3D effect FCU group control FFT HVAC energy conservation MIMO OFDM Theo Jansen Linkage assembly design binocular stereo vision boundary effect central pattern generator cost aggregation deep learning for network security design method electrical resistivity tomography error compensation fast Fourier transform free-form surface fuzzy theory genetic algorithm image filtering kernel layout strategy long short-term memory malicious traffic classification mirror compensation method multistandard n/a non-collocated actuators on-machine measurement