I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
3
,
Sep
tem
b
er
20
25
,
p
p
.
30
1
~
3
1
0
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
3
.
pp
30
1
-
3
1
0
301
J
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ur
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tions
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dry
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tion for imp
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RAC
T
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ticle
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to
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y:
R
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Ap
r
1
2
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2
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5
R
ev
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J
u
n
1
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2
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2
5
Acc
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ted
J
u
l 1
0
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2
0
2
5
Th
is
p
a
p
e
r
p
re
se
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t
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e
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p
m
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t
a
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v
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l
u
a
ti
o
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o
f
th
e
ro
b
o
ti
c
m
ist
b
a
th
wh
e
e
lch
a
ir
(M
BWC),
a
m
u
lt
if
u
n
c
ti
o
n
a
l
a
ss
isti
v
e
d
e
v
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sig
n
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d
t
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a
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d
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m
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n
d
iv
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u
a
ls
wit
h
li
m
it
e
d
m
o
b
i
li
ty
.
Th
e
M
BWC
in
teg
ra
tes
m
ist
-
b
a
se
d
b
a
th
i
n
g
,
a
u
to
m
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ted
sa
n
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to
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m
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e
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x
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n
tal
e
v
a
lu
a
ti
o
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s
d
e
m
o
n
stra
ted
e
ffe
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ti
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te
m
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ten
a
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a
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d
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n
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b
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p
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d
to
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n
a
l
m
e
th
o
d
s.
Us
e
r
tri
a
ls
with
2
0
p
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r
ti
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ip
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n
ts
i
n
d
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ted
a
9
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o
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d
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o
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e
a
se
.
M
BWC
p
ro
v
id
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s
a
c
o
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-
e
ffe
c
ti
v
e
,
h
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g
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c
a
lt
e
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a
ti
v
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to
tra
d
it
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a
l
b
a
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m
e
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o
d
s,
a
d
d
re
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in
g
c
ri
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a
l
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ll
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ld
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n
d
re
h
a
b
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it
a
ti
o
n
e
n
v
iro
n
m
e
n
ts.
K
ey
w
o
r
d
s
:
Ass
i
s
tiv
e
tech
n
o
lo
g
y
J
o
y
s
tick
n
av
ig
atio
n
Mist b
ath
s
y
s
tem
Patien
t h
y
g
ien
e
s
y
s
tem
San
itizatio
n
s
y
s
tem
Sen
s
o
r
-
b
ased
co
n
t
r
o
l
Sm
ar
t m
o
b
ilit
y
aid
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Vijay
Ma
h
ad
eo
Ma
n
e
Dep
ar
tm
en
t o
f
E
lectr
o
n
ic
a
n
d
T
elec
o
m
m
u
n
icatio
n
E
n
g
i
n
ee
r
i
n
g
,
Vis
h
wak
ar
m
a
I
n
s
titu
te
o
f
T
ec
h
n
o
lo
g
y
Pu
n
e,
I
n
d
ia
E
m
ail: V
ijay
.
m
an
e@
v
it.e
d
u
1.
I
NT
RO
D
UCT
I
O
N
W
ith
th
e
y
ea
r
-
on
-
y
ea
r
r
is
e
in
th
e
eld
er
ly
d
em
o
g
r
a
p
h
ic,
th
e
n
atio
n
is
s
tead
ily
tr
a
n
s
itio
n
in
g
in
to
an
ag
ed
s
o
ciety
[
1
]
.
W
ith
th
e
g
lo
b
al
tr
en
d
o
f
p
o
p
u
latio
n
a
g
in
g
,
m
an
y
n
atio
n
s
ar
e
f
ac
in
g
s
ig
n
if
ican
t
d
em
o
g
r
a
p
h
ic
tr
an
s
itio
n
s
,
an
d
C
h
in
a
is
at
th
e
f
o
r
ef
r
o
n
t
o
f
th
is
s
h
if
t.
Sin
ce
2
0
1
5
[
2
]
,
C
h
in
a
h
as
b
ee
n
cla
s
s
if
ied
as
an
ag
in
g
s
o
ciety
[
3
]
,
with
o
v
er
2
2
2
m
i
llio
n
in
d
iv
id
u
als
ag
ed
6
0
an
d
ab
o
v
e
—
1
6
.
1
%
o
f
t
h
e
to
tal
p
o
p
u
latio
n
—
an
d
t
h
is
f
ig
u
r
e
is
p
r
o
jecte
d
to
in
cr
ea
s
e
to
4
3
7
m
illi
o
n
(
3
0
%)
b
y
2
0
5
0
[
4
]
.
T
h
is
s
u
r
g
e
in
t
h
e
eld
e
r
ly
d
em
o
g
r
ap
h
ic
is
ac
co
m
p
an
ied
b
y
c
h
allen
g
es
s
u
ch
as
f
am
ily
s
tr
u
ctu
r
e
tr
a
n
s
f
o
r
m
atio
n
s
,
in
a
d
eq
u
ate
eld
er
ca
r
e
s
taf
f
in
g
,
a
n
d
lim
ited
s
o
cial
s
u
p
p
o
r
t
s
y
s
te
m
s
.
C
o
n
s
eq
u
en
tly
,
m
a
n
y
el
d
er
ly
in
d
iv
id
u
als
f
ac
e
s
ig
n
i
f
ican
t
d
if
f
icu
lties
in
p
er
f
o
r
m
in
g
b
asic
ac
tiv
ities
o
f
d
aily
liv
in
g
(
ADL
s
)
,
in
clu
d
in
g
ea
tin
g
,
d
r
ess
in
g
,
to
iletin
g
,
tr
an
s
f
er
r
in
g
,
b
ath
in
g
,
an
d
in
d
o
o
r
m
o
b
ilit
y
—
9
0
.
8
% o
f
th
em
r
e
p
o
r
ted
ly
s
tr
u
g
g
le
wit
h
o
n
e
o
r
m
o
r
e
o
f
th
ese
task
s
in
d
ep
en
d
e
n
tly
[
5
]
.
Am
o
n
g
t
h
ese
ADL
s
,
b
ath
in
g
p
o
s
es
u
n
i
q
u
e
p
h
y
s
ical
an
d
lo
g
is
tical
ch
allen
g
es
d
u
e
t
o
m
o
b
ilit
y
lim
itatio
n
s
,
f
all
r
is
k
s
,
an
d
th
e
n
ee
d
f
o
r
p
r
iv
ac
y
an
d
h
y
g
i
en
e
[
6
]
.
W
h
ile
ass
i
s
tiv
e
tech
n
o
lo
g
ies
h
av
e
b
ee
n
in
tr
o
d
u
ce
d
g
lo
b
ally
an
d
d
o
m
esti
ca
lly
to
allev
iate
th
ese
is
s
u
es
[
7
]
,
m
o
s
t
cu
r
r
e
n
t
s
o
lu
tio
n
s
ar
e
eith
er
p
r
o
h
ib
itiv
ely
ex
p
e
n
s
iv
e,
lack
k
ey
f
u
n
ctio
n
al
f
ea
tu
r
es
[
8
]
,
o
r
p
lace
s
ig
n
if
ican
t
s
tr
ain
o
n
ca
r
e
g
iv
er
s
[
9
]
.
Dev
ices
s
u
ch
as
Swed
en
’
s
Ar
jo
h
u
n
tleig
h
ad
ju
s
tab
le
b
ath
ch
air
s
o
r
C
h
in
a
Kan
g
h
u
i
T
ec
h
n
o
lo
g
y
’
s
elec
tr
ic
s
an
itar
y
ch
air
s
[
6
]
,
[
1
0
]
p
r
o
v
id
e
p
a
r
tial
s
o
lu
tio
n
s
b
u
t
o
f
ten
f
ail
t
o
o
f
f
er
co
m
p
r
eh
en
s
iv
e,
u
s
er
-
ce
n
ter
ed
d
esig
n
s
.
Ad
d
itio
n
ally
,
C
h
en
g
a
n
d
Hao
[
5
]
,
Z
h
an
g
et
a
l.
[
1
1
]
,
L
iu
et
a
l.
[
1
2
]
,
an
d
L
an
et
a
l.
[
1
3
]
h
ig
h
lig
h
t
p
e
r
s
is
ten
t
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
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
30
1
-
3
1
0
302
lim
itatio
n
s
s
u
ch
as
co
s
t,
m
ec
h
an
ical
co
m
p
lex
ity
,
lim
ited
ad
ju
s
tab
ilit
y
,
an
d
in
s
u
f
f
icien
t
s
u
p
p
o
r
t
f
o
r
in
d
ep
en
d
en
t b
ath
i
n
g
.
T
o
ad
d
r
ess
th
ese
g
ap
s
,
th
is
s
tu
d
y
p
r
o
p
o
s
es
th
e
d
ev
elo
p
m
en
t
o
f
a
m
is
t
b
ath
wh
ee
lch
air
(
MBW
C
)
,
an
in
n
o
v
ativ
e
a
n
d
in
teg
r
ate
d
s
o
lu
tio
n
th
at
en
h
an
ce
s
eld
er
l
y
b
ath
in
g
e
x
p
er
ien
ce
s
b
y
c
o
m
b
in
in
g
m
is
tin
g
,
s
an
itizatio
n
,
an
d
d
r
y
in
g
f
u
n
cti
o
n
alities
in
to
a
s
in
g
le
s
y
s
tem
.
T
h
e
MBW
C
f
ea
tu
r
es
a
th
r
ee
-
m
o
d
e
s
p
r
ay
s
y
s
tem
(
s
an
itizer
,
s
o
ap
y
wate
r
,
p
lain
wate
r
)
ac
tiv
ated
v
ia
p
u
s
h
-
b
u
tt
o
n
co
n
t
r
o
ls
[
1
4
]
,
a
m
o
is
tu
r
e
-
a
b
s
o
r
b
in
g
f
o
am
s
ea
t
with
an
in
teg
r
ate
d
h
ea
tin
g
ele
m
en
t
f
o
r
b
o
d
y
c
o
m
f
o
r
t
an
d
d
r
y
in
g
[
1
5
]
,
[
1
6
]
,
a
n
d
a
f
an
with
ad
ju
s
tab
le
s
ettin
g
s
f
o
r
h
air
d
r
y
in
g
[
1
7
]
.
Fu
r
t
h
er
m
o
r
e,
th
e
wh
ee
lc
h
air
is
jo
y
s
tick
-
co
n
tr
o
lled
f
o
r
u
s
er
m
an
e
u
v
er
ab
ilit
y
an
d
ca
n
tr
an
s
f
o
r
m
in
to
n
in
e
d
is
tin
ct
co
n
f
ig
u
r
atio
n
s
to
ac
co
m
m
o
d
ate
u
s
er
p
r
e
f
er
en
ce
s
[
1
8
]
.
T
h
e
n
o
v
elty
o
f
th
e
MBW
C
lies
in
its
u
n
if
ied
,
co
s
t
-
ef
f
e
ctiv
e
d
esig
n
th
at
p
r
o
m
o
tes
h
y
g
ien
e,
au
to
n
o
m
y
,
an
d
c
o
m
f
o
r
t
—
s
u
r
p
ass
in
g
lim
itatio
n
s
o
b
s
er
v
ed
in
p
r
io
r
tech
n
o
lo
g
ies.
B
y
m
er
g
in
g
ess
en
tial
h
y
g
ien
e
s
u
p
p
o
r
t
with
m
o
b
ilit
y
ass
is
tan
ce
,
th
is
s
tu
d
y
co
n
tr
ib
u
tes a
p
r
ac
tic
al,
s
ca
lab
le
s
o
lu
tio
n
f
o
r
eld
er
c
ar
e,
p
ar
ticu
lar
ly
in
r
eso
u
r
ce
-
co
n
s
tr
ain
ed
s
ettin
g
s
.
Alth
o
u
g
h
n
o
tab
le
p
r
o
g
r
ess
h
as
b
ee
n
m
ad
e,
cu
r
r
en
t b
ath
in
g
s
o
lu
tio
n
s
f
o
r
th
e
eld
er
ly
o
f
te
n
f
all
s
h
o
r
t
in
ter
m
s
o
f
f
u
n
ctio
n
ality
,
af
f
o
r
d
ab
ilit
y
,
an
d
ea
s
e
o
f
u
s
e.
Ma
n
y
ar
e
p
r
o
h
i
b
itiv
ely
ex
p
en
s
iv
e
o
r
to
o
co
m
p
lex
f
o
r
in
d
ep
en
d
en
t
u
s
e.
Mo
s
t
f
o
cu
s
n
ar
r
o
wly
o
n
p
h
y
s
ical
s
u
p
p
o
r
t,
o
v
e
r
lo
o
k
i
n
g
cr
u
cial
asp
ec
ts
li
k
e
th
er
m
al
co
m
f
o
r
t,
p
r
iv
ac
y
,
an
d
m
en
tal
well
-
b
ei
n
g
.
C
ar
eg
iv
e
r
s
also
s
tr
u
g
g
le
with
p
o
o
r
er
g
o
n
o
m
ics
a
n
d
li
m
ited
ad
ap
tab
ilit
y
t
o
h
o
m
e
s
ettin
g
s
.
T
h
is
h
ig
h
lig
h
t
s
th
e
p
r
ess
in
g
n
ee
d
f
o
r
ac
ce
s
s
ib
le,
h
o
lis
tic,
an
d
u
s
er
-
f
r
ien
d
ly
b
ath
in
g
s
y
s
tem
s
tailo
r
ed
to
b
o
th
u
s
er
s
an
d
ca
r
e
g
iv
er
s
.
2.
M
E
T
H
O
D
T
h
is
s
ec
tio
n
p
r
esen
ts
d
etails
o
f
th
e
co
m
p
o
n
en
ts
'
co
n
n
ec
tio
n
,
illu
s
tr
atin
g
th
e
co
m
p
r
e
h
en
s
iv
e
f
ea
tu
r
es
o
f
th
e
MBW
C
,
d
ep
icted
in
Fig
u
r
e
1
.
T
h
is
p
r
esen
ts
an
in
teg
r
a
ted
s
m
ar
t
s
ea
tin
g
s
y
s
tem
f
ea
tu
r
in
g
f
o
u
r
m
o
d
u
les:
s
ea
t
ad
ju
s
tm
en
t,
tem
p
er
atu
r
e
r
eg
u
latio
n
,
m
o
b
ilit
y
,
an
d
m
is
t
-
b
ased
co
o
lin
g
.
C
en
ter
ed
o
n
Ar
d
u
in
o
Un
o
an
d
No
d
e
-
MCU,
it
em
p
l
o
y
s
s
er
v
o
s
,
th
er
m
o
s
tat
-
co
n
tr
o
lled
h
ea
tin
g
,
m
o
to
r
ized
m
o
b
ilit
y
,
an
d
B
ly
n
k
-
en
ab
le
d
m
is
t/fa
n
co
n
tr
o
l,
en
a
b
lin
g
p
r
ec
is
e,
r
em
o
te
a
d
ju
s
tm
en
ts
t
o
en
h
a
n
ce
c
o
m
f
o
r
t
an
d
f
u
n
ctio
n
ality
.
Fu
r
th
e
r
s
u
b
s
ec
tio
n
s
o
u
tlin
e
th
e
o
p
er
at
io
n
al
f
lo
w
o
f
ea
ch
f
ea
tu
r
e
o
f
th
e
MBW
C
an
d
d
o
c
u
m
en
t
th
e
r
esu
lts
o
b
tain
e
d
d
u
r
in
g
test
in
g
.
Fig
u
r
e
1
.
Featu
r
es o
f
MBW
C
2
.
1
.
Sea
t
co
nfig
ura
t
i
o
n sy
s
t
em
T
h
e
s
ea
t
co
n
f
ig
u
r
atio
n
s
y
s
tem
em
p
lo
y
s
th
r
ee
s
er
v
o
m
o
t
o
r
s
,
co
n
tr
o
lled
v
ia
a
p
o
ten
ti
o
m
eter
,
to
ac
h
iev
e
elev
en
e
r
g
o
n
o
m
ically
o
p
tim
ized
ch
ai
r
p
o
s
itio
n
s
f
o
r
th
er
ap
eu
tic
a
n
d
f
u
n
ctio
n
al
b
e
n
ef
its
.
Def
in
ed
b
y
s
er
v
o
an
g
les
(
θ1
,
θ
2
,
θ3
)
r
ec
o
m
m
en
d
e
d
b
y
e
x
p
er
ts
,
th
ese
co
n
f
ig
u
r
atio
n
s
s
u
p
p
o
r
t
h
ea
lt
h
r
ec
o
v
e
r
y
,
m
u
s
cle
s
tr
en
g
th
en
in
g
,
s
tr
ess
r
elief
,
a
n
d
im
p
r
o
v
e
d
cir
cu
latio
n
[
1
9
]
.
Fig
u
r
e
2
s
h
o
ws
d
etailed
p
o
s
itio
n
al
lay
o
u
ts
.
T
h
e
co
n
f
ig
u
r
atio
n
s
ad
d
r
ess
v
ar
ied
n
ee
d
s
,
in
cl
u
d
in
g
leg
elev
atio
n
,
s
p
in
al
alig
n
m
e
n
t,
an
d
r
e
h
ab
ilit
atio
n
s
u
p
p
o
r
t.
User
s
ad
ju
s
t
th
e
p
o
te
n
tio
m
e
ter
k
n
o
b
t
o
m
o
d
if
y
r
esis
tan
ce
an
d
v
o
ltag
e
o
u
tp
u
t,
en
ab
lin
g
p
r
ec
is
e
s
er
v
o
p
o
s
itio
n
in
g
.
I
n
th
e
co
n
tr
o
l
s
ec
tio
n
o
f
th
e
c
h
air
,
th
r
ee
p
o
ten
ti
o
m
eter
s
ar
e
in
s
talled
,
ea
ch
lab
elled
with
s
p
ec
if
ic
an
g
les
as
illu
s
tr
ated
in
Fig
u
r
e
3
.
As
th
e
ar
r
o
w
in
d
icate
s
a
p
ar
ticu
lar
a
n
g
le,
t
h
e
s
er
v
o
m
o
to
r
a
d
ju
s
ts
ac
co
r
d
in
g
l
y
to
alig
n
with
th
e
c
o
r
r
esp
o
n
d
in
g
a
n
g
le.
2
.
2
.
T
em
pera
t
ure
re
g
ula
t
io
n sy
s
t
em
T
h
e
MBW
C
f
ea
tu
r
es
a
s
o
p
h
is
ticated
s
y
s
tem
d
esig
n
ed
to
a
d
ap
t
to
s
ea
s
o
n
al
tem
p
e
r
atu
r
e
v
ar
iatio
n
s
,
u
tili
zin
g
an
XH
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e
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m
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tat
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le
with
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ep
ar
ate
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o
wer
s
u
p
p
lies
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r
eg
u
late
s
ea
t
tem
p
er
atu
r
e
f
o
r
win
ter
,
r
ain
y
c
o
n
d
itio
n
s
[
2
0
]
.
T
h
e
XH
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3
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2
2
0
V
A
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th
er
m
o
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atu
r
e
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an
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s
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h
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u
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em
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h
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u
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ates
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atio
n
s
.
I
n
co
n
tr
ast,
o
u
r
s
y
s
tem
i
n
teg
r
ates
r
ea
l
-
tim
e
s
en
s
o
r
f
ee
d
b
ac
k
a
n
d
in
tellig
en
t
s
witch
in
g
,
allo
win
g
ad
a
p
tiv
e
r
esp
o
n
s
iv
en
ess
to
v
ar
y
in
g
en
v
ir
o
n
m
en
tal
co
n
d
itio
n
s
.
T
h
e
a
b
ilit
y
to
m
a
in
tain
war
m
th
f
o
r
e
x
ten
d
e
d
p
er
io
d
s
(
2
0
8
–
3
1
9
s
ec
o
n
d
s
)
wit
h
o
u
t
o
v
e
r
s
h
o
o
tin
g
in
d
icate
s
en
h
an
ce
d
t
h
er
m
al
s
tab
ilit
y
,
wh
ich
is
cr
itical
f
o
r
ap
p
licatio
n
s
in
p
atien
t
c
ar
e,
esp
ec
ially
f
o
r
in
d
iv
id
u
als with
th
er
m
o
r
eg
u
latio
n
im
p
air
m
en
ts
.
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
o
b
o
tic
mis
t b
a
th
w
h
ee
lch
a
ir
:
in
n
o
v
a
tio
n
s
in
a
u
to
ma
ted
b
o
d
y
d
r
yin
g
…
(
V
ij
a
y
Ma
h
a
d
eo
Ma
n
e
)
307
(
a)
(
b
)
Fig
u
r
e
9
.
Gr
a
p
h
o
f
tem
p
er
atu
r
e
r
eg
u
latio
n
:
(
a)
cy
cle
i
n
r
ain
y
s
ea
s
o
n
an
d
(
b
)
cy
cle
i
n
win
ter
s
ea
s
o
n
T
ab
le
1
.
Seaso
n
al
tem
p
e
r
atu
r
e
co
n
tr
o
l statu
s
S
e
a
so
n
D
a
y
/
N
i
g
h
t
I
n
i
t
i
a
l
t
e
m
p
e
r
a
t
u
r
e
(
°C
)
Ti
me
t
o
r
e
a
c
h
a
t
m
a
x
i
m
u
m
t
h
r
e
s
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l
d
(
se
c
o
n
d
s)
W
a
r
mt
h
ma
i
n
t
a
i
n
e
d
d
u
r
a
t
i
o
n
(
se
c
o
n
d
s)
W
i
n
t
e
r
D
a
y
2
5
.
5
15
2
9
0
D
a
y
2
6
.
1
11
2
9
3
R
a
i
n
y
D
a
y
2
5
.
9
12
2
9
7
D
a
y
2
7
.
2
9
3
1
9
D
a
y
2
3
.
9
34
2
5
6
D
a
y
2
4
.
3
29
2
7
8
D
a
y
2
4
.
7
26
2
8
8
4.
DIS
CU
SS
I
O
N
T
h
e
ex
p
e
r
im
en
tal
f
i
n
d
in
g
s
v
alid
ate
th
e
p
r
o
p
o
s
ed
tem
p
er
atu
r
e
r
eg
u
latio
n
s
y
s
tem
’
s
ca
p
ab
ilit
y
to
m
ain
tain
th
er
m
al
co
m
f
o
r
t
ac
r
o
s
s
v
ar
y
in
g
s
ea
s
o
n
al
co
n
d
itio
n
s
.
T
h
e
s
y
s
tem
d
y
n
am
ically
r
esp
o
n
d
ed
to
am
b
ien
t
tem
p
er
atu
r
e
ch
an
g
es,
r
eq
u
ir
in
g
1
9
0
s
ec
o
n
d
s
to
r
ea
ch
th
e
3
0
°C
th
r
esh
o
ld
in
win
ter
v
er
s
u
s
6
5
s
ec
o
n
d
s
in
th
e
r
ain
y
s
ea
s
o
n
.
W
ar
m
th
r
eten
ti
o
n
was
s
lig
h
tly
lo
n
g
er
in
th
e
r
ain
y
s
ea
s
o
n
(
2
3
2
s
ec
o
n
d
s
)
th
an
in
win
te
r
(
2
0
8
s
ec
o
n
d
s
)
,
h
i
g
h
lig
h
tin
g
e
n
v
ir
o
n
m
en
tal
in
f
lu
e
n
ce
o
n
th
er
m
al
d
is
s
ip
atio
n
.
T
h
ese
r
esu
lts
ar
e
c
o
n
s
is
ten
t
with
p
r
io
r
r
esear
ch
o
n
wea
r
a
b
le
th
er
m
o
r
eg
u
latio
n
s
y
s
tem
s
,
em
p
h
asizin
g
th
e
n
ee
d
f
o
r
r
ea
l
-
tim
e
f
e
ed
b
ac
k
to
m
ain
tain
u
s
er
co
m
f
o
r
t.
C
o
m
p
ar
e
d
to
e
x
is
tin
g
s
y
s
tem
s
[
1
1
]
,
[
1
2
]
,
o
u
r
s
o
lu
tio
n
o
f
f
er
s
im
p
r
o
v
e
d
r
esp
o
n
s
iv
en
ess
an
d
lo
n
g
er
war
m
th
d
u
r
atio
n
u
n
d
e
r
s
im
ilar
co
n
d
itio
n
s
.
Ob
s
er
v
e
d
o
v
er
s
h
o
o
t
p
atter
n
s
s
u
g
g
est
s
co
p
e
f
o
r
o
p
tim
izin
g
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
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u
to
m
,
Vo
l
.
14
,
No
.
3
,
Sep
tem
b
er
20
25
:
30
1
-
3
1
0
308
co
n
tr
o
l
alg
o
r
ith
m
s
f
o
r
th
er
m
a
l
s
tab
ilit
y
.
Ov
er
all,
th
e
r
esu
lts
d
em
o
n
s
tr
ate
th
at
th
e
s
y
s
tem
is
b
o
th
tech
n
icall
y
v
iab
le
an
d
p
r
ac
tically
r
elev
a
n
t,
o
f
f
er
in
g
s
ig
n
if
ica
n
t
im
p
r
o
v
em
en
ts
in
ad
a
p
tiv
e
t
h
er
m
a
l
ca
r
e,
p
ar
ticu
lar
ly
v
alu
ab
le
f
o
r
v
u
ln
er
ab
le
p
o
p
u
latio
n
s
in
ass
is
tiv
e
an
d
h
ea
lth
ca
r
e
en
v
ir
o
n
m
en
ts
.
A
p
ilo
t
u
s
er
s
tu
d
y
was
co
n
d
u
cted
with
2
0
p
ar
ticip
an
ts
ag
ed
6
5
a
n
d
ab
o
v
e,
all
h
a
v
i
n
g
lim
ited
m
o
b
ilit
y
.
Par
ticip
an
ts
co
m
p
l
eted
b
ath
in
g
s
ess
io
n
s
u
s
in
g
th
e
MBW
C
an
d
p
r
o
v
i
d
ed
f
ee
d
b
ac
k
t
h
r
o
u
g
h
a
s
tan
d
ar
d
ized
q
u
esti
o
n
n
air
e
ev
alu
atin
g
h
y
g
ien
e,
co
m
f
o
r
t,
a
n
d
ea
s
e
o
f
o
p
er
atio
n
o
n
a
L
i
k
e
r
t
s
ca
le
(
1
–
5
)
.
T
h
e
av
er
ag
e
s
atis
f
ac
tio
n
r
atin
g
w
as
4
.
6
(
±
0
.
3
)
,
co
r
r
esp
o
n
d
in
g
to
9
2
%
p
o
s
itiv
e
r
esp
o
n
s
es.
Ho
wev
er
,
s
tatis
tical
s
ig
n
if
ican
ce
was
n
o
t
f
o
r
m
ally
test
ed
,
an
d
co
n
f
id
en
ce
in
ter
v
als
wer
e
n
o
t
ca
lc
u
lated
d
u
e
to
th
e
lim
ited
s
am
p
le
s
ize.
5.
CO
NCLU
SI
O
N
T
h
e
m
is
t
b
ath
wh
ee
lch
air
(
MBW
C
)
,
an
in
n
o
v
ativ
e
ass
is
tiv
e
d
ev
ice
d
esig
n
ed
to
en
h
a
n
ce
th
e
b
ath
in
g
ex
p
er
ien
ce
f
o
r
in
d
iv
id
u
als
with
lim
ited
m
o
b
ilit
y
.
B
y
in
teg
r
atin
g
ad
v
an
ce
d
m
is
tin
g
,
s
an
itizatio
n
,
an
d
d
r
y
in
g
tech
n
o
lo
g
ies
with
in
a
wh
ee
lch
air
f
r
am
ewo
r
k
,
th
e
MBW
C
ad
d
r
ess
es
h
y
g
ien
e
an
d
co
m
f
o
r
t
l
im
itatio
n
s
in
h
er
en
t
in
tr
ad
itio
n
al
b
ath
in
g
m
eth
o
d
s
.
T
esti
n
g
co
n
f
ir
m
ed
t
h
e
s
y
s
tem
's
ef
f
icac
y
in
m
ain
tai
n
in
g
h
ig
h
h
y
g
ien
e
s
tan
d
ar
d
s
th
r
o
u
g
h
ef
f
ec
tiv
e
m
is
tin
g
an
d
s
an
itizatio
n
,
wh
ile
f
ea
tu
r
es
s
u
ch
as
m
o
is
tu
r
e
ab
s
o
r
p
tio
n
an
d
war
m
air
d
r
y
in
g
en
s
u
r
e
d
u
s
er
co
m
f
o
r
t.
Ad
d
itio
n
al
f
u
n
ctio
n
alities
,
in
clu
d
in
g
jo
y
s
tick
-
co
n
tr
o
lled
m
an
eu
v
er
a
b
ilit
y
an
d
ad
ju
s
tab
le
er
g
o
n
o
m
ic
s
u
p
p
o
r
t,
f
u
r
th
e
r
im
p
r
o
v
e
d
u
s
er
i
n
d
ep
e
n
d
en
ce
a
n
d
a
d
ap
tab
ilit
y
t
o
d
iv
er
s
e
en
v
ir
o
n
m
en
ts
,
s
u
ch
as
eld
er
ca
r
e
f
ac
ilit
ies
an
d
h
o
m
e
s
ettin
g
s
.
Fu
tu
r
e
d
ev
elo
p
m
en
ts
s
h
o
u
ld
p
r
i
o
r
itize
d
esig
n
o
p
tim
izatio
n
to
en
h
an
ce
u
s
ab
ilit
y
an
d
co
s
t
-
ef
f
ec
tiv
en
ess
.
L
o
n
g
itu
d
i
n
al
s
tu
d
i
es
ar
e
n
ec
ess
ar
y
to
ev
alu
ate
t
h
e
MBW
C
’
s
lo
n
g
-
ter
m
im
p
ac
t o
n
u
s
er
q
u
ality
o
f
life
.
ACK
NO
WL
E
DG
M
E
N
T
S
T
h
e
au
th
o
r
s
wo
u
l
d
lik
e
to
ex
ten
d
th
eir
s
in
ce
r
e
g
r
atitu
d
e
t
o
Vis
h
wak
ar
m
a
I
n
s
titu
te
o
f
T
e
ch
n
o
lo
g
y
,
Pu
n
e,
f
o
r
p
r
o
v
i
d
in
g
th
e
in
f
r
astru
ctu
r
e
an
d
tech
n
ical
s
u
p
p
o
r
t
r
eq
u
ir
ed
to
c
o
n
d
u
ct
th
is
r
esea
r
ch
.
Sp
ec
ial
t
h
an
k
s
to
th
e
R
esear
ch
C
o
m
m
ittee
o
f
VI
T
Pu
n
e
f
o
r
a
p
p
r
o
v
in
g
an
d
f
ac
ilit
atin
g
th
is
s
tu
d
y
.
T
h
e
au
th
o
r
s
also
ac
k
n
o
wled
g
e
Natio
n
al
Kao
h
s
iu
n
g
Un
iv
er
s
ity
o
f
Scien
ce
an
d
T
ec
h
n
o
lo
g
y
,
T
aiwa
n
,
f
o
r
th
eir
co
n
tin
u
ed
co
llab
o
r
atio
n
a
n
d
tec
h
n
ical
in
s
ig
h
ts
in
th
is
s
tu
d
y
.
F
UNDING
I
NF
O
R
M
A
T
I
O
N
T
h
is
wo
r
k
r
ec
eiv
e
d
n
o
ex
ter
n
a
l f
u
n
d
in
g
.
AUTHO
R
CO
NT
RI
B
UT
I
O
NS ST
A
T
E
M
E
N
T
T
h
is
jo
u
r
n
al
u
s
es
th
e
C
o
n
tr
ib
u
to
r
R
o
les
T
ax
o
n
o
m
y
(
C
R
ed
iT)
to
r
ec
o
g
n
ize
in
d
iv
id
u
al
au
th
o
r
co
n
tr
ib
u
tio
n
s
,
r
ed
u
ce
au
th
o
r
s
h
ip
d
is
p
u
tes,
an
d
f
ac
ilit
ate
co
llab
o
r
atio
n
.
Na
m
e
o
f
Aut
ho
r
C
M
So
Va
Fo
I
R
D
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E
Vi
Su
P
Fu
Vijay
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h
ad
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n
e
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Har
s
h
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Am
b
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C
h
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R
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R
u
p
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h
ar
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h
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C
:
C
o
n
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309
DATA AV
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RE
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[
1
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d
v
a
n
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e
m
e
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ts
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e
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tro
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ic
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i
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g
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d
tec
h
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c
a
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e
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o
n
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ted
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t
h
a
rsh
a
l.
d
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rg
e
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it
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e
d
u
.
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n
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h
i
u
h
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h
ieh
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a
d
isti
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g
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ish
e
d
p
r
o
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ss
o
r
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n
t
h
e
De
p
a
rtme
n
t
o
f
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lec
tro
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ic
En
g
i
n
e
e
rin
g
a
t
th
e
Na
ti
o
n
a
l
Ka
o
h
siu
n
g
Un
i
v
e
rsity
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
l
o
g
y
(NK
UST
),
Taiwa
n
.
He
o
b
tai
n
e
d
h
is
m
a
ste
r’s
d
e
g
re
e
in
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lec
tri
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l
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g
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ri
n
g
fr
o
m
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ti
o
n
a
l
Taiwa
n
Un
iv
e
rsity
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n
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9
1
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n
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h
is
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h
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D.
in
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m
p
u
ter
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c
ien
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e
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n
d
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n
g
i
n
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e
rin
g
fr
o
m
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ti
o
n
a
l
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u
n
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t
-
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e
n
Un
i
v
e
rsity
in
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0
0
9
.
S
i
n
c
e
jo
i
n
in
g
NK
UST
i
n
1
9
9
1
,
Dr.
S
h
ieh
h
a
s
fo
c
u
se
d
h
is
re
se
a
rc
h
o
n
c
o
m
p
u
ter
n
e
two
r
k
in
g
,
in
fo
rm
a
ti
o
n
se
c
u
rit
y
,
c
o
m
p
u
tatio
n
a
l
in
tell
ig
e
n
c
e
,
e
m
b
e
d
d
e
d
sy
ste
m
s,
a
n
d
m
e
d
ica
l
in
fo
rm
a
ti
c
s.
His
wo
r
k
i
n
c
lu
d
e
s
sig
n
ifi
c
a
n
t
c
o
n
tri
b
u
ti
o
n
s
t
o
g
e
n
e
ti
c
wa
term
a
rk
in
g
,
DD
o
S
a
tt
a
c
k
d
e
tec
ti
o
n
u
sin
g
d
e
e
p
lea
rn
in
g
,
a
n
d
h
e
u
risti
c
o
p
ti
m
iza
ti
o
n
m
e
th
o
d
s
in
wire
les
s
se
n
so
r
n
e
tw
o
rk
s.
Dr.
S
h
ie
h
h
a
s
a
n
e
x
ten
si
v
e
p
u
b
li
c
a
ti
o
n
re
c
o
rd
a
n
d
is
a
c
ti
v
e
ly
e
n
g
a
g
e
d
i
n
a
c
a
d
e
m
ic res
e
a
rc
h
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
c
ss
h
ieh
@n
k
u
st
.
e
d
u
.
tw.
Ra
je
sh
De
y
is
a
d
isti
n
g
u
ish
e
d
re
se
a
rc
h
e
r,
e
d
u
c
a
to
r,
a
n
d
in
d
u
stry
e
x
p
e
rt
sp
e
c
ializin
g
in
a
rti
ficia
l
i
n
telli
g
e
n
c
e
(AI),
m
a
c
h
i
n
e
lea
rn
i
n
g
(M
L)
,
a
n
d
fi
n
a
n
c
ial
tec
h
n
o
lo
g
y
(F
in
Tec
h
).
Cu
rre
n
tl
y
a
P
o
st
d
o
c
t
o
ra
l
F
e
ll
o
w
a
t
IIU
M
,
M
a
lay
sia
,
h
i
s
re
se
a
rc
h
fo
c
u
se
s
o
n
AI
a
n
d
M
L
a
p
p
li
c
a
ti
o
n
s
in
F
i
n
Te
c
h
,
with
e
x
p
e
rti
se
in
c
o
m
p
u
ter
sim
u
latio
n
s
a
n
d
sig
n
a
l
p
ro
c
e
ss
in
g
.
He
h
o
l
d
s
a
P
h
D
in
A
d
a
p
ti
v
e
S
i
g
n
a
l
Co
rre
c
ti
o
n
fro
m
M
a
u
lan
a
Ab
u
l
Ka
lam
Az
a
d
Un
iv
e
rsity
o
f
Tec
h
n
o
lo
g
y
,
Wes
t
Be
n
g
a
l.
Wi
th
o
v
e
r
1
7
y
e
a
rs
o
f
e
x
p
e
rien
c
e
in
re
se
a
rc
h
a
n
d
d
e
v
e
lo
p
m
e
n
t,
Dr.
De
y
h
a
s
p
u
b
li
s
h
e
d
m
u
lt
i
p
le
p
a
p
e
rs
in
re
p
u
tab
le
jo
u
r
n
a
ls
a
n
d
c
o
n
fe
re
n
c
e
s.
He
h
a
s
h
e
ld
v
a
ri
o
u
s
a
c
a
d
e
m
ic
a
n
d
in
d
u
str
y
ro
les
,
in
c
l
u
d
in
g
a
ss
o
c
iate
p
r
o
fe
ss
o
r
a
t
G
o
p
a
l
Na
ra
y
a
n
S
in
g
h
Un
iv
e
rsity
,
Te
c
h
n
ica
l
Dire
c
to
r
a
t
T
h
e
El
e
c
t
ro
in
v
e
n
t
o
r,
a
n
d
Ad
j
u
n
c
t
Re
se
a
rc
h
e
r
a
t
P
e
rd
a
n
a
Un
iv
e
rsit
y
M
a
lay
sia
.
His
w
o
rk
s
p
a
n
s
e
m
b
e
d
d
e
d
sy
ste
m
s,
ro
b
o
ti
c
s,
Io
T,
a
n
d
s
u
sta
in
a
b
le
EV
tec
h
n
o
lo
g
ies
,
c
o
n
tri
b
u
ti
n
g
to
i
n
n
o
v
a
t
io
n
i
n
th
e
se
field
s.
As
a
c
e
rti
fied
De
sig
n
T
h
in
k
in
g
Co
a
c
h
a
n
d
m
e
n
to
r,
Dr.
De
y
c
o
ll
a
b
o
r
a
tes
with
u
n
iv
e
rsiti
e
s
a
n
d
re
se
a
rc
h
in
stit
u
ti
o
n
s
g
l
o
b
a
ll
y
,
i
n
c
lu
d
i
n
g
Li
n
c
o
l
n
Un
i
v
e
rsity
Co
ll
e
g
e
,
Na
ti
o
n
a
l
Ka
o
h
si
u
n
g
Un
iv
e
rsity
o
f
S
c
ien
c
e
a
n
d
Tec
h
n
o
lo
g
y
Taiwa
n
,
a
n
d
IIT
M
a
n
d
i
Ca
taly
st.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
ra
jes
h
.
d
e
y
@g
n
su
.
a
c
.
i
n
.
Rup
a
li
Atul
Ma
h
a
ja
n
is
th
e
a
ss
o
c
iate
p
ro
fe
ss
o
r
a
n
d
He
a
d
o
f
t
h
e
Da
ta
S
c
ien
c
e
De
p
a
rtme
n
t,
a
s
we
ll
a
s
th
e
A
ss
o
c
iate
De
a
n
(Re
se
a
rc
h
a
n
d
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v
e
l
o
p
m
e
n
t)
a
t
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wa
k
a
rm
a
In
stit
u
te
o
f
In
f
o
rm
a
ti
o
n
Tec
h
n
o
lo
g
y
,
P
u
n
e
.
Ho
ld
i
n
g
a
P
h
.
D.
i
n
Co
m
p
u
ter
S
c
ien
c
e
a
n
d
En
g
i
n
e
e
rin
g
,
sh
e
h
a
s
o
v
e
r
1
7
y
e
a
rs
o
f
e
x
p
e
rti
se
sp
a
n
n
in
g
m
a
c
h
in
e
lea
rn
in
g
,
a
rti
ficia
l
in
telli
g
e
n
c
e
,
a
n
d
d
e
e
p
lea
rn
in
g
.
Dr.
M
a
h
a
ja
n
h
a
s
a
u
th
o
re
d
se
v
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n
b
o
o
k
s,
p
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b
li
sh
e
d
5
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+
re
se
a
rc
h
p
a
p
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rs,
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n
d
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ld
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p
a
t
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n
ts
a
c
ro
ss
m
u
lt
ip
le
d
o
m
a
in
s.
Dr
.
M
a
h
a
jan
c
o
ll
a
b
o
ra
tes
o
n
c
o
n
su
lt
a
n
c
y
p
ro
jec
ts
wit
h
t
h
e
G
o
v
e
rn
m
e
n
t
o
f
M
a
h
a
ra
sh
tra
a
n
d
se
rv
e
s
a
s
a
n
e
d
it
o
r
a
n
d
re
v
iew
e
r
fo
r
re
p
u
ted
a
c
a
d
e
m
ic
p
u
b
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sh
e
rs,
d
e
m
o
n
stra
ti
n
g
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n
g
re
se
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lea
d
e
rsh
ip
a
n
d
tec
h
n
ica
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p
r
o
ficie
n
c
y
.
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c
a
n
b
e
c
o
n
tac
ted
a
t
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p
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li
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m
a
h
a
jan
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ii
t
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a
c
.
in
.
S
id
d
h
a
r
th
Bh
o
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e
is
a
n
a
ss
istan
t
p
ro
fe
ss
o
r
a
t
Vish
wa
k
a
r
m
a
In
stit
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te
o
f
Tec
h
n
o
l
o
g
y
,
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u
n
e
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n
d
ia.
He
h
o
ld
s
a
P
h
.
D.
fro
m
S
h
ri
G
u
ru
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o
b
in
d
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in
g
h
ji
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sti
tu
te
o
f
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g
i
n
e
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rin
g
a
n
d
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h
n
o
lo
g
y
,
Vish
n
u
p
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ri
,
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n
d
e
d
.
Wi
th
o
v
e
r
2
0
y
e
a
rs
o
f
tea
c
h
in
g
e
x
p
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rien
c
e
,
h
is
a
re
a
s
o
f
sp
e
c
ia
li
z
a
ti
o
n
in
c
l
u
d
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c
o
m
p
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ter
v
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n
,
a
rti
f
icia
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n
telli
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n
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m
a
c
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lea
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g
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a
n
d
d
e
e
p
lea
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in
g
.
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h
a
s
p
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b
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sh
e
d
m
o
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h
a
n
3
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re
se
a
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p
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p
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rs
in
re
p
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ti
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in
tern
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t
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u
rn
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re
n
c
e
s.
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c
a
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b
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tac
ted
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sid
d
h
a
rt
h
.
b
h
o
rg
e
@v
i
t.
e
d
u
.
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