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lu
te
v
al
u
e
s
to
ca
lcu
late
r
eq
u
ir
ed
d
u
t
y
c
y
cle
f
o
r
p
u
ls
e
w
id
th
m
o
d
u
latio
n
(
P
W
M)
m
o
to
r
co
n
tr
o
l.
P
o
w
er
ass
is
t
tech
n
o
lo
g
ie
s
ar
e
w
id
el
y
u
s
ed
in
s
u
r
g
ica
l
r
o
b
o
ts
to
in
cr
ea
s
e
s
u
r
g
ical
p
r
ec
is
io
n
an
d
p
atien
t
’
s
o
u
tco
m
es.
T
h
ese
s
y
s
t
e
m
s
u
s
e
m
u
lti
-
ax
is
FT
s
en
s
o
r
,
h
elp
s
s
u
r
g
eo
n
s
to
p
er
f
o
r
m
cr
i
tical
s
u
r
g
er
ies
w
it
h
g
r
ea
ter
ac
cu
r
ac
y
an
d
p
r
ec
is
e
co
n
tr
o
l.
T
h
e
h
ap
tic
d
ev
ice
s
d
ev
elo
p
ed
f
o
r
m
i
n
i
m
u
m
in
v
a
s
i
v
e
s
u
r
g
er
ie
s
(
MI
S)
h
av
e
p
r
o
v
en
to
b
e
ef
f
ec
tiv
e
i
n
en
h
an
c
in
g
ef
f
icie
n
c
y
o
f
s
u
r
g
e
o
n
s
.
Fo
r
ex
a
m
p
le,
in
r
o
b
o
t
-
ass
is
ted
s
u
r
g
er
ies
FT
s
en
s
o
r
s
p
r
o
v
id
e
r
ea
l
-
ti
m
e
f
ee
d
b
ac
k
to
s
u
r
g
eo
n
s
,
h
e
lp
in
g
th
e
m
to
co
n
tr
o
l
an
d
p
er
ce
iv
e
f
o
r
ce
s
ex
er
ted
o
n
tis
s
u
es
d
u
r
i
n
g
d
elica
te
s
u
r
g
er
i
es
[
4
]
.
T
h
e
j
o
y
s
tic
k
s
ar
e
s
p
ec
ial
l
y
d
esi
g
n
ed
to
co
n
tr
o
l
s
u
r
g
ical
r
o
b
o
ts
to
h
av
e
b
etter
co
n
tr
o
l
an
d
ad
ap
tiv
it
y
d
u
r
in
g
m
ed
ical
o
p
er
atio
n
s
[
5
]
.
T
h
e
u
s
e
o
f
p
o
w
er
as
s
is
t
s
y
s
te
m
s
ex
ten
d
ed
n
u
m
er
o
u
s
o
p
p
o
r
tu
n
itie
s
to
im
p
r
o
v
e
clin
ical
ac
cu
r
ac
y
,
r
e
d
u
ce
h
u
m
a
n
e
r
r
o
r
s
,
en
h
an
ce
p
atien
t
’
s
s
a
f
et
y
,
an
d
co
m
f
o
r
t
[
6
]
.
P
o
w
er
ass
is
t
s
y
s
te
m
s
p
la
y
a
cr
u
cial
r
o
le
in
th
e
m
an
u
f
ac
tu
r
in
g
s
ec
to
r
.
P
o
w
er
as
s
is
t
s
s
y
s
te
m
s
i
n
ass
e
m
b
l
y
li
n
es
co
n
tr
ib
u
te
to
en
h
a
n
ce
d
p
r
o
d
u
ctiv
it
y
,
p
r
o
d
u
ct
q
u
alit
y
,
a
n
d
w
o
r
k
er
s
s
a
f
et
y
.
I
n
th
e
au
to
m
o
tiv
e
m
an
u
f
ac
t
u
r
in
g
s
ec
to
r
p
o
w
er
ass
is
t
s
y
s
te
m
s
h
elp
w
o
r
k
er
s
in
cr
itical
ass
e
m
b
lies
w
it
h
g
r
ea
ter
ac
cu
r
ac
y
,
th
er
eb
y
r
ed
u
cin
g
er
r
o
r
s
an
d
ass
e
m
b
l
y
ti
m
e.
P
o
w
er
ass
i
s
ts
s
y
s
te
m
s
h
elp
to
im
p
r
o
v
e
er
g
o
n
o
m
ics
b
y
r
ed
u
cin
g
p
h
y
s
ica
l
s
tr
ain
o
n
w
o
r
k
er
s
a
n
d
o
p
er
ato
r
s
,
co
n
s
eq
u
e
n
tl
y
r
ed
u
ci
n
g
t
h
e
r
is
k
o
f
i
n
j
u
r
ies,
an
d
p
r
o
m
o
ti
n
g
a
s
a
f
er
w
o
r
k
p
lace
en
v
ir
o
n
m
e
n
t
[
7
]
.
T
h
e
in
tell
i
g
en
t
p
o
w
er
as
s
is
ted
d
ev
ices
(
I
P
A
D)
an
d
in
telli
g
en
t
as
s
i
s
tiv
e
s
y
s
te
m
s
(
I
AS)
d
ev
elo
p
ed
p
r
o
v
id
e
d
ee
p
in
s
ig
h
ts
o
n
co
llab
o
r
atio
n
o
f
h
u
m
a
n
o
p
er
ato
r
an
d
in
telli
g
en
t
m
a
ch
in
e
s
[
8
]
.
T
h
e
FT
s
en
s
o
r
f
ee
d
b
ac
k
tech
n
iq
u
e
s
,
s
o
p
h
is
ticated
elec
tr
ical
d
r
iv
e
u
n
its
an
d
r
o
b
u
s
t
ap
p
licatio
n
-
o
r
i
en
ted
p
r
o
g
r
am
m
i
n
g
co
n
tr
ib
u
te
to
th
e
d
ev
elo
p
m
en
t
o
f
in
tel
lig
e
n
t c
o
llab
o
r
ativ
e
s
y
s
te
m
s
.
C
o
llab
o
r
ativ
e
r
o
b
o
ts
(
co
b
o
ts
)
ar
e
d
e
p
lo
y
ed
ac
r
o
s
s
d
iv
er
s
e
in
d
u
s
tr
ie
s
s
u
ch
as
co
n
s
u
m
er
g
o
o
d
s
,
elec
tr
o
n
ics,
m
a
n
u
f
ac
t
u
r
in
g
,
m
ater
ial
h
a
n
d
lin
g
a
n
d
f
o
o
d
p
r
o
ce
s
s
i
n
g
u
n
it
s
[
9
]
.
C
o
b
o
ts
eq
u
ip
p
ed
w
it
h
s
e
n
s
o
r
s
ca
n
d
etec
t
an
d
r
esp
o
n
d
to
h
u
m
an
s
ti
m
u
lu
s
.
T
h
is
h
elp
s
i
n
p
r
o
v
id
in
g
s
af
e
a
n
d
s
ea
m
les
s
co
llab
o
r
atio
n
b
et
w
ee
n
h
u
m
a
n
o
p
er
ato
r
s
an
d
r
o
b
o
ts
in
s
h
ar
ed
w
o
r
k
s
p
ac
e
s
[
1
0
]
.
T
h
e
u
s
e
o
f
co
n
ce
p
ts
l
ik
e
r
ail
b
as
ed
co
b
o
tic
s
y
s
te
m
s
ca
n
b
e
e
m
p
lo
y
ed
f
o
r
h
ea
v
y
m
ater
ial
d
is
p
lace
m
e
n
t
a
n
d
ca
n
s
i
g
n
i
f
ican
tl
y
r
ed
u
ce
b
u
r
d
en
o
f
w
o
r
k
er
s
th
er
eb
y
in
cr
ea
s
i
n
g
w
o
r
k
ef
f
icie
n
c
y
a
n
d
s
af
et
y
[
1
1
]
.
I
n
w
ar
eh
o
u
s
e
s
an
d
d
is
tr
ib
u
tio
n
ce
n
tr
e
s
,
r
o
b
o
tic
ar
m
s
o
p
ti
m
ize
task
s
s
u
c
h
as
p
alletizin
g
,
p
ick
-
a
n
d
-
p
lace
,
a
n
d
s
o
r
tin
g
[
1
2
]
,
[
1
3
]
.
T
h
e
ass
is
ti
v
e
d
ev
ices
s
u
ch
as
h
o
is
t
an
d
cr
an
es,
ex
o
s
k
eleto
n
s
an
d
s
p
ec
iall
y
d
esi
g
n
ed
er
g
o
n
o
m
ic
h
a
n
d
les
f
o
r
p
allet
co
n
tr
o
l
u
s
ed
f
o
r
m
a
n
u
a
l
m
ater
ial
m
o
v
e
m
e
n
t,
h
elp
in
r
ed
u
ci
n
g
t
h
e
o
p
er
ato
r
b
u
r
d
en
an
d
en
h
an
ce
s
w
o
r
k
ef
f
icie
n
c
y
[
1
4
]
.
T
h
e
f
u
n
d
a
m
en
ta
l
r
esear
ch
d
o
n
e
in
t
h
e
f
ie
ld
o
f
ass
is
tiv
e
d
e
v
ices
f
o
cu
s
e
s
o
n
f
lex
ib
ilit
y
,
s
tab
ilit
y
o
f
i
n
ter
ac
ti
o
n
,
lo
w
i
m
p
ed
a
n
ce
r
en
d
er
in
g
,
a
n
d
s
af
et
y
[
1
5
]
.
b.
Mu
lti
-
a
x
is
FT
s
en
s
o
r
T
h
e
n
ee
d
f
o
r
f
o
r
ce
s
en
s
i
n
g
a
n
d
co
n
tr
o
l
is
in
cr
ea
s
in
g
d
r
asti
c
all
y
f
o
r
r
o
b
o
tic
s
y
s
te
m
s
,
i
n
tell
ig
en
t
ass
i
s
t
s
y
s
te
m
s
a
n
d
p
o
w
er
as
s
is
t
s
y
s
te
m
s
.
Su
c
h
d
e
m
an
d
s
ca
n
b
e
f
u
lf
i
lled
w
it
h
t
h
e
h
e
lp
o
f
m
u
l
ti
-
a
x
is
FT
s
en
s
o
r
s
.
T
h
ese
s
en
s
o
r
s
ca
n
ea
s
il
y
b
e
a
cc
o
m
m
o
d
ated
in
a
n
y
ap
p
licat
io
n
b
ec
au
s
e
o
f
th
eir
r
o
b
u
s
t
a
n
d
ad
ap
tiv
e
d
esig
n
.
T
h
e
r
esear
ch
d
o
n
e
o
n
d
ev
elo
p
m
e
n
t
o
f
FT
s
en
s
o
r
s
m
aj
o
r
ly
f
o
cu
s
es
o
n
en
h
a
n
cin
g
m
ea
s
u
r
in
g
ca
p
ab
ilit
y
a
n
d
s
en
s
iti
v
it
y
o
f
s
en
s
o
r
s
b
y
i
m
p
r
o
v
in
g
th
e
s
tr
u
ct
u
r
al
d
esig
n
.
T
h
e
d
if
f
er
en
t
s
tr
u
ct
u
r
al
d
esig
n
s
lik
e
th
r
ee
an
d
s
i
x
d
eg
r
ee
o
f
f
r
ee
d
o
m
cr
o
s
s
b
ea
m
s
,
co
l
u
m
n
t
y
p
e
s
e
n
s
o
r
s
,
co
l
u
m
n
b
ea
m
s
en
s
o
r
s
,
an
d
Ste
war
t
p
latf
o
r
m
s
e
n
s
o
r
s
w
er
e
d
e
v
elo
p
ed
b
ased
o
n
a
p
p
licatio
n
an
d
f
u
n
ct
io
n
al
r
e
q
u
ir
e
m
e
n
ts
[
1
6
]
.
T
h
e
m
u
lti
-
ax
is
FT
s
en
s
o
r
s
ar
e
av
ai
lab
le
in
m
u
ltip
le
s
e
n
s
in
g
tech
n
o
lo
g
ies
li
k
e
ca
p
ac
iti
v
e,
m
ag
n
etic,
u
ltra
s
o
n
ic,
p
iezo
elec
tr
ic,
o
p
tical
an
d
f
o
r
ce
s
e
n
s
iti
v
e
r
e
s
is
to
r
s
(
FS
R
)
.
T
h
e
ca
p
ac
itiv
e
t
y
p
e
an
d
s
tr
ain
g
au
g
e
t
y
p
e
s
en
s
i
n
g
tech
n
o
lo
g
ies
ar
e
w
id
el
y
u
s
ed
i
n
co
m
m
er
cial
m
u
lti
-
ax
is
FT
s
en
s
o
r
[
1
7
]
,
[
1
8
]
.
I
n
in
d
u
s
tr
ial
r
o
b
o
tics
ap
p
licatio
n
it
is
i
m
p
o
r
ta
n
t
to
ac
cu
r
atel
y
m
ea
s
u
r
e
th
e
f
o
r
ce
s
o
cc
u
r
r
in
g
i
n
m
o
r
e
th
a
n
o
n
e
s
p
atial
d
ir
ec
tio
n
.
FT
s
e
n
s
o
r
ca
n
m
ea
s
u
r
e
th
r
ee
o
r
th
o
g
o
n
al
f
o
r
ce
s
(
F
xs
,
F
ys
,
an
d
F
zs
)
an
d
t
h
r
ee
o
r
th
o
g
o
n
al
to
r
q
u
es
(
T
xs
,
T
ys
,
an
d
T
zs
)
alo
n
g
it
s
th
r
ee
-
d
i
m
en
s
io
n
al
ca
r
te
s
ia
n
co
-
o
r
d
in
ate
s
y
s
te
m
al
s
o
ca
lled
as
s
e
n
s
o
r
co
-
o
r
d
in
ate
s
y
s
te
m
(
x
s
,
y
s
,
an
d
z
s
)
as
s
h
o
w
n
i
n
Fig
u
r
e
1
.
T
h
ese
m
ea
s
u
r
ed
f
o
r
ce
an
d
to
r
q
u
e
ar
e
p
r
o
ce
s
s
ed
b
y
s
ig
n
al
c
o
n
d
itio
n
i
n
g
u
n
it
to
r
ed
u
ce
a
n
y
k
in
d
o
f
n
o
is
e
a
n
d
er
r
o
r
s
o
cc
u
r
r
ed
d
u
r
in
g
m
ea
s
u
r
e
m
e
n
ts
.
T
h
e
d
i
f
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[
1
9
]
,
[
2
0
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.
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[
2
1
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FT
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s
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p
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[
2
2
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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409
Fig
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ate
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g
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2
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Fig
u
r
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2
.
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T
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ate
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ase
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s
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Fi
g
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3
.
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also
s
h
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Fi
g
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3
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r
r
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tr
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m
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ase
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in
Fi
g
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r
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3
.
T
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m
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ails
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e
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o
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le.
T
h
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ta
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t to
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.
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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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1
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T
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23
,
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Fig
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3
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p
in
g
a
h
o
m
o
g
en
eo
u
s
tr
an
s
f
o
r
m
atio
n
m
atr
i
x
to
co
r
r
ec
t
o
r
ien
tatio
n
-
in
d
u
ce
d
d
is
cr
ep
an
cie
s
e
n
s
u
r
es
th
at
t
h
e
FT
s
en
s
o
r
’
s
d
ata
r
e
m
ai
n
s
ac
c
u
r
ate
a
n
d
r
eliab
le
r
eg
ar
d
less
o
f
h
an
d
le
r
o
tatio
n
.
T
h
is
ca
p
ab
ilit
y
i
s
es
s
en
tia
l
in
ap
p
licatio
n
s
w
h
er
e
r
o
tatio
n
al
ad
j
u
s
t
m
en
ts
ar
e
f
r
eq
u
en
t,
s
u
c
h
as
in
r
o
b
o
tic
m
an
ip
u
lato
r
s
,
m
ed
ical
d
ev
ices,
an
d
o
th
er
au
to
m
ated
s
y
s
te
m
s
th
a
t
r
el
y
o
n
p
r
ec
is
e
f
o
r
ce
-
f
ee
d
b
ac
k
f
o
r
o
p
er
atio
n
al
s
tab
ilit
y
an
d
s
af
e
t
y
.
B
y
o
f
f
er
i
n
g
a
r
o
b
u
s
t
s
o
lu
t
io
n
f
o
r
r
ea
l
-
ti
m
e
o
r
ien
ta
tio
n
co
m
p
e
n
s
at
io
n
,
th
i
s
s
tu
d
y
co
n
tr
ib
u
te
s
to
i
m
p
r
o
v
ed
s
en
s
o
r
ca
lib
r
atio
n
m
eth
o
d
s
a
n
d
en
h
an
ce
s
th
e
o
v
er
all
r
eliab
ilit
y
o
f
s
y
s
te
m
s
t
h
at
d
ep
en
d
o
n
FT
m
ea
s
u
r
e
m
e
n
ts
.
I
n
s
u
m
m
ar
y
,
th
e
s
t
u
d
y
i
s
r
elev
an
t
as
it
d
ir
ec
tl
y
ad
d
r
ess
es
th
e
n
ee
d
f
o
r
ad
v
an
ce
d
ca
lib
r
atio
n
an
d
co
m
p
e
n
s
at
io
n
tec
h
n
iq
u
e
s
i
n
s
ce
n
ar
io
s
r
eq
u
ir
i
n
g
b
o
th
h
i
g
h
ac
cu
r
ac
y
a
n
d
ad
ap
tab
ilit
y
to
d
y
n
a
m
ic
p
o
s
it
io
n
al
ch
an
g
es,
m
a
k
in
g
it
v
al
u
ab
le
f
o
r
a
w
id
e
r
an
g
e
o
f
p
r
ec
is
io
n
-
d
em
an
d
i
n
g
f
ie
ld
s
.
2.
M
E
T
H
O
D
2
.
1
.
Study
a
pp
ro
a
ch
o
v
er
v
ie
w
A
h
o
m
o
g
en
eo
u
s
tr
a
n
s
f
o
r
m
ati
o
n
alg
o
r
it
h
m
h
as
b
ee
n
d
ev
el
o
p
ed
to
a
d
j
u
s
t
f
o
r
ch
an
g
es
i
n
th
e
FT
s
en
s
o
r
’
s
o
r
ien
tatio
n
ca
u
s
ed
b
y
th
e
r
o
tatio
n
o
f
th
e
co
n
tr
o
l
h
a
n
d
le.
T
h
is
alg
o
r
it
h
m
en
ab
les
d
y
n
a
m
ic
ali
g
n
m
e
n
t
o
f
t
h
e
s
e
n
s
o
r
’
s
co
o
r
d
in
ate
f
r
a
m
e
w
i
th
th
e
s
y
s
te
m
’
s
b
ase
f
r
a
m
e,
allo
w
i
n
g
t
h
e
f
o
r
ce
s
d
etec
t
ed
b
y
th
e
FT
s
en
s
o
r
to
b
e
ac
cu
r
atel
y
r
ep
r
esen
ted
w
it
h
i
n
t
h
e
s
y
s
te
m
’
s
f
r
a
m
e.
As
a
r
es
u
lt,
o
p
er
ato
r
s
ca
n
e
f
f
e
ctiv
el
y
co
n
tr
o
l
th
e
s
y
s
te
m
f
r
o
m
v
ar
io
u
s
o
r
ien
tatio
n
s
o
f
t
h
e
co
n
tr
o
l h
a
n
d
le.
T
h
e
tr
an
s
f
o
r
m
a
tio
n
al
g
o
r
ith
m
r
ec
eiv
es
i
n
p
u
t
f
r
o
m
en
co
d
er
s
lo
ca
ted
in
r
ev
o
lu
te
j
o
in
ts
.
T
h
is
d
ata
is
u
s
ed
to
tr
an
s
late
th
e
f
o
r
ce
s
m
ea
s
u
r
ed
b
y
t
h
e
FT
s
en
s
o
r
r
elativ
e
to
th
e
s
y
s
te
m
’
s
b
ase
f
r
a
m
e.
T
h
is
d
esig
n
en
ab
les
f
lex
ib
le
co
n
tr
o
l f
r
o
m
m
u
ltip
le
o
r
ien
tatio
n
s
o
f
th
e
r
o
t
atab
le
co
n
tr
o
l h
an
d
le,
en
h
a
n
ci
n
g
u
s
er
ad
ap
tab
ilit
y
an
d
o
p
er
atio
n
al
p
r
ec
is
io
n
.
A
m
at
h
e
m
a
tical
m
o
d
el
is
d
ev
e
lo
p
ed
to
ac
cu
r
ately
co
r
r
ec
t
FT
s
en
s
o
r
d
ata
af
f
ec
ted
b
y
h
a
n
d
l
e
r
o
tatio
n
.
Sp
ec
if
icall
y
,
a
h
o
m
o
g
e
n
eo
u
s
tr
an
s
f
o
r
m
atio
n
m
a
tr
ix
w
a
s
cr
ea
ted
th
at
ad
j
u
s
ts
f
o
r
th
e
o
r
ien
tatio
n
c
h
an
g
es
ex
p
er
ien
ce
d
b
y
th
e
FT
s
en
s
o
r
w
h
e
n
th
e
co
n
tr
o
l
h
an
d
le
r
o
tates.
T
h
is
m
atr
i
x
tr
an
s
f
o
r
m
s
s
en
s
o
r
m
ea
s
u
r
e
m
e
n
t
s
in
to
a
co
n
s
is
te
n
t
r
e
f
er
en
ce
f
r
a
m
e,
e
f
f
ec
t
iv
el
y
el
i
m
in
at
in
g
er
r
o
r
s
ca
u
s
ed
b
y
s
h
i
f
t
s
i
n
o
r
ien
tatio
n
.
T
o
ac
h
iev
e
th
is
,
a
s
y
s
te
m
at
ic
an
al
y
s
i
s
was
co
n
d
u
cted
o
f
th
e
FT
s
en
s
o
r
’
s
b
eh
av
io
r
u
n
d
er
v
ar
io
u
s
h
an
d
le
o
r
ien
tat
io
n
s
,
id
en
ti
f
y
i
n
g
th
e
s
p
ec
if
ic
m
ath
e
m
atica
l
tr
an
s
f
o
r
m
atio
n
s
n
ee
d
ed
to
co
r
r
ec
t
o
r
ien
tatio
n
-
in
d
u
ce
d
er
r
o
r
s
.
T
h
e
m
o
d
el
i
s
t
h
en
v
alid
ated
t
h
r
o
u
g
h
s
i
m
u
latio
n
s
an
d
e
x
p
er
i
m
e
n
ts
th
a
t
d
e
m
o
n
s
tr
ated
th
e
m
atr
i
x
’
s
e
f
f
ec
t
iv
e
n
es
s
i
n
m
ai
n
tai
n
in
g
ac
c
u
r
ate
s
en
s
o
r
d
ata,
r
eg
ar
d
less
o
f
th
e
h
an
d
le
’
s
r
o
tatio
n
an
g
le.
B
y
i
m
p
le
m
e
n
ti
n
g
th
i
s
tr
an
s
f
o
r
m
atio
n
ap
p
r
o
ac
h
,
a
p
r
ac
tical
s
o
lu
tio
n
w
a
s
p
r
o
v
id
ed
to
m
ai
n
tain
d
ata
ac
cu
r
ac
y
in
ap
p
licatio
n
s
w
h
er
e
th
e
s
en
s
o
r
’
s
o
r
ien
tatio
n
c
h
an
g
e
s
f
r
eq
u
en
t
l
y
.
T
h
i
s
w
o
r
k
h
a
s
b
r
o
ad
ap
p
licatio
n
s
i
n
f
ield
s
wh
er
e
p
r
ec
is
e
f
o
r
ce
an
d
to
r
q
u
e
m
ea
s
u
r
e
m
e
n
t
s
ar
e
cr
itical,
s
u
c
h
as r
o
b
o
tics
,
au
to
m
atio
n
,
a
n
d
b
io
m
ec
h
a
n
ic
s
.
2.
2
.
Study
a
pp
ro
a
ch
ra
t
io
na
le
A
m
at
h
e
m
a
tical
m
o
d
eli
n
g
ap
p
r
o
ac
h
w
a
s
u
s
ed
to
d
ev
elo
p
a
r
o
b
u
s
t
s
o
lu
tio
n
f
o
r
co
r
r
ec
tin
g
o
r
ien
tatio
n
-
in
d
u
ce
d
er
r
o
r
s
in
FT
s
en
s
o
r
m
ea
s
u
r
e
m
e
n
t
s
.
Sp
ec
i
f
icall
y
,
a
h
o
m
o
g
e
n
eo
u
s
tr
a
n
s
f
o
r
m
atio
n
m
atr
ix
w
a
s
co
n
s
tr
u
cted
th
at
ca
n
ad
j
u
s
t
t
h
e
FT
s
en
s
o
r
d
ata
i
n
r
ea
l
ti
m
e
b
ased
o
n
t
h
e
co
n
tr
o
l
h
a
n
d
le
’
s
r
o
tatio
n
al
c
h
an
g
es.
T
h
is
m
atr
i
x
-
b
ased
m
e
th
o
d
p
r
o
v
id
es
a
s
y
s
te
m
atic
w
a
y
to
m
a
p
s
en
s
o
r
m
ea
s
u
r
e
m
e
n
t
s
f
r
o
m
t
h
e
s
e
n
s
o
r
’
s
s
h
i
f
ti
n
g
o
r
ien
tatio
n
to
a
s
tab
le
r
ef
er
en
c
e
f
r
a
m
e.
T
h
e
ap
p
r
o
ac
h
in
cl
u
d
ed
d
etailed
an
al
y
s
is
a
n
d
d
er
iv
atio
n
o
f
tr
an
s
f
o
r
m
atio
n
p
ar
a
m
eter
s
to
ca
p
tu
r
e
th
e
i
m
p
ac
t o
f
o
r
ien
tat
io
n
v
a
r
iatio
n
s
o
n
s
e
n
s
o
r
r
ea
d
in
g
s
.
B
y
e
m
p
l
o
y
i
n
g
t
h
is
m
atr
i
x
,
th
e
a
u
th
o
r
s
w
er
e
ab
le
to
en
s
u
r
e
th
at
FT
m
ea
s
u
r
e
m
en
ts
r
e
m
ai
n
ed
ac
cu
r
ate
d
esp
ite
ch
an
g
es
i
n
th
e
h
a
n
d
le
’
s
o
r
ien
tatio
n
,
wh
ich
i
s
p
ar
ticu
lar
l
y
ch
alle
n
g
i
n
g
i
n
d
y
n
a
m
ic,
r
ea
l
-
w
o
r
ld
ap
p
licatio
n
s
.
T
h
e
au
th
o
r
s
f
u
r
t
h
er
v
alid
ated
t
h
eir
ap
p
r
o
ac
h
th
r
o
u
g
h
s
i
m
u
lat
io
n
s
a
n
d
ex
p
er
i
m
e
n
tal
test
s
,
co
n
f
ir
m
in
g
th
at
t
h
e
m
at
r
ix
ef
f
ec
ti
v
el
y
co
m
p
e
n
s
ated
f
o
r
er
r
o
r
s
ca
u
s
ed
b
y
o
r
ien
tatio
n
s
h
i
f
ts
.
Fo
llo
w
i
n
g
a
r
e
th
e
s
tep
-
by
-
s
tep
d
etails o
f
t
h
e
s
t
u
d
y
ap
p
r
o
ac
h
r
atio
n
ale:
a.
A
h
o
m
o
g
e
n
eo
u
s
tr
a
n
s
f
o
r
m
ati
o
n
alg
o
r
ith
m
w
a
s
cr
ea
ted
to
ad
d
r
ess
th
e
is
s
u
e
o
f
FT
s
en
s
o
r
o
r
ien
tatio
n
ch
an
g
es i
n
t
h
e
r
o
tatab
le
co
n
tr
o
l h
an
d
le.
b.
A
k
i
n
e
m
at
ic
d
iag
r
a
m
w
as d
ev
elo
p
ed
f
o
r
th
e
co
n
tr
o
l h
an
d
le
’
s
r
o
tatin
g
m
ec
h
a
n
i
s
m
.
c.
Usi
n
g
f
o
r
w
ar
d
k
i
n
e
m
atic
s
an
d
r
ig
id
b
o
d
y
tr
an
s
f
o
r
m
atio
n
,
t
h
e
h
o
m
o
g
e
n
eo
u
s
m
a
tr
ix
f
o
r
th
e
cu
r
r
en
t
co
n
tr
o
l
h
an
d
le
m
ec
h
a
n
i
s
m
w
as d
eter
m
i
n
ed
.
d.
T
h
is
alg
o
r
ith
m
en
ab
led
th
e
tr
an
s
f
o
r
m
atio
n
o
f
th
e
s
e
n
s
o
r
’
s
co
o
r
d
in
ate
f
r
a
m
e
r
elativ
e
to
th
e
s
y
s
te
m
’
s
b
ase
f
r
a
m
e.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
23
,
No
.
2
,
A
p
r
il
20
25
:
4
0
7
-
425
412
e.
C
o
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F
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Fig
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2.
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ir
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le
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lin
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izes
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5
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Der
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ro
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a
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ble c
o
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ec
ha
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is
m
T
h
e
o
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tatio
n
o
f
FT
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en
s
o
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h
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esp
ec
t
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th
e
s
y
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ase
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o
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tain
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at
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al
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is
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f
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le
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n
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o
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h
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le
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h
a
n
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.
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class
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s
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e
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2
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(
4
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r
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atr
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an
d
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I
n
th
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eq
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s
S(
θ)
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d
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θ)
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iate
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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20
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425
414
1
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ase
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1
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2
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1
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(
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1
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t
=
2
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1
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=
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(
1
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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ase
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ig
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g
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r
e
6
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u
r
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6
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s
o
r
o
r
ien
tatio
n
f
o
r
r
o
tatab
le
co
n
tr
o
l
h
an
d
le
3.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
3
.
1
.
E
x
peri
m
ent
a
l set
up
T
h
e
d
ev
elo
p
ed
h
o
m
o
g
en
eo
u
s
tr
an
s
f
o
r
m
atio
n
al
g
o
r
ith
m
was
test
ed
f
o
r
d
if
f
er
en
t
o
r
ie
n
t
atio
n
s
o
f
r
o
tatab
le
co
n
tr
o
l
h
an
d
le
as
g
iv
en
i
n
T
ab
le
3
.
T
h
e
p
u
ll
an
d
p
u
s
h
f
o
r
ce
s
w
er
e
ap
p
lied
o
n
t
h
e
co
n
tr
o
l
h
an
d
le
i
n
x
0
,
y
0
,
a
n
d
z
0
d
ir
ec
tio
n
s
alo
n
g
th
e
s
y
s
te
m
b
ase
f
r
a
m
e
w
it
h
t
h
e
h
elp
o
f
d
i
g
ital
f
o
r
ce
g
au
g
e
(
Ma
k
e:
I
MA
D
A
,
Mo
d
el
No
.
Z
T
A
-
5
0
0
N)
r
ep
r
esen
ted
as
F
a
.
T
o
en
s
u
r
e
r
ep
ea
tab
ilit
y
an
d
av
o
id
h
u
m
a
n
er
r
o
r
s
,
t
h
e
p
u
ll
an
d
p
u
s
h
f
o
r
ce
s
w
er
e
ap
p
lied
t
w
ice
with
th
e
h
elp
o
f
d
ig
ital
f
o
r
ce
g
au
g
e
d
u
r
in
g
t
h
e
test
.
T
h
e
d
ig
ital
f
o
r
ce
g
au
g
e
r
ea
d
in
g
s
w
er
e
r
ec
o
r
d
ed
f
o
r
d
if
f
er
en
t
d
ir
ec
tio
n
s
alo
n
g
t
h
e
s
y
s
te
m
b
ase
f
r
a
m
e.
T
h
e
p
u
ll
f
o
r
c
e
(
ten
s
io
n
)
ap
p
lied
b
y
th
e
f
o
r
ce
g
a
u
g
e
is
co
n
s
id
er
ed
as
p
o
s
itiv
e
a
n
d
p
u
s
h
f
o
r
ce
(
co
m
p
r
es
s
io
n
)
is
co
n
s
id
er
ed
as
n
e
g
ati
v
e.
A
s
p
e
r
th
e
ex
i
s
ti
n
g
r
eq
u
ir
e
m
en
t
o
f
p
o
w
er
ass
is
t
ce
ili
n
g
s
u
s
p
en
d
ed
s
y
s
te
m
,
o
n
l
y
f
o
r
ce
s
ar
e
u
tili
ze
d
f
o
r
th
e
m
o
v
e
m
e
n
t
o
f
s
y
s
te
m
.
T
h
er
ef
o
r
e,
s
co
p
e
o
f
th
e
r
esu
lts
o
b
tai
n
ed
is
k
e
p
t
li
m
i
ted
to
tr
a
n
s
f
o
r
m
at
io
n
o
f
f
o
r
ce
s
o
n
l
y
.
T
h
e
r
ea
d
in
g
s
o
f
f
o
r
ce
s
m
ea
s
u
r
ed
b
y
FT
s
en
s
o
r
b
ef
o
r
e
h
o
m
o
g
en
eo
u
s
tr
an
s
f
o
r
m
atio
n
w
er
e
r
ec
o
r
d
ed
alo
n
g
th
e
s
en
s
o
r
co
-
o
r
d
in
ate
f
r
a
m
e
a
n
d
r
ep
r
esen
ted
as F
xs
, F
ys
,
a
n
d
F
zs
.
T
h
e
tr
an
s
f
o
r
m
ed
v
alu
e
s
o
f
f
o
r
ce
s
ar
e
r
ep
r
esen
ted
as
F
xt
,
F
yt
,
an
d
F
zt
alo
n
g
th
e
s
y
s
te
m
b
ase
f
r
a
m
e.
T
h
e
p
ar
am
eter
s
an
d
r
esp
ec
tiv
e
n
o
tat
io
n
s
u
s
ed
f
o
r
x
,
y
,
a
n
d
z
d
ir
ec
tio
n
ar
e
g
iv
e
n
in
T
ab
le
4
.
T
h
e
f
u
n
ct
io
n
al
d
iag
r
a
m
o
f
e
x
p
er
im
e
n
tal
s
etu
p
i
s
illu
s
tr
ated
in
Fi
g
u
r
e
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
,
Vo
l.
23
,
No
.
2
,
A
p
r
il
20
25
:
4
0
7
-
425
416
T
ab
le
3
.
Dif
f
er
en
t o
r
ien
tatio
n
s
o
f
co
n
tr
o
l
h
an
d
le
O
r
i
e
n
t
a
t
i
o
n
o
f
c
o
n
t
r
o
l
h
a
n
d
l
e
θ
1
θ
2
I
n
i
t
i
a
l
o
r
i
e
n
t
a
t
i
o
n
0˚
0˚
S
t
a
n
d
a
r
d
o
r
i
e
n
t
a
t
i
o
n
+
9
0
˚
0˚
−
9
0˚
0˚
+
18
0
˚
o
r
−
1
8
0
˚
0˚
0˚
+
9
0˚
0˚
−
9
0˚
I
n
t
e
r
me
d
i
a
t
e
o
r
i
e
n
t
a
t
i
o
n
s
0˚
+
4
5
˚
0˚
−
4
5
˚
+
4
5
˚
0˚
−
4
5
˚
0˚
+
4
5
˚
+
4
5
˚
−
4
5
˚
−
4
5
˚
T
ab
le
4
.
No
tatio
n
f
o
llo
w
ed
f
o
r
ex
p
er
i
m
e
n
tatio
n
s
an
d
r
es
u
lts
S
r
.
N
o
.
P
a
r
a
me
t
e
r
s
N
o
t
a
t
i
o
n
1.
x
x
d
i
r
e
c
t
i
o
n
2.
y
y
d
i
r
e
c
t
i
o
n
3.
z
z
d
i
r
e
c
t
i
o
n
4.
F
a
F
o
r
c
e
a
p
p
l
i
e
d
w
i
t
h
t
h
e
h
e
l
p
o
f
d
i
g
i
t
a
l
f
o
r
c
e
g
a
u
g
e
5.
F
xs
F
o
r
c
e
me
a
su
r
e
d
i
n
x
d
i
r
e
c
t
i
o
n
o
f
t
h
e
s
e
n
so
r
co
-
o
r
d
i
n
a
t
e
f
r
a
me
6.
F
xt
F
o
r
c
e
t
r
a
n
sf
o
r
me
d
a
l
o
n
g
x
d
i
r
e
c
t
i
o
n
o
f
t
h
e
sy
st
e
m b
a
se
f
r
a
me
7.
F
ys
F
o
r
c
e
me
a
su
r
e
d
i
n
y
d
i
r
e
c
t
i
o
n
o
f
t
h
e
s
e
n
so
r
c
o
-
o
r
d
i
n
a
t
e
f
r
a
me
8.
F
yt
F
o
r
c
e
t
r
a
n
sf
o
r
me
d
a
l
o
n
g
y
d
i
r
e
c
t
i
o
n
o
f
t
h
e
sy
st
e
m b
a
se
f
r
a
me
9.
F
zs
F
o
r
c
e
me
a
su
r
e
d
i
n
z
d
i
r
e
c
t
i
o
n
o
f
t
h
e
s
e
n
so
r
c
o
-
o
r
d
i
n
a
t
e
f
r
a
me
1
0
.
F
zt
F
o
r
c
e
t
r
a
n
sf
o
r
me
d
a
l
o
n
g
z
d
i
r
e
c
t
i
o
n
o
f
t
h
e
sy
st
e
m b
a
se
f
r
a
me
Fig
u
r
e
7
.
Fu
n
c
tio
n
al
d
ia
g
r
a
m
o
f
ex
p
er
i
m
e
n
tal
s
etu
p
3
.
2
.
Resul
t
s
a
nd
dis
cu
s
s
io
n
pert
a
ini
ng
t
o
v
a
rio
us
o
rient
a
t
io
ns
o
f
co
ntr
o
l ha
nd
le
I
n
t
h
is
r
e
s
ea
r
ch
p
ap
er
t
h
e
p
r
o
b
le
m
o
f
co
m
p
e
n
s
ati
n
g
c
h
an
g
e
in
o
r
ie
n
tatio
n
o
f
FT
s
en
s
o
r
d
u
e
to
t
h
e
r
o
tatab
le
co
n
tr
o
l
h
an
d
le
is
ad
d
r
ess
ed
.
T
h
e
h
o
m
o
g
e
n
eo
u
s
tr
an
s
f
o
r
m
atio
n
alg
o
r
it
h
m
d
ev
el
o
p
ed
in
th
is
r
esear
ch
p
ap
er
is
ca
p
ab
le
o
f
co
m
p
e
n
s
atin
g
f
o
r
t
h
e
c
h
an
g
e
i
n
o
r
ien
tatio
n
o
f
FT
s
en
s
o
r
d
u
e
to
t
h
e
r
o
tatab
le
co
n
tr
o
l
h
an
d
le.
T
h
e
f
o
r
ce
s
s
en
s
ed
b
y
FT
s
en
s
o
r
w
ith
r
e
s
p
ec
t
to
th
e
s
en
s
o
r
co
-
o
r
d
in
ate
f
r
a
m
e
ar
e
tr
an
s
f
o
r
m
ed
w
it
h
r
esp
ec
t
to
th
e
s
y
s
te
m
b
ase
f
r
a
m
e
f
o
r
d
if
f
er
en
t
o
r
ien
tatio
n
s
o
f
r
o
tatab
le
co
n
tr
o
l
h
an
d
le
g
i
v
en
i
n
T
ab
le
3
.
T
h
is
tech
n
iq
u
e
allo
w
s
th
e
s
e
n
s
o
r
co
-
o
r
d
in
ate
f
r
a
m
e
to
d
y
n
a
m
icall
y
m
ap
w
ith
r
e
s
p
ec
t to
th
e
s
y
s
t
e
m
b
ase
f
r
a
m
e.
T
h
e
tr
an
s
f
o
r
m
ed
v
al
u
es
o
f
f
o
r
ce
s
w
er
e
u
t
ilized
b
y
p
o
w
er
ass
i
s
t
alg
o
r
it
h
m
to
m
o
v
e
s
y
s
te
m
i
n
r
esp
ec
tiv
e
d
ir
ec
tio
n
alo
n
g
s
y
s
te
m
b
a
s
e
f
r
a
m
e
p
r
o
v
id
in
g
co
n
tr
o
l
an
d
h
an
d
lin
g
.
T
h
e
f
o
r
ce
v
alu
es
m
ea
s
u
r
ed
b
y
FT
s
en
s
o
r
b
ef
o
r
e
h
o
m
o
g
en
eo
u
s
tr
a
n
s
f
o
r
m
atio
n
an
d
af
ter
h
o
m
o
g
en
eo
u
s
tr
a
n
s
f
o
r
m
at
io
n
co
m
p
ar
ed
w
it
h
ac
t
u
al
v
al
u
es
o
f
f
o
r
ce
ap
p
lied
b
y
d
ig
ital
f
o
r
ce
g
au
g
e
to
v
al
id
ate
th
e
r
esu
lts
.
R
esu
lts
o
b
tain
ed
f
o
r
d
ev
el
o
p
ed
h
o
m
o
g
e
n
eo
u
s
tr
an
s
f
o
r
m
atio
n
alg
o
r
it
h
m
test
e
d
f
o
r
m
u
ltip
le
o
r
ien
tatio
n
s
o
f
r
o
tatab
le
co
n
tr
o
l
h
an
d
le
(
i.e
.
,
in
itial,
s
tan
d
ar
d
an
d
in
ter
m
ed
iate
o
r
ien
tatio
n
s
)
ar
e
d
is
cu
s
s
ed
as f
o
llo
w
s
.
3
.
2
.
1
.
Resul
t
a
nd
dis
c
us
s
io
n f
o
r
f
o
rc
e
t
ra
ns
f
o
r
m
a
t
io
n o
f
ini
t
ia
l o
rient
a
t
io
ns
o
f
c
o
ntr
o
l ha
nd
le
W
h
en
b
o
th
th
e
j
o
in
t
an
g
les
w
er
e
ze
r
o
(
θ
1
=0
˚
an
d
θ
2
=0
˚
)
,
th
e
h
o
m
o
g
en
eo
u
s
tr
a
n
s
f
o
r
m
a
tio
n
m
atr
ix
alig
n
ed
th
e
s
e
n
s
o
r
co
o
r
d
in
ate
f
r
a
m
e
w
it
h
th
e
s
y
s
te
m
b
ase
f
r
a
m
e,
a
s
s
h
o
w
n
f
o
r
th
e
i
n
itia
l
o
r
ien
tatio
n
o
f
th
e
co
n
tr
o
l
h
an
d
le
in
T
ab
le
5
.
A
co
m
p
ar
ati
v
e
s
t
u
d
y
w
as
co
n
d
u
ct
ed
o
n
th
e
f
o
r
ce
s
s
en
s
ed
b
y
th
e
FT
s
en
s
o
r
b
ef
o
r
e
an
d
af
ter
ap
p
ly
in
g
th
e
h
o
m
o
g
en
eo
u
s
tr
a
n
s
f
o
r
m
atio
n
,
co
m
p
ar
in
g
t
h
e
m
w
i
th
t
h
e
ac
tu
al
f
o
r
ce
ap
p
lied
u
s
in
g
a
d
ig
ital
f
o
r
ce
g
a
u
g
e.
F
ig
u
r
e
s
i
n
T
ab
le
5
d
ep
icts
th
e
co
m
p
ar
is
o
n
p
lo
ts
f
o
r
FT
s
en
s
o
r
r
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