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13
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pa
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n
o
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n
d
l
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ge
(
L
o
R
a
)
s
e
n
s
o
r
s
.
Dub
e
y
e
t
al.
[
21]
d
o
e
s
a
wa
y
w
i
t
h
h
u
m
a
n
c
o
n
t
r
o
l
by
r
e
duc
i
ng
g
l
a
r
e
f
r
o
m
hi
g
h
b
e
a
m
h
e
a
d
li
g
h
t
s
dur
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n
g
ni
g
h
t
dr
i
vi
ng
us
i
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a
n
L
E
D
m
a
t
r
i
x
,
o
bj
e
c
t
de
t
e
c
t
i
n
g
m
o
du
l
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a
n
d
li
ve
vi
d
e
o
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e
d.
A
v
e
hi
c
le
h
e
a
d
l
a
m
p
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y
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t
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m
t
ha
t
r
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duc
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s
gl
a
r
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m
pr
o
v
e
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vi
s
i
b
il
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t
y
dur
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n
g
s
n
o
ws
to
r
m
s
a
n
d
i
n
c
r
e
a
s
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l
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n
d
m
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ke
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n
t
r
a
s
t
wa
s
pr
o
p
o
s
e
d
by
M
ur
a
li
kr
i
s
hn
a
n
[
22]
to
im
pr
o
v
e
r
oa
d
s
a
f
e
t
y
.
H
ow
e
v
e
r
,
th
e
i
r
m
e
t
h
od
r
e
q
u
i
r
e
s
s
ophi
s
t
i
c
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ted
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o
f
twa
r
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n
d
h
a
r
dw
a
r
e
.
A
c
o
m
pu
te
r
i
z
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d
he
a
dl
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g
h
t
di
m
m
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th
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t
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u
to
m
a
t
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c
a
l
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y
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w
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t
c
h
e
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f
r
o
m
hi
gh
to
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o
w
b
e
a
m
s
to
r
e
du
c
e
g
l
a
r
e
wa
s
c
r
e
a
te
d
by
P
oor
ni
m
a
e
t
a
l
.
[
2
3]
.
A
s
m
a
r
t
l
i
g
h
t
i
n
g
s
y
s
t
e
m
wa
s
pr
e
s
e
n
t
e
d
by
M
a
s
o
o
d
e
t
al
.
[
24]
.
I
t
i
n
c
o
r
po
r
a
t
e
s
c
a
pa
bi
li
t
i
e
s
t
o
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de
n
t
i
f
y
dr
un
k
dr
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v
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r
s
a
n
d
m
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d
if
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s
t
r
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t
l
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g
h
t
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t
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i
t
y
b
a
s
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d
o
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ve
hi
c
l
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m
o
v
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m
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t
a
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d
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m
b
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n
t
l
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g
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t
.
W
hil
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h
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go
a
l
s
a
n
d
i
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r
i
c
a
c
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h
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y
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m
v
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r
y
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t
he
y
a
r
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a
l
l
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d
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d
to
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nc
r
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a
s
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f
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t
y
a
n
d
vis
i
bil
i
t
y
.
M
a
s
u
d
e
t
al
.
[
25]
a
n
a
l
y
z
e
I
oT
-
b
a
s
e
d
a
ut
o
m
a
t
e
d
h
e
a
d
l
a
m
p
d
im
m
e
r
s
y
s
t
e
m
s
,
c
o
n
t
r
a
s
t
i
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g
t
e
c
h
n
o
l
o
g
y
s
uc
h
a
s
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r
s
a
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d
A
I
f
o
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b
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a
m
m
o
du
l
a
t
i
o
n
,
a
ddr
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s
s
i
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pe
r
a
t
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o
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l
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ue
s
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a
n
d
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m
p
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z
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nh
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n
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m
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t
s
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a
f
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y
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d
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duc
t
i
o
ns
i
n
a
c
c
i
de
n
t
s
.
R
a
hm
a
n
e
t
al.
[
26]
s
ugge
s
t
e
d
a
n
I
o
T
-
e
n
a
bl
e
d
s
y
s
t
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m
t
h
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t
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da
p
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to
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f
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de
m
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n
d,
a
uto
m
a
t
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c
o
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tr
o
l
,
i
de
n
t
i
f
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s
pr
o
b
l
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m
s
,
mi
n
im
i
z
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s
e
x
pe
n
s
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s
,
m
a
i
n
t
a
i
ns
e
n
o
ugh
l
i
g
h
t
i
n
g
f
o
r
d
r
i
v
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r
s
,
a
n
d
e
nh
a
n
c
e
s
t
h
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o
v
e
r
a
l
l
dr
i
v
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ng
e
x
p
e
r
i
e
n
c
e
.
I
n
a
dd
i
t
i
o
n
,
t
h
i
s
[
27]
s
t
udy
i
n
t
r
o
duc
e
s
a
n
e
c
o
n
o
m
i
c
a
l
I
o
T
s
m
a
r
t
pa
r
k
i
n
g
s
y
s
t
e
m
u
s
i
ng
m
a
c
hi
ne
vi
s
i
o
n
,
a
t
t
a
i
ni
ng
96
.
40%
a
c
c
ur
a
c
y
a
n
d
i
m
pr
o
vi
ng
ur
b
a
n
m
o
bi
li
t
y
vi
a
r
e
a
l
-
t
i
m
e
m
o
ni
t
o
r
i
n
g
a
n
d
us
e
r
n
o
t
i
f
i
c
a
t
i
o
n
s
.
M
o
r
e
o
v
e
r
,
Da
h
o
u
e
t
al.
[
28]
c
r
e
a
t
e
d
a
n
i
n
t
e
l
l
i
g
e
n
t
h
e
a
d
l
a
m
p
a
d
j
us
t
m
e
n
t
s
y
s
t
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m
t
h
a
t
us
e
m
a
c
hi
ne
vi
s
i
o
n
a
n
d
bi
n
o
c
u
l
a
r
c
a
m
e
r
a
s
to
a
s
s
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s
r
o
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d
c
o
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d
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t
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o
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s
a
n
d
s
ur
r
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un
d
i
n
g
c
a
r
s
,
t
h
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r
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f
o
r
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m
pr
o
vi
n
g
dr
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vi
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s
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f
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t
y
vi
a
a
da
pt
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v
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ll
u
mi
na
t
i
o
n
,
whil
e
A
r
a
mi
c
e
e
t
al
.
[
29]
de
vi
s
e
d
a
h
e
a
d
li
g
h
t
b
e
a
m
c
o
n
t
r
o
l
s
y
s
t
e
m
w
i
t
h
a
f
uz
z
y
c
o
n
t
r
o
l
a
l
go
r
i
t
hm
,
de
m
o
n
s
t
r
a
t
i
n
g
a
dv
a
n
t
a
ge
o
us
dy
na
m
i
c
pr
o
pe
r
t
i
e
s
.
S
i
mi
l
a
r
l
y
,
t
hi
s
[
30]
s
t
udy
e
x
a
mi
ne
s
i
n
t
e
ll
i
ge
n
t
h
e
a
d
li
g
h
t
b
e
a
m
m
a
n
a
g
e
m
e
n
t
t
e
c
h
ni
qu
e
s
,
f
o
c
us
i
n
g
o
n
s
e
ns
o
r
-
b
a
s
e
d
a
n
d
m
a
c
hi
ne
l
e
a
r
ni
ng
m
e
t
h
o
ds
,
a
n
d
a
ddr
e
s
s
e
s
pr
o
s
pe
c
t
i
v
e
de
v
e
l
o
p
m
e
n
t
s
.
Nkr
um
a
h
e
t
al.
[
31]
r
e
s
e
a
r
c
h
pr
e
s
e
n
t
s
a
n
e
c
o
n
o
m
i
c
a
l
,
s
e
n
s
o
r
-
dr
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v
e
n
A
r
du
i
n
o
s
y
s
t
e
m
f
o
r
a
u
to
m
a
t
e
d
i
ll
u
mi
na
t
i
o
n
r
e
gu
l
a
t
i
o
n
,
e
nh
a
n
c
i
ng
s
a
f
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d
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bil
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g
h
t
t
i
m
e
dr
i
vi
n
g.
F
ur
t
h
e
r
m
o
r
e
,
LI
[
32]
e
x
a
m
i
ne
s
A
I
-
c
o
n
t
r
o
l
l
e
d
m
a
t
r
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x
h
e
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d
li
g
h
t
s
,
e
m
p
h
a
s
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ng
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h
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r
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f
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t
s
.
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x
pe
r
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t
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nd
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s
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d
i
c
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t
e
a
16%
de
c
r
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s
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r
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u
m
pt
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o
n
,
a
34%
e
n
h
a
n
c
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t
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l
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t
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a
n
d
a
12%
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dva
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to
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n
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l
h
e
a
d
li
g
h
t
s
.
Da
h
o
u
e
t
al.
[
33]
s
u
gge
s
t
e
d
a
da
pt
i
v
e
f
r
o
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t
-
l
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p
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s
pu
l
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d
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h
m
o
du
l
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t
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o
n
(
P
W
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)
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hn
o
l
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g
y
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o
nj
u
n
c
t
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t
h
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f
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d
-
pr
o
gr
a
m
m
a
bl
e
ga
t
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a
r
r
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y
(
F
P
G
A
)
to
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m
pr
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ve
v
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hi
c
l
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ge
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y
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m
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c
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ll
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pe
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d,
a
n
d
we
a
t
h
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o
n
d
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t
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o
ns
.
3.
P
ROP
OS
E
D
M
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T
HO
D
T
h
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pr
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p
o
s
e
d
m
e
t
h
o
do
l
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y
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s
bl
o
c
k
d
i
a
gr
a
m
,
i
ll
us
t
r
a
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d
i
n
F
i
gur
e
1,
o
u
t
l
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ne
s
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c
o
m
po
s
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o
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r
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h
.
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y
c
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po
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s
:
a
po
we
r
s
uppl
y
(
ba
tt
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r
y
)
,
a
m
o
tor
dr
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ve
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,
a
n
A
r
du
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a
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up
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c
t
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n
3.
1.
,
h
a
r
dwa
r
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c
o
nf
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gu
r
a
t
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n
.
S
e
c
t
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n
3.
2.
pr
o
vi
de
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s
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.
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ly
,
s
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c
t
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n
3.
3.
di
s
c
u
s
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pr
otot
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pe
a
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pe
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up,
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t
a
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.
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po
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bli
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,
whe
r
e
we
us
e
d
a
n
11.
11
V
b
a
t
t
e
r
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to
pr
o
vi
de
a
po
we
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s
upp
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ne
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t
r
o
l
1:
Global Variables
2:
battery voltage = 11.11;
3:
motor driver initialized = False;
4:
arduino initialized = False;
5:
switch state = False;
6:
ldr sensor value = 0;
7:
SERVO MOTOR PIN = 9;
8:
SWITCH PIN = 8;
9:
LDR SENSOR PIN = A0;
10:
Function
initialize system ()
11:
motor driver initia
lized = True;
12:
arduino initialized = True;
13:
pinMode (SERVO MOTOR PIN, OUTPUT);
14:
pinMode (SWITCH PIN, INPUT);
15:
pinMode (LDR SENSOR PIN, INPUT);
16:
Function
read switch ()
17:
switch state = digitalRead (SWITCH PIN);
18:
return
swi
tch state;
19:
Function
read ldr sensor ():
20:
ldr sensor value = analogRead(LDR SENSOR PIN);
21:
return
ldr sensor value;
22:
Function
move servo motor(position)
23:
if
position ==”up” then
24:
digitalWrite (SERVO MOTOR PIN, HIGH);
25:
else
if position ==”down” then
26:
digitalWrite (SERVO MOTOR PIN, LOW);
27:
end if
3.
3.
P
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a
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A
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c
a
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we
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a
t
hi
g
h
b
e
a
m
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:
c
a
r
s
a
r
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c
o
m
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to
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d
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a
n
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3(
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h
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L
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c
to
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to
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f
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a
m
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a
s
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c
a
r
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t
l
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w
b
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a
m
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t
hi
s
m
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t
h
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o
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de
t
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c
t
s
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m
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f
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pa
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pr
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(
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F
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t
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b
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a
m
,
(
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pe
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T
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bl
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1.
T
a
bl
e
1.
R
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s
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a
r
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h
que
s
t
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o
n
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n
d
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n
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w
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nt
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R
Q
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ha
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th
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k
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y
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o
ns
id
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a
ti
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r
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ba
s
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ht
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l
s
y
s
t
e
m i
nt
o
e
x
is
ti
ng
ve
hi
c
l
e
s
?
T
h
e
s
y
s
t
e
m
c
a
n
b
e
in
t
e
gr
a
t
e
d
in
t
o
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x
is
ti
ng
ve
hi
c
l
e
s
w
it
h
o
nl
y
mi
nor
m
o
di
f
i
c
a
ti
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e
y
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a
ti
o
ns
in
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lu
d
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c
o
mpa
ti
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li
t
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w
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ur
r
e
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v
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l
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le
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t
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c
s
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hi
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ke
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th
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e
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ti
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n
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e
s
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o
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t
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c
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s
t
b
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2.
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h
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m
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t
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S
[
1]
F
.
B
a
ue
r
,
“
N
e
w
he
a
dl
ig
h
t
s
e
ns
o
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s
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f
e
r
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oad
and
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r
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e
l
M
agaz
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e
,
2007.
ht
tp
s
:/
/ww
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om/
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ms
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_
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ig
n
e
tt
e
.
[
2]
N
. J
. W
a
r
d, J
. L
in
ke
nba
c
h, S
. N
.
K
e
ll
e
r
, a
nd J
. O
tt
o
, “
W
hi
t
e
pa
pe
r
o
n t
r
a
f
f
i
c
s
a
f
e
t
y
c
ul
tu
r
e
,”
W
h
it
e
P
ape
r
, vo
l.
2, 2010.
[
3]
O
.
A
ki
ns
a
nmi
,
A
.
G
a
nj
a
ng,
a
nd
H
.
E
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e
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,
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s
ig
n
a
nd
de
ve
l
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ut
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o
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l
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e
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dl
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w
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ng
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y
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te
m,”
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nt
e
r
nat
io
nal
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our
nal
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A
ppl
ie
d Sc
ie
n
c
e
and E
ngi
ne
e
r
in
g
, v
o
l.
2, no
. 8, pp. 35
–
40, 2015.
[
4]
R
.
A
.
M
u
s
th
a
f
a
,
T
.
B
.
K
r
is
hna
n,
N
.
S
.
R
a
ma
n,
M
.
S
ha
nka
r
,
a
n
d
R
.
S
w
a
th
i,
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ut
o
ma
ti
c
he
a
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ig
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o
nt
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e
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nat
i
onal
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our
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of
T
r
e
nd i
n R
e
s
e
a
r
c
h and De
v
e
lo
pm
e
nt
, 2017.
[
5]
I
.
J
.
R
e
a
ga
n
a
nd
M
.
L
.
B
r
umb
e
l
o
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da
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he
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m
li
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ti
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di
a
M
anuf
ac
tu
r
in
g
,
v
o
l.
3,
pp.
3214
–
3221,
2015,
do
i:
10.1016/j
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o
m
f
g.2015.07.872.
[
6]
M
.
F
.
C
ho
w
dhur
y
,
M
.
R
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a
d
A
hm
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d
B
ip
l
o
b,
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nd
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.
U
ddi
n,
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n
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nt
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r
nat
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C
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nf
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s
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onf
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m
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n
R
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c
ogn
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n,
I
C
I
E
V
-
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V
P
R
2018
,
J
un.
2018,
pp.
353
–
356,
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C
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E
V
.2018.8641039.
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[
7]
P
. S
e
v
e
ka
r
a
nd
S
.
B
. D
h
o
nd
e
, “
N
ig
ht
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im
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ve
hi
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le
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ti
o
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o
r
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e
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dl
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tr
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l:
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r
e
v
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e
w
,”
i
n
P
r
oc
e
e
di
ngs
of
t
he
2016
2nd
I
nt
e
r
nat
io
nal
C
on
f
e
r
e
nc
e
on
A
ppl
ie
d
and
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he
or
e
ti
c
al
C
om
put
in
g
and
C
om
m
uni
c
at
io
n
T
e
c
hnol
ogy
,
iC
A
T
c
c
T
2016
,
2017,
pp.
188
–
190, do
i:
10.110
9/
I
C
A
T
C
C
T
.2016.7911989.
[
8]
B
.
Z
he
ng,
X
. J
.
H
e
, a
nd
J
. D
.
Z
ha
ng, “
I
nt
e
ll
ig
e
nt
c
o
nt
r
o
l
s
y
s
t
e
m de
s
ig
n
of
a
ut
o
m
o
bi
le
h
e
a
dl
ig
ht
s
,”
i
n
2019
I
E
E
E
4t
h
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
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lo
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om
put
in
g
and
B
ig
D
at
a
A
n
al
y
ti
c
s
,
I
C
C
C
B
D
A
2019
,
A
pr
.
2019,
pp.
373
–
377,
do
i:
10.1109/I
C
C
C
B
D
A
.2019.8725779.
[
9]
P
. N
. C
h
o
w
dhur
y
,
T
. C
ha
ndr
a
R
a
y
,
a
nd J
. U
ddi
n, “
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ve
hi
c
l
e
d
e
te
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ti
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n t
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qu
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f
or
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r
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f
f
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c
ma
na
g
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me
n
t
us
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g i
ma
g
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pr
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s
s
in
g,”
in
I
nt
e
r
nat
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nal
C
onf
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r
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n
c
e
on
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om
put
e
r
,
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om
m
uni
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at
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n,
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h
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m
ic
al
,
M
at
e
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ia
l
and
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le
c
tr
oni
c
E
ngi
ne
e
r
in
g,
I
C
4M
E
2
2018
,
F
e
b.
2018, pp. 1
–
4, do
i:
10.1109/
I
C
4M
E
2.2018.8465599.
[
10]
C
.
L
u
o
,
G
.
X
in
,
H
.
X
u,
a
nd
W
.
T
a
ng,
“
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l
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,”
I
E
E
E
C
ons
um
e
r
E
le
c
tr
oni
c
s
M
agaz
in
e
, v
o
l.
10, n
o
. 2, pp. 8
–
15, M
a
r
. 2
021, d
o
i:
10.1109/M
C
E
.2020.3040724.
[
11]
J
.
Y
a
ng,
X
.
S
he
n,
F
.
G
uo
,
a
nd
C
.
Y
i,
“
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he
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n
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ve
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l
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s
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hi
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y
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ba
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o
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s
uppor
t
ve
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ma
c
h
in
e
(
S
V
M
)
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in
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r
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di
ngs
of
2018
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E
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e
d
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nf
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hnol
ogy
,
E
le
c
tr
oni
c
and
A
u
to
m
at
io
n
C
ont
r
ol
C
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A
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B
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,
G
.
B
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p,
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K
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a
s
a
d,
“
S
ma
r
t
a
da
pt
iv
e
he
a
dl
ig
h
t
s
y
s
te
m
f
or
ve
hi
c
l
e
s
,”
in
P
r
oc
e
e
di
ngs
o
f
2
023
I
E
E
E
2nd I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on I
ndus
tr
ia
l
E
le
c
tr
oni
c
s
:
D
e
v
e
lo
pm
e
nt
s
and A
ppl
ic
at
io
ns
, I
C
I
D
e
A
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, S
e
p. 2023, pp.
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S
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S
a
ha
,
M
.
A
.
M
o
nda
l,
a
nd
Z
.
R
e
h
e
na
,
“
A
s
ma
r
t
c
a
r
’
s
h
e
a
dl
i
ght
in
te
ns
it
y
c
o
n
tr
o
l
s
y
s
te
m
t
o
a
vo
id
T
r
ox
l
e
r
’
s
e
f
f
e
c
ts
a
t
ni
ght
,
”
in
2023
W
or
ld
C
onf
e
r
e
nc
e
on
C
om
m
uni
c
at
io
n
and
C
om
put
in
g,
W
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O
N
F
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ul
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B
.
A
l
-
S
ubh
i,
F
.
N
.
H
a
s
oo
n,
H
.
A
.
F
a
dhi
l,
S
.
M
a
ni
c
,
a
nd
R
.
B
i
ju
,
“
S
ma
r
t
v
e
h
ic
l
e
h
e
a
dl
ig
ht
s
c
o
nt
r
o
l
s
y
s
te
m,”
in
A
I
P
C
onf
e
r
e
nc
e
P
r
oc
e
e
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K
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G
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K
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S
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A
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a
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G
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.
K
ha
r
o
ud, J
.
S
.
T
hi
nd, a
nd
S
. S
h
a
r
ma
, “
I
oT
ba
s
e
d
r
e
a
lt
im
e
a
ut
o
ma
ti
c
he
a
dl
ig
ht
di
mm
e
r
s
y
s
t
e
m,
”
i
n
P
r
oc
e
e
di
ngs
-
2021
10t
h
I
nt
e
r
nat
io
nal
C
on
f
e
r
e
nc
e
on
I
nd
us
tr
ia
l
T
e
c
hnol
ogy
and
M
anage
m
e
nt
,
I
C
I
T
M
2021
,
M
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.
2
021,
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[
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R
.
K
ir
ut
hi
ka
a
,
B
.
M
.
K
uma
r
,
S
.
G
o
pi
na
th
,
M
.
S
.
P
r
i
y
a
,
a
nd
B
.
N
a
ta
r
a
j,
“
I
mpl
e
m
e
nt
a
ti
o
n
of
a
ut
o
n
o
m
o
us
di
mm
in
g
ba
s
e
d
o
n
i
o
t
f
or
pr
e
v
e
nt
in
g
a
c
c
id
e
nt
s
,”
in
1s
t
I
nt
e
r
nat
io
nal
C
on
f
e
r
e
nc
e
on
E
m
e
r
gi
ng
R
e
s
e
ar
c
h
in
C
om
put
at
io
nal
Sc
i
e
nc
e
,
I
C
E
R
C
S
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23
-
P
r
oc
e
e
di
ngs
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e
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A
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J
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S
a
ir
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m,
T
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e
dd
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I
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R
.
A
r
th
is
r
e
e
,
a
nd
V
.
B
a
g
y
a
ve
e
r
e
s
w
a
r
a
n,
“
O
pt
im
a
l
c
o
nt
r
o
l
l
o
g
ic
f
or
a
c
o
s
t
-
e
f
f
e
c
ti
v
e
li
ght
in
t
e
n
s
it
y
de
p
e
nde
nt
h
e
a
dl
a
mp
e
nha
n
c
e
d
b
y
in
t
e
r
n
e
t
of
th
in
gs
,”
in
2019
I
nnov
at
io
ns
in
P
ow
e
r
and
A
dv
anc
e
d
C
om
put
in
g
T
e
c
hnol
ogi
e
s
,
i
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P
A
C
T
2019
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a
r
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H
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R
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n
y
,
N
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a
r
im
,
M
.
A
.
R
o
u
f
,
M
.
M
.
I
s
la
m,
J
.
U
ddi
n,
a
nd
M
.
B
e
gum,
“
A
c
o
s
t
-
e
f
f
e
c
ti
ve
I
oT
m
o
d
e
l
f
or
a
s
ma
r
t
s
e
w
e
r
a
ge
ma
na
ge
me
nt
s
y
s
te
m us
in
g s
e
ns
o
r
s
,”
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A
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S
in
ha
,
A
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S
in
gh,
P
.
S
hubha
m,
V
. R
a
j,
a
nd M
.
R
a
mi
s
h,
“
I
o
T
a
nd
ma
c
hi
ne
l
e
a
r
ni
ng
f
o
r
tr
a
f
f
i
c
mo
n
it
o
r
in
g,
h
e
a
dl
ig
ht
a
ut
o
ma
ti
o
n,
a
nd
s
e
lf
-
pa
r
k
in
g:
a
ppl
ic
a
ti
o
n
of
A
I
in
tr
a
ns
po
r
ta
ti
o
n,”
in
L
e
c
tu
r
e
N
ot
e
s
in
M
e
c
hani
c
al
E
ngi
ne
e
r
in
g
,
S
pr
in
ge
r
N
a
tu
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e
S
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e
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A
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A
l
M
a
mun,
M
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H
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S
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T
.
I
s
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m,
D
.
I
s
la
m,
M
.
J
.
I
s
la
m
,
a
nd
F
.
A
.
T
a
n
v
ir
,
“
D
e
ve
l
o
p
e
d
a
n
I
oT
-
ba
s
e
d
s
ma
r
t
s
o
la
r
e
ne
r
g
y
mo
ni
t
or
in
g
s
y
s
t
e
m
f
o
r
e
n
v
ir
o
nm
e
nt
a
l
s
us
ta
in
a
bi
li
t
y
,”
in
2024
3r
d
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
A
dv
anc
e
m
e
nt
in
E
le
c
tr
ic
al
and
E
le
c
tr
oni
c
E
ngi
ne
e
r
i
ng, I
C
A
E
E
E
2024
, A
pr
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E
E
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A
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D
ube
y
,
A
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G
ul
a
ti
,
A
.
C
ho
ube
y
,
S
.
J
a
ik
a
r
,
a
nd
P
.
M
o
r
e
,
“
A
da
pt
iv
e
he
a
dl
ig
ht
s
y
s
t
e
m
f
o
r
r
e
duc
in
g
th
e
da
z
z
li
ng
e
f
f
e
c
t
to
pr
e
ve
nt
r
o
a
d
a
c
c
id
e
nt
,”
in
2021
I
nt
e
r
nat
io
nal
C
onf
e
r
e
n
c
e
on
C
om
put
in
g,
C
om
m
uni
c
at
io
n
and
G
r
e
e
n
E
ngi
ne
e
r
in
g,
C
C
G
E
2021
,
S
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R
. M
ur
a
li
kr
is
hna
n, “
A
ut
o
ma
ti
c
h
e
a
dl
ig
ht
d
im
m
e
r
a
pr
o
t
o
t
y
p
e
f
o
r
ve
hi
c
l
e
s
,”
I
nt
e
r
nat
io
nal
J
our
nal
of
R
e
s
e
ar
c
h i
n E
ngi
ne
e
r
in
g and
Te
c
hnol
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. 02, pp. 85
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b. 2014, d
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G
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R
.
P
oo
r
ni
ma
,
V
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H
a
r
is
h,
S
.
K
a
r
th
ik
,
B
.
S
.
N
a
ge
s
h
K
uma
r
,
a
nd
S
.
V
a
r
un
K
uma
r
,
“
V
e
hi
c
l
e
h
e
a
dl
ig
ht
a
ut
o
ma
ti
o
n
w
it
h
s
ma
r
t
e
n
e
r
g
y
ma
na
g
e
m
e
nt
s
y
s
t
e
m,”
in
2019
4t
h
I
E
E
E
I
nt
e
r
nat
io
nal
C
onf
e
r
e
nc
e
on
R
e
c
e
nt
T
r
e
nds
on
E
le
c
tr
oni
c
s
,
I
nf
or
m
at
io
n,
C
om
m
uni
c
at
io
n
and
T
e
c
hnol
ogy
,
R
T
E
I
C
T
2019
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P
r
oc
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e
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K
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M
a
s
oo
d,
P
.
A
gni
h
o
t
r
i,
a
nd
B
.
K
.
D
ube
y
,
“
A
ut
o
ma
ti
c
s
tr
e
e
t
li
ght
in
te
ns
it
y
c
o
nt
r
ol
a
nd
r
o
a
d
s
a
f
e
t
y
m
o
du
le
us
in
g
e
mb
e
dde
d
s
y
s
te
ms
,”
I
nt
e
r
nat
io
nal
J
our
nal
of
I
nnov
at
iv
e
Sc
ie
n
c
e
and R
e
s
e
ar
c
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K
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I
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M
a
s
ud,
M
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H
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S
huv
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,
A
.
A
l
M
a
mun,
J
.
M
a
ll
ic
k,
M
.
R
.
J
a
nna
t,
a
nd
M
.
O
.
R
a
hma
n,
“
D
e
ve
l
o
pi
n
g
a
n
I
oT
-
ba
s
e
d
c
hi
ld
s
a
f
e
t
y
a
nd
mo
ni
t
o
r
in
g
s
y
s
t
e
m:
a
n
e
f
f
i
c
i
e
nt
a
ppr
o
a
c
h,”
in
2023
26t
h
I
n
te
r
nat
io
nal
C
on
f
e
r
e
nc
e
on C
om
put
e
r
and
I
nf
o
r
m
at
io
n
T
e
c
hnol
ogy
,
I
C
C
I
T
2023
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e
c
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M
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A
.
R
a
hma
n,
A
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T
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A
s
y
ha
r
i
,
M
.
S
.
O
ba
id
a
t,
I
.
F
.
K
u
r
ni
a
w
a
n,
M
.
Y
.
M
ukt
a
,
a
nd
P
.
V
ij
a
y
a
kuma
r
,
“
I
oT
-
e
na
bl
e
d
li
ght
in
t
e
ns
it
y
-
c
o
nt
r
o
ll
e
d
s
e
a
ml
e
s
s
hi
ghw
a
y
li
ght
in
g
s
y
s
t
e
m,”
I
E
E
E
Sy
s
te
m
s
J
ou
r
nal
,
v
o
l.
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1,
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D
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N
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C
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L
oo
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S
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I
s
a
a
k,
a
nd
Y
.
Y
us
of
,
“
M
a
c
hi
n
e
v
is
i
o
n
ba
s
e
d
s
ma
r
t
pa
r
ki
ng
s
y
s
te
m
us
in
g
I
nt
e
r
ne
t
of
T
hi
ngs
,”
T
e
lk
om
ni
k
a
(
T
e
le
c
om
m
uni
c
at
io
n
C
om
put
in
g
E
le
c
tr
oni
c
s
and
C
ont
r
ol
)
,
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H
.
D
a
h
o
u
e
t
al
.
,
“
D
e
s
ig
n
a
nd
im
p
le
m
e
nt
a
ti
o
n
in
t
e
ll
ig
e
nt
a
da
pt
i
ve
f
r
o
nt
-
li
ght
in
g
s
y
s
t
e
m
of
a
ut
o
m
o
bi
l
e
us
in
g
di
gi
ta
l
t
e
c
hn
o
l
o
g
y
o
n
a
r
dui
no
b
o
a
r
d,”
I
nt
e
r
nat
io
nal
J
our
nal
of
E
le
c
tr
ic
al
and
C
o
m
put
e
r
E
ngi
ne
e
r
in
g
,
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G
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A
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A
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H
.
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.
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r
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our
nal
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ngi
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e
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in
g Sc
ie
nc
e
and T
e
c
hnol
ogy
, v
o
l.
15, n
o
. 5,
pp. 2950
–
2962, 2020.
[
30]
J
.
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.
N
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uma
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125
96
-
024
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01723
-
2.
[
31]
J
.
K
.
N
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, v
o
l.
16, no
. 4, Apr
. 2024, d
o
i:
10.1177
/1
6878132231220355.
[
32]
J
.
L
i,
“
A
ma
tr
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s
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Se
r
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s
,
vo
l.
1574, no
. 1, p. 12091, J
un. 2020, d
o
i:
10.1088/1742
-
6596/1574
/1
/0
12091.
[
33]
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ie
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s
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o
l.
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o
. 3, pp. 672
–
680, 2017.
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