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tab
ilit
y
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m
p
ar
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n
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en
tio
n
al
o
p
e
n
-
lo
o
p
co
n
tr
o
l sy
s
tem
s
[
8
]
.
T
h
i
s
s
t
u
d
y
f
o
cu
s
e
s
o
n
t
h
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ev
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f
a
P
B
V
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s
y
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t
e
m
f
o
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y
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r
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s
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r
t
in
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,
wh
i
ch
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n
t
e
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r
a
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a
4
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eg
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e
e
-
of
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f
r
e
ed
o
m
(
4
-
D
O
F
)
r
o
b
o
t
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c
m
a
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ip
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la
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co
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tr
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ed
b
y
a
R
a
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p
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w
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b
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d
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la
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c
a
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m
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h
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e
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to
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v
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t
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to
s
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ac
h
y
ar
n
s
a
m
p
l
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in
t
o
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t
s
co
r
r
e
s
p
o
n
d
in
g
s
t
o
r
ag
e
b
i
n
[
9
]
,
[
1
0
]
.
T
h
e
n
o
v
e
l
t
y
o
f
t
h
i
s
r
e
s
e
ar
c
h
l
i
e
s
in
th
e
in
t
e
g
r
a
t
i
o
n
o
f
a
R
a
s
p
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r
y
P
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p
l
a
tf
o
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m
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co
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d
in
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e
a
4
-
D
O
F
r
o
b
o
t
i
c
m
a
n
ip
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l
a
to
r
(
Do
b
o
t
M
a
g
ic
i
an
)
f
o
r
au
t
o
n
o
m
o
u
s
o
p
er
a
t
i
o
n
[
8
]
,
[
1
1
]
.
I
m
p
l
e
m
en
t
a
t
i
o
n
o
f
a
w
e
b
ca
m
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b
a
s
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d
im
a
g
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a
cq
u
i
s
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t
io
n
s
y
s
t
em
s
u
p
p
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te
d
b
y
m
a
c
h
in
e
l
e
a
r
n
in
g
f
o
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r
e
a
l
-
t
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m
e
y
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r
n
q
u
a
l
i
t
y
c
l
a
s
s
i
f
i
c
a
t
io
n
[
1
2
]
.
T
h
e
a
p
p
l
i
ca
t
i
o
n
o
f
v
i
s
u
a
l
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er
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n
g
t
o
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y
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m
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m
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l
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t
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a
s
ed
o
n
v
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s
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a
l
f
e
ed
b
a
c
k
,
a
l
lo
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e
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o
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o
t
t
o
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tr
i
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v
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j
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a
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o
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d
p
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t
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d
p
l
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in
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f
o
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d
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s
t
in
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t
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n
b
i
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s
[
1
3
]
.
S
y
s
t
em
p
e
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f
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m
e
a
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y
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ar
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h
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n
1
m
m
[
1
4
]
.
2.
M
E
T
H
O
D
V
i
s
u
al
s
e
r
v
o
i
n
g
i
s
cl
o
s
e
d
-
l
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o
p
c
o
n
t
r
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h
o
d
t
h
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t
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s
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m
er
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-
b
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v
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f
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b
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id
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t
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a
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s
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it
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p
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is
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o
n
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n
t
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g
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m
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s
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g
,
a
n
d
r
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b
o
t
i
c
k
i
n
e
m
a
t
i
cs
[
1
5
]
,
[
1
6
]
.
T
h
er
e
ar
e
two
p
r
im
ar
y
im
p
le
m
en
tatio
n
s
o
f
v
is
u
al
s
er
v
o
in
g
:
PB
VS
an
d
I
B
VS.
T
h
is
s
tu
d
y
ad
o
p
ts
th
e
PB
VS
m
eth
o
d
,
as illu
s
tr
ated
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Sch
em
atic
o
f
th
e
PB
VS
ap
p
r
o
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h
Fig
u
r
e
1
s
h
o
ws
th
e
PB
VS
co
n
tr
o
l
s
tr
ateg
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,
wh
er
e
r
o
b
o
t
m
o
ti
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n
is
g
u
i
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ed
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y
a
p
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e
d
ef
in
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ar
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o
s
e
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o
b
ject
p
lace
m
en
t.
T
h
e
s
y
s
tem
esti
m
ates
th
e
o
b
ject’
s
3
D
p
o
s
e
co
m
p
r
is
in
g
p
o
s
itio
n
an
d
o
r
ien
tatio
n
f
r
o
m
ca
m
er
a
-
b
ased
v
is
u
al
class
if
icatio
n
an
d
g
e
n
er
ates
co
n
tr
o
l
s
i
g
n
als
to
m
i
n
im
ize
th
e
er
r
o
r
b
etwe
en
ac
tu
al
an
d
r
ef
er
en
ce
p
o
s
es.
T
h
e
ar
c
h
itectu
r
e
co
n
s
is
ts
o
f
th
r
ee
m
ain
co
m
p
o
n
en
ts
:
i)
C
am
er
a:
ca
p
tu
r
es
r
ea
l
-
tim
e
im
ag
es o
f
th
e
y
ar
n
a
n
d
ac
q
u
ir
es sam
p
le
d
ata
f
o
r
v
is
u
al
p
r
o
ce
s
s
in
g
[
1
7
]
.
ii)
R
asp
b
er
r
y
Pi:
s
er
v
es
as
th
e
ce
n
tr
al
co
n
tr
o
l
u
n
it
r
esp
o
n
s
ib
l
e
f
o
r
im
a
g
e
p
r
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ce
s
s
in
g
,
class
if
icatio
n
,
an
d
is
s
u
in
g
ac
tu
atio
n
co
m
m
a
n
d
s
[
1
8
]
.
iii)
Do
b
o
t
Ma
g
ician
:
4
-
DOF
r
o
b
o
tic
m
an
ip
u
lato
r
u
s
ed
to
p
er
f
o
r
m
p
ick
-
a
n
d
-
p
lace
o
p
er
atio
n
s
b
ased
o
n
th
e
class
if
icatio
n
r
esu
lts
[
1
9
]
.
I
m
ag
e
class
if
icatio
n
u
s
es
Op
en
C
V
an
d
a
T
e
n
s
o
r
Flo
w
m
o
d
el
tr
ain
ed
v
ia
Go
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T
ea
ch
ab
le
Ma
ch
in
e
to
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teg
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ize
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to
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,
s
tr
ip
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,
m
o
l
d
y
,
a
n
d
d
ir
ty
.
T
h
e
PB
VS
lo
o
p
co
m
p
u
tes
tr
an
s
f
o
r
m
atio
n
p
a
r
am
eter
s
af
ter
class
if
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an
d
co
m
m
a
n
d
s
th
e
m
an
ip
u
lato
r
to
s
o
r
t e
a
ch
y
ar
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in
to
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d
esig
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b
in
[
2
0
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.
P
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s
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D
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(
P
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P
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P
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3
D
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C
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C
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L
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C
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A
4
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D
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M
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a
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F
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E
x
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3
D
P
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Y
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8
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2327
2
.
1
.
Wo
r
k
f
lo
w
a
nd
im
plem
e
nta
t
io
n pro
ce
s
s
I
n
th
is
s
tu
d
y
,
lab
eled
y
ar
n
d
at
asets
wer
e
s
to
r
ed
in
R
asp
b
er
r
y
Pi
f
o
r
m
o
d
el
tr
ain
in
g
.
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o
n
c
ap
tu
r
in
g
a
n
ew
im
ag
e,
t
h
e
s
y
s
tem
class
if
ies
th
e
y
ar
n
b
y
co
m
p
a
r
in
g
it
with
th
e
tr
ain
ed
m
o
d
el
an
d
s
elec
ts
th
e
class
with
th
e
h
ig
h
est
co
n
f
i
d
en
ce
.
Af
ter
class
if
icatio
n
,
R
asp
b
er
r
y
Pi
s
en
d
s
co
m
m
an
d
s
to
t
h
e
4
-
DOF
m
an
ip
u
lato
r
f
o
r
s
o
r
tin
g
.
Fig
u
r
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2
illu
s
tr
ates
th
e
PB
VS
-
b
ased
im
ag
e
p
r
o
ce
s
s
in
g
an
d
s
o
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tin
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m
ec
h
a
n
is
m
co
n
tr
o
lled
b
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y
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Fig
u
r
e
2
.
Me
ch
a
n
is
m
o
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th
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y
a
r
n
s
o
r
tin
g
s
y
s
tem
u
s
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m
eth
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d
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u
r
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2
illu
s
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ates
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im
p
le
m
en
tatio
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o
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th
e
v
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al
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o
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s
y
s
tem
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t
r
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lled
b
y
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asp
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wh
ich
m
an
ag
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u
al
in
p
u
t,
c
lass
if
icatio
n
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an
d
m
an
ip
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lato
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ac
tu
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.
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h
e
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ar
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war
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s
etu
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clu
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es
a
ca
m
e
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im
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p
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e,
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f
o
r
p
r
o
ce
s
s
in
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d
co
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o
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a
4
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Do
b
o
t
Ma
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f
o
r
p
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n
d
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p
lace
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s
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d
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co
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r
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n
tr
an
s
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tatio
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v
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ain
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etailed
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o
llo
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i)
I
m
ag
e
ac
q
u
is
itio
n
:
th
e
p
r
o
ce
s
s
s
tar
ts
b
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p
tu
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in
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r
ea
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r
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s
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a
n
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[
2
1
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ii)
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m
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s
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n
d
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ass
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f
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n
[
2
2
]
:
p
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v
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O
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T
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[
2
3
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iii)
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ased
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ates
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m
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ates
[
2
4
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iv
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Ma
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R
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s
[
2
5
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,
[
2
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]
.
v)
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2
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e
r
e
n
c
e
p
r
o
ce
s
s
o
r
an
d
c
o
m
m
a
n
d
ce
n
te
r
f
o
r
r
o
b
o
t
ic
c
o
n
t
r
o
l
.
A
k
e
y
el
em
en
t
is
t
h
e
c
am
er
a_
th
r
e
a
d
_
f
u
n
cti
o
n
,
wh
i
ch
h
a
n
d
les
c
o
n
ti
n
u
o
u
s
i
m
a
g
e
ca
p
t
u
r
e
,
c
lass
i
f
i
ca
t
io
n
in
f
er
en
ce
,
a
n
d
co
r
r
es
p
o
n
d
i
n
g
r
o
b
o
t
ic
m
o
v
e
m
en
ts
[
2
8
]
.
R
ea
l
-
ti
m
e
v
is
u
al
d
ata
is
a
cq
u
ir
e
d
v
ia
a
n
O
p
en
C
V
-
b
as
ed
c
am
e
r
a
m
o
d
u
l
e
(
c
v
2
.
V
id
e
o
C
a
p
t
u
r
e
)
,
at
6
4
0
×
4
8
0
r
es
o
l
u
ti
o
n
,
b
al
a
n
ci
n
g
im
ag
e
q
u
alit
y
a
n
d
p
r
o
ce
s
s
i
n
g
s
p
ee
d
f
o
r
ef
f
ic
ie
n
t
r
ea
l
-
t
im
e
o
p
e
r
a
ti
o
n
[
2
9
]
,
[
3
0
]
.
T
ab
le
2
s
u
m
m
ar
izes
th
e
in
itializatio
n
o
f
ca
m
er
a_
th
r
ea
d
_
f
u
n
ctio
n
,
wh
ich
o
p
er
ates
in
a
s
ep
ar
ate
th
r
ea
d
to
en
a
b
le
co
n
tin
u
o
u
s
i
m
ag
e
ca
p
tu
r
e
w
h
ile
ex
ec
u
tin
g
r
o
b
o
t
co
n
tr
o
l
task
s
.
T
h
e
u
s
e
o
f
s
to
p
_
ev
e
n
t
allo
ws
s
af
e
ter
m
in
atio
n
d
u
r
i
n
g
s
h
u
t
d
o
wn
,
wh
ile
lo
c
k
e
n
s
u
r
es
th
r
e
ad
-
s
af
e
ac
ce
s
s
to
s
h
ar
ed
r
eso
u
r
ce
s
s
u
ch
as
th
e
ca
m
er
a
s
tr
ea
m
an
d
co
n
tr
o
l
s
ig
n
als.
T
h
is
th
r
ea
d
e
d
d
esig
n
en
h
an
ce
s
s
y
s
tem
r
esp
o
n
s
iv
en
ess
an
d
s
tab
ilit
y
d
u
r
in
g
au
to
n
o
m
o
u
s
o
p
e
r
atio
n
.
T
o
r
esp
o
n
d
ef
f
ec
tiv
el
y
to
class
if
icatio
n
r
esu
lts
,
th
e
D
o
b
o
t
Ma
g
ician
r
o
b
o
tic
m
an
ip
u
lato
r
is
p
r
o
g
r
a
m
m
ed
to
ex
ec
u
te
p
r
ec
is
e
m
o
v
em
en
ts
u
s
in
g
s
u
ctio
n
cu
p
en
d
ef
f
ec
to
r
.
T
wo
m
ain
f
u
n
c
tio
n
s
,
m
o
v
e_
d
o
b
o
t
an
d
r
u
n
_
m
o
v
e
m
en
ts
,
co
n
v
er
t
class
if
icatio
n
lab
els
in
to
r
o
b
o
t
co
m
m
a
n
d
s
.
T
h
e
m
o
v
e
_
d
o
b
o
t
f
u
n
ctio
n
h
an
d
les
p
o
s
itio
n
-
b
ased
m
o
tio
n
a
n
d
s
u
c
tio
n
co
n
tr
o
l
b
y
ac
ce
p
tin
g
(
x
,
y
,
z)
co
o
r
d
in
ates
an
d
a
B
o
o
lean
f
lag
f
o
r
ac
tiv
atin
g
o
r
d
ea
ctiv
atin
g
th
e
s
u
ctio
n
.
I
t
also
p
r
in
ts
m
o
v
em
e
n
t statu
s
to
th
e
ter
m
in
al
f
o
r
r
ea
l
-
tim
e
m
o
n
ito
r
in
g
.
T
ab
le
2
.
C
am
er
a
in
itializatio
n
an
d
im
ag
e
ca
p
tu
r
e
f
u
n
ctio
n
ality
I
n
st
r
u
c
t
i
o
n
D
e
scri
p
t
i
o
n
d
e
f
c
a
m
e
r
a
_
t
h
r
e
a
d
_
f
u
n
c
t
i
o
n
(
d
o
b
o
t
,
s
t
o
p
_
e
v
e
n
t
,
l
o
c
k
)
D
e
f
i
n
e
s
a
f
u
n
c
t
i
o
n
t
o
h
a
n
d
l
e
i
ma
g
e
c
a
p
t
u
r
e
a
n
d
r
o
b
o
t
c
o
n
t
r
o
l
.
I
t
t
a
k
e
s
t
h
r
e
e
p
a
r
a
m
e
t
e
r
s:
d
o
b
o
t
(
r
o
b
o
t
o
b
j
e
c
t
)
,
st
o
p
_
e
v
e
n
t
(
t
h
r
e
a
d
st
o
p
f
l
a
g
)
,
a
n
d
l
o
c
k
(
sy
n
c
h
r
o
n
i
z
a
t
i
o
n
me
c
h
a
n
i
sm
)
.
l
o
b
a
l
c
a
p
D
e
c
l
a
r
e
s
c
a
p
a
s
a
g
l
o
b
a
l
v
a
r
i
a
b
l
e
t
o
a
l
l
o
w
a
c
c
e
ss
o
u
t
s
i
d
e
t
h
e
f
u
n
c
t
i
o
n
.
c
a
p
=
c
v
2
.
V
i
d
e
o
C
a
p
t
u
r
e
(
0
)
I
n
i
t
i
a
l
i
z
e
s
v
i
d
e
o
c
a
p
t
u
r
e
f
r
o
m
t
h
e
d
e
f
a
u
l
t
c
a
mer
a
d
e
v
i
c
e
(
i
n
d
e
x
0
)
.
c
a
p
.
se
t
(
c
v
2
.
C
A
P
_
P
R
O
P
_
F
R
A
M
E
_
W
I
D
TH
,
6
4
0
)
S
e
t
s
t
h
e
v
i
d
e
o
f
r
a
m
e
w
i
d
t
h
t
o
6
4
0
p
i
x
e
l
s.
c
a
p
.
se
t
(
c
v
2
.
C
A
P
_
P
R
O
P
_
F
R
A
M
E
_
H
EI
G
H
T,
4
8
0
)
S
e
t
s
t
h
e
v
i
d
e
o
f
r
a
m
e
h
e
i
g
h
t
t
o
4
8
0
p
i
x
e
l
s.
T
ab
le
3
s
u
m
m
ar
izes
th
e
co
n
tr
o
l
in
s
tr
u
ctio
n
s
f
o
r
th
e
Do
b
o
t
Ma
g
ician
’
s
m
o
v
em
en
t
a
n
d
s
u
ctio
n
cu
p
o
p
er
atio
n
.
T
h
e
m
o
v
e_
d
o
b
o
t
f
u
n
ctio
n
h
a
n
d
les
p
o
s
itio
n
-
b
ased
m
o
tio
n
an
d
s
u
ctio
n
ac
tiv
atio
n
,
p
r
o
v
id
in
g
r
ea
l
-
tim
e
f
ee
d
b
ac
k
v
ia
s
tatu
s
m
ess
ag
es.
I
t
m
o
v
es
th
e
m
an
ip
u
lato
r
to
s
p
ec
if
ied
(
x
,
y
,
z
)
c
o
o
r
d
in
ates,
ac
tiv
ates
o
r
d
ea
ctiv
ates
s
u
ctio
n
as
r
eq
u
ir
ed
,
an
d
in
t
r
o
d
u
ce
s
a
s
h
o
r
t
d
elay
to
en
s
u
r
e
task
s
tab
ilit
y
.
Af
ter
class
if
icatio
n
,
th
e
r
u
n
_
m
o
v
em
en
ts
f
u
n
cti
o
n
m
ap
s
ea
ch
p
r
ed
icted
lab
el
(
g
o
o
d
,
s
tr
ip
e,
m
o
ld
y
,
d
ir
ty
)
to
a
p
r
ed
ef
in
ed
m
o
tio
n
s
eq
u
en
ce
f
o
r
ac
cu
r
ate
s
o
r
tin
g
.
T
ab
le
3
.
Do
b
o
t
m
o
v
em
en
t a
n
d
s
u
ctio
n
cu
p
c
o
n
tr
o
l in
s
tr
u
ctio
n
s
I
n
st
r
u
c
t
i
o
n
D
e
scri
p
t
i
o
n
d
e
f
m
o
v
e
_
d
o
b
o
t
(
d
o
b
o
t
,
x
,
y
,
z
,
su
c
t
i
o
n
)
D
e
f
i
n
e
s
a
f
u
n
c
t
i
o
n
t
o
m
o
v
e
t
h
e
r
o
b
o
t
t
o
s
p
e
c
i
f
i
e
d
c
o
o
r
d
i
n
a
t
e
s
a
n
d
c
o
n
t
r
o
l
t
h
e
s
u
c
t
i
o
n
c
u
p
.
P
r
i
n
t
(
f
"
M
o
v
i
n
g
t
o
:
(
{
x
},
{
y
},
{z})
w
i
t
h
su
c
t
i
o
n
{'
O
N
' i
f
su
c
t
i
o
n
e
l
s
e
'O
F
F
'}
"
)
D
i
sp
l
a
y
s a
st
a
t
u
s m
e
ssa
g
e
i
n
d
i
c
a
t
i
n
g
t
h
e
mo
v
e
m
e
n
t
a
n
d
s
u
c
t
i
o
n
s
t
a
t
u
s
.
d
o
b
o
t
.
mo
v
e
_
t
o
(
x
,
y
,
z
,
0
)
M
o
v
e
s
t
h
e
r
o
b
o
t
t
o
t
h
e
d
e
si
r
e
d
p
o
si
t
i
o
n
.
Th
e
f
i
n
a
l
p
a
r
a
met
e
r
(
0
)
i
s
t
h
e
j
o
i
n
t
o
r
i
e
n
t
a
t
i
o
n
.
i
f
su
c
t
i
o
n
C
h
e
c
k
s
w
h
e
t
h
e
r
su
c
t
i
o
n
i
s
n
e
e
d
e
d
.
I
f
Tr
u
e
,
a
c
t
i
v
a
t
e
s
s
u
c
t
i
o
n
;
o
t
h
e
r
w
i
se
,
d
e
a
c
t
i
v
a
t
e
s
i
t
.
d
o
b
o
t
.
su
c
k
(
Tr
u
e
)
A
c
t
i
v
a
t
e
s
t
h
e
s
u
c
t
i
o
n
c
u
p
t
o
g
r
a
sp
t
h
e
o
b
j
e
c
t
.
d
o
b
o
t
.
su
c
k
(
F
a
l
s
e
)
D
e
a
c
t
i
v
a
t
e
s
t
h
e
s
u
c
t
i
o
n
c
u
p
t
o
r
e
l
e
a
se
t
h
e
o
b
j
e
c
t
.
t
i
m
e
.
sl
e
e
p
(
1
)
P
a
u
se
s t
h
e
p
r
o
g
r
a
m f
o
r
o
n
e
se
c
o
n
d
t
o
e
n
s
u
r
e
s
t
a
b
l
e
e
x
e
c
u
t
i
o
n
.
T
ab
le
4
p
r
esen
ts
th
e
r
u
n
_
m
o
v
em
en
ts
f
u
n
ctio
n
,
wh
ich
m
ap
s
ea
ch
class
if
icatio
n
lab
el
“GO
OD
,
STRIPE
,
MO
L
DY,
DI
R
T
Y”
to
a
s
p
ec
if
ic
m
o
tio
n
r
o
u
tin
e
u
s
in
g
th
e
m
o
v
e_
d
o
b
o
t
f
u
n
cti
o
n
.
E
ac
h
ca
te
g
o
r
y
tr
ig
g
er
s
a
p
r
ed
e
f
in
ed
tr
ajec
to
r
y
an
d
s
u
ctio
n
c
o
n
tr
o
l
s
tr
ateg
y
,
en
s
u
r
in
g
ac
c
u
r
ate
p
lace
m
e
n
t
o
r
r
ejec
tio
n
.
T
h
is
im
p
lem
en
tatio
n
d
em
o
n
s
tr
ates
d
y
n
am
ic
m
o
tio
n
g
en
er
atio
n
b
ased
o
n
v
is
u
al
class
if
icatio
n
,
r
ed
u
cin
g
m
an
u
al
in
s
p
ec
tio
n
an
d
e
n
ab
lin
g
r
ea
l
-
ti
m
e
d
ef
ec
t so
r
tin
g
in
in
d
u
s
tr
ial
en
v
ir
o
n
m
en
ts
.
T
ab
le
4
.
Do
b
o
t
m
o
tio
n
ex
ec
u
tio
n
b
ased
o
n
lab
el
class
if
icatio
n
I
n
st
r
u
c
t
i
o
n
D
e
scri
p
t
i
o
n
d
e
f
r
u
n
_
m
o
v
e
me
n
t
s
(
d
o
b
o
t
,
l
a
b
e
l
)
D
e
f
i
n
e
s a
f
u
n
c
t
i
o
n
t
h
a
t
m
a
p
s c
l
a
ss
i
f
i
c
a
t
i
o
n
l
a
b
e
l
s t
o
m
o
v
e
m
e
n
t
r
o
u
t
i
n
e
s
.
i
f
l
a
b
e
l
=
=
'0
G
O
O
D
'
Ex
e
c
u
t
e
s
mo
t
i
o
n
s
p
e
c
i
f
i
c
t
o
'G
O
O
D
' l
a
b
e
l
.
e
l
i
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l
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D
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u
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s f
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
2
5
2
-
8
9
3
8
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tell
,
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15
,
No
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3
,
J
u
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20
26
:
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5
-
2
3
3
6
2330
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
T
h
is
s
ec
tio
n
ev
alu
ates
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
Do
b
o
t
Ma
g
ici
an
in
im
p
lem
en
tin
g
v
is
io
n
-
b
as
ed
m
o
tio
n
co
n
tr
o
l
u
s
in
g
R
asp
b
er
r
y
Pi
as
th
e
m
ain
p
r
o
ce
s
s
in
g
u
n
it.
T
h
e
s
y
s
tem
lev
er
ag
es
r
ea
l
-
tim
e
v
is
u
al
f
ee
d
b
ac
k
to
o
b
tain
p
o
s
itio
n
al
d
ata,
en
ab
li
n
g
p
r
ec
is
e
an
d
ad
ap
tiv
e
m
an
i
p
u
lato
r
a
d
ju
s
tm
en
ts
.
T
h
e
an
al
y
s
is
f
o
cu
s
es
o
n
th
e
Do
b
o
t
Ma
g
ician
’
s
k
in
e
m
atics
an
d
m
o
tio
n
e
x
ec
u
tio
n
p
er
f
o
r
m
an
ce
,
e
m
p
h
asizin
g
p
o
s
itio
n
al
ac
cu
r
ac
y
an
d
tr
ajec
to
r
y
p
lan
n
in
g
.
3
.
1
.
K
ine
m
a
t
ics
a
na
ly
s
is
o
f
Do
bo
t
M
a
g
icia
n
3
.
1
.
1
.
Dena
v
it
-
H
a
rt
enberg
a
na
ly
s
is
o
f
t
he
4
-
deg
re
e
-
of
-
f
re
edo
m
ma
nip
ula
t
o
r
T
o
estab
lis
h
an
ac
cu
r
ate
k
in
e
m
atic
m
o
d
el
o
f
th
e
Do
b
o
t
Ma
g
ician
m
an
ip
u
lato
r
,
a
Den
av
it
-
Har
ten
b
er
g
(D
-
H)
an
aly
s
i
s
w
as
co
n
d
u
ct
ed
.
T
h
e
r
o
b
o
t
co
m
p
r
i
s
e
s
f
iv
e
m
a
jo
r
co
m
p
o
n
en
t
s
:
s
ta
ti
c
b
as
e,
r
o
ta
ti
n
g
b
a
s
e
,
s
h
o
u
ld
er
,
e
lb
o
w,
an
d
wr
i
s
t
.
E
ac
h
o
f
th
e
s
e
co
m
p
o
n
en
t
s
wa
s
m
o
d
e
led
in
au
to
d
e
s
k
in
v
en
to
r
b
a
s
ed
o
n
th
e
o
r
ig
i
n
a
l
p
h
y
s
ic
al
d
im
en
s
io
n
s
an
d
t
h
en
a
s
s
em
b
l
ed
in
ac
co
r
d
an
ce
w
it
h
th
e
co
o
r
d
in
at
e
f
r
am
e
s
tr
u
c
tu
r
e
p
r
o
v
id
e
d
b
y
th
e
Do
b
o
t
m
an
u
f
ac
tu
r
er
[
3
1
]
.
T
h
e
r
e
s
u
lt
in
g
a
s
s
em
b
ly
,
in
clu
d
in
g
th
e
jo
in
t
r
ef
er
en
ce
f
r
a
m
e
s
,
i
s
s
h
o
wn
in
Fig
u
r
e
4
.
Fig
u
r
e
4
.
Stru
ctu
r
e
an
d
co
o
r
d
i
n
at
f
r
am
e
o
f
Do
b
o
t M
ag
ician
B
ased
o
n
th
is
s
tr
u
ctu
r
al
lay
o
u
t,
th
e
D
-
H
p
ar
am
eter
m
o
d
elin
g
f
o
r
th
e
4
-
DOF
co
n
f
i
g
u
r
atio
n
ex
clu
d
es
th
e
f
if
th
f
r
am
e
c
o
r
r
esp
o
n
d
in
g
to
th
e
en
d
-
ef
f
ec
to
r
.
T
h
e
p
ar
am
eter
s
et
s
u
m
m
ar
ized
in
T
ab
le
5
d
ef
in
es
th
e
r
elativ
e
tr
an
s
f
o
r
m
atio
n
b
etwe
en
ea
ch
jo
in
t
u
s
in
g
th
e
s
tan
d
a
r
d
f
o
u
r
D
-
H
p
ar
am
eter
s
:
lin
k
len
g
th
,
lin
k
twis
t
,
lin
k
o
f
f
s
et
an
d
jo
in
t a
n
g
le
.
T
h
ese
p
ar
am
eter
s
wer
e
d
ef
in
e
d
f
o
r
ea
ch
jo
i
n
t o
f
th
e
4
-
DOF
co
n
f
ig
u
r
atio
n
o
f
th
e
Do
b
o
t M
ag
ician
,
ex
clu
d
in
g
th
e
en
d
-
ef
f
ec
t
o
r
at
th
e
wr
i
s
t.
T
ab
le
5
.
D
-
H
p
a
r
am
eter
s
o
f
th
e
4
-
DOF
Do
b
o
t M
ag
ician
m
an
ip
u
lato
r
F
r
a
me
i
1
0
90
o
85
1
=
135
135
2
1
3
5
0
o
0
2
=
0
85
3
1
4
7
0
o
0
2
=
0
85
4
59
0
o
0
4
=
90
−
90
5
-
90
o
-
70
5
=
0
T
h
e
D
-
H
m
eth
o
d
d
e
r
iv
es
a
h
o
m
o
g
e
n
eo
u
s
m
atr
ix
f
o
r
m
u
lati
o
n
r
elativ
e
to
ea
ch
m
an
i
p
u
lat
o
r
f
r
am
e.
T
h
u
s
,
f
o
r
a
4
-
DOF
m
an
i
p
u
lato
r
s
u
ch
as Do
b
o
t M
a
g
ician
,
it y
ield
s
as in
(
1
)
.
−
1
=
[
−
−
0
0
0
0
1
]
(
1
)
Fro
m
th
e
h
o
m
o
g
e
n
eo
u
s
eq
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ati
o
n
,
th
e
m
atr
ix
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n
n
ec
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g
f
r
a
m
e
1
to
f
r
am
e
5
is
o
b
tain
ed
as
(
2
)
.
5
0
=
1
0
.
2
1
.
3
2
.
4
3
.
5
4
(
2
)
L
1
8
5
m
m
X
0
y
0
Z
0
L
1
L
2
L
4
L
3
Z
1
Z
2
Z
3
X
1
X
2
X
3
y
1
y
2
y
3
q
1
q
2
q
3
q
4
J
1
J
2
J
3
J
4
5
0
m
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Ar
tif
I
n
tell
I
SS
N:
2252
-
8
9
3
8
Ya
r
n
in
s
p
ec
tio
n
a
n
d
s
o
r
tin
g
s
ystem
u
s
in
g
r
o
b
o
tic
visi
o
n
a
n
d
ma
ch
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e
lea
r
n
in
g
(
E
mma
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u
el
A
g
u
n
g
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u
g
r
o
h
o
)
2331
I
n
th
is
p
r
o
v
is
io
n
,
th
e
k
in
em
at
ics
o
f
Do
b
o
t
M
ag
ician
is
f
o
r
m
ed
b
y
s
ettin
g
th
e
lin
k
len
g
t
h
s
L
1
=8
5
m
m
,
L
2
=1
3
5
m
m
,
L
3
=1
4
7
m
m
,
an
d
L
4
=5
9
m
m
,
with
j
o
in
t
v
a
r
iab
les
d
er
iv
ed
f
r
o
m
th
e
m
an
ip
u
lato
r
’
s
ac
tu
atio
n
b
ased
o
n
its
s
lid
er
i
n
p
u
t.
E
ac
h
tr
an
s
f
o
r
m
atio
n
m
a
tr
ix
−
1
is
co
n
s
tr
u
cted
b
ased
o
n
th
e
r
esp
ec
tiv
e
D
-
H
p
ar
am
eter
s
.
I
n
th
is
ca
s
e
th
e
co
n
f
i
g
u
r
atio
n
o
f
j
o
in
t a
n
g
le
s
:
1
=
-
3
3
°,
2
=
-
7
°,
3
=
-
2
4
°,
an
d
4
=
-
4
3
°.
So
,
th
e
tr
an
s
f
o
r
m
atio
n
m
atr
ices
f
r
o
m
b
ase
to
en
d
-
ef
f
e
cto
r
ar
e
co
m
p
u
ted
s
tep
-
by
-
s
tep
.
T
h
e
h
o
m
o
g
en
eo
u
s
tr
an
s
f
o
r
m
atio
n
m
atr
ices d
er
iv
ed
ar
e
as f
o
llo
w
s
:
1
=
-
3
3
°,
C
o
s
1
=0
.
8
3
8
,
Sin
1
=
-
0
.
5
4
4
1
0
=
[
0
.
838
0
−
0
.
544
73
.
61
0
0
.
838
42
.
5
0
0
−
1
0
0
85
0
1
]
2
=
-
3
7
°,
C
o
s
2
=0
.
9
9
2
,
Sin
2
=
-
0
.
1
2
2
2
1
=
[
0
.
992
0
0
.
122
133
.
99
−
0
.
122
0
0
.
992
−
16
.
47
0
0
−
1
0
0
0
0
1
]
3
=
-
2
4
°,
C
o
s
3
=0
.
9
1
3
,
Sin
3
=
-
0
.
4
0
6
3
2
=
[
0
.
913
0
0
.
406
134
.
21
−
0
.
406
0
0
.
913
−
59
.
68
0
0
−
1
0
0
0
0
1
]
4
=
-
4
3
°,
C
o
s
4
=0
.
7
3
1
,
Sin
4
=
-
0
.
6
8
1
4
3
=
[
0
.
731
0
0
.
681
43
.
13
−
0
.
681
0
0
.
731
−
40
.
18
0
0
−
1
0
0
0
0
1
]
5
4
=
[
1
0
0
0
0
0
−
1
0
0
0
1
0
0
−
70
0
1
]
T
h
e
o
v
e
r
all
tr
an
s
f
o
r
m
atio
n
f
r
o
m
b
ase
to
wr
is
t is o
b
tain
ed
b
y
:
5
0
=
[
0
.
231
−
0
.
544
−
0
.
806
269
.
82
−
0
.
150
−
0
.
838
0
.
523
−
91
.
76
−
0
.
961
0
0
0
−
0
.
275
−
63
.
88
0
1
]
3
.
1
.
2
.
F
o
rwa
rd
k
inem
a
t
ics a
na
ly
s
is
o
f
t
he
4
-
deg
re
e
-
of
-
f
re
edo
m
ma
nip
ula
t
o
r
I
n
th
e
co
n
tex
t
o
f
a
4
-
DOF
m
a
n
ip
u
lato
r
,
f
o
r
war
d
k
in
em
atics
is
ess
en
tial
f
o
r
d
eter
m
in
in
g
th
e
p
o
s
itio
n
an
d
o
r
ien
tatio
n
o
f
th
e
en
d
-
ef
f
ec
to
r
b
ased
o
n
th
e
jo
in
t
an
g
le
s
o
f
th
e
m
an
ip
u
lato
r
[
3
2
]
.
T
h
is
p
r
o
ce
s
s
in
v
o
lv
es
a
clo
s
ed
-
lo
o
p
v
ec
to
r
a
n
aly
s
is
to
d
er
iv
e
th
e
p
o
s
itio
n
eq
u
atio
n
s
.
T
h
e
n
u
m
b
er
o
f
eq
u
atio
n
s
d
e
p
e
n
d
s
o
n
th
e
n
u
m
b
er
o
f
jo
in
ts
an
d
th
e
len
g
t
h
o
f
ea
c
h
m
an
ip
u
lato
r
lin
k
.
T
h
e
f
o
r
war
d
k
in
em
atics e
q
u
atio
n
is
d
ef
in
e
d
as
in
(
3
)
.
[
]
=
[
(
1
)
.
(
2
(
2
)
+
3
(
2
+
3
)
+
4
(
2
+
3
+
4
)
)
(
1
)
.
(
2
(
2
)
+
3
(
2
+
3
)
+
4
(
2
+
3
+
4
)
)
1
+
(
2
(
2
)
+
3
(
2
+
3
)
+
4
(
2
+
3
+
4
)
)
]
(
3
)
T
h
e
r
eq
u
ir
ed
tr
ig
o
n
o
m
etr
y
v
al
u
es
ar
e
ca
lcu
lated
:
(
2
+
3
)
=
0
.
857
(
2
+
3
+
4
)
=
0
.
276
(
2
+
3
)
=
−
0
.
5151
(
2
+
3
+
4
)
=
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3.
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ates f
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(
7
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s
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ates.
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T
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o
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icatio
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Fig
u
r
e
5
(
a)
s
h
o
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e
m
o
v
em
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t
p
ath
wh
en
h
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g
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n
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ile
Fig
u
r
e
5
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b
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illu
s
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ates
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e
tr
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to
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y
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en
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ate
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u
r
i
n
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o
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ip
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n
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lace
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ates
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ct
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ath
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ts
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e
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ir
e
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at
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ax
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o
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r
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p
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g
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e
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tical
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o
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tal
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(
a)
(
b
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Fig
u
r
e
5
.
T
r
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o
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e
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n
ip
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lato
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ip
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T
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ly
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F
ig
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at
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4.
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DATA AV
AI
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AB
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[
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AN
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,
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eq
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RE
F
E
R
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NC
E
S
[
1
]
Ş
.
Ç
i
ğ
d
e
m
,
I
.
M
.
K
a
v
a
l
i
a
u
s
k
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e
,
a
n
d
B
.
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l
d
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z
,
“
I
n
d
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s
t
r
y
4
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u
st
r
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s:
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f
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p
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m
p
l
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s,
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o
g
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.
[
2
]
M
.
M
a
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.
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o
n
g
,
“
Y
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LO
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3
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2
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2
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.
[
3
]
G
.
Th
i
l
a
g
a
v
a
t
h
i
a
n
d
T
.
K
a
r
t
h
i
k
,
Pro
c
e
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c
o
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t
ro
l
a
n
d
y
a
r
n
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a
l
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g
,
1
s
t
e
d
.
N
e
w
Y
o
r
k
,
U
n
i
t
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d
S
t
a
t
e
s
:
W
P
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P
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b
l
i
s
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,
2
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1
6
,
d
o
i
:
1
0
.
1
2
0
1
/
b
1
8
7
9
7
.
Evaluation Warning : The document was created with Spire.PDF for Python.