From 530c31b468fb42e8b462382b59bb50a10bbedf12 Mon Sep 17 00:00:00 2001
From: Nikhil Ambardar <202-nikaviator@users.noreply.git-st.inf.tu-dresden.de>
Date: Sun, 15 Nov 2020 22:57:22 +0100
Subject: [PATCH] Khamosh
---
.gitignore | 253 -
.gitlab-ci.yml | 43 -
Bibliography.bib | 173 +-
sections/back.log | 10800 ++++++++++++++++++++++++++++++++++++++
sections/back.tex | 82 +-
sections/conc.log | 2920 +++++++++++
sections/conc.tex | 105 +-
sections/eval.log | 1455 ++++++
sections/eval.tex | 3 +
sections/imp.log | 11423 +++++++++++++++++++++++++++++++++++++++++
sections/imp.tex | 191 +-
sections/intro.log | 11974 +++++++++++++++++++++++++++++++++++++++++++
sections/intro.tex | 16 +-
sections/soa.log | 8846 ++++++++++++++++++++++++++++++++
sections/soa.tex | 220 +-
thesis.aux | 384 ++
thesis.bbl | 1535 ++++++
thesis.bcf | 2446 +++++++++
thesis.blg | 17 +
thesis.log | 3232 ++++++++++++
thesis.out | 0
thesis.pdf | Bin 2889950 -> 3035949 bytes
thesis.run.xml | 87 +
thesis.synctex.gz | Bin 0 -> 373471 bytes
thesis.toc | 117 +
25 files changed, 55801 insertions(+), 521 deletions(-)
delete mode 100644 .gitignore
delete mode 100644 .gitlab-ci.yml
create mode 100644 sections/back.log
create mode 100644 sections/conc.log
create mode 100644 sections/eval.log
create mode 100644 sections/imp.log
create mode 100644 sections/intro.log
create mode 100644 sections/soa.log
create mode 100644 thesis.aux
create mode 100644 thesis.bbl
create mode 100644 thesis.bcf
create mode 100644 thesis.blg
create mode 100644 thesis.log
create mode 100644 thesis.out
create mode 100644 thesis.run.xml
create mode 100644 thesis.synctex.gz
create mode 100644 thesis.toc
diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 8658658..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,253 +0,0 @@
-# downloaded from https://raw.githubusercontent.com/github/gitignore/master/TeX.gitignore
-
-## Core latex/pdflatex auxiliary files:
-*.aux
-*.lof
-*.log
-*.lot
-*.fls
-*.out
-*.toc
-*.fmt
-*.fot
-*.cb
-*.cb2
-.*.lb
-
-## Intermediate documents:
-*.dvi
-*.xdv
-*-converted-to.*
-# these rules might exclude image files for figures etc.
-# *.ps
-# *.eps
-# *.pdf
-
-## Generated if empty string is given at "Please type another file name for output:"
-
-## Bibliography auxiliary files (bibtex/biblatex/biber):
-*.bbl
-*.bcf
-*.blg
-*-blx.aux
-*-blx.bib
-*.run.xml
-
-## Build tool auxiliary files:
-*.fdb_latexmk
-*.synctex
-*.synctex(busy)
-*.synctex.gz
-*.synctex.gz(busy)
-*.pdfsync
-
-## Build tool directories for auxiliary files
-# latexrun
-latex.out/
-
-## Auxiliary and intermediate files from other packages:
-# algorithms
-*.alg
-*.loa
-
-# achemso
-acs-*.bib
-
-# amsthm
-*.thm
-
-# beamer
-*.nav
-*.pre
-*.snm
-*.vrb
-
-# changes
-*.soc
-
-# cprotect
-*.cpt
-
-# elsarticle (documentclass of Elsevier journals)
-*.spl
-
-# endnotes
-*.ent
-
-# fixme
-*.lox
-
-# feynmf/feynmp
-*.mf
-*.mp
-*.t[1-9]
-*.t[1-9][0-9]
-*.tfm
-
-#(r)(e)ledmac/(r)(e)ledpar
-*.end
-*.?end
-*.[1-9]
-*.[1-9][0-9]
-*.[1-9][0-9][0-9]
-*.[1-9]R
-*.[1-9][0-9]R
-*.[1-9][0-9][0-9]R
-*.eledsec[1-9]
-*.eledsec[1-9]R
-*.eledsec[1-9][0-9]
-*.eledsec[1-9][0-9]R
-*.eledsec[1-9][0-9][0-9]
-*.eledsec[1-9][0-9][0-9]R
-
-# glossaries
-*.acn
-*.acr
-*.glg
-*.glo
-*.gls
-*.glsdefs
-
-# gnuplottex
-*-gnuplottex-*
-
-# gregoriotex
-*.gaux
-*.gtex
-
-# htlatex
-*.4ct
-*.4tc
-*.idv
-*.lg
-*.trc
-*.xref
-
-# hyperref
-*.brf
-
-# knitr
-*-concordance.tex
-# TODO Comment the next line if you want to keep your tikz graphics files
-*.tikz
-*-tikzDictionary
-
-# listings
-*.lol
-
-# makeidx
-*.idx
-*.ilg
-*.ind
-*.ist
-
-# minitoc
-*.maf
-*.mlf
-*.mlt
-*.mtc[0-9]*
-*.slf[0-9]*
-*.slt[0-9]*
-*.stc[0-9]*
-
-# minted
-_minted*
-*.pyg
-
-# morewrites
-*.mw
-
-# nomencl
-*.nlg
-*.nlo
-*.nls
-
-# pax
-*.pax
-
-# pdfpcnotes
-*.pdfpc
-
-# sagetex
-*.sagetex.sage
-*.sagetex.py
-*.sagetex.scmd
-
-# scrwfile
-*.wrt
-
-# sympy
-*.sout
-*.sympy
-sympy-plots-for-*.tex/
-
-# pdfcomment
-*.upa
-*.upb
-
-# pythontex
-*.pytxcode
-pythontex-files-*/
-
-# tcolorbox
-*.listing
-
-# thmtools
-*.loe
-
-# TikZ & PGF
-*.dpth
-*.md5
-*.auxlock
-
-# todonotes
-*.tdo
-
-# easy-todo
-*.lod
-
-# xmpincl
-*.xmpi
-
-# xindy
-*.xdy
-
-# xypic precompiled matrices
-*.xyc
-
-# endfloat
-*.ttt
-*.fff
-
-# Latexian
-TSWLatexianTemp*
-
-## Editors:
-# WinEdt
-*.bak
-*.sav
-
-# Texpad
-.texpadtmp
-
-# LyX
-*.lyx~
-
-# Kile
-*.backup
-
-# KBibTeX
-*~[0-9]*
-
-# auto folder when using emacs and auctex
-./auto/*
-*.el
-
-# expex forward references with \gathertags
-*-tags.tex
-
-# standalone packages
-*.sta
-
-# this thesis
-
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index 4957b10..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,43 +0,0 @@
-image: aergus/latex
-
-variables:
- FILENAME: thesis
- FILEDIR: .
- DIFFCMD: bash git-latexdiff --exclude-textcmd="section,subsection" -b --main $FILENAME.tex --latexmk
-
-stages:
- - build
- - diff
-
-build:
- stage: build
- tags:
- - dockered
- artifacts:
- paths:
- - $FILEDIR/$FILENAME.pdf
- - $FILEDIR/build_$FILENAME.log
- script:
- - cd "$FILEDIR"
- - latexmk -pdf "$FILENAME.tex" 2>&1 | tee build_"$FILENAME".log
- - 'grep -v "LaTeX Warning: There were undefined references." build_"$FILENAME".log'
-
-diff:
- stage: diff
- tags:
- - dockered
- artifacts:
- paths:
- - $FILEDIR/difftag_$FILENAME.pdf
- - $FILEDIR/diffcommit_$FILENAME.pdf
- script:
- - cd "$FILEDIR"
- - LAST_TAG=$(git describe --abbrev=0 --tags HEAD~1)
- - wget https://gitlab.com/git-latexdiff/git-latexdiff/raw/ef53cddc761ce2d278ba5016d17828cf63e30af5/git-latexdiff
- - if [ "$LAST_TAG" ] ; then
- - $DIFFCMD -o "difftag_$FILENAME.pdf" "$LAST_TAG"
- - fi
- - if [ "$CI_BEFORE_SHA" ] ; then
- - $DIFFCMD -o "diffcommit_$FILENAME.pdf" "$CI_BEFORE_SHA"
- - fi
- allow_failure: true
diff --git a/Bibliography.bib b/Bibliography.bib
index c375a32..96ffd77 100644
--- a/Bibliography.bib
+++ b/Bibliography.bib
@@ -1,20 +1,18 @@
@Book{a,
- title={"Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book Chapter 1"},
+ title={"Robotics Modelling,Planning and Control Advanced Textbooks in Control And Signal Processing Book "},
author={Bruno, Siciliano and Lorenyo, Sciavicco Luigi and Villani Giuseppe Oriolo},
- volume={1},
year={2009},
publisher={Springer}}
@Book{a1,
title={"Artificial Intelligence – An Introduction to Robotics"},
author={Tim, Niemueller and Sumedha, Widyadharma},
- volume={1},
year={2003},
url={https://niemueller.de/files/pdf/airobotics2003.pdf}
}
@Book{b,
- title={"Introduction To Robotics Chapter 1"},
+ title={"Introduction To Robotics "},
author={John, J. Craig},
volume={3},
year={2005},
@@ -24,24 +22,20 @@
@Article{c,
title = {"Design, fabrication and Control of Soft Robots"},
author = {Daniela, Rus and Micheal, T.Tolley},
- volume = {1},
year = {2015},
publisher = {Macmillan Publishers Limited},
url = {https://cyberleninka.org/article/n/1174758/viewer}
}
@Book{d,
- title={"Elements of Robotics Chapter 1"},
+ title={"Elements of Robotics"},
author={Mordechai, Ben-Ari and Francesco, Mondada},
- volume={1},
year={2018},
publisher={Springer}
}
-
@Article{el,
title={"Personal Care Robots for Older Adults: An Overview"},
author={S, H Hosseini and K, M Goher },
- volume={1},
year={2016},
publisher={Canadian Center of Science and Education},
url={http://www.ccsenet.org/journal/index.php/ass/article/view/64518}
@@ -50,7 +44,6 @@
@Article{hl,
title={"Healthcare Robotics"},
author={Laurel, D. Riek},
- volume={1},
year={2017},
publisher={ACM},
url={https://arxiv.org/pdf/1704.03931.pdf}
@@ -58,7 +51,6 @@
@Article{war,
title={"Automated and Robotic Warehouses: Developments and Research Opportunities"},
author={René, B.M. de Koster},
- volume={1},
year={2018},
publisher={MDPI},
url={https://papers.ssrn.com/sol3/papers.cfm?abstract_id=2977779}
@@ -66,7 +58,6 @@
@Article{dro,
title={"Drone-Based Parcel Delivery Using the Rooftops of City Buildings: Model and Solution"},
author={Junsu, Kim and Hongbin, Moon and Hosang, Jung},
- volume={1},
year={2020},
publisher={MDPI},
url={file:///tmp/mozilla_nikhil0/applsci-10-04362-v3.pdf}
@@ -74,7 +65,6 @@
@Article{ind,
title={"Recent Development of Automation in Vehicle Manufacturing Industries" },
author={Amith, A Kulkarni and Dhanush, P and Chetan, B S and Thamme, Gowda CS and Prashant, Kumar Shrivastava},
- volume={1},
year={2019},
publisher={International Journal of Innovative Technology and Exploring Engineering (IJITEE)},
url={https://www.ijitee.org/wp-content/uploads/papers/v8i6s4/F10830486S419.pdf}
@@ -82,7 +72,6 @@
@Article{11,
title={"Recent Developments in the Optimization of Space Roboticsfor Perception in Planetary Exploration"},
author={S., Ahsan Badruddin and S., M. DildarAli},
- volume={1},
year={2015},
publisher={International Conference on Space },
url={https://arxiv.org/pdf/1505.00496.pdf}
@@ -98,7 +87,6 @@
@Article{13,
title={"The State-of-the-art in Space Robotics"},
author={Ijar, M da Fonseca and Maurício, N Pontuschka},
- volume={1},
year={2015},
publisher={IOP Publishing},
url={https://iopscience.iop.org/article/10.1088/1742-6596/641/1/012025/pdf}
@@ -106,7 +94,6 @@
@Article{asi,
title={"Asimov’s “Three Laws of Robotics” and Machine Metaethics" },
author={Susan, Leigh Anderson},
- volume={1},
year={2005},
publisher={AAAI},
url={https://www.aaai.org/Papers/Symposia/Fall/2005/FS-05-06/FS05-06-002.pdf}
@@ -114,7 +101,6 @@
@Article{hrc,
title={"Human–Robot Collaboration in Manufacturing Applications: A Review"},
author={Eloise, Matheson and Riccardo, Minto and Emanuele, G.G.Zampieri and Maurizio Faccio and Giulio Rosati},
- volume={1},
year={2019},
publisher={MDPI},
url={https://journals.sagepub.com/doi/pdf/10.1177/1729881417716010}
@@ -122,7 +108,6 @@
@Book{F,
title={"Franka Panda User Guide"},
author={Franka Emika, GmbH},
- volume={1},
year={2018},
publisher={Franka Emika GmbH},
url={https://wwwpub.zih.tu-dresden.de/~s5990957/Franka-Panda-UserGuide-eng.pdf}
@@ -130,28 +115,47 @@
@Article{RC,
title={"Working Together: A Review on SafeHuman-Robot Collaboration inIndustrial Environments"},
author={S.,Robla-Gomez and Victor, M. Becerra and J., R. Llata,E. Gonzalez-Sarabia and C., Torre-Ferrero and J. Perez-Oria},
- volume={1},
year={2017},
publisher={IEEE Access},
url={https://core.ac.uk/download/pdf/146493825.pdf}
}
+@Book{dhil,
+ title={"Robot Reliability and Safety"},
+ author={B.S., Dhillon},
+ year={2015},
+ publisher={Springer Verlag}
+
+}
+@Article{elec,
+ title={"Fault Detection and Fault Tolerance in Robotics"},
+ author={Monica, Visinsky and Ian, D. Walker and Joseph, R. Cavallaro},
+ year={1992},
+ publisher={Department of Electrical & Computer EngineeringRice UniversityHouston, TX 77251-1892},
+ url={https://www.researchgate.net/publication/260817173_Fault_detection_and_fault_tolerance_in_robotics}
+}
+@Article{sbug,
+ title={"Failures In Robotics And Intelligent Systems"},
+ author={Johannes, Wienke and Sebastian, Wrede},
+ year={2017},
+ publisher={Research Institute for Cognition and Robotics (CoR-Lab) & Center of Excellence Cognitive Interaction Technology
+ (CITEC), Bielefeld University, Germany},
+ url={https://arxiv.org/pdf/1708.07379.pdf}
+}
@Article{161,
title={"Safety Issues in Human-Robot Interactions"},
author={Milos, Vasic1 and Aude, Billard},
- volume={1},
year={2013},
publisher={IEEE,ICRA},
url={http://lasa.epfl.ch/publications/uploadedFiles/VasicBillardICRA2013.pdf}
}
-@Article{162,
+@Article{165,
title={"Human Safety In Robot Applications – Review Of Safety Trends "},
author={Tanja, Kerezović and Gabor, Sziebig and Bjørn, Solvang and Tihomir Latinovic},
- volume={1},
year={2013},
publisher={Banja Luka, Faculty of Mechanical Engineering, University in Banja Luka},
url={https://www.researchgate.net/publication/265164505_HUMAN_SAFETY_IN_ROBOT_APPLICATIONS_-_REVIEW_OF_SAFETY_TRENDS}
}
-@Article{163,
+@Article{164,
title={"Analysis Of Human Operators And Industrial Robots Performance And Reliability"},
author={Grzegorz, Gołda and Adrian, Kampa and Iwona, Paprocka},
volume={9},
@@ -159,17 +163,30 @@
publisher={Management and Production Engineering Review},
url={http://journals.pan.pl/Content/103876/PDF/3_Analysis+of+human+operators+and+industrial+robots+performance+and+reliability..pdf?handler=pdf}
}
+@Article{166,
+ title={"Towards Coexistence of Human and Robot: How Ubiquitous Computing Can Contribute?"},
+ author={Jingyuan, Cheng and Xiaoping, Chen and Paul, Lukowicz},
+ year={2014},
+ publisher={German Research Center for Artificial Intelligence (DFKI)},
+ url={http://simpleskin.org/papers/CCL2014.pdf}
+}
+@Article{163,
+ title={"Three Decades after Chernobyl: Technical or Human Causes?"},
+ journaltitle={The Technological and Economic Future Of Nuclear Power},
+ author={Nikolaus Muellner},
+ year={2019},
+ publisher={ Energiepolitik und Klimaschutz. Energy Policy and Climate Protection},
+ url={https://www.springerprofessional.de/content/pdfId/16680898/10.1007/978-3-658-25987-7_15}
+}
@Book{4,
- title={"Robotics : Modelling Planning and Control Chapter 1, Chapter 4" },
+ title={"Robotics : Modelling Planning and Control " },
author={Bruno, Siciliano and Lorenzo, Sciavicco and Luigi, Villani Giuseppe Oriolo},
- volume={1},
year={2010},
publisher={Springer}
}
@Article{17,
title={"Formalizing Class Diagram In UML"},
author={Alireza, Souri and Mohammad, ali Sharifloo and Monire, Norouzi},
- volume={1},
year={2007},
publisher={University College Of Nabi Akram ,Tabriz Iran}
@@ -177,17 +194,111 @@
@Article{18,
title={"Introduction To BPMN"},
author={Stephen, A. White},
- volume={1},
- year={2007},
- publisher={IBM Corporation}
+ year={2004},
+ publisher={IBM Corporation},
+ url={http://yoann.nogues.free.fr/IMG/pdf/07-04_WP_Intro_to_BPMN_-_White-2.pdf}
}
@Article{19,
title={"On Making Robots Understand Safety:Embedding Injury Knowledge Into Control"},
author={Sami, Haddadin and Simon, Haddadin and Augusto, Khoury and Tim, Khoury and Sven, Parusel},
- volume={1},
year={2007},
publisher={IEEE,ICRA},
url={https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256?casa_token=WNTrkWb2360AAAAA:Q0L-eFPErinG5DXS-WoCqGXMl82o9ty2D4YCMEkhQGOOGmOPGhxHqQ7jqMtkgPL6iqih-PRzWmMdEA}
}
-
+@Article{coba,
+ title={"Cobots: Robots For Collaboration With Human Operators"},
+ author={J., Edward Colgate and Witaya, Wannasuphoprasit and Michael, A. Peshkin},
+ year={1996},
+ publisher={Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111},
+ url={http://citeseerx.ist.psu.edu/viewdoc/download;jsessionid=A11065DCD13589B74C5D523ADCC61465?doi=10.1.1.37.7236&rep=rep1&type=pdf}
+}
+@Article{cobb,
+ title={"Feature: Cobots"},
+ author={Michael, Peshkin and J., Edward Colgate},
+ volume={26},
+ year={1999},
+ publisher={Industrial Robot: An International Journal},
+ url={https://www.emerald.com/insight/content/doi/10.1108/01439919910283722/full/pdf?casa_token=1mW9cHHyJIcAAAAA:BD7xWRCPVm0mj4mwrpLqDYjjW68PsiLcQ3dNjybqvtq7WuDiGr6_kGT_Szs5r9bs8rEvpu7N3qSK4xKGwivK4lFiHEY4L_9RlGUC_FD2l5INkf6-2dY}
+}
+@Article{movita,
+ title={"MoveIt! Task Constructor for Task-Level Motion Planning"},
+ author={Michael, Görner and Robert, Haschke and Helge, Ritter and Jianwei, Zhang},
+ year={2019},
+ publisher={Universität Bielefeld, Nordrhein-Westfalen},
+ url={https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf}
+}
+@Article{gaz,
+ title={"Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator"},
+ author={Nathan, Koenig and Andrew, Howard},
+ year={2004},
+ publisher={IEEE RSJ International Conference On Intelligent Robots and Systems},
+ url={https://davidwatkinsvalls.com/files/papers/gazebo.pdf}
+}
+@Article{coll,
+ title={"Safe Human-Robot-Cooperation: Image-based collision detection for Industrial Robots"},
+ author={Dirk, M. Ebert and Dominik, D. Henrich },
+ year={2002},
+ publisher={IEEE RSJ International Conference On Intelligent Robots and Systems, EPFL, Lausanne, Switzerland},
+ url={https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1044021}
+}
+@Article{CD1,
+ title={"Diagramming the Class Diagram: Toward a Unified Modeling Methodology"},
+ author={Sabah Al-Fedaghi},
+ year={2017},
+ publisher={International Journal of Computer Science and Information Security},
+ url={https://arxiv.org/pdf/1710.00202.pdf}
+}
+@Article{CD2,
+ title={"Formalization of the UML Class Diagrams "},
+ author={Janis, Osis and Uldis, Donins},
+ year={2010},
+ publisher={Springer},
+ url={https://link.springer.com/chapter/10.1007/978-3-642-14819-4_13}
+}
+@Article{mops,
+ title={"Visual Motion Planning for Mobile Robots"},
+ author={Hong, Zhang},
+ year={2002},
+ volume={18},
+ publisher={IEEE Transactions On Robotics And Automation},
+ url={https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=999648&casa_token=8UgrzfINSP0AAAAA:Fy0KyjOVRxad163lp5sekHucgNJZvm8Nv0ezfgcMuYjOA9RaWs8Y_CCknJQJcFRhtjQb5FESaw}
+}
+@Article{gaz,
+ title={"Design and Use Paradigms for Gazebo, An Open-Source Multi-Robot Simulator"},
+ author={Nathan, Koenig and Andrew, Howard},
+ year={2004},
+ publisher={IEEE RSJ International Conference On Intelligent Robots and Systems},
+ url={https://davidwatkinsvalls.com/files/papers/gazebo.pdf}
+}
+@Article{ro,
+ title={"ROS: an open-source Robot Operating System"},
+ author={Morgan, Quigley and Brian, Gerkey† and Ken, Conley† and Josh, Faust† and Tully, Foote† and Jeremy, Leibs and Eric, Berger† and Rob, Wheeler† and Andrew, Ng},
+ year={2009},
+ publisher={ICRA Workshop on Open Source Software},
+ url={http://www.willowgarage.com/sites/default/files/icraoss09-ROS.pdf}
+}
+@online{dr,
+ author = {"David, A. McMurrey"},
+ title ={Features of Industrial Robots},
+ url = {https://www.tu-chemnitz.de/phil/english/sections/linguist/independent/kursmaterialien/TechComm/acchtml/class_ex.html}
+}
+@Article{re1,
+ title={"Analysis of Code Refactoring Impact on Software Quality "},
+ author={Amandeep, Kaur and Manpreet, Kaur},
+ year={2016},
+ publisher={MATEC Web of Conferences },
+ url={https://www.matec-conferences.org/articles/matecconf/pdf/2016/20/matecconf_icaet2016_02012.pdf}
+}
+@Article{re2,
+ title={"A Survey of Software Refactoring"},
+ author={Tom, Mens},
+ year={2004},
+ publisher={IEEE Transactions On Software Engineering},
+ url={https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1265817&casa_token=QdGGHq-QHjgAAAAA:5ay4xm1xphQHtLlT5M9wb7oyQ9XUFz2VErI4Md0W9G7xSFcGZc1Yd6jJ9A3eB4nydfiA1imqpA&tag=1}
+}
+@online{lat,
+ title ={Creating a document in LaTeX},
+ url = {https://www.tu-chemnitz.de/phil/english/sections/linguist/independent/kursmaterialien/TechComm/acchtml/class_ex.html}
+ }
+}
\ No newline at end of file
diff --git a/sections/back.log b/sections/back.log
new file mode 100644
index 0000000..3be75ab
--- /dev/null
+++ b/sections/back.log
@@ -0,0 +1,10800 @@
+This is pdfTeX, Version 3.14159265-2.6-1.40.21 (MiKTeX 20.6.29) (preloaded format=pdflatex 2020.10.14) 14 OCT 2020 02:51
+entering extended mode
+**./back.tex
+(back.tex
+LaTeX2e <2020-10-01>
+L3 programming layer <2020-10-05> xparse <2020-03-03>
+! Undefined control sequence.
+l.1 \chapter
+ {BACKGROUND}\label{ch:basics}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
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+ ...
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+l.1 \chapter{B
+ ACKGROUND}\label{ch:basics}
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+l.4 \section
+ {About Franka Panda Emika Robot\\}
+The control sequence at the end of the top line
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+
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+! LaTeX Error: Missing \begin{document}.
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+Type H <return> for immediate help.
+ ...
+
+l.4 \section{A
+ bout Franka Panda Emika Robot\\}
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+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.7 E
+ ven today, robotics remains a technology accessible only to a few. The ...
+
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+\citation{13}
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+
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+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no g in font nullfont!
+LaTeX Font Info: Trying to load font information for +cmr on input line 9.
+LaTeX Font Info: No file cmr.fd. on input line 9.
+
+LaTeX Font Warning: Font shape `/cmr/m/n' undefined
+(Font) using `/cmr/m/n' instead on input line 9.
+
+! Corrupted NFSS tables.
+wrong@fontshape ...message {Corrupted NFSS tables}
+ error@fontshape else let f...
+l.9 ...gy, and is now produced in series in Allgä
+ u, Bavaria. Panda research...
+This error message was generated by an \errmessage
+command, so I can't give any explicit help.
+Pretend that you're Hercule Poirot: Examine all clues,
+and deduce the truth by order and method.
+
+
+LaTeX Font Warning: Font shape `/cmr/m/n' undefined
+(Font) using `OT1/cmr/m/n' instead on input line 9.
+
+Missing character: There is no u in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no 7 in font nullfont!
+Missing character: There is no ; in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no 8 in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.11 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.13 \includegraphics
+ [width=0.7\linewidth]{../../FRANKA_EMIKA}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 7 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.13 \includegraphics[width=0.7\linewidth]
+ {../../FRANKA_EMIKA}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.13 \includegraphics[width=0.7\linewidth]
+ {../../FRANKA_EMIKA}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no K in font nullfont!
+Missing character: There is no A in font nullfont!
+! Missing $ inserted.
+<inserted text>
+ $
+l.13 ...raphics[width=0.7\linewidth]{../../FRANKA_
+ EMIKA}
+I've inserted a begin-math/end-math symbol since I think
+you left one out. Proceed, with fingers crossed.
+
+LaTeX Font Info: External font `cmex10' loaded for size
+(Font) <7> on input line 13.
+LaTeX Font Info: External font `cmex10' loaded for size
+(Font) <5> on input line 13.
+! Extra }, or forgotten $.
+l.13 ...s[width=0.7\linewidth]{../../FRANKA_EMIKA}
+
+I've deleted a group-closing symbol because it seems to be
+spurious, as in `$x}$'. But perhaps the } is legitimate and
+you forgot something else, as in `\hbox{$x}'. In such cases
+the way to recover is to insert both the forgotten and the
+deleted material, e.g., by typing `I$}'.
+
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.14 \caption
+ {}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.16 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Missing $ inserted.
+<inserted text>
+ $
+l.16 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+! Missing } inserted.
+<inserted text>
+ }
+l.16 \end{figure}
+
+I've inserted something that you may have forgotten.
+(See the <inserted text> above.)
+With luck, this will get me unwedged. But if you
+really didn't forget anything, try typing `2' now; then
+my insertion and my current dilemma will both disappear.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 7--17
+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 7--17
+[]
+ []
+
+
+Overfull \hbox (10.00003pt too wide) in paragraph at lines 7--17
+\/cmr/m/n/10 a
+ []
+
+
+Overfull \hbox (39.43611pt too wide) in paragraph at lines 7--17
+[]\OML/cmm/m/it/10 MIKA[][]$
+ []
+
+
+! LaTeX Error: The font size command \normalsize is not defined:
+ there is probably something wrong with the class file.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.20 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[1
+! Undefined control sequence.
+<write> \newlabel{ch:basics}{{}{\thepage
+ }}
+l.20 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{ch:basics}{{}{}}
+{/home/nikhil/.miktex/texmfs/data/pdftex/config/pdftex.map}
+! Undefined control sequence.
+<write> \newlabel{fig:frankaemika}{{}{\thepage
+ }}
+l.20 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:frankaemika}{{}{}}
+]
+! Undefined control sequence.
+l.21 \section
+ {Franka Panda Emika - Features}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.21 \section{F
+ ranka Panda Emika - Features}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no F in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 21--22
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.23 F
+ ew Features of Robot Franka Panda are -
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no F in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 23--24
+[]
+ []
+
+! Undefined control sequence.
+l.25 \subsection
+ {Sensitivity}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.25 \subsection{S
+ ensitivity}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no 7 in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.27 \subsection
+ {Impedance}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.29 \subsection
+ {Collision Detection and Reaction}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.31 \subsection
+ {Generating Forces}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
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+
+! Undefined control sequence.
+l.34 \section
+ {Software Tools Robot Franka Uses}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.34 \section{S
+ oftware Tools Robot Franka Uses}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+! Undefined control sequence.
+\@footnotetext ...tins {\reset@font \footnotesize
+ \interlinepenalty \interfo...
+l.35 ...rankaemika/ , https://erdalpekel.de/?p=55}
+ The package consists of li...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
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+ {\rule \z@ \footnotesep \i...
+l.35 ...rankaemika/ , https://erdalpekel.de/?p=55}
+ The package consists of li...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
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+
+
+! LaTeX Error: The font size command \normalsize is not defined:
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+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.37 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
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+
+[2]
+! Undefined control sequence.
+l.39 \section
+ {Coexistence With Humans And Meaning Of Cobots}
+The control sequence at the end of the top line
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+! LaTeX Error: Missing \begin{document}.
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+Type H <return> for immediate help.
+ ...
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+l.39 \section{C
+ oexistence With Humans And Meaning Of Cobots}
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+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.44 \subsection
+ {Co-existence}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.46 \subsection
+ {Sequential Collaboration}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.48 \subsection
+ {Co-operation}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+! Undefined control sequence.
+l.50 \subsection
+ {Responsive Collaboration}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
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+
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+
+
+! LaTeX Error: The font size command \normalsize is not defined:
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+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.53 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[3]
+! Undefined control sequence.
+l.54 \section
+ {Consequences Of Accidents / Malfunctions}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.54 \section{C
+ onsequences Of Accidents / Malfunctions}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
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+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.56 H
+ azards in Dense Human-Robot Co-existing Scenarios Vasic and etc. gave ...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{15}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.56 ...sues in human-robot interactions \cite{15}
+ [4]. Starting from industr...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
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+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `15' on page undefined on input line 56.
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+Missing character: There is no [ in font nullfont!
+Missing character: There is no 5 in font nullfont!
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no 8 in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no : in font nullfont!
+! Undefined control sequence.
+l.57 \subsection
+ {Mechanics Failure}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.59 \subsection
+ {Electronics Failure}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no E in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+! Undefined control sequence.
+l.61 \subsection
+ {Program Failure}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no P in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+! Undefined control sequence.
+l.63 \subsection
+ {Operational Error}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no O in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 56--65
+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 56--65
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.66 W
+ hile robot go out to factory and into family or other social areas, th...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no W in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
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+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no g in font nullfont!
+Missing character: There is no f in font nullfont!
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+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no t in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no . in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no m in font nullfont!
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+Missing character: There is no y in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no p in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no , in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
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+Missing character: There is no r in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
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+Missing character: There is no x in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
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+l.70 \section
+ {Safe Robot Deployment Practices And Making Robots Safer }
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+
+
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+l.70 \section{S
+ afe Robot Deployment Practices And Making Robots Safer }
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+If that doesn't work, type X <return> to quit.
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+ ...
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+l.72 C
+ ollaborative robots are poised to take off in the next few years, says...
+
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+\citation{16}
+! Undefined control sequence.
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+l.72 ...tter cycle time and productivity \cite{16}
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+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.74 B
+ ut this doesn’t mean organizations anxious to embrace the new techno...
+
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.76 M
+ any hazards and injuries can result from the use of robots in the work...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no , in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no d in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
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+Missing character: There is no r in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
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+Missing character: There is no u in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no n in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
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+Missing character: There is no h in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no m in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 76--77
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.78 T
+ here are four types of accidents that can occur with robots: impact or...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 78--79
+[]
+ []
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+
+Overfull \hbox (2.77779pt too wide) in paragraph at lines 78--79
+\/cmr/m/n/10 '
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.80 T
+ here are seven sources of hazards that are associated with human inter...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no l in font nullfont!
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
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+l.82 B
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diff --git a/sections/back.tex b/sections/back.tex
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@@ -1,84 +1,70 @@
\chapter{BACKGROUND}\label{ch:basics}
-\section{About Franka Panda Emika Robot}
+\section{About Franka Emika Panda Robot}
-Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\
+Franka Emika GmbH, a technologically sound company from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research communities in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy, program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance~\cite{F}.\\
-Franka Emika GmbH, a technologically sound company coming from Munich, Germany, has come ahead to address to this issue of high costs and to provide a solution by introducing an affordable and cheap robot known as robot Panda. This is a sensitive and multifaceted machine made available to research fraternity in universities and for students to learn and experiment with robots. Robot Panda is a part of structural ecosystem of new age robots which are cheap to buy ,program and function and are developed with the main objective as a research robotic machine made available to fiddle and learn by students in universities. Its second objective is to introduce its presence as a co-worker in a factory who work along with humans in a hybrid mode model and then thirdly as an friend and helping assistant in life for lonely seniors and sick people needing basic help and assistance. In addition it appears friendly to anyone who look at them~\cite{F}.\\
+There are various interfaces and tutorial series made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator. The robot Panda relies upon the Robot Operating System as the underlying operating system which is used to run it in background. The tools which are used to manipulate robot Panda like MoveIT / Rviz only use ROS to connect to the robot and command and control it.\\
-There are various interfaces made available for robot Franka which help to manipulate it. In addition there is an ecosystem of repositories used to run and manipulate the robot. Nowadays even smartphone apps are developed to give idea of robotics to students. The robot is made with many features, notable being a learning capability, where in there is a learning mode which enables robot to learn a series of poses and grasp actions which can then be run and replicated. This is a feature used as a research subject. In addition there are many tools used to run the Franka ecosystem like Moveit / Rviz i.e. used for motion planning and the robot also uses Gazebo simulator.\\
+Robot Panda is a very sensitive machine and this give it immense capability to do tasks few other machines can do. It has torque sensing framework which can help manipulate the arm very precisely. Robot Panda is also a very safe robot machine and there are many safety features built inside it, like stop button that can be used to shut down the robot. There is as well a research community and many forums which can help educate and guide students and researchers working in the field of robotics. This as well help people to share knowledge and development with each other and develop more functionality allowing a greater experimentation with this machine.\\
-Robot Panda is a very sensitive machine and this give it immense capability to do tasks few other machines can do. It has torque sensing framework which can help manipulate arm very precisely. Robot Panda is also a very safe robot machine and there are many safety features built inside it ,like stop button that can be used to shut down the robot. There is as well a research fraternity and many forums which can help educate and guide students and researchers working in the field of robotics. This as well help people to share knowledge and development with each other and develop more functionality allowing a greater experimentation with this machine.\\
-
-There are many more robots developed but this thesis describes only about the robot Franka Panda Emika.Here is what robot Panda looks like.
+There are many more robots developed but this thesis describes only about the robot Franka Emika Panda. Here is what robot Panda looks like.\\
\begin{figure}
\centering
- \includegraphics[width=0.8\linewidth]{../../FRANKA_EMIKA}
- \caption{ Robot Franka Panda Emika Image Source:https://robots-blog.com/2016/05/10/franka-emika-everybodys-robot/ }
+ \includegraphics[width=0.7\linewidth]{../../FRANKA_EMIKA}
+ \caption{ Robot Franka Emika Panda Image Source - Footnote 2}
\label{fig:frankaemika}
\end{figure}
+\footnote{2. https://robots-blog.com/2016/05/10/franka-emika-everybodys-robot/}
-\section{Franka Panda Emika - Features}
-
-Robot Franka Panda is a very capable and affordable robot and it comes with very advanced features which are also essential for its functioning and makes it capable subject for research in universities and these features are the same that provide it versatility to be known as a very stable robotic platform.\\
+\section{Robotics - Features}
-Few general features of robot Franka Panda are -
+Robots are characterized by a common set of features. Few general features of robots are -
\subsection{Sensitivity}
-Any robot first of all should have a characteristic of being sensitive. Sensitivity may have several meanings in robotic context. To begin with, robot must be sensitive for its surroundings. This would mean it must sense its surrounding using sensors to detect objects of different types and only act accordingly. A robot can also deploy and use a range of different sensors like light sensors in camera, pressure sensors in arms, chemical sensors to detect and measure for instance air quality, listening sensors to adjust speaking volume, radar for scanning surroundings in 3D for precision mappings, and many more as per the need of the job or features to be integrated.\\
+Robots in today's time are characterized by an essential property of sensitivity and this makes up the idea of cobots. Robots inherently most times may not have this property, but not having this property limits their usage. In today's day and age traditional robots are obsolete as they were not sensitive enough to presence of a human which limited them as machines that were not suitable to work alongside humans. Present day belongs to cobots which have the feature of sensitivity built in. This ranges from using soft material for physical construction of robot and this is in case if cobot hits a human, the soft body and surface can limit the damage to a human being. Then there are built in features in cobots that enable them to be sensitive for its surroundings. This would mean it must sense its surrounding using host of onboard sensors to detect objects of different types and only act accordingly. A robot use a range of different sensors like light sensors in camera, pressure sensors in arms, chemical sensors to detect and measure for instance air quality, listening sensors to adjust speaking volume, radar for scanning surroundings in 3D for precision mappings, and many more as per the need of the job or features to be integrated. Other features include using a slow motion mode when a human is detected in proximity to an emergency stop feature once a close obstacle is detected. Some of sensitivity features are part of materials handling~\cite{cobb}.\\
-Robot Franka Panda Emika is having an arm which is made up of seven joints and all have torque sensors and they all work in tandem with each other giving robot Panda great sensitivity. This allows robot Panda to detect any kind of forces acting on its arm upto the level that it can measure them and detect exact spots where and on which joint, how much torque is applied. This kind of capability is also built in many expensive robots but robot Panda has taken this to a whole new level and this makes it a great choice of machine for studies in university and research areas.
+Robot Franka Emika Panda is having an arm which is made up of seven joints and all have torque sensors giving robot Panda great sensitivity. This allows robot Panda to detect any kind of forces acting on its arm upto the level that it can measure them and detect exact spots where and on which joint, how much torque is applied.\\
-\subsection{Movement}
+\subsection{Drive a.k.a Motion}
-The main characteristic of any robot is movement and this means movement of its control surfaces like arm having moving joints which enable to move its arm in a desired way to accomplish a task, and this also means the capability of robot to move itself from one spot to another by its own self and also by any other means like using remote control or by moving on pre-programmed paths. Self driving cars which are being developed these days are based on robotic motion using programming and forms a big part of information technology industry.\\
+The main characteristic of any robot is movement. A robot should be able to move itself around and this also means it should be able to move parts like an arm which enables it to perform the tasks. We can call the arm and other moving parts of cobots like a gripper as control surfaces. The motion is characterized as essential property of a cobot as it enables it to accomplish a task. Motion is almost always using remote control or by moving on pre-programmed paths.\\
-If a robot arm cannot move it is not able to accomplish a task or if it cannot move itself in a continuous motion then it is not capable to be considered as a research interest.
+If a robot arm cannot move it is not able to accomplish a task or if it cannot move itself in a continuous motion then it is not capable to be considered as a research interest. There are various technologies that are used to drive the robots and its control surfaces like using electronics and hydraulic systems~\cite{dr}
-\subsection{Variable Resistance}
+\subsection{Impedance}
-Any robot must have the quality of physical resistance and ability to electronically measure it. It is this property of robot which enables the robotic components to electronically alter its control surfaces inside a range so that it can have a level of tolerance on control surfaces when depressed and when relaxed physically. This uses electric resistance on surfaces to detect forces on control surface which let the robot know its surface have come in contact with an obstacle or item and also measure electronically how much force is applied to it. This property has been developed to even measure how much of a control surface is depressed as it measures the movement of spring or a foam material in side the surface which may be used as appropriate material to buffer the surface. This maybe simply explained as an operation of a mechanical spring. This capability gives a touch of gentleness and awareness when interacting with the objects in environment. This is also similar to the human arm which tenses and relaxes the muscles to adapt performing any task like pushing, depending on the load and situation.\\
+Essential property of a cobot is the built in quality of physical resistance and ability to electronically measure it. It is this property of robot which enables the robotic components to electronically alter its control surfaces inside a range so that it can have a level of tolerance on control surfaces when depressed and when relaxed physically. This uses electric resistance on surfaces to detect forces on control surface which let the robot know its surface have come in contact with an obstacle or item and also measure electronically how much force is applied to it. This property has been developed to even measure how much of a control surface is depressed as it measures the movement of spring or a foam material in side the surface which may be used as appropriate material to buffer the surface. This maybe simply explained as an operation of a mechanical spring. This capability gives a touch of gentleness and awareness when interacting with the objects in environment. This is also similar to the human arm which tenses and relaxes the muscles to adapt performing any task like pushing, depending on the load and situation~\cite{F}.\\
\subsection{Collision Detection and Reaction}
-A robot must have quality of anticipating collisions by detecting obstacles and identify them in its path. This is described as collision detection and the associated property is of avoidance. So once the path is detected and an obstacle identified in the path then it must be avoided. This can be achieved by stopping in a safe distance before the actual contact with the obstacle.\\
+A robot of present day usually have quality of anticipating collisions built in and this done by detecting obstacles and identifying them in its path. This is described as collision detection and the associated property is of avoidance. So once the path is detected and an obstacle identified in the path then it must be avoided. This can be achieved by stopping in a safe distance before the actual contact with the obstacle.\\
Another property is of reaction. This can be described as defining robotic reaction once an obstacle is detected in the path. This includes trajectory modification and alteration to find a new trajectory which maybe around the obstacle or a completely new one. Algorithms are used to achieve this property which are very complex in nature but appropriately modify the path of the robot.\\
-There is another dimension present as well to identify with property of collision detection. The torque sensors present in Panda arm detect torque when then move against an obstacle and once past the defined safe limit, drive the robot to a complete emergency halt.
-
-\subsection{Energy Efficiency}
-
-Energy efficiency is a key feature which is marked by robot Franka Panda. This makes the robot energy efficient as it uses very minimal energy to complete any operation or task. This is achieved by variable generation of forces on control surfaces to check how much is enough instead of driving in raw forces which uses a lot of electricity. Thus this helps robot to be gentle in using energy.
+There is another dimension present as well to identify with property of collision detection. The torque sensors present in Panda arm detect torque when then move against an obstacle and once past the defined safe limit, drive the robot to a complete emergency halt~\cite{coll}.
\section{Software Tools Robot Franka Uses}
-Robot Panda uses several tools for its functioning. There are allied software robot Panda uses which are also used by other machines as well as there are software specifically developed for robot Panda. Robot Panda also comes with several software library packages which let it run on user machines using Robot Operating Systems as platform already installed. The software systems developed for Robot Franka Panda is MoveIT/Rviz motion planning software. This lets user set various of robot Panda parameters and lets them tweak some of its features. This MoveIT framework sets tone for robot motion planning activity but this is only a hypothetical plan which may not be possible in real world.\\
+Robot Panda uses several tools for its functioning. There are general software robot Panda uses which are also used by other machines as well as there are software specifically developed for robot Panda. Robot Panda also comes with several software library packages which let it run on user machines using Robot Operating Systems as platform already installed. The software systems robot Franka Emika Panda uses is MoveIT/Rviz for motion planning. This lets user set various parameters of robot Panda and lets them tweak some of its features to see how the motion plan executes in theory. This MoveIT framework sets tone for robot motion planning activity but the plan visualized here is only a hypothetical plan which may not be possibly executable in real world~\cite{movita}.\\
-This is where there arises a need for another software to check if the motion planning is possible in real world. For this a common software used is Gazebo simulator. This simulator have additional real world parameters like torque on joint which can be altered to see how robot reacts for a motion plan in real world.
+This is where there arises a need for another software to check if the motion planning is possible in real world. For this a common software used is Gazebo simulator. This simulator have additional real world parameters like torque on joint which can be altered to see how robot reacts for a motion plan in real world~\cite{gaz}.\\
There maybe cases where a robot cannot really afford to bear weight to pickup an object and this maybe visually possible in MoveIT/Rviz tool as it is just a visualization tool framework but then the same motion plan is run in Gazebo simulator which runs the plan with defined torque on all joints which can as well be altered to see more reactions on robotic arm and this lets user see if the simulation is really possible in real world conditions and thus confirm if the motion plan is real world possible.\\
-Apart from the above mentioned software which the work of this thesis uses there are several essential repositories provided to users by Erdal which run the Franka robotic framework on user machine. These were as well used to run on top of Robot Operating Systems (ROS) to run the robot Franka. These repositories are namely, \lstinline|franks_ros, panda_simulation ,panda_moveit_config|. The basic idea of robot Panda package which is made up of all the above mentioned tools and software is to execute a real time bidirectional connection between a workstation PC and the arm of the robot.\\
-
-\footnote{https://moveit.ros.org/ , http://gazebosim.org/ , https://github.com/frankaemika/ , https://erdalpekel.de/?p=55}The robotic framework package has libfranka and this is a C++ program library, frankaros which is a ROS interface with ROS Control and MoveIt integration. Gazebo was used which is a real life simulator used to run and check simulations of Robot Panda at the end.\\
-
\section{Robotic Coexistence With Humans - Meaning Of Cobots}
-Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person~\cite{RC}.\\
-
-Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\
+Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot.\\
-Cobots are evolved version of traditional robots, and traditional robots are only meant to perform without safety features on both levels comprising physical safety as well as software built detection features giving intelligence to robot. Thus these are the factors which differentiate a robot from a cobot.
-These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence.\\
+These features are built in cobots but traditional robots do not have them. Cobotic safety relies on lightweight construction materials, curved edges on control surfaces and no sharp edges but only rounded curves, and comes with inherent limitation of speed and force when working along human presence~\cite{cobb}.\\
Cobots are built for an industry setting workspace and have different hardware and software to run them along with above mentioned features of safety. Some of essential features of cobots are -
\subsection{Existence Alongside Humans}
-Cobots and humans work with each other in a common area to accomplish a certain task. A traditional robot is not built to perform alongside human but a cobot is.
+Cobots and humans work with each other in a common area to accomplish a certain task. A traditional robot is not built to perform alongside human but a cobot is~\cite{coba}.\\
\subsection{Collaboration and Co-operation}
@@ -94,24 +80,24 @@ This is a part of robotics that is not very well developed and this forms basis
Traditional robots were used in industry setting in the past where humans operated them and sometimes worked alongside them. But there have been many cases where the safety of human is compromised in all areas where robots are present. And this has also cased many accidents and some of them very terrible causing grievous injuries and even deaths in many cases. Even during development of cobots there have been accidents for example many prototypes of self-driving cars have failed to provide safety to other cars and people in proximity on the road. It is safe to acknowledge that this is a big issue with cobots and there are problems present here.\\
-There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse. Some of them are recognized to be -
+There is always an element of risk in human-cobot interactions. The danger arises when a human may get hit by the robot in motion or robotic arm in motion. A human may also get trapped between robot boy or arm and an wall or iron grill in vicinity. There are many types of hazards that are identified and they maybe dangers caused mechanically i.e faults in the machine, electrical shocks to human body, overheating components causing burns and many more hazards which maybe combination of these. The hazards are studied carefully and robots continuously evolved to make them handle risks and this makes them safer. But it is also necessary to acknowledge that in real world there are some faults that can always happen which may not always be due to the robot itself but due to wrong operation of robots or due to abuse~\cite{dhil}(Chapter 4). Some of them are recognized to be -
\subsection{Mechanical Failure}
Robotic mechanism is made up of components like motors, actuators, connectors and sensors. These can malfunction and may directly or indirectly cause safety issues.
-A classic example is wrong readings sent by sensors to processor causing it to make a wrong decision. This may cause consequent failure of more components or make them behave unsafely.
+A classic example is wrong readings sent by sensors to processor causing it to make a wrong decision. This may cause consequent failure of more components or make them behave unsafely~\cite{elec}.
-\subsection{Electrical Anomaly}
+\subsection{Electrical Anomaly In Components}
-Robots are made up of electronic components like wires, circuit boards, microprocessors which age and may malfunction causing robot to behave unexpectedly and unsafely. The insulation material may wear out causing short circuits and heat damage to components.
+Robots are made up of electronic components like wires, circuit boards, microprocessors which age and may malfunction causing robot to behave unexpectedly and unsafely. The insulation material may wear out causing short circuits and heat damage to components~\cite{elec}.
\subsection{Malfunctioning Software}
-Software is essential to modern day robots and this need programming. Code in any language always have bugs and more so it may fail altogether and this may cause robot to behave unexpectedly and unsafely. The problems come in all shapes and sizes ranging from robot shutting down unexpectedly ,to short circuits causing heat and even fire risks. Thus the set of instructions governing robot use should be perfect for using use cases they are built for but there are always chances of issues coming up after long time use. One of them maybe hardware is superficially compatible with software instructions.\\
+Software is essential to modern day robots and this need programming. Code in any language always have bugs and more so it may fail altogether and this may cause robot to behave unexpectedly and unsafely. The problems come in all shapes and sizes ranging from robot shutting down unexpectedly ,to short circuits causing heat and even fire risks. Thus the set of instructions governing robot use should be perfect for using use cases they are built for but there are always chances of issues coming up after long time use. One of them maybe hardware is superficially compatible with software instructions~\cite{sbug}.\\
\subsection{Human Operator Errors}
-Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault~\cite{163}.\\
+Robots if used in unintended use cases or experimented with beyond their capability can malfunction. A malfunctioning robot is an uncontrolled robot and thus can be a huge hazard for human life. There are some veto power humans have over robots to do things for them in their own way, but this may logically and hence technically contradictory leading to very unsafe situations where critical materials are handled for instance uranium in a nuclear reactor. A classic example is Chernobyl Nuclear Power Plant accident which was caused entirely due to operator errors~\cite{163}. Machines are built with applying functionality in mind and not to handle a combination of all use cases and this always make it possible that there may arise situations robot can go against itself or the operator. This is usually caused due to untrained engineers, operators, and users. These people may not be aware of effects of their actions causing machine to fault~\cite{164}.\\
Robots are continuously incorporated with artificial intelligence features making them safer every day but this is a subject of research which is continuously developed and it is not possible to make a robot equally intelligent to a human being.
@@ -122,13 +108,13 @@ Collaborative robots or cobots are all about latest technology trend that is gat
As was mentioned before that cobotic technology is still evolving and developing and assuming it to come at a level where they behave like a living being may take more decades of time and the example is self driving cars that many prominent organizations are working on but have not been able to successfully integrate that finesse and level of safety so far. There have been accidents with attempts to integrate artificial intelligence in to cobots and using machine learning to train the cobot with experiences and then implement this with assured safety or at least equal to a level of humans decision power. This means that companies are spending large amounts of money to develop such technologies and help them evolve. All because the accidents can be serious and can cause injuries and loss of human life.\\
-There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury~\cite{162}.\\
+There are causes of accidents using robots at workplace or industry setting. Robots were made to be fast workers and also powerful to do tedious tasks which means in most cases the control surfaces have substantial amounts of torque. This can cause injury to a human with just one strike and there may be various situations that can develop leading to an accident and thus hazard to human life and also may cause financial costs and medical attention. There are situations when even non functioning robots may cause incidents and hazards. Example is when a robot may malfunction when it is being overhauled for maintenance. There may be a worker doing overhauling when it may react irregularly and cause serious hazard to life of worker. Or there can arise a situation when a robot may be faulty suppose due to a motor issue and the worker may have to stand in the path of robot movement and thus if he fiddles with the motor and it may start running then worker can be hit with robotic arm and cause injury~\cite{165}.\\
-The accidents caused by robots can be classified based on the type of dangerous situations a human may end up with the robot. They are described in the following cases.\\
+The accidents caused by robots can be classified based on the type of dangerous situations a human may end up in with the robot. They are described in the following cases.\\
-A human worker maybe crushed with arm motion of the robot or a human may get trapped in a situation where the robot may move to a point and there is no outlet for human to escape. This case may arise when a human gets trapped in between a wall and the robot arm for instance. Other times a robot may directly hit a human thus causing collision. There maybe other miscellaneous safety situations arising when a robot and a human are present together in a common space like heat burns or electric shocks.\\
+A human worker maybe crushed with arm motion of the robot or a human may get trapped in a situation where the robot may move to a point and this is where there is no outlet for human to escape. This case may arise when a human gets trapped in between a wall and the robot arm for instance. Other times a robot may directly hit a human thus causing collision. There maybe other random safety situations arising when a robot and a human are present together in a common space like heat burns or electric shocks.\\
-The above listed hazards are minimized by: \\
+The above listed hazards are minimized by:~\cite{166} \\
– enforcing strictly pre-mapped environment and space for the cell of cobot
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+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 3--5
+[]
+ []
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.7 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.9 \includegraphics
+ [width=0.7\linewidth]{../../Desktop/bras-robotique-choi...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.9 \includegraphics[
+ width=0.7\linewidth]{../../Desktop/bras-robotique-choi...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 7 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.9 \includegraphics[width=0.7\linewidth]
+ {../../Desktop/bras-robotique-choi...
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.9 \includegraphics[width=0.7\linewidth]
+ {../../Desktop/bras-robotique-choi...
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no t in font nullfont!
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+! LaTeX Error: Missing \begin{document}.
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+ ...
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+l.14 N
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+Overfull \hbox (20.0pt too wide) in paragraph at lines 14--15
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+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.16 A
+ Safety Model diagram using Modelio was made showing use case about h...
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+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
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+l.21 I
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+
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.24 I
+ n the Software section we use ROS which is the Robot Operating System...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
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+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
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diff --git a/sections/conc.tex b/sections/conc.tex
index af66360..8759018 100644
--- a/sections/conc.tex
+++ b/sections/conc.tex
@@ -1,57 +1,114 @@
\chapter{CONCEPT}\label{ch:conclusion}
-\section{The Models}
+\section{Theme}
-Tasks in thesis work were to design three models namely world model, application model and safety model and implement them in a C++ program.The world model describes the world of Robot Panda in general i.e. about what is inside the surroundings of the robot apart from the Robot itself and then features and attributes of all components in world model. In technical terms this is the world of the robot that exists in real world and components in this world are the Robot FPE itself with its arm, the object like cube or ball which can act as obstacle or an object that can be picked up by the robot arm and a human or human arm as is shown in figure below Fig 5.1 and 5.2.\\
+The real world consist of robot Franka Emika Panda present. The robot has an arm having seven joints. There are one or more humans in proximity, along with one or more obstacles which are also present in the proximity in a real world. The base of robot is fixed and the arm is moving and there is a gripper which need to pickup and release an object to complete a job. The robot has to be programmed to move and not just move the arm but do this safely and i.e. by detecting obstacles / humans around the robot continuously and responding appropriately by evading the obstacles to reach final position and complete the job. There can be other jobs like piercing a balloon ball as depicted in the fig 5.1.\\
-This is a model where human / object - robot interaction operation is depicted as a layman showing the following diagram. Technically UML Class Diagrams were used to demonstrate the World Model. Each component was used to describe it as a class showing attributes which is then also used to derive an object diagram which shows the instance of the Class Diagram.
+\begin{figure}
+\centering
+\includegraphics[width=0.8\linewidth]{../../bras-robotique-choisir-comparaison}
+\caption{Another Image of Robot Franka Emika Panda Image Source : Panda Skills Sensitivity Video Screenshot}
+\label{fig:bras-robotique-choisir-comparaison}
+\end{figure}
\begin{figure}
- \centering
- \includegraphics[width=0.8\linewidth]{../../bras-robotique-choisir-comparaison}
- \caption{Image Source : Panda Skills Sensivity Video Screenshot}
- \label{fig:bras-robotique-choisir-comparaison}
+\centering
+\includegraphics[width=1.0\linewidth]{../MzIxNDU3NA}
+\caption{Robot Panda Picking Up Object Image Source : https://blog.generationrobots.com/en/list-of-criteria-to-look-at-before-buying-a-robot-arm/panda-franka-emika-care-robot-arm-2/}
+\label{fig:mzixndu3na}
\end{figure}
-\newpage
+To start with a hypothetical situation to explain, the robot uses a motion planner software to follow a preconceived plan and that is to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. This is shown in fig 5.2. So far this plan is only about doing the task, but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion. The activity until this point can be used to train the robot and this motion trajectory job can be re-executed by the robot using the inbuilt teaching capability feature of robot but then a real world feature is added to robot and this is about adding essential safety feature. This is achieved by altering the planned trajectory right at that time instant when sensors detect obstacle in the path. At this time robot moves around the obstacle to reach a coordinate position around the obstacle to a point in pre-decided motion trajectory and then continue regular motion from there on-wards to complete the motion in plan. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be~\cite{4}(Chapter1,Chapter4).\\
-Next an application model was designed and for this Business Process Modelling Notation as a tool was used to demonstrate the diagram. Each component in the World model was used to show itself as a frame in this Application diagram and then the components shown inside as connected together giving a logical flow. The main frame of Robot in BPMN is used to show the flow of task in application diagram from it to other frames using the components of BPMN like "if" condition and process events in addition to start and stop events symbols etc, which then culminate to an end event in the main robot frame once again. These flows show the logical flow of process in this diagram for which the tool Modelio \footnote{https://www.modelio.org/} was used.\\
+This is a model where human / object - robot interaction operation is depicted as a layman as shown in images.
-A safety model diagram using UML state chart was made showing use case about how robot reacts when detecting obstacles and adds safety in the cell.This was also designed in Modelio tool and uses small components from BPMN. This can also be related with Haddadin Safety Model which is later described and talked about how it can be extended. \\
+\section{The Models Designed}
-This three models are described in detail in the previous chapter.
+Tasks in thesis work are to design three models namely world model, application model and safety model using modeling tools and implement them in a C++ program.
+\begin{enumerate}[label=(\Alph*)]
+
+\item WORLD MODEL\\
+
+The world model describes the world of robot Panda in general i.e. about what is inside the surroundings of the robot apart from the robot itself and then features and attributes of all components in world model. In technical terms this is the world of the robot that exists in real world and components in this world are the robot FEP itself with its arm, the object like a human and a cube or ball which can act as obstacle or an object that can be picked up by the robot arm.\\
\begin{figure}
\centering
- \includegraphics[width=1.0\linewidth]{../MzIxNDU3NA}
- \caption{Robot Panda Picking Up Object Image Source : https://blog.generationrobots.com/en/list-of-criteria-to-look-at-before-buying-a-robot-arm/panda-franka-emika-care-robot-arm-2/}
- \label{fig:mzixndu3na}
+ \includegraphics[width=0.9\linewidth]{../app2}
+ \caption{ World Model UML Class Diagram}
+ \label{fig:app2}
\end{figure}
-\newpage
+Unified Modeling Language (UML) for class and object diagrams were constructed for world model using the web tool Online Visual Paradigm as shown in Fig 5.3 and 5.4. The UML class model is used to derive the objects and depict in the UML object model diagram~\cite{17}.\\
-\section{Programming Of Hardware And Software Components - Purpose And Concepts}
+\begin{figure}
+\centering
+\includegraphics[width=0.9\linewidth]{../app3}
+\caption{ World Model UML Object Diagram}
+\label{fig:app3}
+\end{figure}
+
+This world model class diagram has been designed to contain ten classes. The main parent classes are World Object and World, present on top most level. The classes Robot and Abstract Object inherit from one class and at same time are aggregated with another class. Relation of association and aggregation is used where classes need to use data variable from other classes and if class variable must depend on other class variables for it to exist respectively.
+Specifically this means, aggregation relation is used in a case where if the class is not involved, its child classes cannot be used. Association relation is used where one class is related to another just to be able to use other's variables. Both relations use pointers in program implementation in C++.
+
+\item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\
+
+Business Process Modeling Notation(BPMN) for application model using Modelio\footnote{https://www.modelio.org/} tool was chosen for application model. Depicted in Figure 4.3~\cite{18}.\\
+
+BPM notation was deemed to be a correct choice to show application process workflows as this shows segregated cells called frames for all the entities present and this depicts each component in the world model diagram. The notation then allows to depict the relationship and connections between these components and shows their flow which have a comprehensive and logical consistency among cells. This is achieved using features of BPMN like activity, gateways and events. It uses start and end event states to mark positions for start and end and then “if” conditions are used as flow lines with process events and intermediate events to construct application model.\\
+
+\begin{figure}
+\centering
+\includegraphics[width=0.8\linewidth]{../app}
+\caption{BPMN Application Model Diagram}
+\label{fig:app}
+\end{figure}
-In hardware point we have the Franka robot which has a arm and the arm has joints described by J1...n . We also then have other objects in the world namely obstacles which can be one or more human and then non living ones like a cube ,box or ball. Then we have grasp objects which can be a cube or an item to pick.\\
+\item SAFETY MODEL DEPICTION USING UML STATE MACHINE \\
-The robot Panda has Motion Planning attributes which can be altered. Most of them are in MoveIT Rviz which is the GUI described in detail in the following chapter. The state of robot arm is described by the coordinate position of joints of the arm. We can as well alter the many other parameters like torque on the arm in simulations.The Figure 5.3 shows the robot panda with joints .\\
+UML State Machines are used to construct safety model. They are an extended version of UML finite state machine. The fig 5.5 shows the safety model.
\begin{figure}
\centering
- \includegraphics[width=0.8\linewidth]{../../media_166_16680da7-1c13-47f9-83f0-e777befaf95d_phpjVXSN3}
- \caption{Robot Panda Joints Image Source : https://www.chegg.com/homework-help/questions-and-answers/panda-franka-emika-shown-belowis-innovative-lightweight-robot-intended-friendly-andsafe-hu-q35002486}
- \label{fig:media16616680da7-1c13-47f9-83f0-e777befaf95dphpjvxsn3}
+ \includegraphics[width=1.0\linewidth]{../app4}
+ \caption{Safety Model - UML State Diagram}
+ \label{fig:app4}
\end{figure}
-In the Software section ROS \footnote{https://www.ros.org/} is used which is the Robot Operating System and catkin which builds the workspace. ROS is started using "roscore" command in terminal to start the ROS. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. All the plans are then run in real life simulator for which Gazebo Simulation was used, which is used to replicate real life conditions and run robot inside it. This gives an idea if the robot can perform as planned and expected in real life with torque on joints.To use MoveIT, workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are frankaros , pandamoveITconfig and pandasimulation and they are imperative to build the workspace.
+The start and end events denote the process starting and end states. The state machine can at any point in time be only present in one state. The robot motion begins at point start event. The transition T1 is about human presence and activity of human presence is marked assuming there is already a human present detected in the proximity. The robot motion had started but now MoveIT is requested to provide a new motion plan around the human obstacle, marked by transition T3 and once a new trajectory is obtained the motion start continuation around the human and once again robot reaches a point in original motion plan and then it keeps checking for human presence, if detected by sensors during the continuing motion plan. If the human is detected then once again new MoveIT trajectory is requested around the human and the loops keeps running to check for human presence until a state is reached where human is absent. Once a human absent state is achieved the original motion is proceeded to be completed and marked by final transition T2 proceeding to the end event finally. \\
+This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system~\cite{18}.\\
+
+There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. The work has built the robot with improved technology and making the robot understanding safety i.e by making them softer in operation when operating, to prevent any physical collisions by embedding injury knowledge into controls like emergency stop. These efforts also result in using reduced force when in human proximity and other efforts are to make robot surfaces softer and for this extensive testing has been done on injuring pig skin to study effects of injuries that can be caused by robots~\cite{19}.\\
+A safety model diagram using UML state chart is shown. This was designed in Modelio tool and uses small components from BPMN.
+\end{enumerate}
-\section{Connecting Everything - Simulations\\}
+\section{Programming Of Hardware And Software Components - Purpose And Concepts}
+
+In hardware, we have the Franka robot which has a arm and the arm has joints described by J1...n . We also then have other objects in the world namely obstacles which can be one or more human and then non living ones like a cube ,box or ball. Then we have grasp objects which can be a cube or an item to pick.\\
-Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let us manipulate the robot using motion plan in Rviz .
+The robot Panda has motion planning attributes which can be altered. Most of them are in MoveIT which is the GUI described in detail in the previous chapter. The state of robot arm is described by the coordinate position of joints of the arm. We can as well alter the many other parameters like torque on the arm in simulations.The Figure 5.6 shows the robot panda with joints .\\
+
+\begin{figure}
+\centering
+\includegraphics[width=0.8\linewidth]{../../media_166_16680da7-1c13-47f9-83f0-e777befaf95d_phpjVXSN3}
+\caption{Robot Panda Joints Image Source : https://www.chegg.com/homework-help/questions-and-answers/panda-franka-emika-shown-belowis-innovative-lightweight-robot-intended-friendly-andsafe-hu-q35002486}
+\label{fig:media16616680da7-1c13-47f9-83f0-e777befaf95dphpjvxsn3}
+\end{figure}
+In the Software section ROS~\cite{ro} \footnote{https://www.ros.org/} is used which is the Robot Operating System and catkin which builds the workspace. ROS is started using "roscore" command in terminal to start the ROS. MoveIT is then used to do motion planning for the robot and planning motion around the obstacles. All the plans are then run in real life simulator for which Gazebo Simulation was used, which is used to replicate real life conditions and run robot inside it. This gives an idea if the robot can perform as planned and expected in real life with torque on joints.To use MoveIT, workspace is built using catkin. Erdal´s repos are used and essential in the workspace which are frankaros , pandamoveITconfig and pandasimulation and they are imperative to build the workspace.
+Apart from the above mentioned software which the work of this thesis uses there are several essential repositories provided to users by Erdal which run the Franka robotic framework on user machine. These were as well used to run on top of Robot Operating Systems (ROS) to run the robot Franka. These repositories are namely, \lstinline|franks_ros, panda_simulation ,panda_moveit_config|. The basic idea of robot Panda package which is made up of all the above mentioned tools and software is to execute a real time bidirectional connection between a workstation PC and the arm of the robot~\cite{gaz}.\\
+
+\section{Refactoring and Reclassification}
+
+The work of this thesis needs the implementation of the concept of refactoring and reclassification of code. The code created for the project in the implementation stage has gone through many phases of construction. These phases are classified as stages, in these phases code has developed in quality and complexity. The plan with which code construction had started, was changed and many amendments made for this, in addition to many extensions in the plan. This made the code very difficult to understand at some places. Corrective actions were taken which include refactoring and reclassification of project code. This is a concept of restructuring existing computer code while keeping the behavior and functionality of the code as it is.
+
+Refactoring is a concept to improve the design and structure of the software. Few advantages of refactoring are improved code readability and reduced complexity. This concept also then helps with more extensions which can be part of a later stage and to maintain and demonstrate a simpler and cleaner and more expressive internal architecture of project code. Refactoring can also improve performance by saving memory and making the program run faster~\cite{re1}~\cite{re2}.
+
+\section{Connecting Everything - Simulations\\}
+Gazebo Simulator is run alongside MoveIT motion planner which help replicate the MoveIT motion plan in Gazebo simulator and thus let us manipulate the robot using motion plan in Rviz. How is this achieved is as follows.
+In the project file structure described in the next chapter, there exists a launch file. The launch file parameters instructs the tools to be started like MoveIT and Gazebo in this case. It is also specified with a program node file to be launched. The parameters include name of the node file, package name and few other parameters. The launch file is then run from terminal. After changing directory to workspace, command "source devel/setup.bash" is run after which command "roslaunch packagename launchfilename.launcher" is run which launches the node file along with other tools like MoveIT and Gazebo. All this runs on ROS using message exchange. The node can then be programmed to listen to frames from simulator and command the robot in simulator to move as intended. ROS messages are sent from program node to simulator and back. This gives a brief overview of how everything works while a detailed explanation follows in the next chapter.
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+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{lstlisting}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.24 \end{lstlisting}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 11--25
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.26 T
+ he robot was moved in Gazebo Simulator after a motion planning traject...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 26--27
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.28 T
+ he node was again built and run giving new values for position and ori...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
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+ []
+
+! Undefined control sequence.
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+ {language=C++}
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+misspelled it (e.g., `\hobx'), type `I' and the correct
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+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.30 \lstset {l
+ anguage=C++}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no + in font nullfont!
+! Undefined control sequence.
+l.31 \lstset
+ {
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
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+Missing character: There is no = in font nullfont!
+
+! LaTeX Error: Environment lstlisting undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.34 \begin{lstlisting}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
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+
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diff --git a/sections/eval.tex b/sections/eval.tex
index 76c4e62..59510e2 100644
--- a/sections/eval.tex
+++ b/sections/eval.tex
@@ -1,5 +1,8 @@
\chapter{EVALUVATION}\label{ch:conclusion}
+misc
+After this stage the program is once again built and run and this now displays the new changed values for robot joints position and orientation in Gazebo simulator. The results are then shared in evaluation section. More details about the tools and attributes they can handle are described below.
+
\section{Results}
\subsection{WORLD MODEL TEST RESULTS}
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+
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+Type H <return> for immediate help.
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+
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+
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+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
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+
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+)
+! Emergency stop.
+<*> ./imp.tex
+
+*** (job aborted, no legal \end found)
+
+
+Here is how much of TeX's memory you used:
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+! ==> Fatal error occurred, no output PDF file produced!
diff --git a/sections/imp.tex b/sections/imp.tex
index e48a9bd..90d3ffb 100644
--- a/sections/imp.tex
+++ b/sections/imp.tex
@@ -1,84 +1,107 @@
\chapter{IMPLEMENTATION}\label{ch:conclusion}
-\section{Going To Details}
+\section{Introduction}
-\subsection{WORLD MODEL IMPLEMENTATION}
+This chapter describes about what has been done in this thesis to achieve the objectives. This implies all that is practically done and this includes programming the node using ROS packages eventually and using Latex tool. Also described here is the structure of both components of the project in steps.\\
-The task is about implementation of the designed World Model using C++ code. The program written ,described as a node is used to display the values of position and orientation of robot joints in addition to World Model program implementation which include other classes and objects. The program is connected with Rviz motion planner and to Gazebo simulator by launching a launch file which launches the Rviz \footnote{http://wiki.ros.org/rviz/UserGuide} and Gazebo \footnote{http://gazebosim.org/} and the node file \footnote{https://git-st.inf.tu-dresden.de/nikaviator/zero/-/blob/master/src/\lstinline|robot_models_node.cpp|}. The Robot can be manipulated using a motion plan in Rviz and then plan can be used to run the simulation in Gazebo Simulator.\\
+The work involves creating a workspace directory in file system which in this case is known as \lstinline|panda_gazebo_workspace| and installing all necessary software like ROS. A folder named "src" is created within this workspace \lstinline|panda_gazebo_workspace|, which is then added with other essential repositories cloned as packages, the likes of which are known as \lstinline|franka_description , sample_applications and panda_simulation|. These are packages which are essential to building the workspace i.e. running the project and they are provided by Erdal and can be cloned / forked.\\
-The program code is designed to take values from the robot in Gazebo Simulator and display them in output.The program also builds the object structure by initializing values and assigning them values.Every class designed is connected to the node program using the header files and contain variables that are used to build object structure in the main node program.So after launching the Rviz and Gazebo using launch file ,the program is built and run and thus displays the position and orientation values of robot joints.\\
+Parallel to these packages, a new sub workspace is created, known as "zero" in this case, which contain variable part of workspace i.e. all the work that is added specific to constructing and running node programs in implementation step. The "zero" folder constructed here contains a launch folder which contain the launch files for launching the project from terminal and in parallel it contains another folder named "src" (not to be confused with "src" folder created before), which contains the node files constructed as programs for running implementation in this project. These files are known in this case as "\lstinline|robot_models_node|" for world model, "worldsafety" for all the test cases for world model and "safetytest" for safety model all having cpp file extension. In addition there also exist a CMakeLists file with a txt extension in the zero folder, which contains all configuration for successfully building the project.\\
-Then the Motion is planned in Rviz using the arrows that move the parts of robots arm and executed in Gazebo thus changing the over all position of robot. After this stage the program is once again built and run and this now displays the new changed values for robot joints position and orientation in Gazebo simulator. The results are then shared in evaluation section. More details about the tools and attributes they can handle are described below.
+The workspace is then built using command "catkin build". This command runs the essential repositories inside the workspace and also the files in the sub package zero according to configuration files and builds the workspace to run the node program. This is all about the structure of the workspace and the packages used to build the program node.\\
-\newpage
-
-\section{Tools Used}
-The tools used for implementation stage in the task are -
-
-\subsection{Clion IDE}
+This thesis work also introduces the concept of writing a thesis in the tool "Latex"~\cite{lat}. The tool was written by Leslie Lamport in 1980s and is now a freely downloadable tool for use.This is a plain text editor which has a host of features to write a thesis.
+The user has option to use markup tagging conventions to define the general structure of a document which can be an article, book, or letter. The text can be set with different fonts and enables setting citations and cross-references. This thesis experimented with two versions of latex editors TexStudio and MikTeX and both were very easy to produce an output file in pdf format.
-This is the editor used to write C++ code for a project in this case task and compile and run it. It provides many aides to help reduce the programmers workload and automate the process by providing many suggestions using inbuilt libraries and pointing out logic errors in advance and helps mitigates errors and warnings that may come at a later stage.It can be started by clicking on the icon but it is recommended to start this from terminal by typing "CLion".The following figure shows how CLion IDE looks like and also talks about some of its features.\\
+Latex starter repository was forked from Gitlab repository on to local machine. The repository was named as "thesis-template". This contained a structure of thesis plan, essentially a root ".tex" document known as "thesis.tex" which initializes and connects other files for different chapters. The editor TexStudio, lets users set a root document and let users visualize other files. Other files in thesis work were allocated to each of the chapter thus defining the structure of the thesis and they were contained in one folder. Common markups were used to write the text of thesis in Latex which include "\section{}", "\subsection{}" and many more like "\lstlisting[]" etc. Bibliography was set using "Biber" as this is the latest version for setting bibliography format, instead of the older version known as "Bibtex" or "BibLatex", and for this there is a separate file for bibliography identified with a ".bib" extension. The file structure has a root document and other documents which are included in the root document along with much more details in root document, and it links the other documents of chapters to the main root document. All documents have a ".tex" extension. When run, the Latex tool produces a .pdf file in the directory of thesis repository. This is how typical window in tool for Latex looks like.
\begin{figure}
-\centering
-\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-08-02"}
-\caption{CLion Screenshot}
-\label{fig:screenshot-from-2020-10-14-04-08-02}
+ \centering
+ \includegraphics[width=0.7\linewidth]{"../Screenshot from 2020-11-15 16-49-10"}
+ \caption{}
+ \label{fig:screenshot-from-2020-11-15-16-49-10}
\end{figure}
-Fig.6.1 On the left side the file structure is shown. On right side the files opened are shown under each tab. On the left the class files are visible for 11 classes under src folder and at bottom in this structure there is CMakeLists.txt file visible which is also used in this case to help set the configuration for executables. In the src folder there also exist file \lstinline|robot_models_node.cpp| visible below the .gitkeep statement. Above src folder there also exist a launch folder containing launcher.launch file in red . This contains launch commands to launch rviz , gazebo and the node file.
-
-\newpage
-
-\subsection{MoveIT-Rviz}
-
-This is Motion Planner used to plan the motion of robot Franka Panda. This connects to simulator for running real world simulations using the Robot Operating System (ROS) and launch file.Above is screenshot for Rviz.\\
+Here is how a Latex root document looks like and short description for each section.
-\begin{figure}
-\centering
-\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-13-00"}
-\caption{MoveIT / RVIZ Screenshot}
-\label{fig:screenshot-from-2020-10-14-04-13-00}
-\end{figure}
+\begin{lstlisting}
+\usepackage[T1]{fontenc}
+\usepackage[utf8]{inputenc}
+\usepackage[english]{babel}
+\usepackage{isodate}
+\usepackage[
+style=numeric-comp,
+backend=biber,
+url=false,
+doi=false,
+isbn=false,
+hyperref,
+]{biblatex}
+\addbibresource{Bibliography.bib}
+\AtEveryBibitem{%
+ \clearfield{note}%
+}
+\end{lstlisting}
+The document uses markup "\usepackage{}" to include different packages and lets user set various parameters for them like style, bibliography etc. There is large library of packages used to include in documents. Then begins the document details itself.
-Fig.6.2 This is what Rviz motion planner looks like. The robot is stationary in this case and can be moved using arrows displayed in different colors to attempt motion in different directions.The 7 joint of Robot Panda give it immense flexibility but there maybe some motions which are not possible. The Displays on the top left shown are showing various different parameters which Rviz can help tune and change.Some of them are Robot Description and Planning Scene Topic and there is Plan and Execute button which can be used to run the plan once the arm is moved to a new position termed as final position. The plan can be executed in Gazebo Simulator by clicking Plan and Execute button and the trajectory is visible in the Rviz and then almost immidiately the Gazebo simulator executes the motion.\\
+\begin{lstlisting}
+\faculty{Fakultät Informatik}
+\department{}
+\institute{Institut für Software- und Multimediatechnik}
+\chair{Lehrstuhl für Softwaretechnologie}
+\title{%
+Design and Implementation of a Model-based Architecture for Cobotic Cells
+\thesis{master}
+\graduation[M.Sc.]{Master of Science}
+\author{Nikhil Ambardar}
+\emailaddress[]{nikhil.ambardar@tu-dresden.de}
+\matriculationnumber{4667008}
+\matriculationyear{2016}
+\dateofbirth{05.11.1989}
+\placeofbirth{Mumbai, India}
+\course{Distributed Systems Engineering}
+\supervisor{Dr. Sebastian Götz ,%
+\\Dipl.-Inf. Johannes Mey , and%
+\and Dipl.-Inf. Sebestian Ebert%
+}
+\professor{Prof. Dr. rer. nat habil. Uwe Aßmann}
+\date{27.10.2020}
+}
+\end{lstlisting}
-When starting RVIZ for first time there is an empty world and then Add button need to be clicked in Displays section .The option of Motion Planning is selected from the list.This enables us to set various field parameters and their values like some of them are Fixed Frame , Robot Description , Planning Scene Topic , Planning Group and Planning Request and more like Planning Trajectory and many more and they can be explored further using online tutorials provided by ROS MoveIT.
+This displays more information for adding to main document. Then begins the markups for title page, table of contents and input sections which demonstrate chapters included.
+\begin{lstlisting}
+\maketitle
\newpage
+\tableofcontents
+\input{sections/intro}
+\input{sections/motiv.tex}
+\input{sections/back.tex}
+\input{sections/soa.tex}
+\input{sections/conc.tex}
+\input{sections/imp.tex}
+\input{sections/eval.tex}
+\printbibliography[heading=bibintoc]\label{sec:bibliography}%
+\confirmation
+\end{lstlisting}
-\subsection{Gazebo}
-
-This is real world simulator which simulates robot motion with real world parameters tuned to check if the motion plan is executable and feasible in real world.This also provide values to program using listener tf buffer in the node program but this is explained in detail later.Below is a figure showing Gazebo simulator.\\
-
-\begin{figure}
-\centering
-\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-13-12"}
-\caption{Gazebo Screenshot}
-\label{fig:screenshot-from-2020-10-14-04-13-12}
-\end{figure}
+This describes basic details of using Latex and demonstration of how a Latex root document looks and what it does.
+
+\section{WORLD MODEL IMPLEMENTATION}
-In this task there was no need to explore functionality or fiddle any of features in Gazebo. It was used to visualize motion plan of Rviz-MoveIt and seen if this is real world feasible in Gazebo. In this tool it is possible to tune a lot of real world parameters and the ones related to Robot Panda are torques on joints
-\newpage
-\subsection{Gitlab}
-To upload code as package to a central repository. This is a widely used repository for students in university setting.
-It shows the projects available under the namespace . They can be clicked to view files structure under one particular project.
+This task is about implementation of the designed world model using C++ code. The program written, described as a node is used to display the values of position and orientation of robot joints, in addition to world model program implementation which include other classes and object values to be added to construct world model node and its features as described previously in theoretical model using UML diagrams.\\
-\begin{figure}
-\centering
-\includegraphics[width=1.0\linewidth]{"../Screenshot from 2020-10-14 20-16-28"}
-\caption{Gitlab Screenshot}
-\label{fig:screenshot-from-2020-10-14-20-16-28}
-\end{figure}
+The program is connected with Rviz motion planner and to Gazebo simulator by launching a launch file which launches the Rviz \footnote{http://wiki.ros.org/rviz/UserGuide} and Gazebo \footnote{http://gazebosim.org/} and the node file \footnote{https://git-st.inf.tu-dresden.de/nikaviator/zero/-/blob/master/src/\lstinline|robot_models_node.cpp|}. The launch file launches all three components and connects them together i.e. the world model node program and MoveIT motion planner as well as Gazebo simulator. The robot can be moved in MoveIT motion planner using the different colored (Red, Green, Blue, Orange) arrows and once Plan and Execute button is hit, the motion is executed in Gazebo simulator as well, thus confirming movement of a real robot simulation. \\
-\newpage
+The program code is designed to take values from the robot in Gazebo simulator and display them in output console. The program also builds the object structure by initializing values and assigning them values thus constructing the world model class diagram. So after launching the Rviz and Gazebo using launch file, the program is built and run and thus builds world model node and displays the position and orientation values of robot joints as intended in output.\\
-\section{Programming The Implementation Of World Model}
+\subsection{Programming - The Implementation Of World Model}
-WORLD MODEL - To implement the World Model , ten files were created each for one of the classes. They were created as files to be included as header files(.h) in the main node program called in this case \lstinline{robot_models_node.cpp}.Each header file describe the implementation of one class and its functionalities by using variables which are then objectified in the main node program.\\
+WORLD MODEL - To implement the World Model, files were created each for one of the classes. They were created as files to be included as header files(.h) in the main node program called in this case \lstinline|robot_models_node.cpp|. Each header file describe the implementation of one class and its functionalities by using variables which are then objectified in the main node program. This helps to build object structure in the main node program for world model.\\
-The main program is used to add objects to the classes and used to input the values into variables using those objects and then run the implementation to display output.\\
+The main program is used to add objects to the classes and used to input the values into variables using those objects and then used to run the implementation to display output.\\
The following paragraphs describe the modules of the program used in implementation.\\
@@ -87,15 +110,17 @@ The following paragraphs describe the modules of the program used in implementat
basicstyle=\fontsize{11}{11}\selectfont\ttfamily
}
\begin{lstlisting}
-int main(int argc, char** argv) {
+int main(int argc, char** argv)
+{
ros::init(argc, argv, "ROSNODE1");
ros::NodeHandle nodehandle("namespacename");
ros::AsyncSpinner spinner(1);
spinner.start();
-ROSINFO("HELLO, WORLD");
+...// code continued
+}
\end{lstlisting}
-Here the main function is defined and the ROS node defined and initialized. Also a Node handle is specified and a spin loop is initiated to start the program .An output message is then printed which in this case is HELLO WORLD.\\
+Here the main function is defined and the ROS node defined and initialized. Also a Node handle is specified and a spin loop is initiated to start the program.\\
\lstset {language=C++}
\lstset{
@@ -108,14 +133,15 @@ hand o3;
humanspace o4;
joint o5g;
obstacle o6;
-robot o7;
+robot robot1;
robotfpe o8;
world o9;
worldobject o10;
+...// code continued
\end{lstlisting}
-This is an example of declaring objects for all the classes which are included into the main node file \lstinline{robot_models_node.cpp} ,using header files.
+This is an example of declaring objects for all the classes which are included into the main node file "\lstinline{robot_models_node.cpp}", using header files.
Here objects are defined which are later used to input values into variables defined in the classes.
\lstset {language=C++}
@@ -123,19 +149,19 @@ Here objects are defined which are later used to input values into variables def
basicstyle=\fontsize{11}{11}\selectfont\ttfamily
}
\begin{lstlisting}
+o8.h->grippos= {12.1, 14.3, 18.2};
o9.c->robname="Robot FPE";
o9.c->of=true;
o9.c->moving=false;
+...// code continued
\end{lstlisting}
+This is an example of alloting values to the variables in the classes, included as header files inside the main program. In most cases pointers are used because they are imperative to implement association and aggregation functionalities in program. Following sections describe association and aggregation relationships and how they are essential in implementing useful functionalities in the project code.\\
-This is an example of defining values to the variables in the classes included as header files inside the main program.In many cases pointers are used because they are useful to implement association and aggregation functionalities to program which are imperative.\\
-
-Association is used where classes are together related by a relation which is not inheritance but only associated to each other because they use each other's values.In this case the class quaternion is associated to worldobject class by association relation which is implemented by including the associated class quaternion.h as header file.\\
+Association is used where classes are together related by a relation which is not inheritance but only associated to each other because they have access to each other's variables. In this relation there is usually a bigger class which needs association relation from a smaller class. The bigger class is a more major part of project, using variables from the smaller class. The bigger class gets access to variables of smaller class and also all the classes inheriting from the bigger class get access to variables from the smaller class. The vairables are essential to be described in the smaller class and cannot be directly defined in the major class because it adds up to a clean and consistently understandable code. In this case the class RobotFPE defined by object "o8" is in association relation with class hand and using variable of class hand i.e. grippos using a pointer variable. Similarly class quaternion is associated to worldobject class by association relation becasue the variables of class quaternion i.e.x,y,z,w are used to define orientation which are used in the class worldobject. The class quaternion.h is included as a header file in class worldobject which then allows access to variables of class quaternion to class worldobject and all classes inheriting from worldobject and this acces sis done using poniters. \\
-Aggregation is used where a class if do not exist must not let its child classes be instantiated and used.
-In this case world class is in aggregation relation to abstract object class which have child classes as Grasp Object and Obstacle class.So if the world class were not to exist the Grasp Object and Obstacle Class cannot be initialized or used.
-So pointers are used to take input values for child classes using pointer variables of world class.
+Another relation is aggregation and this is a more critical relation and also use pointer references. It is used where a class variable, if do not exist, must not let its child classes variables be instantiated and used. In this case world class is in aggregation relation to Abstract Object class, humanspace class and robot class. The class Abstract Object which have child classes as Grasp Object and Obstacle class are also related by aggregation to the class world. So this means if the world class were not to exist the Grasp Object and Obstacle Class variables cannot be initialized or used because they use the variables inherited from class Abstract Object which itself cannot exist because the class world do not exist and these two classes are in aggregation relation. The related variables are all linked using pointer implementations and they help to implement both association and inheritance relations.
+So pointers are used to take input values for child classes i.e. Grasp Object and Obstacle using pointer variables of parent class Abstract Object which are used as a refernence with varibales of world class.
\lstset {language=C++}
\lstset{
@@ -144,9 +170,10 @@ basicstyle=\fontsize{11}{11}\selectfont\ttfamily
\begin{lstlisting}
tf2ros::Buffer tfBuffer;
tf2ros::TransformListener tfListener(tfBuffer);
+...// code continued
\end{lstlisting}
-
-tf2 is used to listen to values of variables and hence a buffer is allocated and used. After this a listener object is defined for tf2 which will be later used to listen the values and use them in program.
+
+This introduces tf2 as a library\footnote{http://wiki.ros.org/tf2/Tutorials/Introduction}. tf2 is used to write broadcaster and listener in C++ and Python programs and essentially used to detect position of variable in one frame relative to second frame, all this are relative to standard "world" frame. This lets the program compute difference between two frames relative to world frame and then the information used to match movements from one frame to another thus enabling motion in robot as desired or for example in a game of moving one turtle behind another. tf2 library is used to create three coordinate frames, a world frame which is a standard, then an x frame which suppose can be a keystroke frame, and a y frame which suppose can be system listener frame. tf2 broadcaster is used to publish the x coordinate frame and a tf2 listener listens to it and computes the difference in the frame x and standard world frame and then enables to compute the real difference in position of two frames and this information can be listened by a variable defined in the program. This information can be used to output on console or can be used to match movements of two frames by moving the frame y to a difference relative to world frame thus matching frame x and y. To use tf2 first a buffer is allocated and used. After this a listener object is defined for tf2 which will be later used to listen the values and use them in program.
\lstset {language=C++}
\lstset{
@@ -159,6 +186,11 @@ for (const auto topic : ROSNODE1::topics)
geometrymsgs::TransformStamped transformStamped1;
geometrymsgs::TransformStamped transformStamped2;
geometrymsgs::TransformStamped transformStamped3;
+...
+// Rest of the statements similar and continue until transformStamped7
+}
+...// code continued
+}
\end{lstlisting}
while loop is started and objects named transformStamped1...n are defined here one for each joint.
@@ -173,10 +205,18 @@ transformStamped1=tfBuffer.lookupTransform("world",o5a.name,ros::Time(0));
transformStamped2=tfBuffer.lookupTransform("world",o5b.name,ros::Time(0));
transformStamped3=tfBuffer.lookupTransform("world",o5c.name,ros::Time(0));
...
+// Rest of the statements proceed until transformStamped7 object and o5g joint
+}
+catch (tf2::TransformException &ex) {
+ ROS_WARN("%s", ex.what());
+ ros::Duration(0.1).sleep();
+ continue;
+}
\end{lstlisting}
A try catch block is used to compare and connect the attribute of robot for which we seek values i.e. in this case joint 1...7 ,relative to standard world and store them in the defined objects transformStamped1,2,3....\\
-Then exceptions are caught and some statements defined for this .This is in case some things don't work.
+Then exceptions are caught in catch block and some statements are defined for this .This is in case some things don't work.
+The objects store the values in tfBuffer after the lookup command compares the joint values with standard frame values and computes the difference before storing the final position in the object variables.
\lstset {language=C++}
\lstset{
@@ -195,12 +235,19 @@ o5a.or2.y=transformStamped1.transform.rotation.y;
o5a.or2.z=transformStamped1.transform.rotation.z;
ROSINFOSTREAM("pandalink1 Orientation is"<<"w="<< o5a.or2.w<<",x="<<o5a.or2.x<<",
y="<<o5a.or2.y<<",z="<<o5a.or2.z);
+...// code continued
\end{lstlisting}
-Here in these steps the object variables take input the objects values from listener object transformStamped and store them in the node program and which then outputs these values.All the static variable defined in the program are initialized with 0 value before using them.\\
+Here in these steps, the object variables of the program take input the objects values from object transformStampedx and store them in the node program variable and which then outputs these values.\\
This program thus listens to values from simulation and displays using appropriate output statements. The robot in Gazebo is thus connected to Rviz motion planner using ROS which enables the node program \lstinline|robot_models_node.cpp|, to listen to desired values in this case position and orientation of joints .
+
+\section{Test Cases Designed for World Model}
+
+
-
+\section{Future Work Implementing Application Model Programmatically\\}
+
+The thesis work i only completed up to implementing world model and safety model. The application model is left pending to be completed in future.
\ No newline at end of file
diff --git a/sections/intro.log b/sections/intro.log
new file mode 100644
index 0000000..16deb2b
--- /dev/null
+++ b/sections/intro.log
@@ -0,0 +1,11974 @@
+This is pdfTeX, Version 3.14159265-2.6-1.40.21 (MiKTeX 20.6.29) (preloaded format=pdflatex 2020.11.2) 2 NOV 2020 09:27
+entering extended mode
+**./intro.tex
+(intro.tex
+LaTeX2e <2020-10-01> patch level 2
+L3 programming layer <2020-10-27> xparse <2020-03-03>
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+ {INTRODUCTION}\label{ch:introduction}
+The control sequence at the end of the top line
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+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.1 \chapter{I
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+If that doesn't work, type X <return> to quit.
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+ {Objective Of Thesis:} Design and Implementation of a Model-Ba...
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+Type H <return> for immediate help.
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+ {Robots and Robotics}
+The control sequence at the end of the top line
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.5 \section {R
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+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.7 A
+ robot is a machine developed by humans to do work for them and to make...
+
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+
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+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no . in font nullfont!
+Missing character: There is no H in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no k in font nullfont!
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+Missing character: There is no s in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 7--8
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.9 I
+ n fact, any machine designed for any specific task and purpose can be t...
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+You're in trouble here. Try typing <return> to proceed.
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+Missing character: There is no i in font nullfont!
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 9--10
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.11 A
+ long the evolution of time the machines developed from designing basic...
+
+You're in trouble here. Try typing <return> to proceed.
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+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no m in font nullfont!
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+! LaTeX Error: Missing \begin{document}.
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+ ...
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+l.13 N
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+\citation{a}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.13 ...gh level of evolution in robotics~\cite{a}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `a' on page undefined on input line 13.
+
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+
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+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 13--14
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.15 T
+ his has nowadays led to creation of an ecosystem of machines which are...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no ' in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no [ in font nullfont!
+\citation{a1}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.15 ... manufacturing and assembly line~\cite{a1}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `a1' on page undefined on input line 15.
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 15--16
+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 15--16
+[]
+ []
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.17 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.19 \includegraphics
+ [width=0.7\linewidth]{../Robots-Square-300x300}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.19 \includegraphics[
+ width=0.7\linewidth]{../Robots-Square-300x300}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 7 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.19 \includegraphics[width=0.7\linewidth]
+ {../Robots-Square-300x300}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.19 \includegraphics[width=0.7\linewidth]
+ {../Robots-Square-300x300}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no 0 in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.20 \caption
+ { Image Source https://blogs.3ds.com/northamerica/future-robot...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 3 in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no / in font nullfont!
+
+! LaTeX Error: \begin{document} ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.22 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
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+
+! Undefined control sequence.
+l.24 \section
+ {Components Of a Typical Robot}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.24 \section {C
+ omponents Of a Typical Robot}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.26 A
+ ny robot is a machine that is made up of mainly steel, plastic and mor...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{b}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.26 ...st complex of tasks independently~\cite{b}
+ . Robots in today's times ...
+The control sequence at the end of the top line
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+misspelled it (e.g., `\hobx'), type `I' and the correct
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+and I'll forget about whatever was undefined.
+
+
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+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.28 R
+ obots range from auto/semi-automatic functional form to resembling hum...
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+You're in trouble here. Try typing <return> to proceed.
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+\citation{c}
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+l.28 ...developing safe self driving cars~\cite{c}
+ .\\
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+Type H <return> for immediate help.
+ ...
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+l.30 S
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+
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+l.32 \section
+ {Uses And Applied Fields}
+The control sequence at the end of the top line
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
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+l.32 \section {U
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+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.34 R
+ obots have been developed to suit and work in various fields in today'...
+
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+\citation{d}
+! Undefined control sequence.
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+ \space undefined\on@line .
+l.34 ...rown by describing some use cases~\cite{d}
+ .\\
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+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 34--35
+[]
+ []
+
+! Undefined control sequence.
+l.36 \subsection
+ {Elderly Care}
+The control sequence at the end of the top line
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+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
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+l.36 \subsection{E
+ lderly Care}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.38 R
+ obots are used in home setting to provide company to lonely elderly an...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{el}
+! Undefined control sequence.
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+ \space undefined\on@line .
+l.38 ... calling help for lonely seniors~\cite{el}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
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+
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+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 38--39
+[]
+ []
+
+! Undefined control sequence.
+l.40 \subsection
+ {Medical Uses}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.40 \subsection{M
+ edical Uses}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 40--41
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.42 R
+ obots are used in regular and critical surgeries performed on humans i...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 42--43
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.44 T
+ he can perform medical procedures very fast and with clean cuts and st...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no t in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
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+Missing character: There is no k in font nullfont!
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+Missing character: There is no n in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no [ in font nullfont!
+\citation{hl}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.44 ...ing hand a human doctor may have~\cite{hl}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `hl' on page undefined on input line 44.
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 44--45
+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 44--45
+[]
+ []
+
+! Undefined control sequence.
+l.46 \subsection
+ {Warehouse Operator}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.46 \subsection{W
+ arehouse Operator}
+You're in trouble here. Try typing <return> to proceed.
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.48 R
+ obots are essential workers in warehouses. They help to handle parcel ...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{war}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.48 ...or to a different assembly line~\cite{war}
+ .
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `war' on page undefined on input line 48.
+
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+
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+[]
+ []
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 48--49
+[]
+ []
+
+! Undefined control sequence.
+l.50 \subsection
+ {Food Home Delivery}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.50 \subsection{F
+ ood Home Delivery}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 50--51
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.52 V
+ ery recently some tech giants are experimenting with idea of deliverin...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{dro}
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+l.52 ...using any harm to people around~\cite{dro}
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+
+! Undefined control sequence.
+l.54 \subsection
+ {Automotive Industry}
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+
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+Type H <return> for immediate help.
+ ...
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+l.54 \subsection{A
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+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.56 R
+ obots are used in automobile manufacturing assembly lines to produce h...
+
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+\citation{ind}
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+l.59 \section
+ {Importance Of Robots In Today's Time}
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+
+
+! LaTeX Error: Missing \begin{document}.
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+Type H <return> for immediate help.
+ ...
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+l.59 \section {I
+ mportance Of Robots In Today's Time}
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+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.61 R
+ obots in today's time offer some very specific and important benefits ...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+! LaTeX Error: Missing \begin{document}.
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+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
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+l.63 R
+ obots are ideal for uses in high risk area like volcanic explorations,...
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+l.65 R
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+
+! LaTeX Error: Missing \begin{document}.
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+Type H <return> for immediate help.
+ ...
+
+l.67 I
+ n cases of metal and mineral exploration and study on ocean floors, ro...
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+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
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+Missing character: There is no l in font nullfont!
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+\citation{11}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.67 ...liability and required precision~\cite{11}
+ ~\cite{12}~\cite{13}.\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `11' on page undefined on input line 67.
+
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+\citation{12}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.67 ...and required precision~\cite{11}~\cite{12}
+ ~\cite{13}.\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `12' on page undefined on input line 67.
+
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+\citation{13}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.67 ...ed precision~\cite{11}~\cite{12}~\cite{13}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `13' on page undefined on input line 67.
+
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+
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+[]
+ []
+
+
+Overfull \hbox (16.29158pt too wide) in paragraph at lines 67--68
+[] [] []
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.69 R
+ obots are used around volcanoes erupting molten lava to collect sample...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 69--70
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.71 E
+ mploying robots is cheap and needs only power which is also highly opt...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 71--72
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.73 R
+ obots are intelligent. They are programmed to make their own decisions...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no , in font nullfont!
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+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
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+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no c in font nullfont!
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+Missing character: There is no p in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 73--74
+[]
+ []
+
+! Undefined control sequence.
+l.75 \section
+ {Expectations From Robots}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.75 \section {E
+ xpectations From Robots}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no E in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 75--76
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.77 T
+ here are few basic expectation that a Robot must in all cases adhere t...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no L in font nullfont!
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+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no h in font nullfont!
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+Missing character: There is no n in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no : in font nullfont!
+Missing character: There is no d in font nullfont!
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+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no ' in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
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+Missing character: There is no b in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
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+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no : in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 77--78
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.79 ‒
+ A robot must not in any case cause a minor or hazardous injury to a...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no A in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
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+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.81 ‒
+ A robot under any and all circumstance must obey the orders which a...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.83 ‒
+ A robot must protect its existence unless in a situation in conflic...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+\citation{asi}
+! Undefined control sequence.
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+ \space undefined\on@line .
+l.83 ...irst or Second Law stated above~\cite{asi}
+ .
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+[]
+ []
+
+! Undefined control sequence.
+l.85 \section
+ {Evolution - Robots to Cobots}
+The control sequence at the end of the top line
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.85 \section{E
+ volution - Robots to Cobots}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.87 M
+ ost use cases defined in the above sections have the need for a robot ...
+
+You're in trouble here. Try typing <return> to proceed.
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diff --git a/sections/intro.tex b/sections/intro.tex
index 673e9c4..697e91a 100644
--- a/sections/intro.tex
+++ b/sections/intro.tex
@@ -2,7 +2,7 @@
\paragraph{Objective Of Thesis:} Design and Implementation of a Model-Based Architecture for Cobotic Cells.\\
-\section {Robots and Robotics}
+\section {Robots and Cobots}
A robot is a machine developed by humans to do work for them and to make their lives easy. Humans had to keep doing repetitive tasks throughout history which were essential things to do and there have been times when enough manpower was absent or unavailable to do the required work. This led to humans to think about designing a machine which can obey their commands to accomplish a series of steps to do a job. They then described these machines as a robot.\\
@@ -10,20 +10,26 @@ In fact, any machine designed for any specific task and purpose can be termed as
Along the evolution of time the machines developed from designing basic tools to varying degrees of complexities like space robots. As decades and centuries of time passed by, human thinking evolved and refined, their outlook towards machines improved and so did their skills with machines to make them more self contained and all this was done to reduce human intervention for decision making. To start with these were elementary forms of machines which are principally described as robots. Nowadays humans are trying to build in artificial intelligence into robots to make them self reliant. One example is self driving cars which are being designed. In the future these cars will have a high level of artificial intelligence built into them which will make them very reliable performer.\\
-New features were built into machines to add functionality and this was done using physical mechanisms in early days like using valves for changing and redirecting water supply in pipes and tracks change railroad paths using levers. But as times changed and many levels of developments happened for physical machines using some form of intelligence then came the era of information technology and development of software systems and programming which was used to control hardware until the last level of action. This was done using a host of components added to hardware which linked it to software systems and they were first circuits which then turned to micro-controllers, and then to electronic components that could be programmed and integrated with physical systems which were then used to manipulate control surfaces thus forming high level of evolution in robotics~\cite{a}.\\
+New features were built into machines to add functionality and this was done using physical mechanisms in early days like using valves for changing and redirecting water supply in pipes and tracks change railroad paths using levers. But as times changed and many levels of developments happened for physical machines using some form of intelligence then came the era of information technology and development of software systems and programming which was used to control hardware until the last level of action. This was done using a host of components added to hardware which linked it to software systems and they were first circuits which then turned to micro-controllers, and then to electronic components that could be programmed and integrated with physical systems which were then used to manipulate control surfaces thus forming high level of evolution in robotics~\cite{a}(Chapter1).\\
+
+Robotics is a relatively new and evolved technical field. It is an evolved version of technical development of machines and software field which are both part of robotics. It won't be wrong to claim that robotics is epitome of technical development in machines. Nonetheless robotics is still a very expensive field of research. Robots have a high one time cost as well as very high operational, development and research costs and if in a broken down condition can become expensive to fix. It is still evolving and studied as a modern research area and it is continuously expanding and acting as a base to develop other technologies. Study of robotics is only available to a lucky few people and research is done every day to make it affordable and accessible to more general people. There are many industrial organizations dealing with robotics field and they are doing extensive research for it.\\
This has nowadays led to creation of an ecosystem of machines which are versatile and follow hook and template structure to do many tasks using same kind of concept i.e technology was used for multiple purposes thus adding to versatility. This has added to functionalities of robots and made them much more versatile and cost efficient as they can be used to perform multiple jobs. This is akin to using different attachments on a modern day vacuum cleaning machine to the the same job of vacuuming by suction. Robots in today's time are meant to do easiest of tasks like moving objects around and giving company to elderly, to complex tasks like critical surgical operations on humans in medicine and working on automobile manufacturing and assembly line~\cite{a1}.\\
+Robots are very essential to some of the today's modern industry because they help humans accomplish tasks which otherwise are too difficult to perform with the speed and accuracy with which robots can do them. In addition robots can perform tirelessly and do not cringe if they work in day or night. This makes them a versatile tool that is friendly and beneficial to humans. The robots thus need to live, work and perform alongside humans in most cases. This is usually critical in factories and also homes where they are used nowadays. These robots maybe very intelligent and this makes them very capable but in most cases they cannot completely replace human presence which is still required to monitor robotic operations and sometimes humans are required to alter plans and make decisions as per orders and this gives birth to a situation where robots need to work alongside humans and this involves only safe operations because in the event robots cause injury to human it can cause very serious situations and hazard to human well being and may also cause death of a person~\cite{RC}.\\Here comes the concept for cobots. They are robots which are built to perform alongside humans and this too safely. The word cobot is derived from so called collaborative robots which are kind of robots made to perform alongside human presence in a commonly used area. Most times they are in very close proximity working alongside each other but the design decisions and multi level safety which range from soft built to auto-emergency stop features ensure they can work very reliably alongside each other.\\
+
\begin{figure}
\centering
\includegraphics[width=0.7\linewidth]{../Robots-Square-300x300}
- \caption{ Image Source https://blogs.3ds.com/northamerica/future-robots-and-ensuring-human-safety/}
+ \caption{ Image Source - Footnote 1}
\label{fig:robots-square-300x300}
\end{figure}
+\footnote{1.https://blogs.3ds.com/northamerica/future-robots-and-ensuring-human-safety/}
+
\section {Components Of a Typical Robot}
-Any robot is a machine that is made up of mainly steel, plastic and more complex materials put together and typically needs electric power to run and perform some work. Robots are programmed using computer software in today's times. Software dictate the robotic parameters and manipulate control surfaces by reading sensor values to enable decision making as per the situation detected and decisive action pre-programmed for it. This can be used to fine tune its actions to perform most complex of tasks independently~\cite{b}. Robots in today's times have embedded control built in, which guide the robot to do a job safely in real world environment setting.\\
+Any robot is a machine that is made up of mainly steel, plastic and more complex materials put together and typically needs electric power to run and perform some work. Robots are programmed using computer software in today's times. Software dictate the robotic parameters and manipulate control surfaces by reading sensor values to enable decision making as per the situation detected and decisive action pre-programmed for it. This can be used to fine tune its actions to perform most complex of tasks independently~\cite{b}(Chapter1). Robots in today's times have embedded control built in, which guide the robot to do a job safely in real world environment setting.\\
Robots range from auto/semi-automatic functional form to resembling human form type to industrial grade and medically utilized robots. Robots have been made to look and behave exactly like humans in present time and this is achieved by using soft silicone materials which makes them look sophisticated and intelligent in a home setting. But they are not always designed for good looks and in industry setting they are bare bone machines most time lacking even correct covering and this is to aid in maintenance and improve operational functionality. Today robotics is working with cutting edge research enabling it to function up to the level of developing safe self driving cars~\cite{c}.\\
@@ -31,7 +37,7 @@ So it can be concluded that robotic components are body/frame, control system, c
\section {Uses And Applied Fields}
-Robots have been developed to suit and work in various fields in today's time. In-fact there is an appropriate type of robot for almost any work today. They range from most easy work to the most complex of tasks. In this section more light on this area is thrown by describing some use cases~\cite{d}.\\
+Robots have been developed to suit and work in various fields in today's time. In-fact there is an appropriate type of robot for almost any work today. They range from most easy work to the most complex of tasks. In this section more light on this area is thrown by describing some use cases~\cite{d}(Chapter1).\\
\subsection{Elderly Care}
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+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no o in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no k in font nullfont!
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+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
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+Missing character: There is no h in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no y in font nullfont!
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+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no e in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no a in font nullfont!
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+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
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+Missing character: There is no b in font nullfont!
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+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 9--10
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.11 T
+ o demonstrate such a concept a world is shown which contains the Robot...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 11--12
+[]
+ []
+
+
+! LaTeX Error: The font size command \normalsize is not defined:
+ there is probably something wrong with the class file.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.13 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[1]
+! Undefined control sequence.
+l.14 \section
+ {Modeling - Explaining Choice of Design Depictions}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.14 \section {M
+ odeling - Explaining Choice of Design Depictions}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no C in font nullfont!
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+Missing character: There is no i in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
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+Missing character: There is no p in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
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+Missing character: There is no , in font nullfont!
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+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
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+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 14--16
+[]
+ []
+
+
+! LaTeX Error: Missing \begin{document}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.16 \begin{enumerate}[
+ label=(\Alph*)]
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no ( in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ \c@*
+l.16 \begin{enumerate}[label=(\Alph*
+ )]
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+Missing character: There is no ) in font nullfont!
+Missing character: There is no ] in font nullfont!
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.17 \item W
+ ORLD MODEL\\
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.17 \item W
+ ORLD MODEL\\
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.17 \item W
+ ORLD MODEL\\
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no W in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no l in font nullfont!
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+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no 4 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no 4 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no [ in font nullfont!
+\citation{17}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.18 ...d depict in the UML object model.\cite{17}
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `17' on page undefined on input line 18.
+
+Missing character: There is no ] in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.19 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.21 \includegraphics
+ [width=0.9\linewidth]{../app2}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 9 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.21 \includegraphics[width=0.9\linewidth]
+ {../app2}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.21 \includegraphics[width=0.9\linewidth]
+ {../app2}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no 2 in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.22 \caption
+ { World Model UML Class Diagram}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: \begin{enumerate} on input line 16 ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.24 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no ' in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.26 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.28 \includegraphics
+ [width=0.9\linewidth]{../app3}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 9 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.28 \includegraphics[width=0.9\linewidth]
+ {../app3}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.28 \includegraphics[width=0.9\linewidth]
+ {../app3}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no 3 in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.29 \caption
+ { World Model UML Object Diagram}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no W in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: \begin{enumerate} on input line 16 ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.31 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Improper \prevdepth.
+\newpage ...everypar {}\fi \par \ifdim \prevdepth
+ >\z@ \vskip -\ifdim \prevd...
+l.32 \newpage
+
+You can refer to \spacefactor only in horizontal mode;
+you can refer to \prevdepth only in vertical mode; and
+neither of these is meaningful inside \write. So
+I'm forgetting what you said and using zero instead.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.32 \newpage
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 16--32
+[]
+ []
+
+
+! LaTeX Error: The font size command \normalsize is not defined:
+ there is probably something wrong with the class file.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.32 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[2{/home/nikhil/.miktex/texmfs/data/pdftex/config/pdftex.map}
+! Undefined control sequence.
+<write> \newlabel{fig:app2}{{1}{\thepage
+ }}
+l.32 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:app2}{{1}{}}
+! Undefined control sequence.
+<write> \newlabel{fig:app3}{{1}{\thepage
+ }}
+l.32 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:app3}{{1}{}}
+]
+Missing character: There is no A in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+
+Overfull \hbox (5.00002pt too wide) in paragraph at lines 33--35
+\OT1/cmr/m/n/10 {
+ []
+
+Missing character: There is no B in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no ( in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no ) in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
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+\citation{18}
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+l.36 ...ion Model.Depicted in Figure 4.3.\cite{18}
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+Missing character: There is no , in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.42 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.44 \includegraphics
+ [width=0.8\linewidth]{../app}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 8 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.44 \includegraphics[width=0.8\linewidth]
+ {../app}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.44 \includegraphics[width=0.8\linewidth]
+ {../app}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.45 \caption
+ {BPMN Application Model Diagram}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no B in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: \begin{enumerate} on input line 16 ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.47 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+
+! LaTeX Error: The font size command \normalsize is not defined:
+ there is probably something wrong with the class file.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.48 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[3
+! Undefined control sequence.
+<write> \newlabel{fig:app}{{2}{\thepage
+ }}
+l.48 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:app}{{2}{}}
+]
+Missing character: There is no S in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no Y in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no G in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no C in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no T in font nullfont!
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.52 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.54 \includegraphics
+ [width=1.0\linewidth]{../app4}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 0 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.54 \includegraphics[width=1.0\linewidth]
+ {../app4}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.54 \includegraphics[width=1.0\linewidth]
+ {../app4}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no 4 in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.55 \caption
+ {Safety Model - UML State Diagram}
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no S in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no U in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no D in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+
+! LaTeX Error: \begin{enumerate} on input line 16 ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.57 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no F in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 4 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 4 in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no 1 in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no 2 in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no A in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no K in font nullfont!
+Missing character: There is no L in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no B in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no N in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no [ in font nullfont!
+\citation{18}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.59 ...ion for safety models of a system\cite{18}
+ .\\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `18' on page undefined on input line 59.
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 59--60
+[]
+ []
+
+
+! LaTeX Error: Environment figure undefined.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.61 \begin{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+! Undefined control sequence.
+l.63 \includegraphics
+ [width=0.6\linewidth]{../3-Figure4-1}
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no [ in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no = in font nullfont!
+Missing character: There is no 0 in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no 6 in font nullfont!
+! Missing number, treated as zero.
+<to be read again>
+ ]
+l.63 \includegraphics[width=0.6\linewidth]
+ {../3-Figure4-1}
+A number should have been here; I inserted `0'.
+(If you can't figure out why I needed to see a number,
+look up `weird error' in the index to The TeXbook.)
+
+! Illegal unit of measure (pt inserted).
+<to be read again>
+ ]
+l.63 \includegraphics[width=0.6\linewidth]
+ {../3-Figure4-1}
+Dimensions can be in units of em, ex, in, pt, pc,
+cm, mm, dd, cc, nd, nc, bp, or sp; but yours is a new one!
+I'll assume that you meant to say pt, for printer's points.
+To recover gracefully from this error, it's best to
+delete the erroneous units; e.g., type `2' to delete
+two letters. (See Chapter 27 of The TeXbook.)
+
+Missing character: There is no ] in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no / in font nullfont!
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+Missing character: There is no F in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no e in font nullfont!
+Missing character: There is no 4 in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no 1 in font nullfont!
+
+! LaTeX Error: \caption outside float.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.64 \caption
+ {Paper : On Making Robots Understand Safety Image Source :http...
+
+You're in trouble here. Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
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+Missing character: There is no : in font nullfont!
+Missing character: There is no O in font nullfont!
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+Missing character: There is no M in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
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+Missing character: There is no g in font nullfont!
+Missing character: There is no R in font nullfont!
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+Missing character: There is no n in font nullfont!
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+Missing character: There is no a in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
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+Missing character: There is no 5 in font nullfont!
+Missing character: There is no 6 in font nullfont!
+
+! LaTeX Error: \begin{enumerate} on input line 16 ended by \end{figure}.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.66 \end{figure}
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+Missing character: There is no F in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
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+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no w in font nullfont!
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+\citation{19}
+! Undefined control sequence.
+<write> ...: Citation `\@citeb ' on page \thepage
+ \space undefined\on@line .
+l.68 ...as been done on injuring pig skin\cite{19}
+ .
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+LaTeX Warning: Citation `19' on page undefined on input line 68.
+
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+
+Overfull \hbox (5.43053pt too wide) in paragraph at lines 68--69
+[]
+ []
+
+
+! LaTeX Error: The font size command \normalsize is not defined:
+ there is probably something wrong with the class file.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.71 \newpage
+
+Your command was ignored.
+Type I <command> <return> to replace it with another command,
+or <return> to continue without it.
+
+[4
+! Undefined control sequence.
+<write> \newlabel{fig:app4}{{3}{\thepage
+ }}
+l.71 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:app4}{{3}{}}
+! Undefined control sequence.
+<write> \newlabel{fig:3-figure4-1}{{3}{\thepage
+ }}
+l.71 \newpage
+
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+\newlabel{fig:3-figure4-1}{{3}{}}
+]
+! Undefined control sequence.
+l.73 \section
+ {Tools Used }
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+Missing character: There is no T in font nullfont!
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+Missing character: There is no d in font nullfont!
+! Undefined control sequence.
+l.74 \subsection
+ {Setup Environment Using ROS To Run Services ,Motion Plannin...
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
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+
+Overfull \hbox (20.0pt too wide) in paragraph at lines 73--75
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+
+
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+! Missing number, treated as zero.
+<to be read again>
+ \c@*
+l.76 \begin{enumerate}[label=(\Alph*
+ )]
+A number should have been here; I inserted `0'.
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+look up `weird error' in the index to The TeXbook.)
+
+Missing character: There is no ) in font nullfont!
+Missing character: There is no ] in font nullfont!
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.77 \item R
+ OS \footnote{https://erdalpekel.de/?p=55 , https://github.com/fr...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.77 \item R
+ OS \footnote{https://erdalpekel.de/?p=55 , https://github.com/fr...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.77 \item R
+ OS \footnote{https://erdalpekel.de/?p=55 , https://github.com/fr...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no O in font nullfont!
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+LaTeX Font Info: External font `cmex10' loaded for size
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+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no q in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no E in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no O in font nullfont!
+Missing character: There is no S in font nullfont!
+Missing character: There is no , in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no k in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no z in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no - in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no . in font nullfont!
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.80 \item R
+ VIZ / MoveIT \footnote{ROS: an open-source Robot Operating ...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.80 \item R
+ VIZ / MoveIT \footnote{ROS: an open-source Robot Operating ...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+
+! LaTeX Error: Something's wrong--perhaps a missing \item.
+
+See the LaTeX manual or LaTeX Companion for explanation.
+Type H <return> for immediate help.
+ ...
+
+l.80 \item R
+ VIZ / MoveIT \footnote{ROS: an open-source Robot Operating ...
+
+Try typing <return> to proceed.
+If that doesn't work, type X <return> to quit.
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no V in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no Z in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no T in font nullfont!
+! Undefined control sequence.
+\@footnotetext ...tins {\reset@font \footnotesize
+ \interlinepenalty \interfo...
+l.80 ...n open-source Robot Operating System }
+ \\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+! Undefined control sequence.
+\@footnotetext ...}\color@begingroup \@makefntext
+ {\rule \z@ \footnotesep \i...
+l.80 ...n open-source Robot Operating System }
+ \\
+The control sequence at the end of the top line
+of your error message was never \def'ed. If you have
+misspelled it (e.g., `\hobx'), type `I' and the correct
+spelling (e.g., `I\hbox'). Otherwise just continue,
+and I'll forget about whatever was undefined.
+
+
+Overfull \hbox (23.19449pt too wide) in paragraph at lines 80--80
+[][]\OT1/cmr/m/n/10 ROS:
+ []
+
+
+Overfull \hbox (10.55559pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 an
+ []
+
+
+Overfull \hbox (24.16672pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 open-
+ []
+
+
+Overfull \hbox (27.30559pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 source
+ []
+
+
+Overfull \hbox (27.0834pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 Robot
+ []
+
+
+Overfull \hbox (16.6667pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 Op-
+ []
+
+
+Overfull \hbox (11.69444pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 er-
+ []
+
+
+Overfull \hbox (12.22224pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 at-
+ []
+
+
+Overfull \hbox (13.33337pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 ing
+ []
+
+
+Overfull \hbox (18.11115pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 Sys-
+ []
+
+
+Overfull \hbox (16.6667pt too wide) in paragraph at lines 80--80
+\OT1/cmr/m/n/10 tem|
+ []
+
+Missing character: There is no R in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no Z in font nullfont!
+Missing character: There is no / in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no T in font nullfont!
+Missing character: There is no M in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no R in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no P in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no H in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no j in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no y in font nullfont!
+Missing character: There is no f in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no . in font nullfont!
+Missing character: There is no I in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no x in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no w in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no c in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no d in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no p in font nullfont!
+Missing character: There is no l in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no s in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no u in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no v in font nullfont!
+Missing character: There is no i in font nullfont!
+Missing character: There is no n in font nullfont!
+Missing character: There is no g in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no h in font nullfont!
+Missing character: There is no e in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no b in font nullfont!
+Missing character: There is no o in font nullfont!
+Missing character: There is no t in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
+Missing character: There is no m in font nullfont!
+Missing character: There is no a in font nullfont!
+Missing character: There is no r in font nullfont!
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diff --git a/sections/soa.tex b/sections/soa.tex
index 8a2f531..1777235 100644
--- a/sections/soa.tex
+++ b/sections/soa.tex
@@ -1,98 +1,228 @@
\chapter{STATE OF THE ART}
+This chapter introduces and describes the technology and tools used for modeling and programming in this thesis work and this forms the state of the art for this thesis. In this section firstly a basic introduction to the technology of task is given and this is related to what is being tried to be accomplished in real world and then following sections describing first, the state of the art for theoretical models designed and then technology for the programming and related tools are descibed in the second section.
+
\section {Motion Planning And Simulations}
-This robotics project revolves around the idea of motion planning. It is about design and implementation of a model based architecture for cobotic cells. The basic idea is that there is a robot which has to cohabit with humans and it is an effort to make it real world intelligent and this means it has to work in real world where obstacles, objects and humans are present. Accidents are imminent and thus the case study is that the artificial intelligence has to be built into the robot.\\
+This robotics project revolves around the idea of motion planning. It is about design and implementation of a model based architecture for cobotic cells. The basic idea is that there is a robot which has to cohabit with humans and it is an effort to make it real world intelligent and this means it has to work in real world where obstacles, objects and humans are present. Accidents are imminent and hence the case study is about building intelligence in robot to deal with obstacles, thus enabling robot to provide safety to cohabiting humans.\\
-A robot is present and then one or more humans are in proximity along with one or more obstacles are also present in the real world. The base of Robot is fixed and the arm is moving and there is a gripper which need to do a pickup and release job. The robot has to be programmed to move and not just move but move with safety by detecting obstacles / humans around the robot continuously.\\
+Using motion planning, tasks are accomplished by the robot and this is starting of building theoretical models for motion planning known as application model. Similarly world model is designed as a complete visual model for world of robot as well as safety model is designed as a theoretical model for safety of robotic system. All these are also programmed and described more objectively in later chapters. But for now only tools and technologies used to design and program them are described in the following two sections respectively. Firstly, the techniques used for visual depiction of models is described. Here a few of the optional depictions are talked and described and then the one selected in this thesis is described. Secondly, technology used for running the program made to implement these models is described~\cite{mops}.
-To start with a fictitious plan, the robot uses a motion planner to move arm and pickup an object and then move again according to already planned motion trajectory and release the object at desired location thus completing the task. So far this plan is only about doing the task but sans the idea of any kind of obstacle or human which can cause a hindrance to already planned motion which would thus require an alteration to planned trajectory right at that time instant when sensors detect obstacle and move around the obstacle to reach a coordinate position around the obstacle to a point in pre decided motion plan and then continue motion from there onwards. After the motion planning part a simulation software is used to see if motion trajectory correction is feasible and working in real life and to see how successful it can be~\cite{4}.\\
+\section {Modeling - Explaining Choice of Design Depictions}
-To demonstrate such a concept a world is shown which contains the robot Panda, its arm, obstacle object which can be a ball or cube box and human beings. The thesis work designs a world model , an application model, and safety model for which different diagram forms are used and they are discussed further.\\
+Thesis work tries to find correct diagram depictions for all three intended diagrams which are world model, application model and lastly safety model. For this various design depictions were considered and after contemplation following depictions were selected and are described in sections below.\\
-\section {Modeling - Explaining Choice of Design Depictions}
+\subsection{Unified Modeling Language (UML) Diagram For World Model Class Diagram}
-Thesis work tries to find correct diagram depictions for all three intended diagrams which are world model, application model and lastly safety model.
+This thesis work includes extensive research on the UML Class Diagram and its features and how they can be used. Then a few of tools used to construct UML Class diagrams are described.\\
-\begin{enumerate}[label=(\Alph*)]
+Unified Model is a language used to appropriately formalize the static structure of a project using classes as building blocks. This modeling is most basic depiction of object oriented modeling and data modeling. UML class diagram describes classes, attributes they have and functions used to implement them, and show how the objects of these classes are related. This model cohesively describes the data contained in a project and how it all is related together to produce desired functionality~\cite{CD1}~\cite{CD2}.\\
-\item WORLD MODEL\\
-
-Unified Modelling Language UML For class and object diagrams for world model using the web tool Online Visual Paradigm is shown in Fig 4.1 and Fig 4.2 is displayed above.The UML class model is used to derive the objects and depict in the UML object model~\cite{17}.\\
-
+The class in this diagram is the basic unit. The class is an almost exact depiction of real object oriented class and contains three sections, first being the class name, second is the section for attributes i.e. data variables and their type held by the class and third section describe the operation, thus holding the methods. The UML class diagram can be extended using state machines which is described a few sections later to describe another model known as safety model and i.e. it is based on extension of UML class diagram. Here is depiction of a typical class in a class diagram.\\
+
\begin{figure}
\centering
-\includegraphics[width=0.9\linewidth]{../app2}
-\caption{ World Model UML Class Diagram}
-\label{fig:app2}
+\includegraphics[width=0.5\linewidth]{../classIcon}
+\caption{A typical class structure in UML class diagram Image Source:https://sites.google.com/site/revasolution/techhome/uml/clsdiag}
+\label{fig:classicon}
\end{figure}
-This world model class diagram has been designed to contain ten classes. The main parent classes are World Object and World, present on top most level. The classes Robot and Abstract Object inherit from one class and at same time are aggregated with another class. Relation of association and aggregation is used where classes need to use data variable from other classes and if class variable must depend on other class variables for it to exist respectively. Aggregation is used where if the class is not involved its child classes cannot be used. Association is used where one class is related to another just to be able to use other's variables. Both relations use pointers.
+There are various types of relation that connect classes together and this depends on complexity of the project. Each type of relation is described by a unique symbol of connection. Few of the relations are dependency, association, aggregation, inheritance and composition as described in the image. \\
\begin{figure}
\centering
-\includegraphics[width=0.9\linewidth]{../app3}
-\caption{ World Model UML Object Diagram}
-\label{fig:app3}
+\includegraphics[width=0.5\linewidth]{../Uml_classes_en.svg}
+\caption{UML Relations Image Source : \lstinline|https://en.wikipedia.org/wiki/File:Uml_classes_en.svg|}
+\label{fig:umlclassesen}
\end{figure}
-\newpage
+\begin{enumerate}[label=(\Alph*)]
+
+\item Dependency\\
+
+The dependency relation is marked by a dotted arrow. This implies a one-way relationship between two variable. It means that one variable is dependent on the other. If value of one variable in server changes then the value of variable dependent on it also changes on client.\\
+
+\item Association
-\item APPLICATION MODEL – BUSINESS PROCESS MODELING NOTATION USING MODELIO \\
+An Association means a family of links. This is marked by a bold line arrow. It means a static relationship shared between objects of two classes and this relates the classes belonging to a family. Any number of classes can be related by association relation.\\
-Business Process Modelling Notation(BPMN) For application model using Modelio was chosen for application model. Depicted in Figure 4.3~\cite{18}.\\
+\item Inheritance
-This was found to be good choice to show application process as this shows cells which depict each component in the world model diagram and then allowed to depict the relationship and connection between their components and showing their flow which have a comprehensive and logical consistency among cells. It uses start and end event states and then “if” conditions as well as flow lines with process events and intermediate events to other components of world diagram to construct application model. In detail components are described as - \\
+Inheritance is another relationship. This is a property where in all characteristics i.e. variables and functions, of a class are adopted by another class as well and they are known to be related by inheritance. The class adopting the properties is called as the child class and the class from which it adopts them is known as parent class. This is very commonly used relationship in class diagrams. This is marked by a bold line arrow with hollow tip. \\
-Events, Activities and Gateways. Objects are connected using Sequence Flows , Message Flows and Associations. Each segment is known as frames.
+\item Aggregation
-\begin{figure}
+Aggregation is one of more refined version of association relationship. Here functionality of one class is dependent on another one, i.e. if one variable do not exist then another variable having aggregation relationship is also not able to exist or be used. It is depicted by a line and tip having a quadrilateral.\\
+\end{enumerate}
+
+\begin{figure}
\centering
-\includegraphics[width=0.8\linewidth]{../app}
-\caption{BPMN Application Model Diagram}
-\label{fig:app}
+\includegraphics[width=0.7\linewidth]{../Example-of-a-UML-Class-Diagram}
+\caption{Example of UML Class Diagram Image Source : \lstinline|https://www.researchgate.net/figure/Example-of-a-UML-Class-Diagram_fig1_221269289|}
+\label{fig:example-of-a-uml-class-diagram}
\end{figure}
+Tools used for UML class diagrams are Online Visual Paradigm. This is an online editor to construct UML class diagram. Another one used in the thesis for final design is Modelio tool.
+
+\subsection{Business Process Modeling Notation (BPMN) for Application Model}
+
+Business Process Modeling Notation is used for Application Model~\cite{18}. This is a design depiction used to construct application workflows and processes. BPMN provides a standardized bridge for the gap between the business process design and implementation. A Business Process Model is a network of graphical objects, which are activities(i.e. work) and the flow controls that define their order of performance and the flow. This diagram is made up of elements and there are many category of elements but the thesis work uses two major group of elements known as flow objects and connecting objects.
-\item SAFETY MODEL DEPICTION USING UML STATE CHART \\
+The flow objects contain Events, Activities and Gateways and the connecting objects have Sequence Flows, Message Flows and Association. They all come together to give desired form to the process workflows. Here is image of all components of BPMN.
\begin{figure}
\centering
-\includegraphics[width=1.0\linewidth]{../app4}
-\caption{Safety Model - UML State Diagram}
-\label{fig:app4}
+\includegraphics[width=0.7\linewidth]{../bpmnx}
+\caption{Components of BPMN Image Source : https://study.com/academy/lesson/business-process-model-and-notation-process-examples.html}
+\label{fig:bpmnx}
\end{figure}
-In Fig.4.4 The start and end events denote the process starting and end. The transition T1 is about human presence. The robot motion begins according to motion already planned using MoveIT but then if the human presence is detected by sensors, it calls MoveIT for new trajectory and proceeds with motion but once again checks if human is detected using if condition and if so then return to human present condition from this state and once again a new motion is planned by MoveIT until a state is achieved where a human is absent and a final transition T2 is executed which proceed to the end event finally. This model can be extended in more detail in the future using this concept along with a different notation that can make the cases more detailed and thus more extensive. MAPE-K Loops can also be used to denote the safety of a system and in addition computer generated graphics can as well be used to depict the safety model of a system, this enables the research to not get restricted to just BPMN notation for safety models of a system~\cite{18}.\\
+\begin{enumerate}[label=(\Alph*)]
+\item Events
+
+An event is depicted as a circle. This is something that marks something happening during the course of workflow. They affect flow of the process and have a trigger point or an result state. There are three types of events, and each of them show stage of the event happening and also effect the flow. These are start, intermediate and end events as is marked in the figure.
+
+\item Activity
+
+Activity is depicted by a rounded-corner rectangle. It marks work that is performed. There are many types of activities but the main are Sub-processes and tasks as shown in figure.
+
+\item Gateways
+
+A Gateway is shown by diamond shape and is used to direct the divergence and convergence of the work flow sequence. It governs traditional decisions, as well as the decision when to split, merge, and join paths.
+
+Here is description of Connecting objects also known as connectors. They are connected together to create structure and demonstrate flow. Three connectors are described below.
+
+\item Sequence Flow
+
+A Sequence Flow is shown by a solid line with a solid arrowhead and this shows the order of the activities that will be performed in the workflow process.
+
+\item Message Flow
+
+A Message Flow is depicted by a dashed line with an open arrowhead and it is used to mark message transfer between two different processes. Depicted in the image.
+
+\item Association
+
+An Association is used as a dotted line with a line arrowhead and it is used to associate data, text, or miscellaneous artifacts with flow objects. They are used to show the inputs and outputs of activities.
+
+A typical example of BPMN diagram is as follows.
\begin{figure}
\centering
-\includegraphics[width=0.6\linewidth]{../3-Figure4-1}
-\caption{Paper : On Making Robots Understand Safety Image Source :https://journals.sagepub.com/doi/pdf/10.1177/0278364912462256}
-\label{fig:3-figure4-1}
+\includegraphics[width=0.7\linewidth]{../pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2.0-diagram}
+\caption{BPMN Example Image Source : https://www.conceptdraw.com/examples/taxi-booking-process}
+\label{fig:pict--business-process-modeling-cab-booking-public-process-collaboration-bpmn-2}
\end{figure}
+\end{enumerate}
-Fig.4.5 There has been extensive work done to incorporate safety into real world robots particularly from Sami Haddadin. It has built the robot with technology ranging from making the robot understanding safety i.e by making them softer in approach when operating to preventing any physical collision by embedding injury knowledge into controls. The robot surfaces are made softer and force reduced when in proximity to collision objects up to a level where the robot can affirmatively detect the kind of object in proximity and classify that as a serious or not so seriously unsafe object. Extensive testing has been done on injuring pig skin~\cite{19}.\\
+\subsection{Unified Modeling Language State Machine for Safety Model}
-\end{enumerate}
+UML state machines are finite state machines expressed in the form of unified modeling language notation. The concept associated is about organizing the way a process works, such that an entity or each of its sub-entities is always in exactly one of a number of possible states and there is well-defined conditional transitions between these states.\\
-\section {Tools Used }
-\subsection{Setup Environment Using ROS To Run Services ,Motion Planning In RVIZ Using MOVEIT ,GAZEBO For Simulations}
+Today almost all software system are event driven. These systems can be external or internal events like a mouse click event. After the event is handled, the system goes back to waiting for another event. This describes the concept of finite state machines. The system can be in only one state at any given time instant. The system when changing state is known as state transition. When finite state machines are expressed in the form of UML diagrams then they are known as UML state machines. They use same components as are used in UML class diagrams.
+
+\begin{figure}
+\centering
+\includegraphics[width=0.7\linewidth]{../State_Machine_At_a_Glance}
+\caption{UML State Machine Image Source : https://www.visual-paradigm.com/tutorials/how-to-draw-state-machine-diagram-in-uml/}
+\label{fig:statemachineataglance}
+\end{figure}
+
+\section {Tools Used}
+
+\subsection{Setup Environment Using ROS To Run Services, Motion Planning In MOVEIT and GAZEBO For Simulations and more}
\begin{enumerate}[label=(\Alph*)]
-\item ROS \footnote{https://erdalpekel.de/?p=55 , https://github.com/frankaemika/ , https://moveit.ros.org/ }\\
+
+\item ROS \footnote{https://moveit.ros.org}\\
-ROS is an opensource robot operating system. ROS is not a regular OS in sense to not provide regular functions of OS like process management and scheduling but it provides a different set of services and acting like structured communications layer above the host operating systems. ROS is associated with existing frameworks of robots, with brief look on available application software which uses ROS. As robotics is a wide field and continuously a topic of research and a growing one ,generating code for ROS is not easy. There are different category of robots available with high degree of variation in hardware, thus not enabling programmers to reuse code or develop on modules. In addition the total amount of code needed is too much for regular programmers, as it needs a deep stack starting from driver-level software and continuing up, and also needs abstract reasoning, and more. The required breadth and width of expertise needed is far more than the skills of any single researcher, robotics software architectures must also be able to be integrated with large-scale software. To address to these problems and make life easier for a regular programmer, many robotics researchers, have constructed huge number of frameworks to handle complexity and address to rapid prototyping of software for experiments, thus resulting enabling research in industry and academia. Each of the frameworks were made keeping in mind a purpose, maybe for a response to perceived weakness of other available frameworks, or to place importance on dimensions which were seen as most important in the design process. ROS, the framework is designed not without tradeoffs and prioritizations made during its design cycle which were essential to do in interest of practical uses. It is still thought the tradeoffs will serve well to purposes of large-scale integrative robotics research in a wide variety of uses and cases as robotic systems grow ever more complex. \\
+ROS is an opensource robot operating system. ROS is not a regular OS in sense to not provide regular functions of OS like process management and scheduling but it provides a different set of services and acting like structured communications layer above the host operating systems. ROS is associated with existing frameworks of robots, with brief look on available application software which uses ROS. As robotics is a wide field and continuously a topic of research and a growing one, generating code for ROS is not easy. There are different category of robots available with high degree of variation in hardware, thus not enabling programmers to reuse code or develop on modules. In addition the total amount of code needed is too much for regular programmers, as it needs a deep stack starting from driver-level software and continuing up, and also needs abstract reasoning, and more. The required breadth and width of expertise needed is far more than the skills of any single researcher, robotics software architectures must also be able to be integrated with large-scale software. To address to these problems and make life easier for a regular programmer, many robotics researchers, have constructed huge number of frameworks to handle complexity and address to rapid prototyping of software for experiments, thus resulting enabling research in industry and academia. Each of the frameworks were made keeping in mind a purpose, maybe for a response to perceived weakness of other available frameworks, or to place importance on dimensions which were seen as most important in the design process. ROS, the framework is designed not without tradeoffs and prioritizations made during its design cycle which were essential to do in interest of practical uses. It is still thought the tradeoffs will serve well to purposes of large-scale integrative robotics research in a wide variety of uses and cases as robotic systems grow ever more complex~\cite{ro}.\\
-\item RVIZ / MoveIT \footnote{ROS: an open-source Robot Operating System } \\
+\item MoveIT \footnote{ https://moveit.ros.org/ } \\
-RviZ/MoveIT motion planner was used for motion planning as this software lets us alter many different parameters of the robotic components and helps to create case studies in a world environment for robot Panda. Here a series of joints and poses is set and then a trajectory for motion planning which is then used to run in a real world simulator. Its main purpose was to introduce an obstacle which is a cube box or which can be a human being and the motion plan is about moving the robot arm around the obstacle to reach a position which was decided earlier in the motion plan.\\
+MoveIT motion planner was used for motion planning as this software lets us alter many different parameters of the robotic components and helps to create case studies in a world environment for robot Panda. Here a series of joints and poses is set and then a trajectory for motion planning, which is then used to run in a real world simulator. Its main purpose is to motion plan and introduce an obstacle which is a cube box or which can be a human being and the motion plan is about moving the robot arm around the obstacle to reach a position which was decided earlier in the motion plan~\cite{movita}. There can be as well other motion plans that are simpler and more complex\\
+
+This is motion planner used to plan the motion of robot Franka Panda in this case. This connects to simulator for running real world simulations using the Robot Operating System (ROS) and launch file. Here is screenshot for Rviz.\\
+
+\begin{figure}
+\centering
+\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-13-00"}
+\caption{MoveIT / RVIZ Screenshot}
+\label{fig:screenshot-from-2020-10-14-04-13-00}
+\end{figure}
+
+When MoveIT tool is started for the first time there comes up an empty world. On the top there is option Panel which can be clicked to see a drop down menu and from there some of the panels can be selected which need to be used. The motion planning enables user to set various field parameters and their values like some of them are Fixed Frame, Robot Description, Planning Scene Topic, Planning Group and Planning Request and more like Planning Trajectory and many more and they can be explored further using online tutorials provided by ROS thus adding to a lot of functionality and flexibility. \footnote{\lstinline|https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html|}.
+
+Fig.4.7 This is what Rviz motion planner looks like. The robot is stationary in this case and can be moved using arrows displayed in different colors to attempt motion in different directions. The 7 joint of Robot Panda give it immense flexibility but there maybe some motions which are not possible and in this case it is made obvious while using MoveIT. The Displays on the top left shown are showing various different parameters which Rviz can help tune and change. Some of them are Robot Description and Planning Scene Topic and there is Plan and Execute button which can be used to run the plan once the arm is moved to a new position termed as final position. The plan can be executed in Gazebo Simulator by clicking Plan and Execute button and the trajectory is visible in the Rviz and then almost immidiately the Gazebo simulator executes the motion.\\
\item Gazebo \footnote{http://gazebosim.org/}
-Gazebo simulator was used which is real world simulator to run the motion plan from MoveIT. This lets us see if the real world simulation is possible for the conceived motion plan and trajectory. Gazebo also has additional features which can add real time parameters to its simulation like altering torque of joints to see how robot reacts in real world.
-\end{enumerate}
+Gazebo simulator was used which is a simulator to run the motion plan from MoveIT. This lets users see if the real life simulation is possible for the conceived motion plan and trajectory visualized in a visualization tool like MoveIT. Gazebo also has additional features which can add and alter real time parameters to its simulation like altering torque of joints to see how robot reacts in real world~\cite{gaz}.\\
+
+This is real world simulator which simulates robot motion with real world parameters tuned to check if the motion plan is executable and feasible in real world. Here is how the Gazebo simulator looks on screen.\\
+
+\begin{figure}
+\centering
+\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-13-12"}
+\caption{Gazebo Screenshot}
+\label{fig:screenshot-from-2020-10-14-04-13-12}
+\end{figure}
+
+In this thesis work there was no need to explore functionality or fiddle any of features in Gazebo. It was used to visualize motion plan of MoveIt and checked if this is real world feasible in Gazebo. In this tool it is possible to tune a lot of real world parameters and the ones related to Robot Panda are torques on joints but this was not required.
+
+\item Clion IDE \footnote{https://www.jetbrains.com/clion/}
+
+This is the editor used to write C++ code for a project in this task and this is IDE used to compile and run it. CLion is used to provide many aides to help reduce the programmers workload and automate the process of adding code by providing many suggestions using inbuilt libraries and showing connections. In addition it points out logic errors in advance and helps mitigates errors and warnings that may come at a later stage by improving the quality of code while being coded. CLion IDE can be started by opening a terminal in linux and typing command "clion". The figure 4.9 shows how CLion IDE looks like.\\
+
+\begin{figure}
+\centering
+\includegraphics[width=1.0\linewidth]{"../../Screenshot from 2020-10-14 04-08-02"}
+\caption{CLion Screenshot}
+\label{fig:screenshot-from-2020-10-14-04-08-02}
+\end{figure}
+
+CLion window shows the complete project structure on one side and each opened program on right side, making it easier to understand the code and make things easy to lookup. The window in second half of screen is the console output window. It shows the errors and command line output. These are some of useful general features of Clion IDE in addition to many more used.
+
+\item Gitlab \footnote{https://gitlab.com/explore}
+
+To keep the constructed code safe from loss and to keep it accessible and visible as a package to a host of users, the code is uploaded to a central repository for which Gitlab was used. This is a widely used repository for students in a university setting.
+It shows the projects available under the namespace of account owner and has a range of features and commands used, which are described in the following paragraphs. The image shows how a typical Gitlab account appears in web.
+
+\begin{figure}
+\centering
+\includegraphics[width=1.0\linewidth]{"../Screenshot from 2020-10-14 20-16-28"}
+\caption{Gitlab Screenshot}
+\label{fig:screenshot-from-2020-10-14-20-16-28}
+\end{figure}
+
+After logging in to Gitlab account, the users are welcomed to a page which shows repositories available. The groups and repositories subscribed by the owner user or given access to owner user by other users are demonstrated here at the page. The top section has tabs "All" and "Personal". "All" signify all projects which owner user has access to and the "Personal" tab has repositories forked by the owner user only.
+
+Gitlab is a tool that allows user to create a fork from a parent repository and be able to use it as a personal repository. In cases when the personal fork has become corrupt or cannot be used anymore, it can be re-forked from parent repository. Gitlab also allows construction of more than one branch from a forked repository to solve this problem, so in cases when the master branch of repository is not usable anymore, a new branch can be created and used. This is also useful to maintain different versions of the code and this is one of many features of Gitlab this thesis used. Forking can be done by clicking on the parent repository and then clicking on Blue tab marked as "Clone". Then appears two options "Clone with HTTPS" and "Clone with SSH", one of link is which needs to be copied. The command "git clone" can be then used on terminal, appended with the copied link from Clone tab to fork the repository to local machine.
+After forking from a parent repository, work is done and added to the folders forked from repository and used on local machine. But they need to be uploaded to Gitlab at regular intervals to log the progress and keep it safe from loss on local machine. For this, the folder is to be uploaded or pushed from local machine to the Gitlab account for which commands have to be used from terminal of local machine. A short description of commands used to achieve this is stated below.
+Many commands used are general git commands which mostly include "git status", "git add .", "git commit", "git fetch", "git pull" and "git push".
+First of all to use git upload in the project, user must go to the project parent directory in linux and right click to click "Open In Terminal" option to open a terminal which is already in parent directory of project. Or else, a terminal can be opened and "cd" command can be used, suffixed by the path to parent directory after a space. This "cd" command can also be run in steps and this changes current directory to stated suffixed directory. Using this in steps, users can switch to the directory that need to be pushed in project.
+Second step after coming to the directory to be pushed is to see its status on git and this can be done using command
+- git status
+This command shows what are the changes since last commit or what is changed and new.
+
+Then command must be run to add all changes to git and this is done using command
+- git add.
+This adds all changes and new files to git to be used as desired.
+
+Then ideally once again status should be checked to see if the files added are now shown in green color after adding them to git.
+This can be done using "git status" command once again. All files must now appear in green and this shows they were added to git since last add. This step maybe alternatively skipped as well.
+
+Then changes added must be committed and this can be done using command "git commit -m "xx" ". The xx is commit message and this text is used as a markup. Any text can be used here instead of xx. This command commits changes to git.
+
+Then "git fetch" command can be used to see which is the branch fetched. This is to confirm if the commit is on correct branch.
+
+Then command "git pull" can be used to see if there are still changes between git version and what is in online repository version. After this once again status must be checked. If there is nothing to add, then all is well but we can once again use git "add ." command to see if anything more can be added. At this point meld . tool can be used to match the changes in file i.e. if there are any, between git and commit but this may not be needed for regular uses and only when there are any discrepancy differences due to irregularities between pushes. Then "git push" must be used to push all changes to Gitlab. This prompts for user to add username and password and after this stage all changes are pushed to Gitlab account folder. Thus this shows completed git command line push process.
+
+\item Erdal's Repositories \footnote{https://github.com/frankaemika/ , https://erdalpekel.de/?p=55}
+
+There are few startup repositories provided by Erdal to use and run robot Franka Emika Panda using ROS on local machine. The robotic framework package has libfranka and this is a C++ program library, frankaros which is a ROS interface with ROS Control and MoveIt integration. The links contain all repositories that can be used for robot Panda in addition to what has been used by work of this theses.\\
+
+\end{enumerate}
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+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labelalpha</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labelnamespec</bcf:key>
+ <bcf:value order="1">shortauthor</bcf:value>
+ <bcf:value order="2">author</bcf:value>
+ <bcf:value order="3">shorteditor</bcf:value>
+ <bcf:value order="4">editor</bcf:value>
+ <bcf:value order="5">translator</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeltitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labeltitlespec</bcf:key>
+ <bcf:value order="1">shorttitle</bcf:value>
+ <bcf:value order="2">title</bcf:value>
+ <bcf:value order="3">maintitle</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeltitleyear</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeldateparts</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labeldatespec</bcf:key>
+ <bcf:value order="1" type="field">date</bcf:value>
+ <bcf:value order="2" type="field">year</bcf:value>
+ <bcf:value order="3" type="field">eventdate</bcf:value>
+ <bcf:value order="4" type="field">origdate</bcf:value>
+ <bcf:value order="5" type="field">urldate</bcf:value>
+ <bcf:value order="6" type="string">nodate</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>julian</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>gregorianstart</bcf:key>
+ <bcf:value>1582-10-15</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxalphanames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxbibnames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxcitenames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxsortnames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxitems</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minalphanames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minbibnames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>mincitenames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minsortnames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minitems</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>nohashothers</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>noroman</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>nosortothers</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>singletitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skipbib</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skipbiblist</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skiplab</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>sortalphaothers</bcf:key>
+ <bcf:value>+</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>sortlocale</bcf:key>
+ <bcf:value>english</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>sortingtemplatename</bcf:key>
+ <bcf:value>nty</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>sortsets</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquelist</bcf:key>
+ <bcf:value>false</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquename</bcf:key>
+ <bcf:value>false</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniqueprimaryauthor</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquetitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquebaretitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquework</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useprefix</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useafterword</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useannotator</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usebookauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usecommentator</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditora</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditorb</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditorc</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useforeword</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useholder</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useintroduction</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenamea</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenameb</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenamec</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usetranslator</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useshortauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useshorteditor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ </bcf:options>
+ <!-- online -->
+ <bcf:options component="biblatex" type="online">
+ <bcf:option type="singlevalued">
+ <bcf:key>labelalpha</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labelnamespec</bcf:key>
+ <bcf:value order="1">shortauthor</bcf:value>
+ <bcf:value order="2">author</bcf:value>
+ <bcf:value order="3">shorteditor</bcf:value>
+ <bcf:value order="4">editor</bcf:value>
+ <bcf:value order="5">translator</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeltitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labeltitlespec</bcf:key>
+ <bcf:value order="1">shorttitle</bcf:value>
+ <bcf:value order="2">title</bcf:value>
+ <bcf:value order="3">maintitle</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeltitleyear</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>labeldateparts</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="multivalued">
+ <bcf:key>labeldatespec</bcf:key>
+ <bcf:value order="1" type="field">date</bcf:value>
+ <bcf:value order="2" type="field">year</bcf:value>
+ <bcf:value order="3" type="field">eventdate</bcf:value>
+ <bcf:value order="4" type="field">origdate</bcf:value>
+ <bcf:value order="5" type="field">urldate</bcf:value>
+ <bcf:value order="6" type="string">nodate</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxalphanames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxbibnames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxcitenames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxsortnames</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>maxitems</bcf:key>
+ <bcf:value>3</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minalphanames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minbibnames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>mincitenames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minsortnames</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>minitems</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>nohashothers</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>noroman</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>nosortothers</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>singletitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skipbib</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skiplab</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>skipbiblist</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquelist</bcf:key>
+ <bcf:value>false</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquename</bcf:key>
+ <bcf:value>false</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniqueprimaryauthor</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquetitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquebaretitle</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>uniquework</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useprefix</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useafterword</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useannotator</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usebookauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usecommentator</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditora</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditorb</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useeditorc</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useforeword</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useholder</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useintroduction</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenamea</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenameb</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usenamec</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>usetranslator</bcf:key>
+ <bcf:value>0</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useshortauthor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ <bcf:option type="singlevalued">
+ <bcf:key>useshorteditor</bcf:key>
+ <bcf:value>1</bcf:value>
+ </bcf:option>
+ </bcf:options>
+ <!-- BIBLATEX OPTION SCOPE -->
+ <bcf:optionscope type="GLOBAL">
+ <bcf:option datatype="xml">datamodel</bcf:option>
+ <bcf:option datatype="xml">labelalphanametemplate</bcf:option>
+ <bcf:option datatype="xml">labelalphatemplate</bcf:option>
+ <bcf:option datatype="xml">inheritance</bcf:option>
+ <bcf:option datatype="xml">translit</bcf:option>
+ <bcf:option datatype="xml">uniquenametemplate</bcf:option>
+ <bcf:option datatype="xml">sortingnamekeytemplate</bcf:option>
+ <bcf:option datatype="xml">sortingtemplate</bcf:option>
+ <bcf:option datatype="xml">extradatespec</bcf:option>
+ <bcf:option datatype="xml">labelnamespec</bcf:option>
+ <bcf:option datatype="xml">labeltitlespec</bcf:option>
+ <bcf:option datatype="xml">labeldatespec</bcf:option>
+ <bcf:option datatype="string">controlversion</bcf:option>
+ <bcf:option datatype="string">alphaothers</bcf:option>
+ <bcf:option datatype="string">sortalphaothers</bcf:option>
+ <bcf:option datatype="string">presort</bcf:option>
+ <bcf:option datatype="string">texencoding</bcf:option>
+ <bcf:option datatype="string">bibencoding</bcf:option>
+ <bcf:option datatype="string">sortingtemplatename</bcf:option>
+ <bcf:option datatype="string">sortlocale</bcf:option>
+ <bcf:option datatype="string">language</bcf:option>
+ <bcf:option datatype="string">autolang</bcf:option>
+ <bcf:option datatype="string">langhook</bcf:option>
+ <bcf:option datatype="string">indexing</bcf:option>
+ <bcf:option datatype="string">hyperref</bcf:option>
+ <bcf:option datatype="string">backrefsetstyle</bcf:option>
+ <bcf:option datatype="string">block</bcf:option>
+ <bcf:option datatype="string">pagetracker</bcf:option>
+ <bcf:option datatype="string">citecounter</bcf:option>
+ <bcf:option datatype="string">citetracker</bcf:option>
+ <bcf:option datatype="string">ibidtracker</bcf:option>
+ <bcf:option datatype="string">idemtracker</bcf:option>
+ <bcf:option datatype="string">opcittracker</bcf:option>
+ <bcf:option datatype="string">loccittracker</bcf:option>
+ <bcf:option datatype="string">labeldate</bcf:option>
+ <bcf:option datatype="string">labeltime</bcf:option>
+ <bcf:option datatype="string">dateera</bcf:option>
+ <bcf:option datatype="string">date</bcf:option>
+ <bcf:option datatype="string">time</bcf:option>
+ <bcf:option datatype="string">eventdate</bcf:option>
+ <bcf:option datatype="string">eventtime</bcf:option>
+ <bcf:option datatype="string">origdate</bcf:option>
+ <bcf:option datatype="string">origtime</bcf:option>
+ <bcf:option datatype="string">urldate</bcf:option>
+ <bcf:option datatype="string">urltime</bcf:option>
+ <bcf:option datatype="string">alldatesusetime</bcf:option>
+ <bcf:option datatype="string">alldates</bcf:option>
+ <bcf:option datatype="string">alltimes</bcf:option>
+ <bcf:option datatype="string">gregorianstart</bcf:option>
+ <bcf:option datatype="string">autocite</bcf:option>
+ <bcf:option datatype="string">notetype</bcf:option>
+ <bcf:option datatype="string">uniquelist</bcf:option>
+ <bcf:option datatype="string">uniquename</bcf:option>
+ <bcf:option datatype="string">refsection</bcf:option>
+ <bcf:option datatype="string">refsegment</bcf:option>
+ <bcf:option datatype="string">citereset</bcf:option>
+ <bcf:option datatype="string">sortlos</bcf:option>
+ <bcf:option datatype="string">babel</bcf:option>
+ <bcf:option datatype="string">datelabel</bcf:option>
+ <bcf:option datatype="string">backrefstyle</bcf:option>
+ <bcf:option datatype="string">arxiv</bcf:option>
+ <bcf:option datatype="boolean">familyinits</bcf:option>
+ <bcf:option datatype="boolean">giveninits</bcf:option>
+ <bcf:option datatype="boolean">prefixinits</bcf:option>
+ <bcf:option datatype="boolean">suffixinits</bcf:option>
+ <bcf:option datatype="boolean">useafterword</bcf:option>
+ <bcf:option datatype="boolean">useannotator</bcf:option>
+ <bcf:option datatype="boolean">useauthor</bcf:option>
+ <bcf:option datatype="boolean">usebookauthor</bcf:option>
+ <bcf:option datatype="boolean">usecommentator</bcf:option>
+ <bcf:option datatype="boolean">useeditor</bcf:option>
+ <bcf:option datatype="boolean">useeditora</bcf:option>
+ <bcf:option datatype="boolean">useeditorb</bcf:option>
+ <bcf:option datatype="boolean">useeditorc</bcf:option>
+ <bcf:option datatype="boolean">useforeword</bcf:option>
+ <bcf:option datatype="boolean">useholder</bcf:option>
+ <bcf:option datatype="boolean">useintroduction</bcf:option>
+ <bcf:option datatype="boolean">usenamea</bcf:option>
+ <bcf:option datatype="boolean">usenameb</bcf:option>
+ <bcf:option datatype="boolean">usenamec</bcf:option>
+ <bcf:option datatype="boolean">usetranslator</bcf:option>
+ <bcf:option datatype="boolean">useshortauthor</bcf:option>
+ <bcf:option datatype="boolean">useshorteditor</bcf:option>
+ <bcf:option datatype="boolean">debug</bcf:option>
+ <bcf:option datatype="boolean">loadfiles</bcf:option>
+ <bcf:option datatype="boolean">safeinputenc</bcf:option>
+ <bcf:option datatype="boolean">sortcase</bcf:option>
+ <bcf:option datatype="boolean">sortupper</bcf:option>
+ <bcf:option datatype="boolean">terseinits</bcf:option>
+ <bcf:option datatype="boolean">abbreviate</bcf:option>
+ <bcf:option datatype="boolean">dateabbrev</bcf:option>
+ <bcf:option datatype="boolean">clearlang</bcf:option>
+ <bcf:option datatype="boolean">sortcites</bcf:option>
+ <bcf:option datatype="boolean">sortsets</bcf:option>
+ <bcf:option datatype="boolean">backref</bcf:option>
+ <bcf:option datatype="boolean">backreffloats</bcf:option>
+ <bcf:option datatype="boolean">trackfloats</bcf:option>
+ <bcf:option datatype="boolean">parentracker</bcf:option>
+ <bcf:option datatype="boolean">labeldateusetime</bcf:option>
+ <bcf:option datatype="boolean">datecirca</bcf:option>
+ <bcf:option datatype="boolean">dateuncertain</bcf:option>
+ <bcf:option datatype="boolean">dateusetime</bcf:option>
+ <bcf:option datatype="boolean">eventdateusetime</bcf:option>
+ <bcf:option datatype="boolean">origdateusetime</bcf:option>
+ <bcf:option datatype="boolean">urldateusetime</bcf:option>
+ <bcf:option datatype="boolean">julian</bcf:option>
+ <bcf:option datatype="boolean">datezeros</bcf:option>
+ <bcf:option datatype="boolean">timezeros</bcf:option>
+ <bcf:option datatype="boolean">timezones</bcf:option>
+ <bcf:option datatype="boolean">seconds</bcf:option>
+ <bcf:option datatype="boolean">autopunct</bcf:option>
+ <bcf:option datatype="boolean">punctfont</bcf:option>
+ <bcf:option datatype="boolean">labelnumber</bcf:option>
+ <bcf:option datatype="boolean">labelalpha</bcf:option>
+ <bcf:option datatype="boolean">labeltitle</bcf:option>
+ <bcf:option datatype="boolean">labeltitleyear</bcf:option>
+ <bcf:option datatype="boolean">labeldateparts</bcf:option>
+ <bcf:option datatype="boolean">nohashothers</bcf:option>
+ <bcf:option datatype="boolean">nosortothers</bcf:option>
+ <bcf:option datatype="boolean">noroman</bcf:option>
+ <bcf:option datatype="boolean">singletitle</bcf:option>
+ <bcf:option datatype="boolean">uniquetitle</bcf:option>
+ <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
+ <bcf:option datatype="boolean">uniquework</bcf:option>
+ <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
+ <bcf:option datatype="boolean">defernumbers</bcf:option>
+ <bcf:option datatype="boolean">locallabelwidth</bcf:option>
+ <bcf:option datatype="boolean">bibwarn</bcf:option>
+ <bcf:option datatype="boolean">useprefix</bcf:option>
+ <bcf:option datatype="boolean">skipbib</bcf:option>
+ <bcf:option datatype="boolean">skipbiblist</bcf:option>
+ <bcf:option datatype="boolean">skiplab</bcf:option>
+ <bcf:option datatype="boolean">dataonly</bcf:option>
+ <bcf:option datatype="boolean">defernums</bcf:option>
+ <bcf:option datatype="boolean">firstinits</bcf:option>
+ <bcf:option datatype="boolean">sortfirstinits</bcf:option>
+ <bcf:option datatype="boolean">sortgiveninits</bcf:option>
+ <bcf:option datatype="boolean">labelyear</bcf:option>
+ <bcf:option datatype="boolean">bibtexcaseprotection</bcf:option>
+ <bcf:option datatype="boolean">isbn</bcf:option>
+ <bcf:option datatype="boolean">url</bcf:option>
+ <bcf:option datatype="boolean">doi</bcf:option>
+ <bcf:option datatype="boolean">eprint</bcf:option>
+ <bcf:option datatype="boolean">related</bcf:option>
+ <bcf:option datatype="boolean">subentry</bcf:option>
+ <bcf:option datatype="boolean">subentrycomp</bcf:option>
+ <bcf:option datatype="integer">mincrossrefs</bcf:option>
+ <bcf:option datatype="integer">minxrefs</bcf:option>
+ <bcf:option datatype="integer">maxnames</bcf:option>
+ <bcf:option datatype="integer">minnames</bcf:option>
+ <bcf:option datatype="integer">maxbibnames</bcf:option>
+ <bcf:option datatype="integer">minbibnames</bcf:option>
+ <bcf:option datatype="integer">maxcitenames</bcf:option>
+ <bcf:option datatype="integer">mincitenames</bcf:option>
+ <bcf:option datatype="integer">maxsortnames</bcf:option>
+ <bcf:option datatype="integer">minsortnames</bcf:option>
+ <bcf:option datatype="integer">maxitems</bcf:option>
+ <bcf:option datatype="integer">minitems</bcf:option>
+ <bcf:option datatype="integer">maxalphanames</bcf:option>
+ <bcf:option datatype="integer">minalphanames</bcf:option>
+ <bcf:option datatype="integer">maxparens</bcf:option>
+ <bcf:option datatype="integer">dateeraauto</bcf:option>
+ </bcf:optionscope>
+ <bcf:optionscope type="ENTRYTYPE">
+ <bcf:option datatype="string">alphaothers</bcf:option>
+ <bcf:option datatype="string">sortalphaothers</bcf:option>
+ <bcf:option datatype="string">presort</bcf:option>
+ <bcf:option datatype="string">indexing</bcf:option>
+ <bcf:option datatype="string">citetracker</bcf:option>
+ <bcf:option datatype="string">ibidtracker</bcf:option>
+ <bcf:option datatype="string">idemtracker</bcf:option>
+ <bcf:option datatype="string">opcittracker</bcf:option>
+ <bcf:option datatype="string">loccittracker</bcf:option>
+ <bcf:option datatype="string">uniquelist</bcf:option>
+ <bcf:option datatype="string">uniquename</bcf:option>
+ <bcf:option datatype="boolean">familyinits</bcf:option>
+ <bcf:option datatype="boolean">giveninits</bcf:option>
+ <bcf:option datatype="boolean">prefixinits</bcf:option>
+ <bcf:option datatype="boolean">suffixinits</bcf:option>
+ <bcf:option datatype="boolean">useafterword</bcf:option>
+ <bcf:option datatype="boolean">useannotator</bcf:option>
+ <bcf:option datatype="boolean">useauthor</bcf:option>
+ <bcf:option datatype="boolean">usebookauthor</bcf:option>
+ <bcf:option datatype="boolean">usecommentator</bcf:option>
+ <bcf:option datatype="boolean">useeditor</bcf:option>
+ <bcf:option datatype="boolean">useeditora</bcf:option>
+ <bcf:option datatype="boolean">useeditorb</bcf:option>
+ <bcf:option datatype="boolean">useeditorc</bcf:option>
+ <bcf:option datatype="boolean">useforeword</bcf:option>
+ <bcf:option datatype="boolean">useholder</bcf:option>
+ <bcf:option datatype="boolean">useintroduction</bcf:option>
+ <bcf:option datatype="boolean">usenamea</bcf:option>
+ <bcf:option datatype="boolean">usenameb</bcf:option>
+ <bcf:option datatype="boolean">usenamec</bcf:option>
+ <bcf:option datatype="boolean">usetranslator</bcf:option>
+ <bcf:option datatype="boolean">useshortauthor</bcf:option>
+ <bcf:option datatype="boolean">useshorteditor</bcf:option>
+ <bcf:option datatype="boolean">terseinits</bcf:option>
+ <bcf:option datatype="boolean">abbreviate</bcf:option>
+ <bcf:option datatype="boolean">dateabbrev</bcf:option>
+ <bcf:option datatype="boolean">clearlang</bcf:option>
+ <bcf:option datatype="boolean">labelnumber</bcf:option>
+ <bcf:option datatype="boolean">labelalpha</bcf:option>
+ <bcf:option datatype="boolean">labeltitle</bcf:option>
+ <bcf:option datatype="boolean">labeltitleyear</bcf:option>
+ <bcf:option datatype="boolean">labeldateparts</bcf:option>
+ <bcf:option datatype="boolean">nohashothers</bcf:option>
+ <bcf:option datatype="boolean">nosortothers</bcf:option>
+ <bcf:option datatype="boolean">noroman</bcf:option>
+ <bcf:option datatype="boolean">singletitle</bcf:option>
+ <bcf:option datatype="boolean">uniquetitle</bcf:option>
+ <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
+ <bcf:option datatype="boolean">uniquework</bcf:option>
+ <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
+ <bcf:option datatype="boolean">useprefix</bcf:option>
+ <bcf:option datatype="boolean">skipbib</bcf:option>
+ <bcf:option datatype="boolean">skipbiblist</bcf:option>
+ <bcf:option datatype="boolean">skiplab</bcf:option>
+ <bcf:option datatype="boolean">dataonly</bcf:option>
+ <bcf:option datatype="boolean">skiplos</bcf:option>
+ <bcf:option datatype="boolean">labelyear</bcf:option>
+ <bcf:option datatype="boolean">bibtexcaseprotection</bcf:option>
+ <bcf:option datatype="boolean">isbn</bcf:option>
+ <bcf:option datatype="boolean">url</bcf:option>
+ <bcf:option datatype="boolean">doi</bcf:option>
+ <bcf:option datatype="boolean">eprint</bcf:option>
+ <bcf:option datatype="boolean">related</bcf:option>
+ <bcf:option datatype="boolean">subentry</bcf:option>
+ <bcf:option datatype="boolean">subentrycomp</bcf:option>
+ <bcf:option datatype="xml">labelalphatemplate</bcf:option>
+ <bcf:option datatype="xml">translit</bcf:option>
+ <bcf:option datatype="xml">sortexclusion</bcf:option>
+ <bcf:option datatype="xml">sortinclusion</bcf:option>
+ <bcf:option datatype="xml">labelnamespec</bcf:option>
+ <bcf:option datatype="xml">labeltitlespec</bcf:option>
+ <bcf:option datatype="xml">labeldatespec</bcf:option>
+ <bcf:option datatype="integer">maxnames</bcf:option>
+ <bcf:option datatype="integer">minnames</bcf:option>
+ <bcf:option datatype="integer">maxbibnames</bcf:option>
+ <bcf:option datatype="integer">minbibnames</bcf:option>
+ <bcf:option datatype="integer">maxcitenames</bcf:option>
+ <bcf:option datatype="integer">mincitenames</bcf:option>
+ <bcf:option datatype="integer">maxsortnames</bcf:option>
+ <bcf:option datatype="integer">minsortnames</bcf:option>
+ <bcf:option datatype="integer">maxitems</bcf:option>
+ <bcf:option datatype="integer">minitems</bcf:option>
+ <bcf:option datatype="integer">maxalphanames</bcf:option>
+ <bcf:option datatype="integer">minalphanames</bcf:option>
+ </bcf:optionscope>
+ <bcf:optionscope type="ENTRY">
+ <bcf:option datatype="string">noinherit</bcf:option>
+ <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
+ <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
+ <bcf:option datatype="string">presort</bcf:option>
+ <bcf:option datatype="string" backendout="1">indexing</bcf:option>
+ <bcf:option datatype="string" backendout="1">citetracker</bcf:option>
+ <bcf:option datatype="string" backendout="1">ibidtracker</bcf:option>
+ <bcf:option datatype="string" backendout="1">idemtracker</bcf:option>
+ <bcf:option datatype="string" backendout="1">opcittracker</bcf:option>
+ <bcf:option datatype="string" backendout="1">loccittracker</bcf:option>
+ <bcf:option datatype="string">uniquelist</bcf:option>
+ <bcf:option datatype="string">uniquename</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useafterword</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useannotator</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useauthor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usebookauthor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usecommentator</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useeditor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useeditora</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useeditorb</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useeditorc</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useforeword</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useholder</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useintroduction</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usenamea</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usenameb</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usenamec</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">usetranslator</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useshortauthor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useshorteditor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">abbreviate</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">dateabbrev</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">clearlang</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">labelnumber</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">labelalpha</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">labeltitle</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">labeltitleyear</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">labeldateparts</bcf:option>
+ <bcf:option datatype="boolean">nohashothers</bcf:option>
+ <bcf:option datatype="boolean">nosortothers</bcf:option>
+ <bcf:option datatype="boolean">noroman</bcf:option>
+ <bcf:option datatype="boolean">singletitle</bcf:option>
+ <bcf:option datatype="boolean">uniquetitle</bcf:option>
+ <bcf:option datatype="boolean">uniquebaretitle</bcf:option>
+ <bcf:option datatype="boolean">uniquework</bcf:option>
+ <bcf:option datatype="boolean">uniqueprimaryauthor</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">skipbib</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">skipbiblist</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">skiplab</bcf:option>
+ <bcf:option datatype="boolean" backendin="uniquename=false,uniquelist=false,skipbib=true,skipbiblist=true,skiplab=true">dataonly</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">skiplos</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">bibtexcaseprotection</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">isbn</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">url</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">doi</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">eprint</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">related</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">subentry</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">subentrycomp</bcf:option>
+ <bcf:option datatype="integer" backendin="maxcitenames,maxbibnames,maxsortnames">maxnames</bcf:option>
+ <bcf:option datatype="integer" backendin="mincitenames,minbibnames,minsortnames">minnames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">maxbibnames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">minbibnames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">maxcitenames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">mincitenames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">maxsortnames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">minsortnames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">maxitems</bcf:option>
+ <bcf:option datatype="integer" backendout="1">minitems</bcf:option>
+ <bcf:option datatype="integer" backendout="1">maxalphanames</bcf:option>
+ <bcf:option datatype="integer" backendout="1">minalphanames</bcf:option>
+ </bcf:optionscope>
+ <bcf:optionscope type="NAMELIST">
+ <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
+ <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
+ <bcf:option datatype="string">uniquelist</bcf:option>
+ <bcf:option datatype="string">uniquename</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
+ <bcf:option datatype="boolean">nohashothers</bcf:option>
+ <bcf:option datatype="boolean">nosortothers</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
+ </bcf:optionscope>
+ <bcf:optionscope type="NAME">
+ <bcf:option datatype="string" backendin="sortingnamekeytemplatename,uniquenametemplatename,labelalphanametemplatename">nametemplates</bcf:option>
+ <bcf:option datatype="string" backendout="1">labelalphanametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">uniquenametemplatename</bcf:option>
+ <bcf:option datatype="string" backendout="1">sortingnamekeytemplatename</bcf:option>
+ <bcf:option datatype="string">uniquename</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">familyinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">giveninits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">prefixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">suffixinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">terseinits</bcf:option>
+ <bcf:option datatype="boolean" backendout="1">useprefix</bcf:option>
+ </bcf:optionscope>
+ <!-- DATAFIELDSETS -->
+ <bcf:datafieldset name="setnames">
+ <bcf:member datatype="name" fieldtype="list"/>
+ </bcf:datafieldset>
+ <bcf:datafieldset name="settitles">
+ <bcf:member field="title"/>
+ <bcf:member field="booktitle"/>
+ <bcf:member field="eventtitle"/>
+ <bcf:member field="issuetitle"/>
+ <bcf:member field="journaltitle"/>
+ <bcf:member field="maintitle"/>
+ <bcf:member field="origtitle"/>
+ </bcf:datafieldset>
+ <!-- SOURCEMAP -->
+ <bcf:sourcemap>
+ <bcf:maps datatype="bibtex" level="driver">
+ <bcf:map>
+ <bcf:map_step map_field_set="day" map_null="1"/>
+ </bcf:map>
+ <bcf:map>
+ <bcf:map_step map_type_source="conference" map_type_target="inproceedings"/>
+ <bcf:map_step map_type_source="electronic" map_type_target="online"/>
+ <bcf:map_step map_type_source="www" map_type_target="online"/>
+ </bcf:map>
+ <bcf:map>
+ <bcf:map_step map_type_source="mastersthesis" map_type_target="thesis" map_final="1"/>
+ <bcf:map_step map_field_set="type" map_field_value="mathesis"/>
+ </bcf:map>
+ <bcf:map>
+ <bcf:map_step map_type_source="phdthesis" map_type_target="thesis" map_final="1"/>
+ <bcf:map_step map_field_set="type" map_field_value="phdthesis"/>
+ </bcf:map>
+ <bcf:map>
+ <bcf:map_step map_type_source="techreport" map_type_target="report" map_final="1"/>
+ <bcf:map_step map_field_set="type" map_field_value="techreport"/>
+ </bcf:map>
+ <bcf:map>
+ <bcf:map_step map_field_source="hyphenation" map_field_target="langid"/>
+ <bcf:map_step map_field_source="address" map_field_target="location"/>
+ <bcf:map_step map_field_source="school" map_field_target="institution"/>
+ <bcf:map_step map_field_source="annote" map_field_target="annotation"/>
+ <bcf:map_step map_field_source="archiveprefix" map_field_target="eprinttype"/>
+ <bcf:map_step map_field_source="journal" map_field_target="journaltitle"/>
+ <bcf:map_step map_field_source="primaryclass" map_field_target="eprintclass"/>
+ <bcf:map_step map_field_source="key" map_field_target="sortkey"/>
+ <bcf:map_step map_field_source="pdf" map_field_target="file"/>
+ </bcf:map>
+ </bcf:maps>
+ </bcf:sourcemap>
+ <!-- LABELALPHA NAME TEMPLATE -->
+ <bcf:labelalphanametemplate name="global">
+ <bcf:namepart order="1" use="1" pre="1" substring_width="1" substring_compound="1">prefix</bcf:namepart>
+ <bcf:namepart order="2">family</bcf:namepart>
+ </bcf:labelalphanametemplate>
+ <!-- LABELALPHA TEMPLATE -->
+ <bcf:labelalphatemplate type="global">
+ <bcf:labelelement order="1">
+ <bcf:labelpart final="1">shorthand</bcf:labelpart>
+ <bcf:labelpart>label</bcf:labelpart>
+ <bcf:labelpart substring_width="3" substring_side="left" ifnames="1">labelname</bcf:labelpart>
+ <bcf:labelpart substring_width="1" substring_side="left">labelname</bcf:labelpart>
+ </bcf:labelelement>
+ <bcf:labelelement order="2">
+ <bcf:labelpart substring_width="2" substring_side="right">year</bcf:labelpart>
+ </bcf:labelelement>
+ </bcf:labelalphatemplate>
+ <!-- EXTRADATE -->
+ <bcf:extradatespec>
+ <bcf:scope>
+ <bcf:field order="1">labelyear</bcf:field>
+ <bcf:field order="2">year</bcf:field>
+ </bcf:scope>
+ </bcf:extradatespec>
+ <!-- INHERITANCE -->
+ <bcf:inheritance>
+ <bcf:defaults inherit_all="true" override_target="false">
+ </bcf:defaults>
+ <bcf:inherit>
+ <bcf:type_pair source="mvbook" target="inbook"/>
+ <bcf:type_pair source="mvbook" target="bookinbook"/>
+ <bcf:type_pair source="mvbook" target="suppbook"/>
+ <bcf:type_pair source="book" target="inbook"/>
+ <bcf:type_pair source="book" target="bookinbook"/>
+ <bcf:type_pair source="book" target="suppbook"/>
+ <bcf:field source="author" target="author"/>
+ <bcf:field source="author" target="bookauthor"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="mvbook" target="book"/>
+ <bcf:type_pair source="mvbook" target="inbook"/>
+ <bcf:type_pair source="mvbook" target="bookinbook"/>
+ <bcf:type_pair source="mvbook" target="suppbook"/>
+ <bcf:field source="title" target="maintitle"/>
+ <bcf:field source="subtitle" target="mainsubtitle"/>
+ <bcf:field source="titleaddon" target="maintitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="mvcollection" target="collection"/>
+ <bcf:type_pair source="mvcollection" target="reference"/>
+ <bcf:type_pair source="mvcollection" target="incollection"/>
+ <bcf:type_pair source="mvcollection" target="inreference"/>
+ <bcf:type_pair source="mvcollection" target="suppcollection"/>
+ <bcf:type_pair source="mvreference" target="collection"/>
+ <bcf:type_pair source="mvreference" target="reference"/>
+ <bcf:type_pair source="mvreference" target="incollection"/>
+ <bcf:type_pair source="mvreference" target="inreference"/>
+ <bcf:type_pair source="mvreference" target="suppcollection"/>
+ <bcf:field source="title" target="maintitle"/>
+ <bcf:field source="subtitle" target="mainsubtitle"/>
+ <bcf:field source="titleaddon" target="maintitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="mvproceedings" target="proceedings"/>
+ <bcf:type_pair source="mvproceedings" target="inproceedings"/>
+ <bcf:field source="title" target="maintitle"/>
+ <bcf:field source="subtitle" target="mainsubtitle"/>
+ <bcf:field source="titleaddon" target="maintitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="book" target="inbook"/>
+ <bcf:type_pair source="book" target="bookinbook"/>
+ <bcf:type_pair source="book" target="suppbook"/>
+ <bcf:field source="title" target="booktitle"/>
+ <bcf:field source="subtitle" target="booksubtitle"/>
+ <bcf:field source="titleaddon" target="booktitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="collection" target="incollection"/>
+ <bcf:type_pair source="collection" target="inreference"/>
+ <bcf:type_pair source="collection" target="suppcollection"/>
+ <bcf:type_pair source="reference" target="incollection"/>
+ <bcf:type_pair source="reference" target="inreference"/>
+ <bcf:type_pair source="reference" target="suppcollection"/>
+ <bcf:field source="title" target="booktitle"/>
+ <bcf:field source="subtitle" target="booksubtitle"/>
+ <bcf:field source="titleaddon" target="booktitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="proceedings" target="inproceedings"/>
+ <bcf:field source="title" target="booktitle"/>
+ <bcf:field source="subtitle" target="booksubtitle"/>
+ <bcf:field source="titleaddon" target="booktitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="periodical" target="article"/>
+ <bcf:type_pair source="periodical" target="suppperiodical"/>
+ <bcf:field source="title" target="journaltitle"/>
+ <bcf:field source="subtitle" target="journalsubtitle"/>
+ <bcf:field source="titleaddon" target="journaltitleaddon"/>
+ <bcf:field source="shorttitle" skip="true"/>
+ <bcf:field source="sorttitle" skip="true"/>
+ <bcf:field source="indextitle" skip="true"/>
+ <bcf:field source="indexsorttitle" skip="true"/>
+ </bcf:inherit>
+ <bcf:inherit>
+ <bcf:type_pair source="*" target="*"/>
+ <bcf:field source="ids" skip="true"/>
+ <bcf:field source="crossref" skip="true"/>
+ <bcf:field source="xref" skip="true"/>
+ <bcf:field source="entryset" skip="true"/>
+ <bcf:field source="entrysubtype" skip="true"/>
+ <bcf:field source="execute" skip="true"/>
+ <bcf:field source="label" skip="true"/>
+ <bcf:field source="options" skip="true"/>
+ <bcf:field source="presort" skip="true"/>
+ <bcf:field source="related" skip="true"/>
+ <bcf:field source="relatedoptions" skip="true"/>
+ <bcf:field source="relatedstring" skip="true"/>
+ <bcf:field source="relatedtype" skip="true"/>
+ <bcf:field source="shorthand" skip="true"/>
+ <bcf:field source="shorthandintro" skip="true"/>
+ <bcf:field source="sortkey" skip="true"/>
+ </bcf:inherit>
+ </bcf:inheritance>
+ <!-- UNIQUENAME TEMPLATES -->
+ <bcf:uniquenametemplate name="global">
+ <bcf:namepart order="1" use="1" base="1">prefix</bcf:namepart>
+ <bcf:namepart order="2" base="1">family</bcf:namepart>
+ <bcf:namepart order="3">given</bcf:namepart>
+ </bcf:uniquenametemplate>
+ <!-- SORTING NAME KEY TEMPLATES -->
+ <bcf:sortingnamekeytemplate name="global">
+ <bcf:keypart order="1">
+ <bcf:part type="namepart" order="1" use="1">prefix</bcf:part>
+ <bcf:part type="namepart" order="2">family</bcf:part>
+ </bcf:keypart>
+ <bcf:keypart order="2">
+ <bcf:part type="namepart" order="1">given</bcf:part>
+ </bcf:keypart>
+ <bcf:keypart order="3">
+ <bcf:part type="namepart" order="1">suffix</bcf:part>
+ </bcf:keypart>
+ <bcf:keypart order="4">
+ <bcf:part type="namepart" order="1" use="0">prefix</bcf:part>
+ </bcf:keypart>
+ </bcf:sortingnamekeytemplate>
+ <bcf:presort>mm</bcf:presort>
+ <!-- DATA MODEL -->
+ <bcf:datamodel>
+ <bcf:constants>
+ <bcf:constant type="list" name="gender">sf,sm,sn,pf,pm,pn,pp</bcf:constant>
+ <bcf:constant type="list" name="nameparts">family,given,prefix,suffix</bcf:constant>
+ <bcf:constant type="list" name="optiondatatypes">boolean,integer,string,xml</bcf:constant>
+ <bcf:constant type="list" name="multiscriptforms">default,transliteration,transcription,translation</bcf:constant>
+ </bcf:constants>
+ <bcf:entrytypes>
+ <bcf:entrytype>article</bcf:entrytype>
+ <bcf:entrytype>artwork</bcf:entrytype>
+ <bcf:entrytype>audio</bcf:entrytype>
+ <bcf:entrytype>bibnote</bcf:entrytype>
+ <bcf:entrytype>book</bcf:entrytype>
+ <bcf:entrytype>bookinbook</bcf:entrytype>
+ <bcf:entrytype>booklet</bcf:entrytype>
+ <bcf:entrytype>collection</bcf:entrytype>
+ <bcf:entrytype>commentary</bcf:entrytype>
+ <bcf:entrytype>customa</bcf:entrytype>
+ <bcf:entrytype>customb</bcf:entrytype>
+ <bcf:entrytype>customc</bcf:entrytype>
+ <bcf:entrytype>customd</bcf:entrytype>
+ <bcf:entrytype>custome</bcf:entrytype>
+ <bcf:entrytype>customf</bcf:entrytype>
+ <bcf:entrytype>dataset</bcf:entrytype>
+ <bcf:entrytype>inbook</bcf:entrytype>
+ <bcf:entrytype>incollection</bcf:entrytype>
+ <bcf:entrytype>inproceedings</bcf:entrytype>
+ <bcf:entrytype>inreference</bcf:entrytype>
+ <bcf:entrytype>image</bcf:entrytype>
+ <bcf:entrytype>jurisdiction</bcf:entrytype>
+ <bcf:entrytype>legal</bcf:entrytype>
+ <bcf:entrytype>legislation</bcf:entrytype>
+ <bcf:entrytype>letter</bcf:entrytype>
+ <bcf:entrytype>manual</bcf:entrytype>
+ <bcf:entrytype>misc</bcf:entrytype>
+ <bcf:entrytype>movie</bcf:entrytype>
+ <bcf:entrytype>music</bcf:entrytype>
+ <bcf:entrytype>mvcollection</bcf:entrytype>
+ <bcf:entrytype>mvreference</bcf:entrytype>
+ <bcf:entrytype>mvproceedings</bcf:entrytype>
+ <bcf:entrytype>mvbook</bcf:entrytype>
+ <bcf:entrytype>online</bcf:entrytype>
+ <bcf:entrytype>patent</bcf:entrytype>
+ <bcf:entrytype>performance</bcf:entrytype>
+ <bcf:entrytype>periodical</bcf:entrytype>
+ <bcf:entrytype>proceedings</bcf:entrytype>
+ <bcf:entrytype>reference</bcf:entrytype>
+ <bcf:entrytype>report</bcf:entrytype>
+ <bcf:entrytype>review</bcf:entrytype>
+ <bcf:entrytype>set</bcf:entrytype>
+ <bcf:entrytype>software</bcf:entrytype>
+ <bcf:entrytype>standard</bcf:entrytype>
+ <bcf:entrytype>suppbook</bcf:entrytype>
+ <bcf:entrytype>suppcollection</bcf:entrytype>
+ <bcf:entrytype>suppperiodical</bcf:entrytype>
+ <bcf:entrytype>thesis</bcf:entrytype>
+ <bcf:entrytype>unpublished</bcf:entrytype>
+ <bcf:entrytype>video</bcf:entrytype>
+ <bcf:entrytype skip_output="true">xdata</bcf:entrytype>
+ </bcf:entrytypes>
+ <bcf:fields>
+ <bcf:field fieldtype="field" datatype="integer">sortyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="integer">volume</bcf:field>
+ <bcf:field fieldtype="field" datatype="integer">volumes</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">abstract</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">addendum</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">annotation</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">booksubtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">booktitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">booktitleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">chapter</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">edition</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">eid</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">entrysubtype</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">eprintclass</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">eprinttype</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">eventtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">eventtitleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">gender</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">howpublished</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">indexsorttitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">indextitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">isan</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">isbn</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">ismn</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">isrn</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">issn</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">issue</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">issuesubtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">issuetitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">issuetitleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">iswc</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">journalsubtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">journaltitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">journaltitleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">label</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">langid</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">langidopts</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">library</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">mainsubtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">maintitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">maintitleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">nameaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">note</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">number</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">origtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">pagetotal</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">part</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">relatedstring</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">relatedtype</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">reprinttitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">series</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">shorthandintro</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">subtitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">title</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">titleaddon</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">usera</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">userb</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">userc</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">userd</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">usere</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">userf</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">venue</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal">version</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" label="true">shorthand</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" label="true">shortjournal</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" label="true">shortseries</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" label="true">shorttitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" skip_output="true">sorttitle</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" skip_output="true">sortshorthand</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" skip_output="true">sortkey</bcf:field>
+ <bcf:field fieldtype="field" datatype="literal" skip_output="true">presort</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">institution</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">lista</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">listb</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">listc</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">listd</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">liste</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">listf</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">location</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">organization</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">origlocation</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">origpublisher</bcf:field>
+ <bcf:field fieldtype="list" datatype="literal">publisher</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">afterword</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">annotator</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">author</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">bookauthor</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">commentator</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">editor</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">editora</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">editorb</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">editorc</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">foreword</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">holder</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">introduction</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">namea</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">nameb</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">namec</bcf:field>
+ <bcf:field fieldtype="list" datatype="name">translator</bcf:field>
+ <bcf:field fieldtype="list" datatype="name" label="true">shortauthor</bcf:field>
+ <bcf:field fieldtype="list" datatype="name" label="true">shorteditor</bcf:field>
+ <bcf:field fieldtype="list" datatype="name" skip_output="true">sortname</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">authortype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">editoratype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">editorbtype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">editorctype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">editortype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">bookpagination</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">nameatype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">namebtype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">namectype</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">pagination</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">pubstate</bcf:field>
+ <bcf:field fieldtype="field" datatype="key">type</bcf:field>
+ <bcf:field fieldtype="list" datatype="key">language</bcf:field>
+ <bcf:field fieldtype="list" datatype="key">origlanguage</bcf:field>
+ <bcf:field fieldtype="field" datatype="entrykey">crossref</bcf:field>
+ <bcf:field fieldtype="field" datatype="entrykey">xref</bcf:field>
+ <bcf:field fieldtype="field" datatype="date" skip_output="true">date</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">endyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">year</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">month</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">day</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">hour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">minute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">second</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">timezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">season</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">endseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="date" skip_output="true">eventdate</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">eventendyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">eventyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">eventendseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="date" skip_output="true">origdate</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">origendyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">origyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">orighour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">origendseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="date" skip_output="true">urldate</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">urlendyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart" nullok="true">urlyear</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urltimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendmonth</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendday</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendhour</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendminute</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendsecond</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendtimezone</bcf:field>
+ <bcf:field fieldtype="field" datatype="datepart">urlendseason</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">doi</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">eprint</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">file</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">verba</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">verbb</bcf:field>
+ <bcf:field fieldtype="field" datatype="verbatim">verbc</bcf:field>
+ <bcf:field fieldtype="field" datatype="uri">url</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">xdata</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">ids</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="entrykey" skip_output="true">entryset</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="entrykey">related</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="keyword">keywords</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="option" skip_output="true">options</bcf:field>
+ <bcf:field fieldtype="field" format="xsv" datatype="option" skip_output="true">relatedoptions</bcf:field>
+ <bcf:field fieldtype="field" datatype="range">pages</bcf:field>
+ <bcf:field fieldtype="field" datatype="code">execute</bcf:field>
+ </bcf:fields>
+ <bcf:entryfields>
+ <bcf:field>abstract</bcf:field>
+ <bcf:field>annotation</bcf:field>
+ <bcf:field>authortype</bcf:field>
+ <bcf:field>bookpagination</bcf:field>
+ <bcf:field>crossref</bcf:field>
+ <bcf:field>day</bcf:field>
+ <bcf:field>doi</bcf:field>
+ <bcf:field>eprint</bcf:field>
+ <bcf:field>eprintclass</bcf:field>
+ <bcf:field>eprinttype</bcf:field>
+ <bcf:field>endday</bcf:field>
+ <bcf:field>endhour</bcf:field>
+ <bcf:field>endminute</bcf:field>
+ <bcf:field>endmonth</bcf:field>
+ <bcf:field>endseason</bcf:field>
+ <bcf:field>endsecond</bcf:field>
+ <bcf:field>endtimezone</bcf:field>
+ <bcf:field>endyear</bcf:field>
+ <bcf:field>entryset</bcf:field>
+ <bcf:field>entrysubtype</bcf:field>
+ <bcf:field>execute</bcf:field>
+ <bcf:field>file</bcf:field>
+ <bcf:field>gender</bcf:field>
+ <bcf:field>hour</bcf:field>
+ <bcf:field>ids</bcf:field>
+ <bcf:field>indextitle</bcf:field>
+ <bcf:field>indexsorttitle</bcf:field>
+ <bcf:field>isan</bcf:field>
+ <bcf:field>ismn</bcf:field>
+ <bcf:field>iswc</bcf:field>
+ <bcf:field>keywords</bcf:field>
+ <bcf:field>label</bcf:field>
+ <bcf:field>langid</bcf:field>
+ <bcf:field>langidopts</bcf:field>
+ <bcf:field>library</bcf:field>
+ <bcf:field>lista</bcf:field>
+ <bcf:field>listb</bcf:field>
+ <bcf:field>listc</bcf:field>
+ <bcf:field>listd</bcf:field>
+ <bcf:field>liste</bcf:field>
+ <bcf:field>listf</bcf:field>
+ <bcf:field>minute</bcf:field>
+ <bcf:field>month</bcf:field>
+ <bcf:field>namea</bcf:field>
+ <bcf:field>nameb</bcf:field>
+ <bcf:field>namec</bcf:field>
+ <bcf:field>nameatype</bcf:field>
+ <bcf:field>namebtype</bcf:field>
+ <bcf:field>namectype</bcf:field>
+ <bcf:field>nameaddon</bcf:field>
+ <bcf:field>options</bcf:field>
+ <bcf:field>origday</bcf:field>
+ <bcf:field>origendday</bcf:field>
+ <bcf:field>origendhour</bcf:field>
+ <bcf:field>origendminute</bcf:field>
+ <bcf:field>origendmonth</bcf:field>
+ <bcf:field>origendseason</bcf:field>
+ <bcf:field>origendsecond</bcf:field>
+ <bcf:field>origendtimezone</bcf:field>
+ <bcf:field>origendyear</bcf:field>
+ <bcf:field>orighour</bcf:field>
+ <bcf:field>origminute</bcf:field>
+ <bcf:field>origmonth</bcf:field>
+ <bcf:field>origseason</bcf:field>
+ <bcf:field>origsecond</bcf:field>
+ <bcf:field>origtimezone</bcf:field>
+ <bcf:field>origyear</bcf:field>
+ <bcf:field>origlocation</bcf:field>
+ <bcf:field>origpublisher</bcf:field>
+ <bcf:field>origtitle</bcf:field>
+ <bcf:field>pagination</bcf:field>
+ <bcf:field>presort</bcf:field>
+ <bcf:field>related</bcf:field>
+ <bcf:field>relatedoptions</bcf:field>
+ <bcf:field>relatedstring</bcf:field>
+ <bcf:field>relatedtype</bcf:field>
+ <bcf:field>season</bcf:field>
+ <bcf:field>second</bcf:field>
+ <bcf:field>shortauthor</bcf:field>
+ <bcf:field>shorteditor</bcf:field>
+ <bcf:field>shorthand</bcf:field>
+ <bcf:field>shorthandintro</bcf:field>
+ <bcf:field>shortjournal</bcf:field>
+ <bcf:field>shortseries</bcf:field>
+ <bcf:field>shorttitle</bcf:field>
+ <bcf:field>sortkey</bcf:field>
+ <bcf:field>sortname</bcf:field>
+ <bcf:field>sortshorthand</bcf:field>
+ <bcf:field>sorttitle</bcf:field>
+ <bcf:field>sortyear</bcf:field>
+ <bcf:field>timezone</bcf:field>
+ <bcf:field>url</bcf:field>
+ <bcf:field>urlday</bcf:field>
+ <bcf:field>urlendday</bcf:field>
+ <bcf:field>urlendhour</bcf:field>
+ <bcf:field>urlendminute</bcf:field>
+ <bcf:field>urlendmonth</bcf:field>
+ <bcf:field>urlendsecond</bcf:field>
+ <bcf:field>urlendtimezone</bcf:field>
+ <bcf:field>urlendyear</bcf:field>
+ <bcf:field>urlhour</bcf:field>
+ <bcf:field>urlminute</bcf:field>
+ <bcf:field>urlmonth</bcf:field>
+ <bcf:field>urlsecond</bcf:field>
+ <bcf:field>urltimezone</bcf:field>
+ <bcf:field>urlyear</bcf:field>
+ <bcf:field>usera</bcf:field>
+ <bcf:field>userb</bcf:field>
+ <bcf:field>userc</bcf:field>
+ <bcf:field>userd</bcf:field>
+ <bcf:field>usere</bcf:field>
+ <bcf:field>userf</bcf:field>
+ <bcf:field>verba</bcf:field>
+ <bcf:field>verbb</bcf:field>
+ <bcf:field>verbc</bcf:field>
+ <bcf:field>xdata</bcf:field>
+ <bcf:field>xref</bcf:field>
+ <bcf:field>year</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>set</bcf:entrytype>
+ <bcf:field>entryset</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>article</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>issn</bcf:field>
+ <bcf:field>issue</bcf:field>
+ <bcf:field>issuetitle</bcf:field>
+ <bcf:field>issuesubtitle</bcf:field>
+ <bcf:field>issuetitleaddon</bcf:field>
+ <bcf:field>journalsubtitle</bcf:field>
+ <bcf:field>journaltitle</bcf:field>
+ <bcf:field>journaltitleaddon</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>version</bcf:field>
+ <bcf:field>volume</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>bibnote</bcf:entrytype>
+ <bcf:field>note</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>book</bcf:entrytype>
+ <bcf:field>author</bcf:field>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>mvbook</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>inbook</bcf:entrytype>
+ <bcf:entrytype>bookinbook</bcf:entrytype>
+ <bcf:entrytype>suppbook</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ <bcf:field>bookauthor</bcf:field>
+ <bcf:field>booksubtitle</bcf:field>
+ <bcf:field>booktitleaddon</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>booklet</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>howpublished</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>collection</bcf:entrytype>
+ <bcf:entrytype>reference</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>mvcollection</bcf:entrytype>
+ <bcf:entrytype>mvreference</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>incollection</bcf:entrytype>
+ <bcf:entrytype>suppcollection</bcf:entrytype>
+ <bcf:entrytype>inreference</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>booksubtitle</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ <bcf:field>booktitleaddon</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>dataset</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>manual</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>edition</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>misc</bcf:entrytype>
+ <bcf:entrytype>software</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>howpublished</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>online</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>patent</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>holder</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>periodical</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>editoratype</bcf:field>
+ <bcf:field>editorbtype</bcf:field>
+ <bcf:field>editorctype</bcf:field>
+ <bcf:field>issn</bcf:field>
+ <bcf:field>issue</bcf:field>
+ <bcf:field>issuesubtitle</bcf:field>
+ <bcf:field>issuetitle</bcf:field>
+ <bcf:field>issuetitleaddon</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>season</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>volume</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>mvproceedings</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>eventday</bcf:field>
+ <bcf:field>eventendday</bcf:field>
+ <bcf:field>eventendhour</bcf:field>
+ <bcf:field>eventendminute</bcf:field>
+ <bcf:field>eventendmonth</bcf:field>
+ <bcf:field>eventendseason</bcf:field>
+ <bcf:field>eventendsecond</bcf:field>
+ <bcf:field>eventendtimezone</bcf:field>
+ <bcf:field>eventendyear</bcf:field>
+ <bcf:field>eventhour</bcf:field>
+ <bcf:field>eventminute</bcf:field>
+ <bcf:field>eventmonth</bcf:field>
+ <bcf:field>eventseason</bcf:field>
+ <bcf:field>eventsecond</bcf:field>
+ <bcf:field>eventtimezone</bcf:field>
+ <bcf:field>eventyear</bcf:field>
+ <bcf:field>eventtitle</bcf:field>
+ <bcf:field>eventtitleaddon</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>venue</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>proceedings</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>eventday</bcf:field>
+ <bcf:field>eventendday</bcf:field>
+ <bcf:field>eventendhour</bcf:field>
+ <bcf:field>eventendminute</bcf:field>
+ <bcf:field>eventendmonth</bcf:field>
+ <bcf:field>eventendseason</bcf:field>
+ <bcf:field>eventendsecond</bcf:field>
+ <bcf:field>eventendtimezone</bcf:field>
+ <bcf:field>eventendyear</bcf:field>
+ <bcf:field>eventhour</bcf:field>
+ <bcf:field>eventminute</bcf:field>
+ <bcf:field>eventmonth</bcf:field>
+ <bcf:field>eventseason</bcf:field>
+ <bcf:field>eventsecond</bcf:field>
+ <bcf:field>eventtimezone</bcf:field>
+ <bcf:field>eventyear</bcf:field>
+ <bcf:field>eventtitle</bcf:field>
+ <bcf:field>eventtitleaddon</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>venue</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>inproceedings</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>booksubtitle</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ <bcf:field>booktitleaddon</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editortype</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>eventday</bcf:field>
+ <bcf:field>eventendday</bcf:field>
+ <bcf:field>eventendhour</bcf:field>
+ <bcf:field>eventendminute</bcf:field>
+ <bcf:field>eventendmonth</bcf:field>
+ <bcf:field>eventendseason</bcf:field>
+ <bcf:field>eventendsecond</bcf:field>
+ <bcf:field>eventendtimezone</bcf:field>
+ <bcf:field>eventendyear</bcf:field>
+ <bcf:field>eventhour</bcf:field>
+ <bcf:field>eventminute</bcf:field>
+ <bcf:field>eventmonth</bcf:field>
+ <bcf:field>eventseason</bcf:field>
+ <bcf:field>eventsecond</bcf:field>
+ <bcf:field>eventtimezone</bcf:field>
+ <bcf:field>eventyear</bcf:field>
+ <bcf:field>eventtitle</bcf:field>
+ <bcf:field>eventtitleaddon</bcf:field>
+ <bcf:field>isbn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>venue</bcf:field>
+ <bcf:field>volume</bcf:field>
+ <bcf:field>volumes</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>report</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>institution</bcf:field>
+ <bcf:field>isrn</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>number</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>version</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>thesis</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>eid</bcf:field>
+ <bcf:field>institution</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>pages</bcf:field>
+ <bcf:field>pagetotal</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ </bcf:entryfields>
+ <bcf:entryfields>
+ <bcf:entrytype>unpublished</bcf:entrytype>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>eventday</bcf:field>
+ <bcf:field>eventendday</bcf:field>
+ <bcf:field>eventendhour</bcf:field>
+ <bcf:field>eventendminute</bcf:field>
+ <bcf:field>eventendmonth</bcf:field>
+ <bcf:field>eventendseason</bcf:field>
+ <bcf:field>eventendsecond</bcf:field>
+ <bcf:field>eventendtimezone</bcf:field>
+ <bcf:field>eventendyear</bcf:field>
+ <bcf:field>eventhour</bcf:field>
+ <bcf:field>eventminute</bcf:field>
+ <bcf:field>eventmonth</bcf:field>
+ <bcf:field>eventseason</bcf:field>
+ <bcf:field>eventsecond</bcf:field>
+ <bcf:field>eventtimezone</bcf:field>
+ <bcf:field>eventyear</bcf:field>
+ <bcf:field>eventtitle</bcf:field>
+ <bcf:field>eventtitleaddon</bcf:field>
+ <bcf:field>howpublished</bcf:field>
+ <bcf:field>language</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>pubstate</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>venue</bcf:field>
+ </bcf:entryfields>
+ <bcf:multiscriptfields>
+ <bcf:field>abstract</bcf:field>
+ <bcf:field>addendum</bcf:field>
+ <bcf:field>afterword</bcf:field>
+ <bcf:field>annotator</bcf:field>
+ <bcf:field>author</bcf:field>
+ <bcf:field>bookauthor</bcf:field>
+ <bcf:field>booksubtitle</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ <bcf:field>booktitleaddon</bcf:field>
+ <bcf:field>chapter</bcf:field>
+ <bcf:field>commentator</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>editora</bcf:field>
+ <bcf:field>editorb</bcf:field>
+ <bcf:field>editorc</bcf:field>
+ <bcf:field>foreword</bcf:field>
+ <bcf:field>holder</bcf:field>
+ <bcf:field>institution</bcf:field>
+ <bcf:field>introduction</bcf:field>
+ <bcf:field>issuesubtitle</bcf:field>
+ <bcf:field>issuetitle</bcf:field>
+ <bcf:field>issuetitleaddon</bcf:field>
+ <bcf:field>journalsubtitle</bcf:field>
+ <bcf:field>journaltitle</bcf:field>
+ <bcf:field>journaltitleaddon</bcf:field>
+ <bcf:field>location</bcf:field>
+ <bcf:field>mainsubtitle</bcf:field>
+ <bcf:field>maintitle</bcf:field>
+ <bcf:field>maintitleaddon</bcf:field>
+ <bcf:field>nameaddon</bcf:field>
+ <bcf:field>note</bcf:field>
+ <bcf:field>organization</bcf:field>
+ <bcf:field>origlanguage</bcf:field>
+ <bcf:field>origlocation</bcf:field>
+ <bcf:field>origpublisher</bcf:field>
+ <bcf:field>origtitle</bcf:field>
+ <bcf:field>part</bcf:field>
+ <bcf:field>publisher</bcf:field>
+ <bcf:field>relatedstring</bcf:field>
+ <bcf:field>series</bcf:field>
+ <bcf:field>shortauthor</bcf:field>
+ <bcf:field>shorteditor</bcf:field>
+ <bcf:field>shorthand</bcf:field>
+ <bcf:field>shortjournal</bcf:field>
+ <bcf:field>shortseries</bcf:field>
+ <bcf:field>shorttitle</bcf:field>
+ <bcf:field>sortname</bcf:field>
+ <bcf:field>sortshorthand</bcf:field>
+ <bcf:field>sorttitle</bcf:field>
+ <bcf:field>subtitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>titleaddon</bcf:field>
+ <bcf:field>translator</bcf:field>
+ <bcf:field>venue</bcf:field>
+ </bcf:multiscriptfields>
+ <bcf:constraints>
+ <bcf:entrytype>article</bcf:entrytype>
+ <bcf:entrytype>book</bcf:entrytype>
+ <bcf:entrytype>inbook</bcf:entrytype>
+ <bcf:entrytype>bookinbook</bcf:entrytype>
+ <bcf:entrytype>suppbook</bcf:entrytype>
+ <bcf:entrytype>booklet</bcf:entrytype>
+ <bcf:entrytype>collection</bcf:entrytype>
+ <bcf:entrytype>incollection</bcf:entrytype>
+ <bcf:entrytype>suppcollection</bcf:entrytype>
+ <bcf:entrytype>manual</bcf:entrytype>
+ <bcf:entrytype>misc</bcf:entrytype>
+ <bcf:entrytype>mvbook</bcf:entrytype>
+ <bcf:entrytype>mvcollection</bcf:entrytype>
+ <bcf:entrytype>online</bcf:entrytype>
+ <bcf:entrytype>patent</bcf:entrytype>
+ <bcf:entrytype>periodical</bcf:entrytype>
+ <bcf:entrytype>suppperiodical</bcf:entrytype>
+ <bcf:entrytype>proceedings</bcf:entrytype>
+ <bcf:entrytype>inproceedings</bcf:entrytype>
+ <bcf:entrytype>reference</bcf:entrytype>
+ <bcf:entrytype>inreference</bcf:entrytype>
+ <bcf:entrytype>report</bcf:entrytype>
+ <bcf:entrytype>set</bcf:entrytype>
+ <bcf:entrytype>thesis</bcf:entrytype>
+ <bcf:entrytype>unpublished</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:fieldxor>
+ <bcf:field>date</bcf:field>
+ <bcf:field>year</bcf:field>
+ </bcf:fieldxor>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>set</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>entryset</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>article</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>journaltitle</bcf:field>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>book</bcf:entrytype>
+ <bcf:entrytype>mvbook</bcf:entrytype>
+ <bcf:entrytype>mvcollection</bcf:entrytype>
+ <bcf:entrytype>mvreference</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>inbook</bcf:entrytype>
+ <bcf:entrytype>bookinbook</bcf:entrytype>
+ <bcf:entrytype>suppbook</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>booklet</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:fieldor>
+ <bcf:field>author</bcf:field>
+ <bcf:field>editor</bcf:field>
+ </bcf:fieldor>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>collection</bcf:entrytype>
+ <bcf:entrytype>reference</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>editor</bcf:field>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>incollection</bcf:entrytype>
+ <bcf:entrytype>suppcollection</bcf:entrytype>
+ <bcf:entrytype>inreference</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>editor</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>dataset</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>manual</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>misc</bcf:entrytype>
+ <bcf:entrytype>software</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>online</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>title</bcf:field>
+ <bcf:fieldor>
+ <bcf:field>url</bcf:field>
+ <bcf:field>doi</bcf:field>
+ <bcf:field>eprint</bcf:field>
+ </bcf:fieldor>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>patent</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>number</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>periodical</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>editor</bcf:field>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>proceedings</bcf:entrytype>
+ <bcf:entrytype>mvproceedings</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>inproceedings</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>booktitle</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>report</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>institution</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>thesis</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ <bcf:field>type</bcf:field>
+ <bcf:field>institution</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:entrytype>unpublished</bcf:entrytype>
+ <bcf:constraint type="mandatory">
+ <bcf:field>author</bcf:field>
+ <bcf:field>title</bcf:field>
+ </bcf:constraint>
+ </bcf:constraints>
+ <bcf:constraints>
+ <bcf:constraint type="data" datatype="isbn">
+ <bcf:field>isbn</bcf:field>
+ </bcf:constraint>
+ <bcf:constraint type="data" datatype="issn">
+ <bcf:field>issn</bcf:field>
+ </bcf:constraint>
+ <bcf:constraint type="data" datatype="ismn">
+ <bcf:field>ismn</bcf:field>
+ </bcf:constraint>
+ <bcf:constraint type="data" datatype="date">
+ <bcf:field>date</bcf:field>
+ <bcf:field>eventdate</bcf:field>
+ <bcf:field>origdate</bcf:field>
+ <bcf:field>urldate</bcf:field>
+ </bcf:constraint>
+ <bcf:constraint type="data" datatype="pattern" pattern="(?:sf|sm|sn|pf|pm|pn|pp)">
+ <bcf:field>gender</bcf:field>
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+ </bcf:datamodel>
+ <!-- CITATION DATA -->
+ <!-- SECTION 0 -->
+ <bcf:bibdata section="0">
+ <bcf:datasource type="file" datatype="bibtex" glob="false">Bibliography.bib</bcf:datasource>
+ </bcf:bibdata>
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+ <bcf:citekey order="11">ind</bcf:citekey>
+ <bcf:citekey order="12">11</bcf:citekey>
+ <bcf:citekey order="13">12</bcf:citekey>
+ <bcf:citekey order="14">13</bcf:citekey>
+ <bcf:citekey order="15">asi</bcf:citekey>
+ <bcf:citekey order="16">hrc</bcf:citekey>
+ <bcf:citekey order="17">F</bcf:citekey>
+ <bcf:citekey order="18">cobb</bcf:citekey>
+ <bcf:citekey order="19">dr</bcf:citekey>
+ <bcf:citekey order="20">F</bcf:citekey>
+ <bcf:citekey order="21">coll</bcf:citekey>
+ <bcf:citekey order="22">movita</bcf:citekey>
+ <bcf:citekey order="23">gaz</bcf:citekey>
+ <bcf:citekey order="24">cobb</bcf:citekey>
+ <bcf:citekey order="25">coba</bcf:citekey>
+ <bcf:citekey order="26">dhil</bcf:citekey>
+ <bcf:citekey order="27">elec</bcf:citekey>
+ <bcf:citekey order="28">elec</bcf:citekey>
+ <bcf:citekey order="29">sbug</bcf:citekey>
+ <bcf:citekey order="30">163</bcf:citekey>
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+ <bcf:citekey order="36">CD1</bcf:citekey>
+ <bcf:citekey order="37">CD2</bcf:citekey>
+ <bcf:citekey order="38">18</bcf:citekey>
+ <bcf:citekey order="39">ro</bcf:citekey>
+ <bcf:citekey order="40">movita</bcf:citekey>
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+ <bcf:citekey order="47">ro</bcf:citekey>
+ <bcf:citekey order="48">gaz</bcf:citekey>
+ <bcf:citekey order="49">re1</bcf:citekey>
+ <bcf:citekey order="50">re2</bcf:citekey>
+ </bcf:section>
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+ <bcf:sort order="1">
+ <bcf:sortitem order="1">presort</bcf:sortitem>
+ </bcf:sort>
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+ <bcf:sortitem order="1">sortname</bcf:sortitem>
+ <bcf:sortitem order="2">author</bcf:sortitem>
+ <bcf:sortitem order="3">editor</bcf:sortitem>
+ <bcf:sortitem order="4">translator</bcf:sortitem>
+ <bcf:sortitem order="5">sorttitle</bcf:sortitem>
+ <bcf:sortitem order="6">title</bcf:sortitem>
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+ </bcf:sort>
+ <bcf:sort order="6">
+ <bcf:sortitem order="1">volume</bcf:sortitem>
+ <bcf:sortitem literal="1" order="2">0</bcf:sortitem>
+ </bcf:sort>
+ </bcf:sortingtemplate>
+ <!-- DATALISTS -->
+ <bcf:datalist section="0"
+ name="nty/global//global/global"
+ type="entry"
+ sortingtemplatename="nty"
+ sortingnamekeytemplatename="global"
+ labelprefix=""
+ uniquenametemplatename="global"
+ labelalphanametemplatename="global">
+ </bcf:datalist>
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diff --git a/thesis.blg b/thesis.blg
new file mode 100644
index 0000000..8e6d2f4
--- /dev/null
+++ b/thesis.blg
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+[0] Config.pm:315> INFO - Logfile is 'thesis.blg'
+[85] biber:330> INFO - === Sa Nov 14, 2020, 13:34:40
+[102] Biber.pm:415> INFO - Reading 'thesis.bcf'
+[193] Biber.pm:952> INFO - Found 41 citekeys in bib section 0
+[207] Biber.pm:4334> INFO - Processing section 0
+[218] Biber.pm:4523> INFO - Looking for bibtex format file 'Bibliography.bib' for section 0
+[220] bibtex.pm:1682> INFO - LaTeX decoding ...
+[254] bibtex.pm:1494> INFO - Found BibTeX data source 'Bibliography.bib'
+[257] Utils.pm:395> WARN - Duplicate entry key: 'gaz' in file 'Bibliography.bib', skipping ...
+[579] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'variable = shifted' with 'variable = non-ignorable'
+[579] UCollate.pm:68> INFO - Overriding locale 'en-US' defaults 'normalization = NFD' with 'normalization = prenormalized'
+[579] Biber.pm:4162> INFO - Sorting list 'nty/global//global/global' of type 'entry' with template 'nty' and locale 'en-US'
+[579] Biber.pm:4168> INFO - No sort tailoring available for locale 'en-US'
+[628] bbl.pm:651> INFO - Writing 'thesis.bbl' with encoding 'UTF-8'
+[651] bbl.pm:754> INFO - Output to thesis.bbl
+[651] Biber.pm:128> INFO - WARNINGS: 1
diff --git a/thesis.log b/thesis.log
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index 0000000..1da0620
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+ defining Unicode char U+038E (decimal 910)
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+ defining Unicode char U+0391 (decimal 913)
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+ defining Unicode char U+0394 (decimal 916)
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+ defining Unicode char U+0396 (decimal 918)
+ defining Unicode char U+0397 (decimal 919)
+ defining Unicode char U+0398 (decimal 920)
+ defining Unicode char U+0399 (decimal 921)
+ defining Unicode char U+039A (decimal 922)
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+ defining Unicode char U+039C (decimal 924)
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+ defining Unicode char U+039E (decimal 926)
+ defining Unicode char U+039F (decimal 927)
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+ defining Unicode char U+03A1 (decimal 929)
+ defining Unicode char U+03A3 (decimal 931)
+ defining Unicode char U+03A4 (decimal 932)
+ defining Unicode char U+03A5 (decimal 933)
+ defining Unicode char U+03A6 (decimal 934)
+ defining Unicode char U+03A7 (decimal 935)
+ defining Unicode char U+03A8 (decimal 936)
+ defining Unicode char U+03A9 (decimal 937)
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+ defining Unicode char U+03AB (decimal 939)
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+ defining Unicode char U+03AF (decimal 943)
+ defining Unicode char U+03B0 (decimal 944)
+ defining Unicode char U+03B1 (decimal 945)
+ defining Unicode char U+03B2 (decimal 946)
+ defining Unicode char U+03B3 (decimal 947)
+ defining Unicode char U+03B4 (decimal 948)
+ defining Unicode char U+03B5 (decimal 949)
+ defining Unicode char U+03B6 (decimal 950)
+ defining Unicode char U+03B7 (decimal 951)
+ defining Unicode char U+03B8 (decimal 952)
+ defining Unicode char U+03B9 (decimal 953)
+ defining Unicode char U+03BA (decimal 954)
+ defining Unicode char U+03BB (decimal 955)
+ defining Unicode char U+03BC (decimal 956)
+ defining Unicode char U+03BD (decimal 957)
+ defining Unicode char U+03BE (decimal 958)
+ defining Unicode char U+03BF (decimal 959)
+ defining Unicode char U+03C0 (decimal 960)
+ defining Unicode char U+03C1 (decimal 961)
+ defining Unicode char U+03C2 (decimal 962)
+ defining Unicode char U+03C3 (decimal 963)
+ defining Unicode char U+03C4 (decimal 964)
+ defining Unicode char U+03C5 (decimal 965)
+ defining Unicode char U+03C6 (decimal 966)
+ defining Unicode char U+03C7 (decimal 967)
+ defining Unicode char U+03C8 (decimal 968)
+ defining Unicode char U+03C9 (decimal 969)
+ defining Unicode char U+03CA (decimal 970)
+ defining Unicode char U+03CB (decimal 971)
+ defining Unicode char U+03CC (decimal 972)
+ defining Unicode char U+03CD (decimal 973)
+ defining Unicode char U+03CE (decimal 974)
+ defining Unicode char U+03D0 (decimal 976)
+ defining Unicode char U+03D1 (decimal 977)
+ defining Unicode char U+03D5 (decimal 981)
+ defining Unicode char U+03D6 (decimal 982)
+ defining Unicode char U+03D8 (decimal 984)
+ defining Unicode char U+03D9 (decimal 985)
+ defining Unicode char U+03DA (decimal 986)
+ defining Unicode char U+03DB (decimal 987)
+ defining Unicode char U+03DC (decimal 988)
+ defining Unicode char U+03DD (decimal 989)
+ defining Unicode char U+03DF (decimal 991)
+ defining Unicode char U+03E0 (decimal 992)
+ defining Unicode char U+03E1 (decimal 993)
+ defining Unicode char U+03F0 (decimal 1008)
+ defining Unicode char U+03F1 (decimal 1009)
+ defining Unicode char U+03F4 (decimal 1012)
+ defining Unicode char U+03F5 (decimal 1013)
+ defining Unicode char U+1F00 (decimal 7936)
+ defining Unicode char U+1F01 (decimal 7937)
+ defining Unicode char U+1F02 (decimal 7938)
+ defining Unicode char U+1F03 (decimal 7939)
+ defining Unicode char U+1F04 (decimal 7940)
+ defining Unicode char U+1F05 (decimal 7941)
+ defining Unicode char U+1F06 (decimal 7942)
+ defining Unicode char U+1F07 (decimal 7943)
+ defining Unicode char U+1F08 (decimal 7944)
+ defining Unicode char U+1F09 (decimal 7945)
+ defining Unicode char U+1F0A (decimal 7946)
+ defining Unicode char U+1F0B (decimal 7947)
+ defining Unicode char U+1F0C (decimal 7948)
+ defining Unicode char U+1F0D (decimal 7949)
+ defining Unicode char U+1F0E (decimal 7950)
+ defining Unicode char U+1F0F (decimal 7951)
+ defining Unicode char U+1F10 (decimal 7952)
+ defining Unicode char U+1F11 (decimal 7953)
+ defining Unicode char U+1F12 (decimal 7954)
+ defining Unicode char U+1F13 (decimal 7955)
+ defining Unicode char U+1F14 (decimal 7956)
+ defining Unicode char U+1F15 (decimal 7957)
+ defining Unicode char U+1F18 (decimal 7960)
+ defining Unicode char U+1F19 (decimal 7961)
+ defining Unicode char U+1F1A (decimal 7962)
+ defining Unicode char U+1F1B (decimal 7963)
+ defining Unicode char U+1F1C (decimal 7964)
+ defining Unicode char U+1F1D (decimal 7965)
+ defining Unicode char U+1F20 (decimal 7968)
+ defining Unicode char U+1F21 (decimal 7969)
+ defining Unicode char U+1F22 (decimal 7970)
+ defining Unicode char U+1F23 (decimal 7971)
+ defining Unicode char U+1F24 (decimal 7972)
+ defining Unicode char U+1F25 (decimal 7973)
+ defining Unicode char U+1F26 (decimal 7974)
+ defining Unicode char U+1F27 (decimal 7975)
+ defining Unicode char U+1F28 (decimal 7976)
+ defining Unicode char U+1F29 (decimal 7977)
+ defining Unicode char U+1F2A (decimal 7978)
+ defining Unicode char U+1F2B (decimal 7979)
+ defining Unicode char U+1F2C (decimal 7980)
+ defining Unicode char U+1F2D (decimal 7981)
+ defining Unicode char U+1F2E (decimal 7982)
+ defining Unicode char U+1F2F (decimal 7983)
+ defining Unicode char U+1F30 (decimal 7984)
+ defining Unicode char U+1F31 (decimal 7985)
+ defining Unicode char U+1F32 (decimal 7986)
+ defining Unicode char U+1F33 (decimal 7987)
+ defining Unicode char U+1F34 (decimal 7988)
+ defining Unicode char U+1F35 (decimal 7989)
+ defining Unicode char U+1F36 (decimal 7990)
+ defining Unicode char U+1F37 (decimal 7991)
+ defining Unicode char U+1F38 (decimal 7992)
+ defining Unicode char U+1F39 (decimal 7993)
+ defining Unicode char U+1F3A (decimal 7994)
+ defining Unicode char U+1F3B (decimal 7995)
+ defining Unicode char U+1F3C (decimal 7996)
+ defining Unicode char U+1F3D (decimal 7997)
+ defining Unicode char U+1F3E (decimal 7998)
+ defining Unicode char U+1F3F (decimal 7999)
+ defining Unicode char U+1F40 (decimal 8000)
+ defining Unicode char U+1F41 (decimal 8001)
+ defining Unicode char U+1F42 (decimal 8002)
+ defining Unicode char U+1F43 (decimal 8003)
+ defining Unicode char U+1F44 (decimal 8004)
+ defining Unicode char U+1F45 (decimal 8005)
+ defining Unicode char U+1F48 (decimal 8008)
+ defining Unicode char U+1F49 (decimal 8009)
+ defining Unicode char U+1F4A (decimal 8010)
+ defining Unicode char U+1F4B (decimal 8011)
+ defining Unicode char U+1F4C (decimal 8012)
+ defining Unicode char U+1F4D (decimal 8013)
+ defining Unicode char U+1F50 (decimal 8016)
+ defining Unicode char U+1F51 (decimal 8017)
+ defining Unicode char U+1F52 (decimal 8018)
+ defining Unicode char U+1F53 (decimal 8019)
+ defining Unicode char U+1F54 (decimal 8020)
+ defining Unicode char U+1F55 (decimal 8021)
+ defining Unicode char U+1F56 (decimal 8022)
+ defining Unicode char U+1F57 (decimal 8023)
+ defining Unicode char U+1F59 (decimal 8025)
+ defining Unicode char U+1F5B (decimal 8027)
+ defining Unicode char U+1F5D (decimal 8029)
+ defining Unicode char U+1F5F (decimal 8031)
+ defining Unicode char U+1F60 (decimal 8032)
+ defining Unicode char U+1F61 (decimal 8033)
+ defining Unicode char U+1F62 (decimal 8034)
+ defining Unicode char U+1F63 (decimal 8035)
+ defining Unicode char U+1F64 (decimal 8036)
+ defining Unicode char U+1F65 (decimal 8037)
+ defining Unicode char U+1F66 (decimal 8038)
+ defining Unicode char U+1F67 (decimal 8039)
+ defining Unicode char U+1F68 (decimal 8040)
+ defining Unicode char U+1F69 (decimal 8041)
+ defining Unicode char U+1F6A (decimal 8042)
+ defining Unicode char U+1F6B (decimal 8043)
+ defining Unicode char U+1F6C (decimal 8044)
+ defining Unicode char U+1F6D (decimal 8045)
+ defining Unicode char U+1F6E (decimal 8046)
+ defining Unicode char U+1F6F (decimal 8047)
+ defining Unicode char U+1F70 (decimal 8048)
+ defining Unicode char U+1F71 (decimal 8049)
+ defining Unicode char U+1F72 (decimal 8050)
+ defining Unicode char U+1F73 (decimal 8051)
+ defining Unicode char U+1F74 (decimal 8052)
+ defining Unicode char U+1F75 (decimal 8053)
+ defining Unicode char U+1F76 (decimal 8054)
+ defining Unicode char U+1F77 (decimal 8055)
+ defining Unicode char U+1F78 (decimal 8056)
+ defining Unicode char U+1F79 (decimal 8057)
+ defining Unicode char U+1F7A (decimal 8058)
+ defining Unicode char U+1F7B (decimal 8059)
+ defining Unicode char U+1F7C (decimal 8060)
+ defining Unicode char U+1F7D (decimal 8061)
+ defining Unicode char U+1F80 (decimal 8064)
+ defining Unicode char U+1F81 (decimal 8065)
+ defining Unicode char U+1F82 (decimal 8066)
+ defining Unicode char U+1F83 (decimal 8067)
+ defining Unicode char U+1F84 (decimal 8068)
+ defining Unicode char U+1F85 (decimal 8069)
+ defining Unicode char U+1F86 (decimal 8070)
+ defining Unicode char U+1F87 (decimal 8071)
+ defining Unicode char U+1F88 (decimal 8072)
+ defining Unicode char U+1F89 (decimal 8073)
+ defining Unicode char U+1F8A (decimal 8074)
+ defining Unicode char U+1F8B (decimal 8075)
+ defining Unicode char U+1F8C (decimal 8076)
+ defining Unicode char U+1F8D (decimal 8077)
+ defining Unicode char U+1F8E (decimal 8078)
+ defining Unicode char U+1F8F (decimal 8079)
+ defining Unicode char U+1F90 (decimal 8080)
+ defining Unicode char U+1F91 (decimal 8081)
+ defining Unicode char U+1F92 (decimal 8082)
+ defining Unicode char U+1F93 (decimal 8083)
+ defining Unicode char U+1F94 (decimal 8084)
+ defining Unicode char U+1F95 (decimal 8085)
+ defining Unicode char U+1F96 (decimal 8086)
+ defining Unicode char U+1F97 (decimal 8087)
+ defining Unicode char U+1F98 (decimal 8088)
+ defining Unicode char U+1F99 (decimal 8089)
+ defining Unicode char U+1F9A (decimal 8090)
+ defining Unicode char U+1F9B (decimal 8091)
+ defining Unicode char U+1F9C (decimal 8092)
+ defining Unicode char U+1F9D (decimal 8093)
+ defining Unicode char U+1F9E (decimal 8094)
+ defining Unicode char U+1F9F (decimal 8095)
+ defining Unicode char U+1FA0 (decimal 8096)
+ defining Unicode char U+1FA1 (decimal 8097)
+ defining Unicode char U+1FA2 (decimal 8098)
+ defining Unicode char U+1FA3 (decimal 8099)
+ defining Unicode char U+1FA4 (decimal 8100)
+ defining Unicode char U+1FA5 (decimal 8101)
+ defining Unicode char U+1FA6 (decimal 8102)
+ defining Unicode char U+1FA7 (decimal 8103)
+ defining Unicode char U+1FA8 (decimal 8104)
+ defining Unicode char U+1FA9 (decimal 8105)
+ defining Unicode char U+1FAA (decimal 8106)
+ defining Unicode char U+1FAB (decimal 8107)
+ defining Unicode char U+1FAC (decimal 8108)
+ defining Unicode char U+1FAD (decimal 8109)
+ defining Unicode char U+1FAE (decimal 8110)
+ defining Unicode char U+1FAF (decimal 8111)
+ defining Unicode char U+1FB0 (decimal 8112)
+ defining Unicode char U+1FB1 (decimal 8113)
+ defining Unicode char U+1FB2 (decimal 8114)
+ defining Unicode char U+1FB3 (decimal 8115)
+ defining Unicode char U+1FB4 (decimal 8116)
+ defining Unicode char U+1FB6 (decimal 8118)
+ defining Unicode char U+1FB7 (decimal 8119)
+ defining Unicode char U+1FB8 (decimal 8120)
+ defining Unicode char U+1FB9 (decimal 8121)
+ defining Unicode char U+1FBA (decimal 8122)
+ defining Unicode char U+1FBB (decimal 8123)
+ defining Unicode char U+1FBC (decimal 8124)
+ defining Unicode char U+1FBD (decimal 8125)
+ defining Unicode char U+1FBE (decimal 8126)
+ defining Unicode char U+1FBF (decimal 8127)
+ defining Unicode char U+1FC0 (decimal 8128)
+ defining Unicode char U+1FC1 (decimal 8129)
+ defining Unicode char U+1FC2 (decimal 8130)
+ defining Unicode char U+1FC3 (decimal 8131)
+ defining Unicode char U+1FC4 (decimal 8132)
+ defining Unicode char U+1FC6 (decimal 8134)
+ defining Unicode char U+1FC7 (decimal 8135)
+ defining Unicode char U+1FC8 (decimal 8136)
+ defining Unicode char U+1FC9 (decimal 8137)
+ defining Unicode char U+1FCA (decimal 8138)
+ defining Unicode char U+1FCB (decimal 8139)
+ defining Unicode char U+1FCC (decimal 8140)
+ defining Unicode char U+1FCD (decimal 8141)
+ defining Unicode char U+1FCE (decimal 8142)
+ defining Unicode char U+1FCF (decimal 8143)
+ defining Unicode char U+1FD0 (decimal 8144)
+ defining Unicode char U+1FD1 (decimal 8145)
+ defining Unicode char U+1FD2 (decimal 8146)
+ defining Unicode char U+1FD3 (decimal 8147)
+ defining Unicode char U+1FD6 (decimal 8150)
+ defining Unicode char U+1FD7 (decimal 8151)
+ defining Unicode char U+1FD8 (decimal 8152)
+ defining Unicode char U+1FD9 (decimal 8153)
+ defining Unicode char U+1FDA (decimal 8154)
+ defining Unicode char U+1FDB (decimal 8155)
+ defining Unicode char U+1FDD (decimal 8157)
+ defining Unicode char U+1FDE (decimal 8158)
+ defining Unicode char U+1FDF (decimal 8159)
+ defining Unicode char U+1FE0 (decimal 8160)
+ defining Unicode char U+1FE1 (decimal 8161)
+ defining Unicode char U+1FE2 (decimal 8162)
+ defining Unicode char U+1FE3 (decimal 8163)
+ defining Unicode char U+1FE4 (decimal 8164)
+ defining Unicode char U+1FE5 (decimal 8165)
+ defining Unicode char U+1FE6 (decimal 8166)
+ defining Unicode char U+1FE7 (decimal 8167)
+ defining Unicode char U+1FE8 (decimal 8168)
+ defining Unicode char U+1FE9 (decimal 8169)
+ defining Unicode char U+1FEA (decimal 8170)
+ defining Unicode char U+1FEB (decimal 8171)
+ defining Unicode char U+1FEC (decimal 8172)
+ defining Unicode char U+1FED (decimal 8173)
+ defining Unicode char U+1FEE (decimal 8174)
+ defining Unicode char U+1FEF (decimal 8175)
+ defining Unicode char U+1FF2 (decimal 8178)
+ defining Unicode char U+1FF3 (decimal 8179)
+ defining Unicode char U+1FF4 (decimal 8180)
+ defining Unicode char U+1FF6 (decimal 8182)
+ defining Unicode char U+1FF7 (decimal 8183)
+ defining Unicode char U+1FF8 (decimal 8184)
+ defining Unicode char U+1FF9 (decimal 8185)
+ defining Unicode char U+1FFA (decimal 8186)
+ defining Unicode char U+1FFB (decimal 8187)
+ defining Unicode char U+1FFC (decimal 8188)
+ defining Unicode char U+1FFD (decimal 8189)
+ defining Unicode char U+1FFE (decimal 8190)
+ defining Unicode char U+2013 (decimal 8211)
+ defining Unicode char U+2014 (decimal 8212)
+ defining Unicode char U+2018 (decimal 8216)
+ defining Unicode char U+2019 (decimal 8217)
+ defining Unicode char U+201A (decimal 8218)
+ defining Unicode char U+2030 (decimal 8240)
+ defining Unicode char U+2039 (decimal 8249)
+ defining Unicode char U+203A (decimal 8250)
+ defining Unicode char U+20AC (decimal 8364)
+ defining Unicode char U+2126 (decimal 8486)
+ defining Unicode char U+10144 (decimal 65860)
+ defining Unicode char U+10145 (decimal 65861)
+ defining Unicode char U+10146 (decimal 65862)
+ defining Unicode char U+10147 (decimal 65863)
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diff --git a/thesis.run.xml b/thesis.run.xml
new file mode 100644
index 0000000..4b3d6bc
--- /dev/null
+++ b/thesis.run.xml
@@ -0,0 +1,87 @@
+<?xml version="1.0" standalone="yes"?>
+<!-- logreq request file -->
+<!-- logreq version 1.0 / dtd version 1.0 -->
+<!-- Do not edit this file! -->
+<!DOCTYPE requests [
+ <!ELEMENT requests (internal | external)*>
+ <!ELEMENT internal (generic, (provides | requires)*)>
+ <!ELEMENT external (generic, cmdline?, input?, output?, (provides | requires)*)>
+ <!ELEMENT cmdline (binary, (option | infile | outfile)*)>
+ <!ELEMENT input (file)+>
+ <!ELEMENT output (file)+>
+ <!ELEMENT provides (file)+>
+ <!ELEMENT requires (file)+>
+ <!ELEMENT generic (#PCDATA)>
+ <!ELEMENT binary (#PCDATA)>
+ <!ELEMENT option (#PCDATA)>
+ <!ELEMENT infile (#PCDATA)>
+ <!ELEMENT outfile (#PCDATA)>
+ <!ELEMENT file (#PCDATA)>
+ <!ATTLIST requests
+ version CDATA #REQUIRED
+ >
+ <!ATTLIST internal
+ package CDATA #REQUIRED
+ priority (9) #REQUIRED
+ active (0 | 1) #REQUIRED
+ >
+ <!ATTLIST external
+ package CDATA #REQUIRED
+ priority (1 | 2 | 3 | 4 | 5 | 6 | 7 | 8) #REQUIRED
+ active (0 | 1) #REQUIRED
+ >
+ <!ATTLIST provides
+ type (static | dynamic | editable) #REQUIRED
+ >
+ <!ATTLIST requires
+ type (static | dynamic | editable) #REQUIRED
+ >
+ <!ATTLIST file
+ type CDATA #IMPLIED
+ >
+]>
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+ <provides type="dynamic">
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+ </provides>
+ <requires type="dynamic">
+ <file>thesis.bbl</file>
+ </requires>
+ <requires type="static">
+ <file>blx-dm.def</file>
+ <file>blx-compat.def</file>
+ <file>blx-case-expl3.def</file>
+ <file>biblatex.def</file>
+ <file>standard.bbx</file>
+ <file>numeric.bbx</file>
+ <file>numeric-comp.bbx</file>
+ <file>numeric-comp.cbx</file>
+ <file>biblatex.cfg</file>
+ <file>english.lbx</file>
+ </requires>
+ </internal>
+ <external package="biblatex" priority="5" active="0">
+ <generic>biber</generic>
+ <cmdline>
+ <binary>biber</binary>
+ <infile>thesis</infile>
+ </cmdline>
+ <input>
+ <file>thesis.bcf</file>
+ </input>
+ <output>
+ <file>thesis.bbl</file>
+ </output>
+ <provides type="dynamic">
+ <file>thesis.bbl</file>
+ </provides>
+ <requires type="dynamic">
+ <file>thesis.bcf</file>
+ </requires>
+ <requires type="editable">
+ <file>Bibliography.bib</file>
+ </requires>
+ </external>
+</requests>
diff --git a/thesis.synctex.gz b/thesis.synctex.gz
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diff --git a/thesis.toc b/thesis.toc
new file mode 100644
index 0000000..d228691
--- /dev/null
+++ b/thesis.toc
@@ -0,0 +1,117 @@
+\boolfalse {citerequest}\boolfalse {citetracker}\boolfalse {pagetracker}\boolfalse {backtracker}\relax
+\babel@toc {english}{}
+\babel@toc {english}{}
+\defcounter {refsection}{0}\relax
+\contentsline {chapter}{\numberline {1}INTRODUCTION}{4}{chapter.1}%
+\defcounter {refsection}{0}\relax
+\contentsline {paragraph}{\nonumberline Objective Of Thesis:}{4}{paragraph*.4}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.1}Robots and Cobots}{4}{section.1.1}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.2}Components Of a Typical Robot}{6}{section.1.2}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.3}Uses And Applied Fields}{7}{section.1.3}%
+\defcounter {refsection}{0}\relax
+\contentsline {subsection}{\numberline {1.3.1}Elderly Care}{7}{subsection.1.3.1}%
+\defcounter {refsection}{0}\relax
+\contentsline {subsection}{\numberline {1.3.2}Medical Uses}{7}{subsection.1.3.2}%
+\defcounter {refsection}{0}\relax
+\contentsline {subsection}{\numberline {1.3.3}Warehouse Operator}{7}{subsection.1.3.3}%
+\defcounter {refsection}{0}\relax
+\contentsline {subsection}{\numberline {1.3.4}Food Home Delivery}{8}{subsection.1.3.4}%
+\defcounter {refsection}{0}\relax
+\contentsline {subsection}{\numberline {1.3.5}Automotive Industry}{8}{subsection.1.3.5}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.4}Importance Of Robots In Today's Time}{8}{section.1.4}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.5}Expectations From Robots}{9}{section.1.5}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {1.6}Evolution - Robots to Cobots}{9}{section.1.6}%
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+\contentsline {section}{\numberline {4.1}Motion Planning And Simulations}{20}{section.4.1}%
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+\contentsline {section}{\numberline {4.2}Modeling - Explaining Choice of Design Depictions}{20}{section.4.2}%
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+\contentsline {subsection}{\numberline {4.2.1}Unified Modeling Language (UML) Diagram For World Model Class Diagram}{21}{subsection.4.2.1}%
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+\contentsline {subsection}{\numberline {4.2.2}Business Process Modeling Notation (BPMN) for Application Model}{22}{subsection.4.2.2}%
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+\contentsline {subsection}{\numberline {4.2.3}Unified Modeling Language State Machine for Safety Model}{24}{subsection.4.2.3}%
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+\contentsline {section}{\numberline {4.3}Tools Used}{26}{section.4.3}%
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+\contentsline {subsection}{\numberline {4.3.1}Setup Environment Using ROS To Run Services, Motion Planning In MOVEIT and GAZEBO For Simulations and more}{26}{subsection.4.3.1}%
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+\contentsline {section}{\numberline {5.1}Theme}{32}{section.5.1}%
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+\contentsline {section}{\numberline {5.2}The Models Designed}{32}{section.5.2}%
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+\contentsline {section}{\numberline {5.3}Programming Of Hardware And Software Components - Purpose And Concepts}{37}{section.5.3}%
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+\contentsline {section}{\numberline {5.5}Connecting Everything - Simulations\\}{38}{section.5.5}%
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+\contentsline {chapter}{\numberline {6}IMPLEMENTATION}{39}{chapter.6}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {6.1}Introduction}{39}{section.6.1}%
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+\contentsline {section}{\numberline {6.2}WORLD MODEL IMPLEMENTATION}{40}{section.6.2}%
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+\contentsline {section}{\numberline {6.3}Test Cases Designed}{42}{section.6.3}%
+\defcounter {refsection}{0}\relax
+\contentsline {section}{\numberline {6.4}Future Work Implementing Application Model Programmatically\\}{42}{section.6.4}%
+\defcounter {refsection}{0}\relax
+\contentsline {chapter}{\numberline {7}EVALUVATION}{43}{chapter.7}%
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+\contentsline {section}{\numberline {7.1}Results}{43}{section.7.1}%
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+\contentsline {subsection}{\numberline {7.1.1}WORLD MODEL TEST RESULTS}{43}{subsection.7.1.1}%
+\defcounter {refsection}{0}\relax
+\contentsline {chapter}{\nonumberline Bibliography}{44}{chapter*.24}%
+\defcounter {refsection}{0}\relax
+\providecommand \tocbasic@end@toc@file {}\tocbasic@end@toc@file
--
GitLab