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Vo
l.
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3
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Sep
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20
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6
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p
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6
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~
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8
I
SS
N:
2722
-
2
5
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DOI
:
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s
[
1
]
–
[
3
]
.
T
h
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p
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o
f
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d
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r
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(
AI
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[
4
]
.
Dee
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th
at
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[
5
]
,
[
6
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.
Ho
wev
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,
th
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ity
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p
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d
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in
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s
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ar
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ly
[
7
]
–
[
9
]
.
T
h
is
m
o
d
u
lar
s
ep
ar
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n
r
ed
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s
th
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
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b
&
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u
to
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I
SS
N:
2722
-
2
5
8
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V
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1
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ased
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C
R
)
v
er
if
icatio
n
;
ii)
T
h
e
s
y
s
tem
cr
ea
tes
a
h
y
b
r
id
p
ip
elin
e
b
y
c
o
m
b
in
i
n
g
v
a
r
io
u
s
tech
n
o
lo
g
ies,
s
u
ch
as
v
is
io
n
,
OC
R
,
co
lo
r
d
ec
o
d
in
g
,
an
d
q
u
an
titativ
e
elec
tr
ical
m
ea
s
u
r
em
en
t
;
an
d
iii)
T
h
r
o
u
g
h
ex
p
er
im
en
tal
v
alid
atio
n
,
th
e
s
tu
d
y
s
h
o
ws
th
at
d
u
al
-
d
o
m
ain
v
e
r
if
icatio
n
im
p
r
o
v
es c
lass
if
icatio
n
r
eliab
i
lity
.
T
h
e
ar
ch
itectu
r
e
ca
n
s
u
p
p
o
r
t
s
m
all
p
r
o
d
u
ctio
n
lin
es
an
d
m
ed
iu
m
p
r
o
d
u
ctio
n
lin
es
th
r
o
u
g
h
its
m
o
d
u
lar
f
ee
d
e
r
s
y
s
tem
wh
ic
h
en
ab
les
s
ca
lab
ilit
y
.
T
h
e
p
r
o
p
o
s
ed
f
r
am
ewo
r
k
s
p
ec
if
icall
y
tar
g
ets
lo
w
-
c
o
s
t,
m
o
d
u
lar
au
t
o
m
atio
n
wh
ich
la
b
o
r
ato
r
ies
an
d
s
m
all
-
to
-
m
e
d
iu
m
en
ter
p
r
is
es
(
SME
s
)
ca
n
u
s
e
b
u
t
n
o
t
h
ig
h
-
en
d
in
d
u
s
tr
ial
s
o
lu
tio
n
s
.
2.
RE
L
AT
E
D
WO
RK
S
Mo
h
s
in
et
a
l.
[
1
3
]
d
ev
el
o
p
ed
an
au
to
m
ate
d
waste
p
r
in
ted
cir
cu
it
b
o
ar
d
(
W
PC
B
)
d
is
ass
em
b
ly
s
y
s
tem
wh
ich
u
s
es
ed
g
e
co
m
p
u
tin
g
a
n
d
I
n
ter
n
et
o
f
T
h
in
g
s
(
I
o
T
)
te
ch
n
o
lo
g
y
to
ac
h
iev
e
9
4
%
ac
c
u
r
ac
y
wh
ile
s
h
o
win
g
th
at
d
is
tr
ib
u
ted
in
tellig
en
ce
ca
n
s
u
cc
ess
f
u
lly
r
ec
y
cle
elec
tr
o
n
ic
waste.
T
h
e
m
eth
o
d
wo
r
k
s
to
r
ec
o
v
er
co
m
p
o
n
en
ts
th
at
h
av
e
r
ea
ch
e
d
th
eir
en
d
o
f
life
b
u
t
d
o
es
n
o
t
f
u
n
ctio
n
as
a
v
er
i
f
icatio
n
m
eth
o
d
f
o
r
in
d
u
s
tr
ial
p
r
o
d
u
ct
q
u
ality
co
n
tr
o
l.
Mu
r
s
h
ed
et
a
l.
[
1
4
]
b
u
ilt
a
R
asp
b
er
r
y
Pi
au
to
m
atic
lev
el
-
cr
o
s
s
in
g
s
af
ety
s
y
s
tem
wh
ich
ac
h
iev
es
9
2
%
d
etec
tio
n
ac
cu
r
ac
y
i
n
r
ea
l
-
tim
e
with
a
r
esp
o
n
s
e
tim
e
th
at
tak
es
less
th
an
f
iv
e
s
ec
o
n
d
s
to
s
h
o
w
h
o
w
lo
w
-
co
s
t
em
b
ed
d
ed
v
is
io
n
tech
n
o
lo
g
y
ca
n
cr
ea
te
ef
f
ec
tiv
e
s
af
ety
s
y
s
tem
s
.
T
h
e
s
y
s
tem
ca
n
p
r
o
ce
s
s
at
h
ig
h
s
p
ee
d
b
u
t
its
ca
p
ac
ity
to
co
n
d
u
ct
f
u
ll
elec
tr
o
n
ic
i
n
s
p
ec
tio
n
b
ec
o
m
es
lim
ited
b
ec
au
s
e
o
f
its
b
asic
d
etec
tio
n
s
y
s
tem
an
d
its
r
estricte
d
co
m
p
u
tin
g
p
o
wer
.
Petr
u
s
e
an
d
Vlad
[
1
5
]
d
is
co
v
er
e
d
th
at
r
o
b
o
t
h
elp
er
s
en
ab
le
wo
r
k
er
s
to
ac
h
iev
e
b
ett
er
er
g
o
n
o
m
ic
co
n
d
itio
n
s
wh
ich
r
ed
u
ce
o
p
e
r
ato
r
s
tr
ain
b
y
3
0
%
wh
ile
in
cr
ea
s
in
g
th
eir
task
p
er
f
o
r
m
a
n
ce
.
T
h
e
r
esear
ch
p
r
o
v
es
u
s
ef
u
l
f
o
r
wo
r
k
p
lace
im
p
r
o
v
em
e
n
t,
b
u
t
it
f
ails
to
p
r
o
v
id
e
s
o
lu
tio
n
s
f
o
r
au
to
m
ated
v
is
io
n
-
b
ased
co
m
p
o
n
en
t
in
s
p
ec
tio
n
to
g
eth
er
with
ad
v
a
n
ce
d
s
en
s
in
g
tech
n
o
lo
g
y
n
ee
d
s
.
T
h
e
s
y
s
tem
d
esig
n
ed
b
y
Sh
ar
m
a
an
d
K
u
m
ar
[
1
6
]
u
s
es
co
n
v
o
lu
tio
n
n
eu
r
al
n
etwo
r
k
(
C
NN)
tech
n
o
lo
g
y
f
o
r
ac
tu
al
W
PC
B
co
m
p
o
n
en
t
id
en
tific
atio
n
wh
ich
ac
h
iev
es
9
6
%
ac
cu
r
ac
y
i
n
co
n
tr
o
lled
lab
o
r
ato
r
y
s
ettin
g
s
.
T
h
e
r
esear
ch
n
ee
d
s
to
s
tu
d
y
h
o
w
in
d
u
s
tr
ial
e
n
v
ir
o
n
m
en
t
s
wh
ich
in
clu
d
e
d
u
s
t
an
d
d
a
r
k
s
p
ac
es
an
d
o
ld
m
ac
h
in
er
y
im
p
ac
t
s
y
s
tem
p
er
f
o
r
m
a
n
ce
.
Su
n
et
a
l.
[
1
7
]
cr
ea
ted
a
th
er
m
al
o
p
tim
izatio
n
m
eth
o
d
wh
ic
h
im
p
r
o
v
e
d
co
o
lin
g
p
er
f
o
r
m
an
ce
b
y
2
0
%
th
r
o
u
g
h
t
h
eir
r
esear
ch
o
n
AI
-
b
ased
PC
B
en
cl
o
s
u
r
e
d
esig
n
u
s
in
g
s
im
u
latio
n
test
in
g
.
T
h
e
r
esea
r
ch
s
tu
d
y
ch
o
o
s
es
to
ex
am
i
n
e
m
ec
h
an
ical
a
n
d
t
h
er
m
al
p
ac
k
ag
in
g
elem
en
ts
in
s
tead
o
f
its
two
f
au
lt
d
etec
tio
n
m
eth
o
d
s
an
d
elec
tr
ic
al
v
er
if
icatio
n
m
eth
o
d
s
.
I
n
te
g
r
ated
v
er
if
icatio
n
f
r
am
ewo
r
k
s
r
em
ain
ess
en
tial
b
ec
au
s
e
r
ec
en
t
v
is
io
n
r
esear
c
h
an
d
AI
in
s
p
ec
tio
n
im
p
r
o
v
e
m
en
ts
d
em
o
n
s
tr
ate
th
eir
n
ee
d
ac
c
o
r
d
in
g
to
r
esear
c
h
f
in
d
in
g
s
f
r
o
m
[
1
8
]
,
[
1
9
]
.
3.
SYST
E
M
DE
SI
G
N
AN
D
M
E
T
H
O
DO
L
O
G
Y
T
h
e
au
to
m
ate
d
v
is
u
al
–
elec
tr
i
ca
l
v
er
if
icatio
n
p
latf
o
r
m
f
o
r
t
esti
n
g
r
esis
to
r
s
an
d
ca
p
ac
ito
r
s
an
d
d
u
al
in
lin
e
p
ac
k
ag
e
in
teg
r
ated
cir
c
u
its
(
DI
P
I
C
s
)
u
s
es
r
o
b
o
tic
s
y
s
tem
s
to
g
eth
er
with
co
m
p
u
ter
v
is
io
n
tech
n
o
l
o
g
y
an
d
p
r
o
g
r
am
m
ab
le
elec
tr
ical
t
esti
n
g
to
cr
e
ate
a
co
m
p
lete
in
s
p
ec
tio
n
p
r
o
ce
s
s
[
2
0
]
.
T
h
e
s
y
s
tem
co
n
s
is
ts
o
f
f
o
u
r
co
m
p
o
n
en
ts
wh
ich
in
clu
d
e
a
h
ig
h
-
r
eso
lu
tio
n
v
is
io
n
m
o
d
u
le
an
d
an
ad
ap
tiv
e
f
ee
d
e
r
a
n
d
a
C
ar
tesi
an
r
o
b
o
tic
ar
m
th
at
h
as
in
ter
c
h
an
g
ea
b
le
en
d
-
ef
f
ec
t
o
r
s
an
d
a
n
elec
tr
ical
v
er
if
icatio
n
test
jig
.
T
h
e
ce
n
t
r
alize
d
co
n
tr
o
l
u
n
it
[
2
1
]
m
a
n
ag
es
all
asp
ec
ts
o
f
r
o
b
o
tic
m
o
b
ilit
y
an
d
im
ag
e
p
r
o
ce
s
s
in
g
an
d
m
ea
s
u
r
em
en
t
p
r
o
ce
d
u
r
es
an
d
f
i
n
al
s
o
r
tin
g
d
ec
is
io
n
s
.
Fig
u
r
e
1
p
r
o
v
id
es
a
co
m
p
r
eh
en
s
iv
e
o
v
er
v
iew
o
f
th
e
p
r
o
p
o
s
ed
au
t
o
m
ated
in
s
p
ec
tio
n
s
y
s
tem
.
Sp
ec
if
ically
,
th
e
co
m
p
lete
lay
o
u
t
o
f
th
e
s
y
s
tem
ap
p
ea
r
s
in
Fig
u
r
e
1
(
a)
w
h
ich
s
h
o
ws
all
s
y
s
tem
co
m
p
o
n
en
ts
.
Fu
r
th
er
m
o
r
e
,
Fig
u
r
e
1
(
b
)
illu
s
tr
ates
th
e
r
o
b
o
tic
m
an
ip
u
lato
r
eq
u
ip
p
ed
with
a
p
ar
allel
g
r
ip
p
er
th
at
is
u
s
ed
to
ex
ec
u
te
th
e
au
t
o
m
ated
p
ic
k
-
an
d
-
p
lace
o
p
er
atio
n
s
.
T
h
e
r
o
b
o
tic
m
a
n
i
p
u
l
at
o
r
s
y
s
t
e
m
u
s
es
a
f
i
v
e
-
a
x
is
C
a
r
t
esia
n
d
esig
n
w
it
h
m
u
lt
ip
le
g
r
ip
p
i
n
g
t
o
o
ls
a
n
d
a
v
i
b
r
at
o
r
y
f
ee
d
e
r
s
y
s
te
m
to
p
e
r
f
o
r
m
ac
c
u
r
ate
el
ec
t
r
o
n
ic
c
o
m
p
o
n
e
n
t
p
i
c
k
-
a
n
d
-
p
la
ce
tas
k
s
f
o
r
t
h
e
m
e
ch
a
n
ic
al
s
u
b
s
y
s
t
em
o
p
e
r
ati
o
n
[
2
2
]
.
T
h
e
el
ec
t
r
i
ca
l
s
u
b
s
y
s
te
m
t
ests
I
C
l
o
g
ic
f
u
n
ct
io
n
a
lit
y
t
h
r
o
u
g
h
two
m
e
th
o
d
s
w
h
i
ch
in
c
lu
d
e
p
ass
i
v
e
c
o
m
p
o
n
e
n
t
i
m
p
e
d
a
n
c
e
t
esti
n
g
w
it
h
a
m
o
d
u
la
r
p
o
g
o
-
p
i
n
t
est
ji
g
an
d
S
C
PI
-
co
n
t
r
o
ll
e
d
L
C
R
m
et
er
[
2
3
]
.
T
h
e
A
r
d
u
i
n
o
M
eg
a
test
s
i
n
t
e
g
r
ate
d
c
ir
cu
its
t
h
r
o
u
g
h
p
r
e
d
e
f
i
n
e
d
t
est
p
att
er
n
s
wh
ile
ass
ess
i
n
g
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esis
ta
n
c
e
i
n
d
u
cta
n
c
e
a
n
d
c
ap
a
cita
n
ce
a
cc
o
r
d
in
g
t
o
t
h
e
e
v
a
lu
ati
o
n
m
e
th
o
d
d
e
f
i
n
e
d
i
n
(
1
)
.
T
h
e
ele
ct
r
ic
al
t
esti
n
g
s
etu
p
an
d
I
C
v
e
r
i
f
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o
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c
ir
cu
it
a
r
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at
e
d
i
n
Fi
g
u
r
e
2
.
Fi
g
u
r
e
2
(
a)
ill
u
s
t
r
at
es A
r
d
u
in
o
-
b
ase
d
u
n
i
t i
n
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r
f
a
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d
wit
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L
C
D
an
d
T
C
S
3
2
0
0
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s
o
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,
w
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F
ig
u
r
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2
(
b
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I
C
test
in
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cir
c
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it
ill
u
s
t
r
ati
n
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i
n
p
u
t
–
o
u
t
p
u
t l
o
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ic
v
al
id
ati
o
n
.
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
.
1
5
,
No
.
3
,
Sep
tem
b
er
20
2
6
:
6
5
8
-
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ased
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e
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Fig
u
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ates p
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