets
o
f
PID
p
a
r
am
eter
s
at
a
d
ep
th
s
etp
o
in
t
o
f
7
0
cm
,
n
am
ely
t
h
e
m
an
u
ally
f
in
e
-
tu
n
ed
PID
p
a
r
am
et
er
s
an
d
th
e
PID
p
ar
am
eter
s
o
b
tain
ed
u
s
in
g
th
e
Z
ieg
ler
–
Nich
o
ls
m
eth
o
d
.
All
ex
p
er
im
en
ts
wer
e
co
n
d
u
cted
u
n
d
er
id
e
n
tical
test
p
o
o
l
co
n
d
itio
n
s
u
s
in
g
a
wate
r
p
r
ess
u
r
e
s
en
s
o
r
as
d
e
p
th
f
ee
d
b
ac
k
,
e
n
s
u
r
in
g
a
co
n
s
is
ten
t
a
n
d
f
air
p
er
f
o
r
m
a
n
ce
co
m
p
ar
is
o
n
b
etwe
en
th
e
two
co
n
tr
o
l
s
tr
ateg
ies.
T
h
e
Z
ieg
ler
-
Nich
o
ls
p
ar
am
eter
s
ar
e
d
ete
r
m
in
ed
th
r
o
u
g
h
clo
s
ed
-
lo
o
p
test
in
g
b
y
d
is
ab
lin
g
in
teg
r
al
an
d
d
er
iv
ativ
e
ac
tio
n
(
=
0
,
=
0
)
,
th
e
n
g
r
a
d
u
ally
in
c
r
ea
s
in
g
u
n
til
th
e
s
y
s
tem
ex
h
ib
its
co
n
tin
u
o
u
s
o
s
cillatio
n
with
a
r
elativ
ely
co
n
s
tan
t
am
p
litu
d
e
.
I
n
th
e
test
,
s
tab
le
o
s
cillatio
n
s
wer
e
o
b
tain
e
d
at
=
4
.
2
6
6
7
s
o
=
4
.
2
6
6
7
was set.
T
h
e
v
alu
e
is
o
b
tain
ed
f
r
o
m
th
e
tim
e
d
if
f
er
en
ce
b
etwe
en
two
co
n
s
ec
u
tiv
e
o
s
cillatio
n
s
p
ea
k
s
(
p
ea
k
-
to
-
p
ea
k
)
wh
en
=
.
B
ased
o
n
th
e
o
s
cillatio
n
g
r
ap
h
,
=
1
1
.
2
4
is
o
b
tain
ed
.
T
h
ese
an
d
v
alu
es
ar
e
u
s
ed
to
ca
lcu
late
th
e
in
itial
PID
p
ar
am
eter
s
b
ased
o
n
th
e
Z
ieg
ler
-
Nich
o
ls
r
u
le.
Su
b
s
eq
u
en
tly
,
th
e
PID
p
ar
am
eter
s
wer
e
f
u
r
th
e
r
r
e
f
in
ed
th
r
o
u
g
h
m
an
u
al
f
in
e
-
tu
n
in
g
.
T
h
is
p
r
o
ce
s
s
in
v
o
l
v
ed
a
d
ju
s
tin
g
th
e
co
n
tr
o
ller
g
ain
s
b
ased
o
n
th
e
o
b
s
er
v
ed
s
y
s
tem
r
esp
o
n
s
e
in
o
r
d
e
r
to
r
e
d
u
ce
o
s
cillatio
n
s
an
d
m
in
im
iz
e
s
tead
y
-
s
tate
er
r
o
r
ar
o
u
n
d
th
e
7
0
cm
d
e
p
th
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r
s
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h
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n
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ain
=
0
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4
5
5
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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I
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16
,
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ased
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ile
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u
r
e
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s
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th
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7
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as:
Fig
u
r
e
9
.
Gr
a
p
h
7
0
cm
d
ep
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r
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s
e
f
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e
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n
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n
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v
s
Z
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le
r
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ℎ
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n
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ax
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r
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ile
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State)
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ased
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ata,
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e
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e
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.
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ased
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6
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d
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s
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d
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ad
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e
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ly
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h
ese
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icate
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e
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m
eth
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d
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m
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le
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n
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ate
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e
ar
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th
e
7
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it
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s
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ter
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ettlin
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d
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d
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r
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m
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e
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Fig
u
r
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1
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s
h
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th
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e
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AUV
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ets
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e
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eter
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e
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.
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h
e
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aster
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itial
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e
b
u
t
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m
o
r
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iv
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r
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ter
o
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er
s
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o
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B
ased
o
n
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e
test
r
e
s
u
lts
,
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e
m
ax
im
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m
r
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e
r
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ch
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7
7
.
7
cm
,
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e
s
tead
y
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s
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v
alu
e
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6
8
.
3
cm
,
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e
r
is
e
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.
2
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n
d
th
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ettlin
g
tim
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2
1
.
8
s
.
R
ef
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r
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g
to
(
1
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n
d
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7
)
,
th
e
o
v
e
r
s
h
o
o
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d
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s
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r
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r
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e
1
1
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d
2
.
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%,
r
esp
ec
tiv
ely
.
T
h
ese
v
alu
es
in
d
icate
th
at
th
e
Z
ieg
ler
–
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co
n
tr
o
ller
p
r
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v
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f
ast
in
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s
e
b
u
t
p
r
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s
h
ig
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h
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lar
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er
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r
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p
o
o
r
er
d
ep
th
s
tab
ilit
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o
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n
d
t
h
e
7
0
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etp
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in
t
d
u
r
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f
o
r
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m
o
tio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.