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43
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K
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Fall d
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Gy
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A
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:
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in
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Ma
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Facu
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Un
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Alg
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Fall
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R
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Mo
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in
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h
an
ce
ac
tiv
ity
class
if
icatio
n
an
d
f
all
d
etec
tio
n
,
o
f
ten
co
m
p
ar
i
n
g
th
em
to
s
in
g
le
-
s
en
s
o
r
ap
p
r
o
ac
h
es.
U
n
lik
e
s
in
g
le
-
s
en
s
o
r
m
eth
o
d
s
,
m
u
lti
-
s
en
s
o
r
s
y
s
tem
s
p
r
o
ce
s
s
ea
ch
m
o
d
ality
s
ep
ar
ately
b
ef
o
r
e
f
u
s
in
g
r
esu
lt
s
at
in
ter
m
ed
iate
o
r
f
in
al
s
tag
es.
W
ea
r
ab
le
ac
ce
ler
o
m
eter
s
an
d
g
y
r
o
s
co
p
es,
in
in
er
tial
u
n
its
o
r
s
m
ar
tp
h
o
n
es,
p
r
o
v
id
e
m
o
tio
n
d
ata
u
s
ed
in
d
iv
id
u
ally
o
r
jo
in
tly
f
o
r
f
all
d
etec
tio
n
.
2
.
1
.
F
a
ll det
ec
t
io
n us
ing
a
n a
cc
eler
o
m
et
er
Acc
eler
o
m
eter
s
ar
e
u
s
ed
to
ass
es
s
h
u
m
an
m
o
v
em
e
n
t,
p
ar
ticu
lar
ly
g
ait,
p
o
s
tu
r
e,
s
it
-
to
-
s
tan
d
tr
an
s
itio
n
s
,
an
d
f
alls
.
T
h
e
y
a
ls
o
en
ab
le
m
o
n
ito
r
in
g
o
f
p
h
y
s
ical
ac
tiv
ity
lev
els
an
d
cla
s
s
if
icatio
n
o
f
d
aily
m
o
v
em
en
ts
.
Am
o
n
g
f
all
d
et
ec
tio
n
s
tu
d
ies
b
ased
o
n
ac
c
eler
o
m
eter
s
,
B
o
u
d
o
u
an
e
et
a
l.
[
1
0
]
p
r
o
p
o
s
ed
a
p
o
r
tab
le
r
ea
l
-
tim
e
s
y
s
tem
f
o
r
co
n
tin
u
o
u
s
m
o
n
ito
r
in
g
o
f
el
d
er
ly
o
r
d
is
ab
led
in
d
iv
id
u
als,
u
s
in
g
a
tr
i
-
ax
ial
ac
ce
ler
o
m
eter
a
n
d
a
R
asp
b
er
r
y
Pi3
.
T
h
eir
ap
p
r
o
ac
h
r
elied
o
n
a
m
u
lti
-
th
r
esh
o
ld
alg
o
r
ith
m
to
d
is
tin
g
u
is
h
v
ar
io
u
s
ty
p
es o
f
f
a
lls
an
d
d
aily
ac
tiv
ities
.
Similar
ly
,
Ma
k
h
lo
u
f
et
a
l.
[
1
1
]
-
[
1
3
]
d
e
v
elo
p
ed
a
m
u
ltimo
d
al
s
y
s
tem
co
m
b
in
in
g
th
r
ee
am
b
ien
t
ass
is
tan
ce
s
er
v
ices,
in
clu
d
in
g
f
all
d
etec
tio
n
with
a
tr
i
-
ax
ial
ac
ce
ler
o
m
eter
.
I
n
cr
itical
s
itu
atio
n
s
,
an
em
er
g
en
cy
s
er
v
i
ce
f
u
s
es
th
e
d
ata
f
r
o
m
all
th
r
e
e
s
er
v
ices
an
d
tr
an
s
m
its
d
etail
ed
in
f
o
r
m
atio
n
o
n
th
e
u
s
er
’
s
co
n
d
itio
n
to
ca
r
eg
iv
er
s
.
Nah
ian
et
a
l
.
[
1
4
]
p
r
o
p
o
s
ed
a
f
all
d
etec
tio
n
p
ip
eli
n
e
u
s
in
g
wea
r
ab
le
ac
ce
ler
o
m
eter
d
ata,
v
alid
ate
d
o
n
th
r
ee
p
u
b
lic
d
atasets
with
o
v
er
7
,
7
0
0
f
ea
tu
r
es
an
aly
ze
d
.
Featu
r
e
s
elec
tio
n
tech
n
iq
u
es
im
p
r
o
v
ed
p
e
r
f
o
r
m
an
ce
b
y
id
en
tif
y
in
g
th
e
m
o
s
t
r
elev
an
t
f
ea
tu
r
es.
I
n
B
o
o
r
a
n
awo
n
g
et
a
l.
[
1
5
]
,
a
r
ea
l
-
tim
e
s
y
s
tem
u
s
in
g
a
wea
r
ab
le
ac
ce
ler
o
m
eter
d
et
ec
ts
s
tair
-
r
elate
d
ac
tiv
ities
s
u
ch
as
ascen
d
in
g
,
d
escen
d
in
g
,
tu
r
n
in
g
,
an
d
f
alli
n
g
.
T
ested
in
a
r
ea
l
h
o
m
e
en
v
ir
o
n
m
e
n
t,
it
s
h
o
wed
p
r
ac
tic
al
ef
f
ec
tiv
en
ess
f
o
r
p
r
ev
en
tin
g
d
o
m
esti
c
ac
cid
en
ts
.
2
.
2
.
F
a
ll det
ec
t
io
n
us
ing
a
cc
eler
o
m
et
er
a
nd
g
y
ro
s
co
pe
Sin
g
le
-
s
en
s
o
r
s
y
s
tem
s
o
f
f
er
h
ig
h
f
all
d
etec
tio
n
ac
cu
r
ac
y
w
ith
lo
w
en
er
g
y
co
n
s
u
m
p
tio
n
,
esp
ec
iall
y
ac
ce
ler
o
m
eter
-
b
ased
wea
r
ab
l
es
f
o
r
o
u
td
o
o
r
u
s
e.
Mu
lti
-
s
en
s
o
r
s
y
s
tem
s
ar
e
m
o
r
e
ef
f
ec
tiv
e
f
o
r
ac
tiv
ity
class
if
icatio
n
,
b
en
ef
iti
n
g
f
r
o
m
co
m
p
lem
en
ta
r
y
d
ata
[
1
6
]
.
C
h
o
i
et
a
l.
[
1
7
]
a
n
d
Hu
s
s
ain
et
a
l.
[
1
8
]
,
th
e
a
u
th
o
r
s
p
r
o
p
o
s
ed
d
ee
p
lear
n
in
g
a
p
p
r
o
ac
h
es
u
s
in
g
in
er
tial
m
ea
s
u
r
em
en
t
u
n
it
(
I
MU
)
d
ata
(
ac
ce
ler
o
m
eter
a
n
d
g
y
r
o
s
co
p
e
)
f
o
r
f
all
an
d
ac
ti
v
ities
o
f
d
aily
liv
in
g
(
ADL
)
class
if
icatio
n
.
W
h
ile
C
h
o
i
et
a
l.
[
1
7
]
u
s
es
an
o
p
tim
ized
d
ir
ec
ted
ac
y
clic
g
r
ap
h
co
n
v
o
lu
tio
n
al
n
e
u
r
al
n
et
wo
r
k
(
DAG
-
C
NN
)
,
Hu
s
s
ain
et
a
l.
[
1
8
]
co
m
b
in
es
C
NN
-
b
ased
f
ea
tu
r
e
ex
tr
ac
tio
n
with
lo
n
g
s
h
o
r
t
-
ter
m
m
e
m
o
r
y
(
L
STM
)
tem
p
o
r
al
m
o
d
elin
g
to
im
p
r
o
v
e
ac
cu
r
ac
y
.
An
d
o
et
a
l
.
[
1
9
]
,
[
2
0
]
p
r
o
p
o
s
ed
a
m
u
lti
-
s
en
s
o
r
f
u
s
io
n
a
p
p
r
o
ac
h
co
m
b
in
i
n
g
g
y
r
o
s
co
p
e
a
n
d
ac
ce
ler
o
m
eter
d
ata
f
r
o
m
s
m
a
r
tp
h
o
n
es
a
n
d
wea
r
ab
le
d
e
v
ice
s
f
o
r
ADL
s
an
d
f
all
class
if
icatio
n
.
A
th
r
esh
o
ld
-
b
ased
alg
o
r
ith
m
d
etec
ts
f
alls
u
s
in
g
ac
ce
ler
atio
n
an
d
an
g
u
lar
v
elo
city
f
ea
t
u
r
es
an
d
a
u
to
m
atica
lly
aler
ts
ca
r
eg
iv
er
s
.
R
esear
ch
is
in
cr
ea
s
in
g
ly
f
o
cu
s
in
g
o
n
s
m
ar
tp
h
o
n
e
-
em
b
ed
d
ed
s
en
s
o
r
s
,
as
s
m
ar
tp
h
o
n
e
o
wn
er
s
h
i
p
ex
ce
ed
s
3
b
illi
o
n
u
s
er
s
wo
r
ld
wid
e
[
2
1
]
.
Acc
eler
o
m
eter
s
an
d
g
y
r
o
s
co
p
es
ar
e
wid
ely
u
s
ed
f
o
r
f
all
d
etec
tio
n
,
m
ea
s
u
r
in
g
lin
ea
r
ac
c
eler
atio
n
an
d
an
g
u
lar
d
is
p
lace
m
e
n
t r
esp
ec
tiv
ely
[
2
2
]
.
2
.
3
.
Sy
nthesis
Af
ter
estab
lis
h
in
g
a
n
o
n
-
ex
h
a
u
s
tiv
e
s
tate
o
f
th
e
ar
t
o
n
th
e
v
ar
io
u
s
ex
is
tin
g
s
y
s
tem
s
,
we
s
u
m
m
ar
ized
th
e
wo
r
k
ca
r
r
ied
o
u
t.
I
n
d
ee
d
,
wea
r
ab
le
s
y
s
tem
s
ar
e
lo
w
-
c
o
s
t
an
d
p
r
iv
ac
y
-
p
r
eser
v
i
n
g
b
u
t
r
eq
u
ir
e
c
o
n
tin
u
o
u
s
u
s
e
an
d
f
r
eq
u
en
t
ch
ar
g
in
g
.
On
th
e
o
th
er
h
an
d
,
wea
r
ab
le
s
y
s
tem
s
ar
e
ea
s
y
to
ca
r
r
y
an
d
u
s
e
in
d
o
o
r
s
an
d
o
u
td
o
o
r
s
,
en
ab
lin
g
co
n
tin
u
o
u
s
m
o
n
ito
r
in
g
o
f
th
e
u
s
er
[
2
3
]
.
B
ased
o
n
th
is
s
y
n
th
esis
,
we
h
av
e
ch
o
s
en
a
p
o
r
tab
le,
m
u
lti
-
s
e
n
s
o
r
s
y
s
tem
f
o
r
f
all
d
etec
tio
n
in
r
elatio
n
to
all
th
e
ADL
s
p
er
f
o
r
m
ed
b
y
th
e
u
s
er
.
T
h
e
s
y
s
tem
p
r
o
p
o
s
ed
in
th
is
wo
r
k
r
elies
o
n
an
a
cc
eler
o
m
eter
an
d
a
g
y
r
o
s
co
p
e;
b
o
t
h
s
en
s
o
r
s
ar
e
l
o
w
-
co
s
t
co
m
p
o
n
en
ts
with
p
r
o
v
en
e
f
f
ec
tiv
en
ess
f
o
r
f
all
d
e
tectio
n
,
ev
en
wh
en
u
s
ed
in
d
ep
en
d
en
tly
.
T
h
e
e
v
al
u
atio
n
o
f
th
e
s
y
s
tem
with
r
esp
ec
t
to
f
all
d
etec
tio
n
will
in
it
ially
b
e
ca
r
r
ied
o
u
t
u
s
in
g
o
n
ly
t
h
e
g
y
r
o
s
co
p
e.
I
n
a
s
u
b
s
eq
u
en
t
s
tep
,
we
will
f
u
s
e
th
e
d
ata
f
r
o
m
th
e
g
y
r
o
s
co
p
e
w
ith
th
o
s
e
p
r
o
v
i
d
ed
b
y
th
e
ac
ce
ler
o
m
eter
,
wh
ich
wer
e
p
r
o
ce
s
s
ed
in
th
e
s
tu
d
y
c
o
n
d
u
cte
d
b
y
B
o
u
d
o
u
a
n
e
et
a
l.
[
1
0
]
.
T
h
is
ap
p
r
o
ac
h
will e
n
ab
le
u
s
to
ass
ess
th
e
ad
d
ed
v
alu
e
o
f
c
o
m
b
in
in
g
th
e
tw
o
s
en
s
o
r
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
43
,
No
.
3
,
Sep
tem
b
er
20
26
:
7
2
6
-
7
3
6
728
3.
M
E
T
H
O
D
Falls
ar
e
d
is
tin
g
u
is
h
ed
f
r
o
m
ADL
b
y
ac
ce
ler
atio
n
a
n
d
o
r
ien
tatio
n
ch
a
n
g
es,
d
etec
ted
u
s
in
g
an
ac
ce
ler
o
m
eter
an
d
a
g
y
r
o
s
co
p
e.
As
a
co
n
t
r
ib
u
tio
n
to
th
e
d
ev
elo
p
m
en
t
o
f
a
p
o
r
tab
le,
m
u
lti
-
s
en
s
o
r
f
al
l
d
etec
tio
n
s
y
s
tem
,
o
u
r
wo
r
k
p
r
o
p
o
s
es
th
e
u
s
e
o
f
a
t
h
r
esh
o
l
d
-
b
ased
m
eth
o
d
t
o
d
is
tin
g
u
is
h
f
alls
f
r
o
m
o
th
er
ADL
s
b
y
an
al
y
zin
g
d
ata
f
r
o
m
a
tr
ia
x
ial
ac
ce
ler
o
m
ete
r
an
d
g
y
r
o
s
co
p
e
.
Gy
r
o
s
co
p
es
p
r
o
v
id
e
an
alter
n
ativ
e
s
o
u
r
ce
o
f
k
in
e
m
atic
in
f
o
r
m
ati
o
n
f
o
r
f
all
d
ete
ctio
n
.
W
ith
th
is
s
en
s
o
r
,
a
f
all
ca
n
b
e
ch
ar
ac
ter
ized
b
y
an
in
cr
ea
s
e
in
an
g
u
la
r
v
elo
city
,
p
ea
k
i
n
g
wh
en
a
k
n
ee
o
r
a
h
i
p
h
its
th
e
g
r
o
u
n
d
.
T
h
is
r
o
tatio
n
al
s
ig
n
al
ca
p
tu
r
es
th
e
s
u
d
d
en
d
escen
t
o
f
th
e
tr
u
n
k
.
T
h
e
an
g
u
lar
tr
ajec
to
r
y
o
f
th
e
tr
u
n
k
,
in
s
ag
ittal
an
d
lat
er
al
d
ir
ec
tio
n
s
,
ca
n
b
e
u
s
ed
as
an
ad
d
itio
n
al
c
r
iter
io
n
f
o
r
f
all
d
etec
tio
n
[
2
4
]
.
Similar
ly
,
a
h
i
g
h
a
n
g
u
lar
v
el
o
city
p
r
io
r
to
im
p
ac
t
is
a
cr
u
cial
m
ar
k
er
f
o
r
i
d
en
tify
in
g
a
f
all
[
2
4
]
.
Nev
er
th
eless
,
a
lig
h
t
ac
tiv
ity
s
u
ch
as
ly
in
g
d
o
wn
o
n
a
b
ed
p
r
o
d
u
ce
s
a
s
im
ilar
an
g
u
lar
v
elo
city
p
r
o
f
i
le
o
n
a
s
m
aller
s
ca
le.
T
h
e
m
ag
n
itu
d
e
o
f
th
e
an
g
u
lar
v
elo
c
ity
p
r
o
v
id
ed
b
y
th
e
g
y
r
o
s
co
p
e
is
ca
lcu
lated
as f
o
ll
o
ws:
=
√
2
+
2
+
2
(
1
)
w
h
er
e:
,
r
ep
r
esen
t th
e
an
g
u
lar
v
elo
cities alo
n
g
th
e
th
r
ee
x
,
y
a
n
d
z
ax
es o
f
t
h
e
g
y
r
o
s
co
p
e.
T
h
e
g
y
r
o
s
co
p
ic
d
ata
co
m
es f
r
o
m
th
e
g
y
r
o
s
co
p
e
i
n
teg
r
ated
i
n
to
an
in
er
tial statio
n
wo
r
n
b
y
th
e
p
er
s
o
n
.
T
h
is
s
en
s
o
r
m
ea
s
u
r
es
th
e
a
n
g
u
lar
v
el
o
city
o
f
b
o
d
y
m
o
v
em
en
ts
,
en
ab
lin
g
th
e
d
etec
tio
n
o
f
s
u
d
d
e
n
c
h
an
g
es
i
n
p
o
s
tu
r
e.
I
n
th
is
p
ap
e
r
,
we
h
i
g
h
lig
h
t
th
e
co
n
tr
ib
u
tio
n
o
f
g
y
r
o
s
co
p
es
to
f
all
d
etec
tio
n
;
we
also
s
h
o
w
h
o
w
co
m
b
in
in
g
g
y
r
o
s
co
p
ic
a
n
d
ac
c
eler
o
m
etr
ic
d
ata
im
p
r
o
v
es th
e
r
eliab
ilit
y
o
f
f
all
d
etec
tio
n
s
y
s
tem
s
.
4.
I
M
P
L
E
M
E
NT
A
T
I
O
N
I
n
th
is
s
ec
tio
n
,
we
f
ir
s
t
p
r
esen
t
th
e
f
all
d
etec
tio
n
al
g
o
r
ith
m
b
ased
o
n
th
e
g
y
r
o
s
co
p
e
‘
Gy
r
o
’
.
W
e
th
en
d
escr
ib
e
th
e
f
u
s
io
n
o
f
g
y
r
o
s
c
o
p
e
an
d
ac
ce
ler
o
m
eter
d
ata
u
s
in
g
th
e
d
ev
elo
p
e
d
alg
o
r
ith
m
‘
Fu
s
io
n
’
,
wh
er
e
th
e
ac
ce
ler
o
m
etr
ic
d
ata
ar
e
o
b
tai
n
ed
f
o
l
lo
win
g
th
e
m
eth
o
d
p
r
o
p
o
s
ed
in
B
o
u
d
o
u
an
e
et
a
l.
[
1
0
]
.
Fin
ally
,
we
in
tr
o
d
u
ce
t
h
e
h
ar
d
war
e
s
y
s
tem
u
s
ed
to
im
p
lem
e
n
t th
e
d
e
v
elo
p
ed
alg
o
r
ith
m
s
.
4
.
1
.
So
f
t
wa
re
i
m
plem
ent
a
t
io
n
As
we
n
o
ted
in
th
e
p
r
ev
i
o
u
s
s
ec
ti
o
n
,
we
u
s
e
th
e
ac
ce
ler
o
m
eter
to
m
ea
s
u
r
e
ac
ce
ler
atio
n
an
d
t
h
e
g
y
r
o
s
co
p
e
to
m
ea
s
u
r
e
a
n
g
u
l
ar
v
elo
city
.
W
e
d
etec
t
f
alls
u
s
in
g
th
e
g
y
r
o
s
co
p
e
b
y
an
aly
zin
g
th
e
an
g
u
lar
v
elo
city
,
wh
ich
t
h
en
allo
ws f
o
r
s
u
b
s
eq
u
en
t f
u
s
io
n
with
th
e
a
cc
eler
o
m
eter
d
ata
.
4
.
1
.
1
.
F
a
ll det
ec
t
io
n ba
s
ed
o
n a
ng
ula
r
v
elo
cit
y
As
p
r
esen
ted
in
Sectio
n
3
,
th
e
an
g
u
lar
v
elo
city
g
iv
e
n
b
y
(
1
)
b
ec
o
m
es
v
er
y
h
ig
h
u
p
o
n
im
p
ac
t.
Fo
r
ea
ch
s
am
p
le
(
Fig
u
r
e
1
)
,
we
co
m
p
ar
e
th
e
an
g
u
lar
v
elo
city
to
a
th
r
esh
o
ld
th
at
we
d
eter
m
in
e;
if
th
e
an
g
u
lar
v
el
o
city
ex
ce
ed
s
th
is
th
r
esh
o
ld
,
we
s
ay
th
at
a
f
all
h
as
b
ee
n
d
etec
ted
.
T
o
d
eter
m
in
e
th
e
th
r
esh
o
ld
,
we
ad
o
p
t
th
e
s
am
e
ap
p
r
o
ac
h
d
ev
elo
p
e
d
in
th
e
wo
r
k
o
f
B
o
u
d
o
u
a
n
e
et
a
l.
[
1
0
]
,
n
am
ely
b
y
d
iv
id
in
g
th
e
f
all
d
ataset
in
to
t
wo
p
ar
ts
.
T
h
e
an
g
u
lar
v
elo
cit
y
d
ata
f
r
o
m
t
h
e
f
ir
s
t
p
ar
t
ar
e
u
s
ed
to
s
et
th
e
th
r
esh
o
ld
,
wh
ile
th
e
s
ec
o
n
d
p
ar
t
an
d
th
e
ADL
d
ata
ar
e
u
s
ed
to
p
er
f
o
r
m
th
e
test
s
.
T
h
e
th
r
esh
o
ld
is
s
et
to
th
e
s
m
allest
v
alu
e
am
o
n
g
t
h
e
h
ig
h
est p
ea
k
s
o
f
a
n
g
u
lar
v
elo
cities r
ec
o
r
d
ed
d
u
r
in
g
th
e
f
all
ex
p
er
im
en
ts
.
Fig
u
r
e
1
.
Flo
wch
ar
t
o
f
f
all
d
et
ec
tio
n
u
s
in
g
an
g
u
lar
v
elo
city
d
u
r
in
g
th
e
im
p
ac
t
p
h
ase
‘
Gy
r
o
’
>
S
t
ar
A
n
g
u
l
a
r
v
e
l
o
c
i
t
y
r
e
a
d
i
n
g
s
,
,
C
a
l
c
u
l
a
t
i
o
n
o
f
=
√
2
+
2
+
2
F
a
l
l
D
e
t
e
c
t
i
o
n
NO
Y
ES
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
F
a
ll d
etec
tio
n
s
ystem
b
a
s
ed
o
n
a
cc
elero
mete
r
/g
yro
s
co
p
e
d
a
ta
fu
s
io
n
(
A
min
a
Ma
kh
lo
u
f
)
729
4
.
1
.
2
.
Acc
eler
o
m
e
t
er
a
nd
g
y
r
o
s
co
pe
f
us
io
n
(
cr
it
ica
l pha
s
e
wit
h f
re
e
f
a
ll a
nd
im
pa
ct
)
I
n
th
is
ca
s
e,
we
wi
ll
m
er
g
e
th
e
d
ata
p
r
o
v
i
d
ed
b
y
th
e
g
y
r
o
s
co
p
e
an
d
th
e
ac
ce
ler
o
m
eter
i
n
o
r
d
er
to
im
p
r
o
v
e
f
all
d
etec
tio
n
a
n
d
,
in
p
ar
ticu
lar
,
r
e
d
u
ce
th
e
f
alse
p
o
s
itiv
e
r
ate.
I
n
d
ee
d
,
we
u
s
e
b
o
th
th
r
esh
o
l
d
s
an
d
in
co
m
b
in
ati
o
n
with
to
d
etec
t
f
all
ev
en
ts
.
T
h
e
a
n
aly
s
is
o
f
ac
ce
ler
atio
n
s
ig
n
als
f
r
o
m
f
a
ll
ac
tiv
itie
s
allo
ws
d
ef
in
in
g
th
e
two
th
r
es
h
o
ld
s
:
,
co
r
r
esp
o
n
d
in
g
to
th
e
lo
west
m
ag
n
itu
d
e
o
f
th
e
n
e
g
a
tiv
e
p
ea
k
s
,
an
d
,
s
et
to
th
e
lo
we
s
t
m
ag
n
itu
d
e
o
f
th
e
p
o
s
itiv
e
p
ea
k
s
.
T
h
ese
th
r
esh
o
ld
s
ar
e
u
s
ed
to
d
etec
t
f
r
ee
f
all
an
d
im
p
ac
t,
r
esp
ec
tiv
ely
,
in
f
all
d
e
tectio
n
alg
o
r
ith
m
s
.
T
h
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
is
illu
s
tr
ated
in
Fig
u
r
e
2
.
W
h
en
th
e
v
alu
e
o
f
d
r
o
p
s
b
elo
w
th
e
th
r
esh
o
l
d
,
th
e
d
at
a
f
r
o
m
th
e
f
o
llo
win
g
s
ec
o
n
d
ar
e
co
m
p
ar
ed
to
an
d
f
o
r
th
e
v
alu
es
o
f
a
n
d
,
r
esp
ec
tiv
ely
.
Du
r
i
n
g
th
i
s
p
er
io
d
,
i
f
b
o
t
h
a
n
d
ex
ce
ed
an
d
,
a
f
all
ev
en
t is d
etec
ted
.
Fig
u
r
e
2
.
Flo
wch
ar
t
o
f
f
all
d
et
ec
tio
n
u
s
in
g
ac
ce
ler
o
m
eter
an
d
g
y
r
o
s
co
p
e
f
u
s
io
n
‘
Fu
s
io
n
’
4
.
2
.
H
a
rdwa
re
im
plem
ent
a
t
io
n
T
h
e
s
y
s
tem
p
r
o
p
o
s
ed
in
th
is
wo
r
k
r
elies
o
n
an
ar
c
h
itectu
r
e
d
esig
n
ed
to
co
n
tin
u
o
u
s
ly
m
o
n
ito
r
eld
er
l
y
in
d
iv
id
u
als
o
r
p
eo
p
le
with
d
is
ab
ilit
ies,
b
o
th
in
d
o
o
r
s
an
d
o
u
t
d
o
o
r
s
.
A
m
o
d
u
lar
an
d
o
p
e
n
d
esig
n
was
ad
o
p
ted
,
en
ab
lin
g
th
e
in
te
g
r
atio
n
o
f
a
d
d
itio
n
al
s
en
s
o
r
s
with
o
u
t
alter
in
g
th
e
in
itial
s
tr
u
ctu
r
e.
T
o
en
s
u
r
e
p
o
r
ta
b
ilit
y
,
p
ar
ticu
lar
atten
tio
n
was
p
ai
d
to
c
o
m
p
o
n
en
t
s
elec
tio
n
i
n
o
r
d
er
to
o
p
tim
ize
s
ize,
weig
h
t,
an
d
p
o
wer
co
n
s
u
m
p
tio
n
.
T
h
e
p
r
o
p
o
s
ed
s
y
s
tem
ar
ch
itec
tu
r
e
is
d
ep
icted
i
n
Fig
u
r
e
3
.
T
h
e
s
y
s
tem
co
llects
d
ata
f
r
o
m
p
o
r
ta
b
le
s
en
s
o
r
s
,
wh
ich
ar
e
s
u
b
s
eq
u
e
n
tly
p
r
o
ce
s
s
ed
an
d
f
u
s
ed
to
g
en
er
ate
th
e
ap
p
r
o
p
r
iate
ac
tio
n
s
.
Ou
r
ar
ch
itectu
r
e
is
b
ased
o
n
an
in
er
tial
s
tatio
n
co
m
p
o
s
ed
o
f
a
tr
iax
ial
ac
ce
ler
o
m
eter
an
d
a
g
y
r
o
s
co
p
e,
as
well
as
an
em
b
ed
d
ed
R
asp
b
er
r
y
Pi
3
p
r
o
ce
s
s
o
r
th
at
r
ec
eiv
es
th
e
ac
ce
ler
o
m
etr
ic
a
n
d
g
y
r
o
s
co
p
ic
d
ata
th
r
o
u
g
h
a
wir
ed
co
n
n
ec
tio
n
.
T
h
e
latter
ar
e
p
r
o
ce
s
s
ed
b
y
t
h
e
p
r
o
c
ess
o
r
to
d
etec
t
f
alls
u
s
in
g
th
e
d
ev
el
o
p
ed
an
d
im
p
le
m
en
ted
alg
o
r
ith
m
s
.
I
n
th
e
ev
en
t
o
f
a
f
all
d
etec
tio
n
,
th
e
co
m
m
u
n
icatio
n
m
o
d
u
le
s
en
d
s
an
alar
m
m
ess
ag
e
to
a
PC
o
r
Sm
ar
tp
h
o
n
e
to
aler
t f
am
i
ly
m
em
b
e
r
s
o
r
h
ea
lth
ca
r
e
p
r
o
f
ess
io
n
als.
<
S
t
ar
t
A
c
c
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a
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i
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,
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t
i
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d
F
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i
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f
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n
d
=
√
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+
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f
o
r
t
h
e
n
e
x
t
n
v
a
l
u
e
s (
1
s)
>
>
F
r
e
e
f
a
l
l
d
e
t
e
c
t
i
o
n
F
u
si
o
n
A
c
c
e
l
e
r
o
met
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r
/
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y
r
o
s
c
o
p
e
NO
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Y
ES
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ES
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
43
,
No
.
3
,
Sep
tem
b
er
20
26
:
7
2
6
-
7
3
6
730
Fig
u
r
e
3
.
Pro
p
o
s
ed
s
y
s
tem
ar
c
h
itectu
r
e
5.
E
XP
E
R
I
M
E
N
T
A
L
RE
SUL
T
S
5
.
1
.
E
x
perim
ent
a
l c
o
nte
x
t
T
h
e
test
s
wer
e
ca
r
r
ied
o
u
t
u
s
in
g
th
e
SISFAL
L
d
ataset
[
2
5
]
,
wh
ich
p
r
o
v
id
es
d
ata
f
r
o
m
two
ac
ce
ler
o
m
eter
s
an
d
a
g
y
r
o
s
c
o
p
e
attac
h
e
d
to
th
e
b
elt,
co
v
er
in
g
m
u
ltip
le
f
all
an
d
AD
L
s
ce
n
ar
io
s
,
u
n
d
e
r
co
n
d
itio
n
s
s
im
ilar
to
o
u
r
s
tu
d
y
.
W
e
u
s
ed
o
n
ly
ac
ce
ler
atio
n
d
ata
f
r
o
m
th
e
ADXL
3
4
5
an
d
a
n
g
u
lar
v
elo
city
d
ata
f
r
o
m
th
e
I
T
G3
2
0
0
g
y
r
o
s
co
p
e,
with
a
s
am
p
lin
g
f
r
e
q
u
en
c
y
o
f
2
0
0
Hz
(
o
n
e
s
am
p
le
e
v
er
y
5
m
s
).
Fo
r
th
e
test
s
co
n
d
u
cted
,
eig
h
t
(
0
8
)
s
ce
n
ar
io
s
wer
e
s
elec
ted
f
r
o
m
1
5
f
all
an
d
1
9
ADL
s
ce
n
ar
io
s
,
ea
ch
r
ep
ea
ted
f
iv
e
tim
es
b
y
3
8
v
o
l
u
n
teer
s
o
f
d
if
f
er
en
t
ag
es,
h
ei
g
h
ts
,
weig
h
ts
,
an
d
g
en
d
e
r
s
.
Fall
f
r
o
m
a
s
tan
d
in
g
p
o
s
itio
n
;
f
all
f
r
o
m
a
s
itti
n
g
p
o
s
itio
n
;
l
ater
al
f
all
wh
ile
tr
y
in
g
to
s
it
d
o
wn
o
r
s
tan
d
u
p
;
jo
g
g
in
g
;
s
tu
m
b
le
wh
ile
walk
in
g
; s
itti
n
g
d
o
wn
a
n
d
s
tan
d
in
g
u
p
q
u
ic
k
ly
; t
r
y
in
g
to
ge
t
u
p
,
an
d
co
llap
s
e
in
to
a
ch
air
; j
u
m
p
in
g
t
o
r
ea
ch
an
o
b
ject
o
n
a
s
h
elf
.
T
o
p
r
o
p
e
r
ly
ev
alu
ate
th
e
s
y
s
tem
,
th
e
f
iv
e
(
5
)
s
elec
ted
ADL
s
ar
e
th
o
s
e
th
at
ex
h
ib
it
ch
ar
ac
ter
is
tics
s
im
ilar
to
f
alls
an
d
th
er
e
f
o
r
e
h
av
e
a
h
ig
h
lik
el
ih
o
o
d
o
f
b
ei
n
g
m
is
tak
en
f
o
r
t
h
em
.
5
.
2
.
G
y
ro
s
co
pe
-
ba
s
ed
m
et
ho
d
Fo
r
th
ese
test
s
,
6
3
t
r
ials
wer
e
co
n
s
id
er
ed
f
o
r
th
r
esh
o
l
d
d
etec
tio
n
ac
r
o
s
s
th
e
s
elec
ted
f
all
ty
p
es
.
Fro
m
g
y
r
o
s
co
p
e
s
ig
n
als,
lo
ca
l
m
ax
i
m
a
wer
e
i
d
en
tifie
d
f
o
r
ea
ch
f
all
ac
tiv
ity
,
an
d
th
e
th
r
esh
o
ld
S_
w
was
s
et
as
th
e
s
m
allest o
f
th
ese
m
ax
im
a,
r
esu
ltin
g
in
=
250°
/
.
5
.
2
.
1
.
Va
lid
a
t
io
n o
f
t
he
a
lg
o
r
it
hm
W
e
f
i
r
s
t
v
a
l
i
d
a
t
e
d
t
h
e
‘
G
y
r
o
’
a
l
g
o
r
i
t
h
m
,
b
a
s
e
d
o
n
t
h
e
g
y
r
o
s
c
o
p
e
,
f
o
r
t
h
e
c
a
s
e
o
f
a
l
a
t
e
r
a
l
f
a
l
l
(
F
i
g
u
r
e
4
)
,
a
n
d
t
h
e
n
t
e
s
t
e
d
i
t
o
n
t
h
r
e
e
t
y
p
e
s
o
f
a
c
t
i
v
i
t
i
e
s
,
n
a
m
e
l
y
:
S
t
u
m
b
l
e
w
h
i
l
e
w
a
l
k
i
n
g
(
F
i
g
u
r
e
5
)
;
A
t
t
e
m
p
t
i
n
g
t
o
r
i
s
e
f
r
o
m
a
c
h
a
i
r
a
n
d
t
h
e
n
c
o
l
l
a
p
s
i
n
g
(
F
i
g
u
r
e
6
)
;
S
i
t
t
i
n
g
o
n
t
h
e
e
d
g
e
o
f
a
c
h
a
i
r
a
n
d
t
h
e
n
s
t
a
n
d
i
n
g
u
p
q
u
i
c
k
l
y
(
F
i
g
u
r
e
7
)
.
a.
Fall a
n
d
s
tu
m
b
lin
g
wh
ile
walk
in
g
I
n
Fig
u
r
e
4
a
n
d
Fig
u
r
e
5
,
W
e
s
h
o
w
th
e
ev
o
lu
tio
n
o
f
an
g
u
lar
v
elo
city
d
u
r
in
g
a
later
al
f
all
wh
ile
walk
in
g
an
d
a
s
tu
m
b
le
with
o
u
t
a
f
all,
r
esp
ec
tiv
ely
.
As
ca
n
b
e
s
ee
n
in
Fig
u
r
e
4
,
th
e
f
all
is
c
o
r
r
ec
tly
d
etec
ted
at
tim
e
=
7
,
155
with
a
n
a
n
g
u
lar
v
elo
ci
ty
o
f
409°
/
wh
ich
e
x
ce
ed
s
th
e
th
r
esh
o
ld
.
Fig
u
r
e
5
s
h
o
ws
a
Stu
m
b
le
with
o
u
t
a
f
all.
I
n
th
is
f
ig
u
r
e,
we
o
b
s
er
v
e
a
s
u
d
d
e
n
i
n
cr
ea
s
e
in
an
g
u
lar
v
elo
city
;
h
o
wev
er
,
it
d
o
es
n
o
t
r
ea
ch
th
e
th
r
esh
o
ld
.
As
a
r
e
s
u
lt,
th
e
alg
o
r
ith
m
d
o
es
n
o
t
d
e
tect
a
f
all
an
d
th
er
ef
o
r
e
d
o
es
n
o
t
in
tr
o
d
u
ce
a
f
alse p
o
s
itiv
e
f
o
r
th
is
ac
tiv
ity
,
wh
ich
h
ad
b
ee
n
d
etec
ted
as a
f
all
wh
en
u
s
in
g
th
e
ac
ce
le
r
o
m
e
ter
-
b
ased
m
eth
o
d
.
G
y
r
o
–
t
r
y
i
n
g
t
o
g
e
t
u
p
,
a
n
d
c
o
l
l
a
p
se
i
n
t
o
a
c
h
a
i
r
G
y
r
o
–
s
t
u
mb
l
e
w
h
i
l
e
w
a
l
k
i
n
g
T
im
e
(
s
)
T
im
e
(
s
)
Fig
u
r
e
4
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
d
u
r
in
g
walk
in
g
Fig
u
r
e
5
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
f
o
r
a
s
tu
m
b
le
wh
ile
walk
in
g
F
a
ll
De
tec
ti
on
S
w
=
2
5
0
°
/s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
F
a
ll d
etec
tio
n
s
ystem
b
a
s
ed
o
n
a
cc
elero
mete
r
/g
yro
s
co
p
e
d
a
ta
fu
s
io
n
(
A
min
a
Ma
kh
lo
u
f
)
731
b.
Activ
ities
“c
o
llap
s
in
g
o
n
to
a
c
h
air
”
an
d
“sit
tin
g
d
o
wn
a
n
d
s
tan
d
in
g
u
p
q
u
ick
ly
”
Fig
u
r
es
6
an
d
7
s
h
o
w
th
e
ev
o
lu
tio
n
o
f
an
g
u
lar
v
el
o
city
f
o
r
th
e
two
ADL
s
“tr
y
in
g
t
o
g
et
u
p
,
an
d
co
llap
s
e
in
to
a
ch
air
”
an
d
“sit
t
in
g
d
o
w
n
an
d
s
tan
d
in
g
u
p
q
u
i
ck
ly
”,
wh
ich
wer
e
f
alsely
d
ete
cted
as
f
alls
b
y
th
e
ac
ce
ler
o
m
eter
-
b
ased
m
eth
o
d.
Gy
r
o
–
tr
y
in
g
t
o
g
et
u
p
,
an
d
c
o
llap
s
e
in
to
a
ch
air
Gy
r
o
–
s
itti
n
g
d
o
wn
an
d
s
tan
d
in
g
u
p
q
u
ick
l
y
T
im
e
(
s
)
T
im
e
(
s
)
Fig
u
r
e
6
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
f
o
r
th
e
ADL
‘
T
r
y
in
g
to
g
et
u
p
,
a
n
d
co
llap
s
e
in
to
a
ch
air
’
Fig
u
r
e
7
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
f
o
r
th
e
ADL
‘
Sit
tin
g
d
o
wn
an
d
s
tan
d
in
g
u
p
q
u
ick
ly
’
Fo
r
th
e
f
ir
s
t
ac
tiv
ity
(
Fig
u
r
e
6
)
,
th
e
an
g
u
lar
v
elo
city
p
ea
k
r
e
m
ain
s
b
elo
w
th
e
th
r
esh
o
ld
,
allo
win
g
th
e
alg
o
r
ith
m
to
elim
in
ate
th
e
f
alse
d
etec
tio
n
f
r
o
m
th
e
ac
ce
ler
o
m
eter
-
b
ased
‘
Acc
’
m
et
h
o
d
.
Fo
r
th
e
s
ec
o
n
d
ac
tiv
ity
(
Fig
u
r
e
7
)
,
it
f
ails
to
r
e
m
o
v
e
a
f
alse
p
o
s
itiv
e,
d
etec
ti
n
g
a
f
all
at
=
3
,
285
with
an
an
g
u
lar
v
elo
city
o
f
400
,
6°
/
wh
ich
ex
ce
ed
s
=
250°
/
by
150°
/
.
5
.
2
.
2
.
P
er
f
o
r
m
a
nce
ev
a
lua
t
io
n
T
o
ev
alu
ate
th
e
p
er
f
o
r
m
an
ce
o
f
th
e
g
y
r
o
s
co
p
e
-
b
ased
f
all
d
etec
tio
n
m
eth
o
d
an
d
co
m
p
ar
e
it
with
th
e
ac
ce
ler
o
m
eter
-
b
ased
m
eth
o
d
[
1
0
]
,
we
u
s
ed
th
e
s
am
e
s
et
o
f
t
est
d
ata
f
o
r
b
o
th
f
alls
an
d
ADL
s
.
T
h
e
test
r
esu
lts
,
alo
n
g
with
t
h
e
ca
lcu
latio
n
o
f
p
er
f
o
r
m
a
n
ce
m
etr
ics,
a
r
e
p
r
ese
n
ted
in
T
ab
le
1
.
As
s
h
o
wn
in
t
h
e
T
ab
le
1
,
all
f
alls
wer
e
d
etec
ted
u
s
in
g
th
e
g
y
r
o
s
co
p
e
-
b
ased
m
eth
o
d
,
r
esu
ltin
g
in
a
s
en
s
itiv
ity
o
f
1
0
0
%.
I
n
d
e
ed
,
o
u
r
a
n
aly
s
is
o
f
th
e
test
r
esu
lts
r
ev
ea
le
d
th
at
al
l
f
alls
m
is
s
ed
b
y
th
e
ac
ce
ler
o
m
eter
-
b
ased
al
g
o
r
ith
m
,
wh
ic
h
h
ad
a
s
en
s
itiv
ity
o
f
9
1
%,
wer
e
co
r
r
ec
tly
d
etec
ted
as f
alls
b
y
th
e
g
y
r
o
s
co
p
e
-
b
ased
m
eth
o
d
.
R
eg
ar
d
in
g
th
e
elim
in
atio
n
o
f
f
alse
p
o
s
itiv
es
in
tr
o
d
u
ce
d
b
y
ce
r
tain
ADL
s
,
th
e
s
p
ec
if
icity
ac
h
iev
ed
was
8
4
.
2
7
%,
wh
ich
is
h
ig
h
er
th
an
th
at
o
b
tain
e
d
with
th
e
‘
A
cc
’
alg
o
r
ith
m
,
wh
ich
was
7
1
.
3
7
%.
Similar
ly
,
th
e
ac
cu
r
ac
y
ca
lcu
lated
f
o
r
th
e
g
y
r
o
s
co
p
e
-
b
ased
m
eth
o
d
was
8
7
.
1
3
%,
e
x
ce
ed
in
g
b
y
1
2
.
2
2
%
th
e
v
alu
e
o
b
tain
e
d
with
th
e
ac
ce
ler
o
m
eter
-
b
ased
alg
o
r
ith
m
‘
Acc
’
.
T
ab
le
1
.
Per
f
o
r
m
an
ce
o
f
th
e
g
y
r
o
s
co
p
e
-
b
ased
alg
o
r
ith
m
G
y
r
o
F
a
l
l
s
A
D
Ls
Tr
u
e
p
o
si
t
i
v
e
s
(
TP)
55
-
TP+
f
a
l
se
n
e
g
a
t
i
v
e
s (F
N
)
55
-
S
e
n
s
i
t
i
v
i
t
y
=
TP/(
TP +
F
N
)
1
0
0
%
-
Tr
u
e
n
e
g
a
t
i
v
e
s (
TN
)
-
2
0
9
TN
+
f
a
l
se
p
o
si
t
i
v
e
s
(FP)
-
2
4
8
S
p
e
c
i
f
i
c
i
t
y
=
TN
/
(
TN
+
F
P
)
-
8
4
,
2
7
%
A
c
c
u
r
a
c
y
8
7
,
1
3
%
5
.
3
.
F
us
io
n
g
y
r
o
s
co
pe/a
cc
eler
o
m
et
er
T
h
e
alg
o
r
ith
m
b
ased
o
n
th
e
f
u
s
io
n
o
f
g
y
r
o
s
co
p
ic
an
d
ac
ce
le
r
o
m
etr
ic
d
ata
d
ec
lar
es
a
f
all
o
n
ly
if
it
is
d
etec
ted
f
r
o
m
b
o
t
h
th
e
g
y
r
o
s
co
p
e
an
d
ac
ce
ler
o
m
eter
d
ata,
alm
o
s
t
s
im
u
ltan
eo
u
s
ly
with
in
a
tim
e
in
ter
v
al
n
o
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
,
Vo
l.
43
,
No
.
3
,
Sep
tem
b
er
20
26
:
7
2
6
-
7
3
6
732
ex
ce
ed
in
g
0
,
5
s
.
Similar
ly
,
th
e
s
am
e
p
r
o
ce
d
u
r
e
wa
s
f
o
llo
wed
to
d
eter
m
in
e
th
e
th
r
esh
o
ld
s
an
d
.
B
ased
o
n
th
e
an
al
y
s
is
o
f
th
e
ac
ce
ler
o
m
eter
s
ig
n
als,
we
s
et
=
0
,
8
an
d
=
3
,
07
,
v
alu
es
ch
o
s
en
to
ef
f
ec
tiv
ely
d
is
tin
g
u
is
h
b
etwe
en
n
o
r
m
al
ac
tiv
ities
an
d
f
all
ev
en
ts
.
5
.
3
.
1
.
Va
lid
a
t
io
n o
f
t
he
a
lg
o
r
it
hm
T
o
v
alid
ate
th
e
‘
Fu
s
io
n
’
alg
o
r
i
th
m
,
we
p
r
esen
t th
e
f
o
llo
win
g
test
ca
s
es
:
-
A
v
er
tical
f
all
wh
ile
walk
in
g
,
wh
ich
was
co
r
r
ec
tly
d
ete
cted
b
y
b
o
th
t
h
e
ac
ce
ler
o
m
eter
-
b
ased
a
n
d
g
y
r
o
s
co
p
e
-
b
ased
m
et
h
o
d
s
in
d
i
v
id
u
ally
.
-
T
h
e
ac
tiv
ity
o
f
ju
m
p
in
g
to
r
e
ac
h
an
o
b
ject,
wh
ic
h
was
f
al
s
ely
d
etec
ted
as
a
f
all
b
y
th
e
ac
ce
ler
o
m
eter
-
b
ased
m
eth
o
d
b
u
t c
o
r
r
ec
tly
id
en
tifie
d
as a
n
o
n
-
f
all
b
y
th
e
g
y
r
o
s
co
p
e
-
b
ased
m
eth
o
d
.
Fig
u
r
es
8
an
d
9
r
esp
ec
tiv
ely
illu
s
tr
ate
th
e
g
r
ap
h
s
o
f
th
e
ac
ce
ler
o
m
eter
an
d
g
y
r
o
s
co
p
e
s
ig
n
als
d
u
r
in
g
th
e
ex
ec
u
tio
n
o
f
th
ese
two
ac
ti
v
ities
.
F
u
sio
n
–
late
ra
l
fa
ll
F
u
sio
n
–
late
ra
l
fa
ll
Ti
m
e
(s)
Ti
m
e
(s)
Fig
u
r
e
8
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
f
o
r
a
later
al
f
all
F
u
sio
n
–
ju
m
p
in
g
t
o
re
a
c
h
a
n
o
b
j
e
c
t
F
u
sio
n
–
ju
m
p
in
g
t
o
re
a
c
h
a
n
o
b
j
e
c
t
Ti
m
e
(s)
Ti
m
e
(s)
Fig
u
r
e
9
.
E
v
o
lu
tio
n
o
f
a
n
g
u
la
r
v
elo
city
f
o
r
th
e
ADL
‘
j
u
m
p
in
g
to
r
ea
ch
an
o
b
ject’
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
F
a
ll d
etec
tio
n
s
ystem
b
a
s
ed
o
n
a
cc
elero
mete
r
/g
yro
s
co
p
e
d
a
ta
fu
s
io
n
(
A
min
a
Ma
kh
lo
u
f
)
733
T
h
e
in
d
icatio
n
s
in
Fig
u
r
e
8
s
h
o
w
th
at
th
e
ac
ce
ler
atio
n
a
n
d
g
y
r
o
s
co
p
e
s
ig
n
als
f
all
b
elo
w
an
d
ex
ce
ed
an
d
d
u
r
in
g
th
e
f
all.
W
h
en
th
e
f
all
e
v
en
t
o
cc
u
r
s
,
th
e
ac
ce
ler
atio
n
s
ig
n
al
d
ec
r
ea
s
es
f
r
o
m
~
1
~
0
,
75
,
f
allin
g
b
elo
w
(
0
,
8
)
.
T
h
en
,
af
ter
0
,
36
,
th
e
ac
ce
ler
atio
n
an
d
an
g
u
lar
v
elo
city
s
ig
n
als
r
is
e
to
~
3
,
3
an
d
~
290°
/
,
r
esp
ec
tiv
ely
,
ex
c
ee
d
in
g
(
3
.
07
g
)
an
d
(
250°
/
s
)
with
in
a
tim
e
in
te
r
v
al
o
f
0
,
05
,
wh
ich
is
s
h
o
r
ter
th
a
n
th
e
s
et
i
n
ter
v
al
o
f
0
,
5
,
th
u
s
allo
win
g
th
e
f
all
to
b
e
d
ec
lar
e
d
.
I
n
Fig
u
r
e
9
,
we
s
h
o
w
th
at
th
e
f
u
s
io
n
alg
o
r
ith
m
elim
in
ates
th
e
f
alse
p
o
s
itiv
e
in
tr
o
d
u
ce
d
b
y
th
e
ac
tiv
ity
“ju
m
p
in
g
to
r
ea
ch
an
o
b
ject.
”
I
n
d
ee
d
,
th
e
d
etec
tio
n
o
f
th
e
ac
ce
ler
atio
n
p
ea
k
,
wh
ic
h
r
ea
ch
es
~
3
,
25
an
d
ex
ce
e
d
s
,
d
o
es n
o
t c
o
in
cid
e
with
th
e
g
y
r
o
s
co
p
e
v
elo
city
o
f
~
161°
/
,
wh
ich
r
em
ain
s
well
b
elo
w
.
5
.
3
.
2
.
P
er
f
o
r
m
a
nce
ev
a
lua
t
io
n
T
h
e
test
s
f
o
r
all
alg
o
r
ith
m
s
wer
e
co
n
d
u
cted
o
n
th
e
s
am
e
d
ataset
f
o
r
b
o
t
h
f
alls
an
d
ADL
s
;
we
th
er
ef
o
r
e
ap
p
lied
th
e
f
u
s
io
n
al
g
o
r
ith
m
d
ir
ec
tly
to
th
is
s
am
e
s
et.
T
ab
le
2
p
r
esen
ts
th
e
test
r
esu
lts
alo
n
g
with
th
e
p
er
f
o
r
m
an
ce
m
etr
ics.
As
ca
n
b
e
s
ee
n
i
n
T
a
b
le
2
,
f
u
s
in
g
t
h
e
ac
ce
ler
o
m
eter
an
d
g
y
r
o
s
co
p
e
d
ata
im
p
r
o
v
ed
th
e
s
y
s
tem
’
s
p
er
f
o
r
m
an
ce
m
et
r
ics.
I
n
d
ee
d
,
th
e
ac
cu
r
ac
y
ac
h
iev
ed
,
9
0
.
7
6
%,
is
h
ig
h
er
th
a
n
th
at
o
b
tain
ed
b
y
th
e
ac
ce
ler
o
m
eter
an
d
g
y
r
o
s
co
p
e
in
d
iv
id
u
ally
,
wh
ich
wer
e
7
4
.
9
1
% a
n
d
8
7
.
1
3
%,
r
esp
ec
tiv
ely
.
T
h
e
s
p
ec
if
icity
also
in
cr
ea
s
ed
to
8
9
.
9
2
%
u
s
in
g
f
u
s
io
n
,
co
m
p
ar
ed
to
7
1
.
3
7
%
f
o
r
t
h
e
ac
ce
ler
o
m
eter
an
d
8
4
.
2
7
%
f
o
r
th
e
g
y
r
o
s
co
p
e.
R
eg
ar
d
in
g
s
en
s
itiv
ity
,
th
e
v
alu
e
o
b
tain
ed
wi
th
f
u
s
io
n
is
9
5
%;
th
is
i
s
h
ig
h
er
th
an
th
at
o
f
th
e
ac
ce
ler
o
m
eter
alo
n
e
(
9
1
%)
b
u
t lo
we
r
th
an
t
h
at
o
f
th
e
g
y
r
o
s
co
p
e
(
1
0
0
%).
T
ab
le
2
.
Per
f
o
r
m
an
ce
o
f
th
e
f
u
s
io
n
-
b
ased
alg
o
r
it
h
m
G
y
r
o
F
a
l
l
s
A
D
Ls
TP
52
-
TP+F
N
55
-
S
e
n
s
i
t
i
v
i
t
y
=
TP/(TP
+
F
N
)
9
5
%
-
TN
-
2
2
3
TN
+
F
P
-
2
4
8
S
p
e
c
i
f
i
c
i
t
y
=
TN
/
(
TN
+
F
P
)
-
8
9
,
9
2
%
A
c
c
u
r
a
c
y
9
0
,
7
6
%
5
.
4
.
Dis
cus
s
io
n
T
h
e
p
er
ce
n
ta
g
es
o
f
th
e
th
r
ee
p
er
f
o
r
m
an
ce
m
etr
ics
f
o
r
t
h
e
a
cc
eler
o
m
eter
-
b
ased
a
n
d
g
y
r
o
s
co
p
e
-
b
ased
f
all
d
etec
tio
n
m
eth
o
d
s
,
as
w
ell
as
th
eir
f
u
s
io
n
,
a
r
e
s
h
o
w
n
in
th
e
g
r
ap
h
in
Fig
u
r
e
10
.
I
n
th
is
wo
r
k
,
we
d
ev
elo
p
e
d
a
f
all
d
etec
tio
n
s
y
s
tem
p
r
im
ar
ily
b
ased
o
n
t
h
e
u
s
e
o
f
th
e
g
y
r
o
s
co
p
e
.
T
h
e
‘
Gy
r
o
’
alg
o
r
ith
m
ap
p
lied
to
th
ese
d
ata
ac
h
iev
ed
a
s
en
s
it
iv
ity
o
f
1
0
0
%,
th
er
eb
y
d
etec
tin
g
all
f
alls
.
Ho
wev
er
,
th
is
ap
p
r
o
ac
h
led
to
a
s
lig
h
t
d
ec
r
ea
s
e
in
s
p
ec
if
icity
,
wh
ich
af
f
ec
ted
th
e
o
v
er
all
ac
cu
r
ac
y
(
8
7
.
1
3
%).
T
h
e
‘
Fu
s
io
n
’
alg
o
r
i
th
m
,
co
m
b
in
in
g
g
y
r
o
s
co
p
e
an
d
ac
ce
ler
o
m
eter
d
ata,
lev
er
ag
ed
th
e
s
tr
en
g
t
h
s
o
f
ea
c
h
s
en
s
o
r
:
th
e
s
p
ec
if
icity
p
r
o
v
id
ed
b
y
th
e
ac
ce
ler
o
m
eter
an
d
th
e
s
en
s
itiv
ity
o
f
th
e
g
y
r
o
s
co
p
e.
T
h
is
co
m
b
in
atio
n
r
esu
lted
in
a
s
ig
n
i
f
ican
t
im
p
r
o
v
em
en
t
i
n
p
er
f
o
r
m
an
ce
,
with
ac
c
u
r
ac
y
r
e
ac
h
in
g
9
0
.
7
6
% a
n
d
s
p
ec
if
icity
8
9
.
9
2
%.
Fig
u
r
e
1
0
.
Sy
s
tem
p
er
f
o
r
m
an
c
e
r
ep
r
esen
tatio
n
0
,
9
1
1
0
,9
5
0
,7
1
0
,
8
4
2
0
,
8
9
9
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3
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Sep
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20
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CO
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[
6
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